Dynamics Analysis And Research Of Automatic Pipe Handing System

Automatic pipe handing system is the most important element in the drillingprocess to achieve faster, efficient and automatic drilling. Operators can controlremotely to connect stands, transfer automatically and rack pipes through automaticpipe handing system which can save drilling time greatly. The system not only canimprove work efficiency, reduce labor intensity and cost of production, but also canavoid operators touching pipes which can reduce security risk. The research ofautomatic pipe handing system started early abroad. The development and technologyof automatic pipe handing system which is mainly used in marine drilling platformsabroad are mature at present. The research of automatic pipe handing system at homehas just started in recent years. The transfer of pipes relies more on manpower or justcan achieve semi-automation which is far from meeting needs of modern automaticdrilling. This paper develops automatic pipe handing system which applies tothousands of meters land rig according to the project of “development of deepcontinental scientific drilling equipment” supported by ministry of land and resources.This paper designed the mechanical structure of automatic pipe handing systemand dynamical behavior of the system was analyzed based on theory and simulation.In summary, this paper mainly completed the following several aspects:First of all, development status of automatic pipe handing system at home andabroad were summarized and analyzed by means of consulting relevant materials. Theresearch significance and the main research content of this project were discussed.The overall plan of automatic pipe handing system was completed according to needsof design and the action of mechanism. The drive disk assembly was calculated.3Dmodel was established by SolidWorks.Secondly, kinematics analysis of automatic pipe handing system was made. Thekinematical equation of the system was built based on building the D-H coordinatesystem. The positive solution and the inverse solution of the equation were solved.Dynamics analysis of automatic pipe handing system was made based on kinematicsanalysis. Jacobi matrix of the system was established and solved. The dynamicequation of the system was built at the same time. Lastly, the multi-rigid-body dynamics simulation model of automatic pipehanding system was established on ADAMS platform. Dynamical behavior of thesystem, such as velocity, acceleration and generalized force, were analyzed to verifythe feasibility of the system. The rigid-flexible coupling model of the system wasestablished, and dynamical behavior got from it was compared with dynamicalbehavior got from the multi-rigid-body dynamics model. The results have positivesignificance for improved design of the structure and formulating control strategy.