Design And Simulation Of Robot Emission Arm For Skid Drilling Rig

The drill discharge equipment is the key part of automatic drilling, in the past, the research and product mainly concentrated on ocean drilling rig and large land rig. These equipments, due to the bigger structure size, are not suitable for the small skid mounted rig that has compact drill floor area, in these rigs, the pipe handing jobs are still using manual push-pull operations.So design a kind of drill discharge equipment for the small skid mounted rig, is positive for improving labor condition, reducing the risk of labor, and improving the working efficiency. Based on past drill discharge equipments, by modern mechanical design theory and UG software, designed a kind of mechanical arm drill discharge that can be used on the small skid mounted rig, using UG/motion mulation module, analyzed the feasibility of the movement, by UG load transfer module and ANSYS software, calculated the stress and strength of the main components, According to the maximum working load of mechanical arm,a hydraulic control system is designed.The main research results through the study contain:(1) According to the overall structure of the small skid mounted rig’s floor and functional requirement of drill discharge, designed a kind of drill discharge equipment for the small skid mounted rig, drawed the parts drawing of mechanical arm and virtual assembly, interference check results showed that there is no interference between the parts, the design of mechanical structure is reasonable.(2) Established the simulation model of the movement for the mechanical arm, drawed the manipulator trajectory tracking curves of line, the curve of the displacement, velocity, acceleration and so on, through the analysis of the simulation curves, verified the feasibility of the movement for mechanical arm.(3) By simulating maximum load of mechanical arm at work, the stress distribution of the main components are analyzed, combined with ANSYS software, analyzed the strength and stress changes of key parts of mechanical arm, the results verified the safety and stability of the mechanical arm.(4) According to the mechanical arm’s structure design and process, using CAD software drawed the hydraulic pressure schematic diagram of mechanical arm. By the maximum load of mechanical arm, calculated the largest driving force of the hydraulic actuators, on the basis of this, the main hydraulic actuators is selected.Through the research, designed a kind of mechanical arm for the small skid mounted rig. The mechanical arm is only2.6m high, and only take up platform covers an area of0.25m2, it can be installed on the space between the pipe box. The whole device weighs less than11, installed and disassembled conveniently. It can reach3m,and the thrust force is close to500kg, it can transfer and discharge drill pipe and drill collar of60.3mm to177.8mm.