Design And Experimental Research Of Geological Drilling Pipe Automatic Handling Device

Drill pipe automatic handling device is the key to realize the geological core automation drilling, it can complete pipe clamp, swing, translate and promote rotate operation in the drill up and down process, drill pipe automatic transferring from the pipe rack to the wellhead, drill pipe automatic handling device plays an important role to quicken speed, reduce labor intensity, enhance security, and reduce the safety risk. On the research, there have been many mature products abroad, our country is in its infancy, pipe transmission in low degree of automation is more dependent on artificially operation. This topic is derived from the ministry of science and technology National High-tech R&D Program(863 Program) of deep mineral resources exploration technology- "intelligent automation core drilling technology and equipment development", aims to developed the key technology and equipment with independent intellectual property rights in our country of the geological core automation, intelligent drilling.This thesis focuses on designing a set of all electric dr ill pipe automatic handling device, the largest lifting weight is 300 kg, ab le to complete one trip of the drill up and down process within 50 seconds.First, the overall structure of the automatic shift drill-sway system was determine d according to its function. A detailed structural design and calculation were made for optimising vertical lift, horizontal swing and vertical rotation structures respectively. A three-dimensional model was finally completed.Second, in order to verify that the device can automatically complete the drill swing shift from the drill pipe rack to the wellhead in 50 s, the kinematics and dynamics analysis was made. The relationship between the spatial posture of the end holder and the parameters of each joint motion through using D-H coordinate method. The software ADAMS was used to conduct the kinematics and dynamics simulation to figure out the curve of spatial posture, velocity and acceleration of the end holder, sliding platforms and rotating arm with time, respectively. It is found that the spatial posture trajectory is reasonable and the system can work stable. The force’s changing laws of the linear guide and the support ears under the rotary arm and the vertical rotating shaft flange were researched under different speeds. The results shows that the faster the system runs, the greater the force fluctuates between the components, where the less fluctuation occurs when the running time is 50 s. The results above also verifies that the overall system design is reasonable.Third, the finite element simulation was made on mast, sliding panels, drive shafts, supporting ears and other key parts to get their stress and displacement distribution, verifying the reliability of the completed structures.Finally, the structural optimisation was completed through solving the practical problems during conducting the prototype’s experiments.