Dynamic Simulation Of MPR-70A Automatic Hydraulic Pipe Racking System

Automatic drilling equipments are more safe, more efficient, less risky andwhole optimizational for drilling technology. Pipe handling system replaces manualoperation with automated mechanical equipment，separates derrickman from drillpipes，makes pipe racking automatic. While drilling, making connections, automaticmigration and racking pipes can reducing drilling time by a large margin throughremote control.In the background of human-oriented concept and harmonious society, in therequest of strict HSE specification of drilling equipments, the efficiency, safety andautomatic operation of drilling machine are taken seriously, several domestic oilequipment companies have started to develop automated drill pipe racking device forland rigs.College of Construction Engineering of Jilin University is in charge of DeepContinental Scientific Drilling equipment development from the Exploration of theDeep Interior Beneath the Chinese Continen（tSinoProbe-09-05）, carry out research often thousand meters deep drilling technology and equipment development. Automaticcatwalk, Pipe handing system and Iron roughneck constitutes an automated systemaround wellhead. This paper is from this project, the main work is to carry outdynamic simulation for MPR-70A Automatic Hydraulic Pipe Racking Systemdesigned by our group.The paper analyzes the development status of the drill pipe racking device bothat home and abroad，summarizes the respective characteristics of the structure andparameters, carries out a series of detailed calculation of translation mechanism,slewing mechanism, stretch institution, elevating mechanism, partial adjustmechanism and clamping mechanism of MPR-70A automatic hydraulic pipe racking system, establishes a simulation model in Adams, makes an animation according tothe actual working process.Multi-body dynamics analysis and rigid-flexible coupling dynamics simulationanalysis are carried out, speed, acceleration and displacement curve of drill pipe aremaintained, clamping force of drill stands are calculated, the speed consistency ofexecutive mechanism and drill pipe while running are analyzed. By rigid-flexiblecoupling dynamics simulation, clamping strength and vibration of drill pipe in thelimit state. Rigid-flexible coupling dynamics simulation are carried out in theclamping mechanism, so maximum stress of the drill pipe are gained while clamping,also the affection of flexible champs gripping and running to drill pipe.