Design And Analysis Of Automatic Handle System Of Geological Drill Pipe

The drill pipe handle system is an important auxiliary tool in offshore oil drilling platforms,land oil drilling and geological drilling.This paper designs an automated drill pipe handle system in combination with industrial robot technology and tested its performance.This paper proposes a new type of drill pipe emission scheme.Multi-axis robot grabs the drill rod directly from the drill rod box.In order to solve the problem of insufficient robot arm reach and interference when gripping the drill rod at the bottom of the drill rod box,the drill pipe box is designed to be movable up and down,the robot only needs to grab the uppermost drill pipe.This design can simplify the adjustment workload of the robot target point and ensure the accuracy of the target point.Finite element analysis was carried out on the key components of the equipment,such as the drill rod box bracket lifter pallet and the transmission shaft.The study found that the stress and deformation of each component under normal working conditions are within the allowable range of the material,the design of the parts is qualified.At the same time,according to the simulation results,optimize the position of the part with large deformation,the simulation results of the optimized parts show that the stress and deformation are reduced compared with before the optimization,the optimization is reasonable.In order to give full play to the advantages of flexible robot motion paths,through the method of establishing robot kinematics equations,polynomial interpolation is used in joint space for robot trajectory planning.The results show that the joint displacement curves obtained by cubic polynomial interpolation and quintic polynomial interpolation are smooth curves.The angular velocity curve in the cubic polynomial interpolation is discontinuous at the target point,with a slight mutation.The joint angular velocity obtained by the fifth degree polynomial interpolation is stilla smooth curve,therefore,the robot motion path obtained by the fifth degree polynomial interpolation is more reasonable.Use multi-body dynamics software to perform dynamic simulation on the robot's motion path.The simulation results show that the movement of the end of the robot in the space is stable and the fluctuation of the movement speed is small,the driving force of each joint axis of the robot changes steadily,and the change range is not large.Only a slight fluctuation of the torque at the target point is within the range of the motor.Optimized during the physical installation and commissioning of the drill pipe handle system,to make the device meets the requirements of dustproof and waterproof and increases the convenience of robot disassembly.Improved the identification method of drill pipe,the installation position of the sensor in the original design is unreasonable,the sensor cannot detect the drill pipe,therefore,the equipment cannot determine whether there is a drill rod in the corresponding drill rod position.After improvement,the sensor is installed under the robot gripper to ensure the accuracy of the drill rod detection.The robot movement was tested,and it turned out that the robot avoided the obstacle of the drill pipe box during the movement,and no collision occurred during the movement.The movement time is 11 s,which is in good agreement with the simulation results.The movement speed changes steadily,the clamping jaws hold the drill rod firmly,and the drill rod does not shake during the movement.The robot movement path is reasonable.