Research On The Clamping Mechanism Of Automatic Pipe Handing System

Automation pipe handing system is a kind of pipe processing system with high automation level in the field of petroleum machinery and deep well drilling industry.It can complete clamping,lifting,transport the drill in the process of drilling.The clamping mechanism is the key of the automatic pipe handing system which is suspended on the racking platform.The working environment is poor.Once the problems of the clamping mechanism happen,it will directly affect the safety of the drilling system.So it is significant to study the clamping mechanism of automatic pipe handing system.This paper is based on the project of development of deep continental scientific drilling equipment supported by ministry of land and resources.The purpose of this project is to develop a drilling rig which is suitable for the deep continental scientific drilling.This paper combined design,model analysis,simulation with optimization.This paper mainly completed the following several aspect:Based on the background and significance of the research, the main research content of the clamping mechanism was discussed.Firstly the domestic and foreign development of the clamping mechanism was discussed in order to find the main research content of this paper.According to the working process and the design requirements,the better structure and the hydraulic system was designed.The clamping mechanism was established by Inventor.The manipulation model of the clamping mechanism was established by the kinematics analysis of the gripper and the control relation of hydraulic system.The formula of the bite depth and equivalent friction coefficient between the teeth and drill pipe was derived.By applying the orthogonal optimization method to optimize the parameters of the teeth and select a better parameter combination.The simulation model of the clamping mechanism was established.Thedisplacement,velocity,acceleration and force were analyzed to verify the feasibility of the system.Controlling the Workbench's finite element analysis method, variable method and orthogonal test method to determine the influence on the different parameters of the contact point of a tooth clamp stress and bite depths and further optimize the design,verify the validity of the optimization design theory in order to achieve the purpose of optimal design.In addition, the roller pin shaft is simulated,and the reliability of the clamping mechanism is verified.The performance test and bench test results of the physical prototype proved that the clamping mechanism can be normal and reliable.The working ability of automatic pipe handing system with grasping and migrating drill pipe was proved.By analyzing the test data,the kinematics analysis of the clamping mechanism and the correctness of the simulation results were verified.