Design And Research Of Pipe Handing System Of Land Rig

Pipe handing of traditional land rig is operated by derrick man, which is hard and unsafe. And it is easy to cause fatigue of the workers. With the strict rules of HSE and high efficiency of drilling engineering, the old mode of operation could not meet the demands of the oil industry. So it is significant to design a pipe handing system of land rig and put it in use. Due to the structure of land rig, the mature pipe handing system of marine rig can’t come into use directly, and there is few products in the market. So designing a pipe handing device is useful to promote the automation process of land rig.The pipe handing device of land rig contains two manipulators reference to marine rig. One is installed under the diving board and the other is next to the side of mouse hole in the drill floor. Design all the mechanical parts and assembly which is used for collision detection and motion simulation with SolidWorks. The virtual prototype which is used for kinematic and dynamic analysis is built by importing the model into ADAMS. According to the analysis, it can be got motion trail and loading curve of the composite parallel four-bar mechanism. And the analysis also shows the loading curve of power elements and key structural parts, which is for finite element analysis.The hydraulic system of pipe handing system design and hydraulic elements choice are based on the trajectory planning and loading data. After the model construction of hydraulic element, the hydraulic stringing can be set with the package routing in SolidWorks. The hydraulic system simulation and analysis with the software EASY5 can contribute the improvements of hydraulic elements. With the co-simulation of EASY5 and ADAMS, the mechanical and hydraulic system is connected and the data is exchanged without delay. And the kinematic and dynamic analysis is combined with the hydraulic, which is more convincing and useful.With constructing model and simulation analysis of pie handing system of land rig, the prototype has been manufactured and assembled, which contributes to the design and analysis of control system.