Research On Dynamic Characteristics Of Hydraulic Pipe Handler

In order to probe into earth, the Ministry of Land and Resources organized and implemented China's Deep Exploration Technology and Experimentation Program:SinoProbe. Drilling technology is the most intuitive means to access to underground information. School of Construction, Jilin University is responsible for Sinoprobe-09-05: the “Development of Deep Continental Scientific Drilling Equipment”,which is set up to bring out the key technical equipment for deep continental scientific drilling. Taking into account the need for continuous coring and the long construction period of scientific drilling, the "Crust 1" drilling rig is equipped with a drill pipe automatic arrangement device which can save the auxiliary time and increase the safety factor: "Crust 1" hydraulic pipe handler.“Crust 1” hydraulic pipe handler is suspended under the racking board, and is linked with racking board by Guiding rail clamping block. “Crust 1” hydraulic pipe handler weighting 2.2 tons, is composed of Guiding component, Pulley component,Rotating component, Stretching component, Lifting component and 2 Clamping hand. “Crust 1” hydraulic pipe handler can clamp and migrate drill stands.Coordinating with Topdrive and hydraulic elevator, “Crust 1” hydraulic pipe handler can achieve derrick man free or racking board, eliminate a lot of auxiliary time, and improve the work efficiency greatly.In this paper, the domestic and foreign present situation of pipe handler was summarized and analyzed, advantages and disadvantages of several commonly used speed control circuit in the field of engineering machinery was analysed: throttle control system, negative flow system, positive flow system, load sensing system and load flow independent distribution system. Finally load sensing system was selected as the hydraulic system of “Crust 1” pipe handler, and pipe operation sequence of each machine and automatic control strategy was brought.Monkey board of the racking board is cantilever structure, the stress state ofmonkey board is brought out in the working condition of pipe handler. The simulation results show that, when the suspended pipe handler is grasping the farthest end of ?168mm drill stands, the strength of the second floor is enough, but the rigidity is not enough. So the racking board needs to strengthen its stiffness, or the Corrective component is needed to correct its skew angle. MSC.Adams was used to simulate the process of manual deviation correction, the simulation shows that when the skew angle is in the range of 2-5°, the corrective component of the pipe handler can correct the skew angle into the target value range within one second.During the migration process of drill stands by "Crust 1" pipe handler, there is a certain swing at the end of drill stands, which is caused by stretching component and luffing component. The second kind of Lagrangian equation and Virtual work principle were used to establish the multi-rigid body dynamic equations and flexible multi-body dynamics of stretching component and luffing component. By comparing the two equations, it is found that the flexible multibody dynamics equation has more nonlinear terms than in the rigid multibody dynamics equation. In MSC.Adams, the multi-body dynamics simulation model and the rigid-flexible coupling dynamics model of stretching component and luffing component are established. The simulation results show that the stretching rod of the stretching component show relatively more flexible characteristics, so this structure should be strengthened.When the stretching component of parallelogram mechanism is driven by the stretching cylinder, the lower manipulator is displaced in the vertical direction along with. In order to maintain the vertical displacement of the center of gravity of drill stands in the process of the movement, to ensure the stability of the drill stands and reduce the energy consumption, the lifting component should be coupled with the stretching component to compensate the displacement generated by the manipulator.The relationship between the vertical displacement of the lifting component and the stretching component was calculated. Under the open-loop and closed-loop control,the drill stands height control system was simulated by AMESim and Virtual labmotion. The results show that the control mode is effective.In Chaoyang district Jilin University, the test platform of pipe handler was made in the Drilling building, the lifting component and triangular component was reformed, the corrective component was changed into luffing component. In AMESIM, the models of load-sensing pump and load-sensing valve are established and the simulation of pipe handler was brought out. The simulation shows that the load-sensitive system can respond quickly and reduce energy consumption. The efficiency of load- sensing system of pipe handler is 76.2%, which meets the design requirements.