Off-line Programming And Simulation Control Of New Mechanized Workover System

According to China's application and development of workover machinery, the new mechanized workover system came into being, with the objective of making the workover operations safe and clean, automated fully. In this paper, the method of computer simulation control of this system is studied, and the off-line programming technique which is used widely in the field of robot is introduced. Combining the virtual reality technology with the actual method of production, an off-line programming simulation control platform of the mechanized workover system is developed, that provides a new control method to workover operations.Based on the virtual teaching programming idea of virtual reality technology, a virtual machine model is guided to move on the computer screen through the appropriate man-machine interface, a portable remote control device is designed, and the hardware scheme is put forward, that is, using Embedded Single Board Computer SBC9315, Integrated Touch Panel LQ035Q7DH06, and the 4×4 keyboard as its major hardware to construct a portable remote control device.The portable remote control software system is researched and designed, the remote control programming software of workover wellhead machine is developed by EVC4.0 under the operating system of Windows CE.net, including the definition of motion control commands, data processing, serial communications, data review, interface display and other modules.In accordance with the principles of off-line programming techniques and SolidWorks-based virtual reality, in Visual Basic6.0 software, using object-oriented programming method to prepare the off-line programming simulation motion control software, SolidWorks API function is called, the pose matrix of the mechanical wellhead model is changed in real-time, the off-line programming motion simulation of the wellhead machine is implemented.Using the off-line programming system designed in this paper, the virtual teaching programming experiment is operated, such as the delivery of a virtual string, the string shackle operations and so on. The results show that the off-line programming simulation motion control software is capable of automatic identification, the portable remote control device can run stably and reliably, and be operated conveniently and flexibly.