Design And Analysis Of The Ground Tubes And Tubular Tools Handling Manipulator

Conventional automatic tubes and tubular tools handling system is an important part of the automatic drilling equipment,which can complete the gripping,moving and other operations of the tubes and tubular tools by the power catwalk,monkeyboard manipulator and righting manipulator in the drill up and down process.The system mentioned above is mainly used for the root treatment of drilling rigs.However,with the development of drilling technology,the life time of downhole tools are increased,and the frequency in the drill up and down is getting lower and lower,therefore,the singles rig is more and more widely applied in shallow wells or deep wells.If the singles rig is equipped with the conventional tubes and tubular tools handling system,it is necessary to design the corresponding structure of monkeyboard and setback,which makes the base and derrick modules become larger and is not conducive to the rapid removal of the rig.Aiming at the problems existing in the automatic tubes and tubular tools handling system of the above-mentioned singles rig,this thesis proposes a ground tubes and tubular tools handling manipulator which the tubes and tubular tools can be lifted from the drilling platform to the wellhead in the horizontal tubes and tubular tools racks,to realize the basic action of grab,flip,mobile,and centering of the tubes and tubular tools,and then,directly transfer the tubes and tubular tools below the top drive.Therefore,the power catwalk,monkeyboard manipulator and righting manipulator are replaced,so that the automatic tubes and tubular tools handling process is simplified.The main content of this thesis includes the following:According to the function of the tubes and tubular tools,the structure is determined by the arm and two sets of end grippers composed of eight clamping fingers.Due to the characteristics of the tubes and tubular tools,the end gripper is designed,which uses a connecting rod and gripping fingers composed of the body to achieve the synchronized movement of the gripping fingers.In the light of characteristics of the rig and the position of the tubes and tubular tools,the structural size and performance parameters of the arm are designed,which provides the basis for the subsequent structural modeling.And then,the structural modeling of the arm and end gripper are completed.The above structural design provides a structural model for the subsequent kinematics,dynamics and finite element analysis,which is the basis for the structural optimization of the manipulator.The coordinate system of the manipulator is established by the D-H coordinate method.On this basis,the inverse kinematics analysis is carried out to obtain the positive kinematics equation and kinematics inverse solution.At the same time,the trajectory planning based on the fifth interpolation polynomial is made.In addition,The kinematics simulation is carried out by ADAMS software.According to the simulation results,the optimal movement trajectory and reasonable running time of the manipulator are determined,which ensure the smooth operation and high efficiency of the manipulator.Therefore,the feasibility of the scheme design of the manipulator is verified by this kinematics simulation.The Jacobi matrix of velocity is deduced by differential transformation method and the manipulator dynamics equation is established by using Lagrangian method,so that the variation law of control moment in motion process is obtained.The force condition is researched in the process of manipulator movement by dynamics analysis,and the reasons are analyzed so that the structure and hydraulic system can be properly designed.According to the results of dynamics analysis,the finite element simulation analysis of the big arm is carried out.The stress and total deformation can not affect the performance of the manipulator by the simulation results,which verifies the safety of the structural design.The hydraulic drive circuits are designed based on analysis of manipulator movement.Meanwhile,the composition and working principle of hydraulic system is introduced.And then,the function of important hydraulic elements are described.