Design And Experimental Research On The Automatic Swinging Manipulator Of Drill Pipe In Core Drilling

The drill pipe automatic swing manipulator is a key device to realize the automation of drilling rig.During the normal drilling or tripping operation,it is mainly responsible for the lifting,lowering and swinging of the drill pipe,and can cooperate with the drill rig to complete the loading and unloading of the drill pipe.The research and application of this aspect in the field of geological core drilling in China are still in the initial stage,and there are not yet fully mature products on the market.Therefore,a set of automatic swing manipulator for wireline coring drill pipe was designed for CSD1800 ZD automatic core drilling rig independently developed by the project of " Joint Research and Development and Demonstration of Key Technical Equipment for Core Drilling in Polymetallic Ore ",which is used to realize the automation of adding and connecting the drill pipe and tripping,so as to reduce the labor intensity of workers,improve the safety and drilling efficiency,etc.First,according to the design requirements and the operation process of the drill pipe during the normal drilling or tripping operation,the overall scheme of the manipulator was determined.The manipulator is directly installed on the mast of the drilling rig,and the turning angle is adjusted to match the drilling angle through the adjustable mechanical positioning structure designed on the turning mechanism,which can meet the needs of drilling vertical or inclined wells.The lifting mechanism,turning mechanism,swing mechanism and clamping mechanism of the manipulator were designed in detail and selected by calculation.Because the thread taper of the wireline coring drill pipe is small,the coaxial degree between the drill pipe and the drill spindle is required to be high after the drill pipe is moved to the wellhead.Therefore,three compensation mechanisms were designed,including two fine-tuning mechanisms and an anti-drill pipe forward tilt mechanism,which can adjust the position of the drill pipe center during installation and debugging.Secondly,in order to facilitate the application in the field without power supply,the manipulator is driven by a hydraulic system.The hydraulic circuits of the lifting mechanism,turning mechanism,swing mechanism and clamping mechanism were designed,and the schematic diagram of the hydraulic system of the manipulator was determined.Thirdly,the static finite element analysis was carried out on the connecting rod,mechanical arm,sliding table and other key parts of the manipulator by using ANSYS Workbench software,and the equivalent stress and total deformation of each part were obtained.The results showed that the manipulator met the design requirements in terms of strength.Then,the virtual prototype model of the manipulator was established using ADAMS software,and the multi-rigid body kinematics and dynamics simulation analysis was carried out.The displacement curve of the drill pipe centroid,driving force or torque curve were obtained,which verified the rationality of the calculation and selection in the structural design and provided support for the evaluation of the system performance of the manipulator.Finally,the installation test of the physical prototype on the drill rig and the application of the Shandong demonstration project were carried out.The manipulator operated stably and reliably in the test and application process,realizing the automation of adding and connecting the drill pipe and tripping.