Design And Research Of Automatic Handler For Wireline Coring Drill Pipe

Automatic drill pipe handling system has replaced the manual operation,reduced the construction safety accidents,improved the construction efficiency and saved construction costs.In recent years,the development of the equipment has become a research focus in field of drilling.The completely automatic drill pipe handling system has gradually developed by the foreign,however,it still has the disadvantages of small capacity,poor operation stability and low efficiency.Compared with foreign countries,most of the researches on automatic drill pipe handling system focused on the operational processes of drill pipe's moving and swing in China,the automatic drill pipe handling system that more mature has not yet developed with large capacity,high efficiency,fully automatic.In this paper,a new set of Automatic single drill pipe handling system is designed according to the expected task of the project and the problems of the test of the first generation of automatic discharge prototype.The single drill pipe's weight is 50 kg and the length is 6m.This system can complete the process of single drill pipe discharge within 36 s.First,the overall structure of the device is determined.Based on the drilling depth of 2000 m,the drill pipe box which can stored 345 were designed.Aiming at the storage which in a gapless manner,the force model of the side column for blockage was established,and the detailed force analysis of bolt group for connecting the side column was included.Based on the Cartesian coordinate manipulator handling scheme,the servo motor is selected.Secondly,the third-order motion planning of the manipulator is carried out.The third-order motion planning is deduced by the integral method and the graphic area method.The motion planning is determined by simplifying time and multiple.Based on the 36-second handling drill pipe,the specific motion planning is made,and the maximum,minimum and average values were deduced.Thirdly,the kinematics and dynamics of the device are analyzed by using the virtual simulation software ADAMS.Compared with the same time-consuming second-order plan and the third-order plan after changing the parameters in displacement,velocity and acceleration of the drill pipe,the third-order plan of 36 seconds shows more stably result,which verifies the rationality and feasibility of the device to handle the furthest drill pipe in 36 seconds.Finally,the finite element analysis of key components is carried out using Solidworks-simulation.By installing the support beam with circular positioning groove on the main beam,the pressure of the bottom is transferred to optimize the stress condition of the side column for blockage.At the same time,it is verified that the other key components meet the structural strength claim.