Study On The Dynamic Characteristics Of Drilling Tool Automatic Conveying Device Based On Rigid-flexible Coupling Model

In recent years,with the rapid development of China’s economy and science and technology,the development of marine drilling and mainland scientific drilling technology is becoming increasingly urgent.Compared with marine drilling,the mainland scientific drilling research investment is obviously less,The transportation of drill pipe is still using the traditional catwalk from 60 to 70 s in the last century,This device is mainly based on manual work,and the whole migration process can be completed by 4~5 people,Workers exposed to low efficiency,high labor intensity,low security,prone to accidents,and the lack of effective protection for the operation process of drill pipe threads.In addition,with the modern drilling technology towards deep wells,large displacement horizontal wells,ultra-deep wells and other direction,the drilling site will be large quantities of transportation and discharge drilling tools,drilling sites need to mechanize and automation,high transport capacity,safe and reliable,High stability of the equipment for drilling operations.The Drilling tool automatic conveying device developed by the research group has high technical requirements,the whole operation process safety,high degree of automation,only 1~2 people can carry out the whole process,the whole operation process for 50 seconds to three minutes,in reducing working intensity and improve the transmission efficiency of the drill pipe,improves the mechanization and the degree of automation of drilling rig,so the automatic drilling device has a high research value.In this paper,the dynamic characteristics of the Drilling tool automatic conveying device is taken as the research object,through the dynamic modeling and simulation analysis,the dynamic characteristics of the system under rigid-flexible coupling model are studied emphatically.Firstly,according to the design requirements and working flow of Drilling tool automatic conveying device,the overall structure and working process of the device are described.Based on the kinematics analysis of the lifting system,the main control mode is studied,and the relevant parameters of the key components in the working state are analyzed and calculated,Then,the paper analyzes the principle of division of rigid and flexible parts in detail,and establishes the MNF neutral file of system flexible body,the corresponding constraint,the driving and the contact collision attribute are added for the simulation model,and the rigid-flexible coupling model of the whole machine is established in ADAMS software.Then,through the numerical simulation and simulation analysis of the vibration mode of the strut,To study the characteristics of the main modes of the various stages in the susceptible frequency range,for the structure of the actual vibration response to lay the theoretical basis,and the correctness of the flexible body modeling is further verified by comparing the information of the flexible body in the previous chapter.The harmonic response analysis is carried out to study the response of external excitation to each order frequency.Buckling analysis of the key components of the system,check and obtain the stability information related to the structure.Then,the rigid-flexible coupling dynamic model is built and the main reason of the dynamic stiffening is studied,the kinematic and kinetic data of the system under the coupling effect are obtained by simulating the rigid-flexible coupling of the whole machine.Finally,the experimental results show that the simulation results are correct and the actual performance of the device is verified.