Design And Theory Resarch Of The Automated Handing System For The Slant Well Drilling Rig

In this paper, based on the resarch of home and abroad slant drilling process and theinformation of the pipe handing system, a new type of rack and pinion slant drilling rig wasput forward. Rack and pinion drilling rig has the characteristics that can stimulate andpromote, so in addition to complete the traditional drilling operations, rack and pinion rigdrive/pull ability is especially suitable for controlling the pressure of the drilling, longhorizontal well drilling and snubbing operation tasks.This paper proposed the structure of the drilling rig design scheme, detailed design of thepipe handling system, the3d solid model of whole system was created by SolidWorkssoftware. By using of kinematics of rigid Multi-body pose description theory, deduce the rodtransformation matrix and kinematic equation of the pipe handing system, and simulationanalysis of the kinematics of mechanical arm by using the MATLAB Robotics Toolbox.Several simplified3d solid models that used in simulation analysis were created bySolidWorks, and introduced in ADAMS to add a geometric constraint for dynamicssimulation, obtained several different cases of the driving torque of the pipe handling systemof slant drilling rig.Simulation of the driving torque is the actual control torque on the drivetorque, the designation of hydraulic system guided by the simulation results. And the model isused to dynamic simulation calculation, applying an external torque of the rotating arm,obtain the simulation analysis of manipulator motion characteristics of the tubing movementof the process of displacement, velocity and acceleration curves. It also provide basis for theswinging hydraulic cylinder the curve of the actual control.Finally do the mechanical-hydraulic co-simulation of the pipe handing system, hydrauliccircuit was created by ADAMS/Hydraulics module, the mechanical-hydraulic co-simulationof the progress of the sending the pipe,the hoisting integral manipulator. various dynamiccharacteristics of the composition parts were obtained, hydraulic system parameters werefound, which is beneficial to the work of composition parts, and provided theoretical basis forselection of practical hydraulic component, the debugging and texting time of practicalhydraulic system were shortened.