Research And Mechanical-hydraulic Co-simulation Analysis On Clamping Mechanism And Twisting-loosening Mechanism Of Iron Roughneck

Iron Roughneck is multifunctional, safe and efficient drilling rig’s device, mainlyto complete making up or breaking out the joint screw of drill pipe during drillingoperation, breaking out the kelly joint during normal drilling operation, making up orbreaking out drill collar, shaking downhole tool and so on, which is a significantauxiliary equipment to realize the modernization in drilling operation. Therefore,doing research and development on iron roughneck which is suitable for the actualsituation in china and prospective in this industry has a vital significance toaccomplish the project of Chinese Deep Continental Scientific Drilling smoothly andefficiently, and even to accelerate the modernization and automation of nationalpetroleum machinery industry.As a product of mechanical, electronic, hydraulic and other multi-disciplinarytheory’s integration, the integrative technique of mechanics-electronics-hydraulics isbecoming more and more important in the field of heavy industry, petroleummachinery included. From the perspective of co-simulation technique, by takingclamping mechanism and twisting-loosening mechanism of iron roughneck as theresearch object, the study on mechanics-electronics-hydraulics device has urgentlypractical significance for coordinating the design of subsystem synthetically anddebugging the physical prototype.In the view of realistic problem during the use of traditional drilling rig’s device(eg, power tong)and some types if iron roughneck,such as serious damage to drillingtool and low level of automation, some research will be done on the clampingmechanism and twisting-loosening mechanism in this paper, which is the keycomponents for iron roughneck, to achieve the purpose of improving work efficiencyand protecting drilling tool based upon completion the action of making up or breaking out. Some discussion will be showed specifically in this thesis focused onfollowing aspects below:At first, through the relevant research on the development history and presentsituation of iron roughneck at home and abroad, research progress at present isintroduced and some important trends of iron roughneck is forecast in this chapter.Secondly, on the foundation of analyzing the principle and structure of ironroughneck in detail，several schemes are proposed about clamping mechanism andtwisting-loosening mechanism. According to the requirements of project, the finaldesign scheme is determined by the comparative analysis on schemes above. Besides,hydraulic system principle diagram of mechanism is designed and the type ofhydraulic actuators are chosen based on load condition,whose key parameters requiresafety check.Thirdly, the dynamics model is built for clamping mechanism and twisting-loosening mechanism of iron roughneck, which contains importing three-dimensionalmodel drawn by Inventor into the dynamic simulation software ADAMS andestablishing the constraint relation and definition of external load, based on the relatedtheory of kinematics and dynamics. On this basis, the dynamic simulation model isrun to verify properly the accuracy of modeling by analysis of the results obtained.Fourthly, The simulation model of hydraulic system is built for clampingmechanism and twisting-loosening mechanism of iron roughneck. According to thehydraulic principle diagram and working conditions, appropriate load-sensing pumpand suitable proportional reversing valve with load-sensing function are selected.Afteraccomplishment the mathematical modeling, the AMESim models of pump and valveabove are built respectively to achieve the characteristic curves of pump and valve,which are used to verify the accuracy of modeling above by comparing with the actualsample curve provided by manufacturers. Hereby, the whole simulation model ofhydraulic system is run to verify properly the accuracy of modeling by analysis of theresults obtained.Finally, the co-simulation model is built by importing the co-simulation interfacecreated by ADAMS into the simulation model of hydraulic system built by AMESim. The co-simulation model is run to analysis of the results obtained. Moreover, inaccordance with simulation results above, the static analysis on key components-tongdies and drill pipe is carried out, whose results has an important reference significanceto the improvement and optimization of system structure and the formulation ofcontrol strategy.