| With the continuous development and innovation of high temperature snubbing, pipecolumns almost nine meters in the high temperature pit must be pulled out, and placed by ahydraulic tong on the setting platform. The high temperature of almost two hundreds of degreecentigrade is the biggest obstacle to complete this process by manpower. Therefore, it’s urgent todesign a hydraulic manipulator equipment to complete this carrying task.At the beginning of this project aimed at the discharge and installation of pipe columns inthe process of the work over rig, it will introduce the manipulators’ motor process and the keytechnology, and accomplish the structure design. Then the research of hydraulic system andSiemens PLC system of work over rig manipulators will be designed.The research procedure and methods of this project is followed:1) The range of activity vehicular manipulators will be acquired by practical measure andcalculation. Designing the reasonable scheme based on the theory of machines and mechanisms,machine design and industrial robot.2) Establishing the kinematical equation by homogeneous coordinate transformation method,and finding the kinematical gesture positive and negative solution. To analyze the effect ofimpact load to the structure by calculating dangerous parts’ stress deformations and safety factorsby using ANSYS. Then accomplish the dynamic calculation of safety speed and torque ofmanipulators’ big arm by using ADAMS’s method of Lagrange balance.3) According to the design requirements, accomplish the design of hydraulic system throughcalculating loads of actuators and determining the main parameters and scheme in hydraulicsystem.4)Accomplish Siemens PLC hardware wiring diagram and it’s control system programdesign through analyzing manipulators’ action process, determining I/O points and addressassignment, and selecting PLC type and model.This project’s research result has a guiding value in design and application of industrialrobots. |
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