Research On Automatic Pipe Handing System Of Two-story Platform For Onshore Drilling Rig

The labor-based piping operation has low efficiency,low safety,and high labor intensity of workers.In order to solve this problem,the introduction of automation equipment on land drilling rigs to realize automatic discharge of drill pipes is a major direction of petroleum automation equipment research.Based on previous studies,this paper has done a further study on the automatic piping system for the second deck of land drilling rigs.First,it compares and analyzes the existing automatic pipe arranging systems at home and abroad,and proposes the most suitable overall plan for land rigs.The system mainly adopts clamping and arranging method in the pipe arranging method,supplemented by pushing and supporting pipe arranging method;cooperates with the common XY-type finger beam to complete the pipe movement;the structure adopts the robot type directly installed on the second stage.Structure;The drive adopts two drive modes,hydraulic and electric.Secondly,the work process and main structure of the system are determined in combination with the work requirements of automatic pipe arrangement,and the mechanical structure is modeled in three dimensions using cero software.Optimized the design of the system's manipulator and clamping manipulator,and performed static simulation on it with ANSYS software to verify the optimized structure.It reduces the weight of the system and solves the problem of interference between the manipulator and the stand.Finally,a hydraulic system and an electronic control system are designed for the system.The hydraulic system's executive components and main components are selected and calculated to achieve a lightweight design;the electronic control system mainly uses S7-200 SMART PLC as the main controller,draws the main circuit diagram of the control system,and uses the ladder diagram to write The main control program realizes the wireless remote control of the system.The research structure of the thesis shows that the automatic pipe arranging system for the second floor of the land drilling rig studied in this paper further simplifies the structure,improves the work efficiency and automation level of the automatic pipe arranging system,and provides a valuable reference for the subsequent development and production of the automatic pipe arranging system.