Structural Design And Simulation Analysis Of Pipe Automatic Transferring System

Pipe automatic transferring system is a very important operation in the drillingprocess, it can replace human complete pipe clamp, promote, translate and rotateoperation in the drill up and down process, realize pipe automatic transmission andracking, so let driller away from dangerous area. Pipe automatic transferring systemcan obviously reduce labour intensity, enhance security, quicken speed and reduce thesafety risk. At present, research and application on automated transfer system is morein abroad but less in domestic, pipe transmission is more dependent on artificiallyoperation or realize the automatic transmission partly, far from meeting therequirement of modern automation drilling. In addition, the drill pipe automatictransferring system is now mainly used on marine oil drilling rigs, less on land rig.The thesis comes from the major national science research project of ministry of landand resources-research on deep continental scientific drilling rig, aims to design anautomatic pipe transferring system applied to geologic survey rig.This thesis focuses on the study of mechanism design, kinematics analysis,kinematics simulation, strength analysis and drive system of pipe automatictransferring system, mainly includes several aspects as followed:First, development of the system is introduced, the content and significance areanalysed. Integral structure of the system is fixed based on functional requirement andworking conditions, structure components and working principle are introduced. Then,three-dimensional models of the system are drew by three-dimensional software.Second, D-H coordinates and corresponding coordinate parameters are obtainedthrough the theoretical analysis of kinematics system model, the kinematic equationsand inverse solution were got through analysis and solving, jacobian matrix isdeduced through vector product method; Then kinematics simulation is made byADAMS software, system movement condition is simulated, the pose, motionvelocity and acceleration curve of the system components is drew, the feasibility ofthe design is verified through the analysis of the simulation curve.Last, hydraulic drive system is designed based on analysis of actuatorsmovement and loads, composition and working principle of hydraulic system isintroduced, and then the function of hydraulic element are described. At last, the main hydraulic element is chosen.