Design And Research Of Robot Device For Pipe String Discharge In Workover Rig

With the exploitation of oil(gas)fields in the middle and later stages,workover has gradually become the main way of oil(gas)field mining.In the workover operation,it is necessary to discharge the high temperature pipe column of the rigid out of the well between the finger and beam of the two floor of the workover machine.This requires the workers to work on the two floors,and there is a great danger of safety.Therefore,it is necessary to design a set of manipulator to replace the manual pipe column.In this paper,based on the investigation and summary of the previous drilling and workover rig system,combined with the theoretical knowledge of industrial robot,the model of Xi'an Yu xing petroleum machinery new technology development Co.,Ltd.is measured by the actual model of the car workover machine of XJ9028-00,and a set of pipe column discharge robot is designed for its workover machine.This article mainly completed the following aspects of work:(1)access to information,analyze and summarize,and understand the main structure of domestic and foreign drainage system.Through the actual measurement and calculation,we can grasp the structural characteristics of the workover rig.(2)on the basis of adequate analysis and understanding of the existing piping system,a scheme for pipe drainage system is established according to the characteristics of this topic.According to the content of the pipe row that the manipulator needs to complete,in view of the structure characteristics of the car workover machine,the economical and reasonable manipulator structure scheme is designed with the mechanical principle and the industrial robot technology.(3)the D-H coordinate analysis method is used to analyze the manipulator's kinematics,and the 3D model of the manipulator is established by using the Solidworks software,and the dynamic analysis of the mechanism is introduced into the ANSYS Workbench.(4)according to the design requirements of hydraulic system,the load of each hydraulic executive element is calculated,and the specific size of the driving cylinder of the key components is determined according to the load parameters.The main parameters and plans of the hydraulic system are determined and the hydraulic system design is completed according to the function of the pipe discharge,the design of the driving components and the control hydraulic circuit.The research results in this paper can be used as reference for the design of wellhead automation devices.