Research Of Manipulator Type Handling Pipe Machine Of The Drilling Rig

With the continuous exploitation of oil and gas resources and research about the earth,the depth of drilling also increases.In the whole drilling process,pipe was made to repetitive transmitted between the vertical pipe rack from the center of wellhead platform,the traditional way of handling pipe has already not been adapted to the demand of modern drilling operation.Realizing automatic placement of drilling pipe is important significance for reducing labor intensity,improving work efficiency and speeding up the drilling process.The paper designs a manipulator automatic placement machine for the type of X-Y pipe rack and mainly completed the following several aspects of content:Firstly,it knows of present situation about development and application of automatic placement machine system through reading literature about the automatic placement system of drilling pipe.It proves the feasibility of this design by comparing the bridge type ?the column type and the manipulator type,and confirms the basic structure and the way of placement.Secondly,it designed the details of the structure to meet expected function after the preliminary specified scheme,and includes driving mechanism? slewing mechanism? manipulator? lifting mechanism? gripping device,then created three-dimensional model with the aid of Pro/e.Thirdly,it made the position description and kinematics analysis about corresponding apparatus in the movement of manipulator placement mechanism.It carried on the complex movement simulation about the pipe was took out from the pipe rack with the help of Adams,it obtained the data of driving mechanism and motion mechanism,examined the desired movement.Fourthly,mechanical analysis was carried out about the key parts in the entire organization.