The Design Of Monkey-board Pipe Handing System For Automated Drilling Rig

Monkey-board pipe handing system is an automatic operating system for the discharge,movement,loading and unloading of drill pipe.With the advantages of high working efficiency,superior safety performance and high degree of automation,the system is more and more widely used in petroleum exploration and development.But at present,the development of automatic drilling technology and equipment is imperfect,the linkage of various machines is difficult to achieve,and the traditional piping hydraulic system is greatly affected by temperature change which the is difficult to work continuously for a long time.In view of the difficulty in linkage between machines and the fact that hydraulic drive is greatly affected by temperature,this paper designs a set of electric-driven automatic Monkey-board pipe handing system,which mainly consists of monkey-board manipulator,floor manipulator,power catwalk,telescopic boom type iron roughneck and power elevator,etc.,and the drill pipe movement sequence and trajectory are planned to achieve the joint action of each mechanism.The system has the characteristics of high degree of automation,small space occupied and little influence of temperature change.This paper mainly completes the following aspects:(1)Consult relevant engineering data and drilling site requirements and build the model of monkey-board pipe handing system basing on the movement sequence and trajectory of the drill pipe.According to the work requirements of each mechanism and the transmission mechanism used,analyze and calculate respectively to choose the appropriate servo motor and electric cylinder.(2)Based on the structure design of monkey-board manipulator,the dynamic analysis and simulation were carried out.Analyze the relationship between the displacement,velocity and acceleration of the piston rod of the electric cylinder in the X direction and the displacement,velocity and acceleration of the claw mechanism and found simulation models.The results show that the linear amplification effect of the Monkey-Board manipulator on the movement of the piston rod in the X direction of the electric cylinder is obvious,and the interference in the Y direction is small and negligible.(3)According to the working conditions of the iron roughneck,the simulation analysis of the iron roughneck 's screw and punch pliers is carried out to analyze the torque change of the drill pipe in the process of screw and punch.The simulation results show that the selected servo motor and electric cylinder meet the requirements of the iron driller in the process of unloading the drill pipe.(4)According to the requirements of the vertical discharge system,the static simulation analysis of the key components of the system is carried in this paper.The results of static simulation show that the component safety coefficient is larger than API standard safety coefficient which meets the engineering requirements.The Yanhua PCI control card was used to design the preliminary control system,and the simulation interface software was programmed.In this paper,the design of the electric-driven automatic system is completed through the research of monkey-board pipe handing system,which is of great practical significance to the land automation drilling and the localization of advanced drilling equipment.