| 单机械手夹持状态下钻杆运移平稳性分析 |
| 投稿时间：2022-03-07 修订日期：2022-03-31 点此下载全文 |
| 引用本文：李昊轩,王清岩,金赠伍,等.单机械手夹持状态下钻杆运移平稳性分析[J].钻探工程,2022,49(3):76-82.LI Haoxuan,WANG Qingyan,JIN Zengwu,et al. Analysis of smooth movement of drill pipes clamped with a single manipulator[J]. Drilling Engineering, 2022,49(3):76-82. |
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| 基金项目:国家深部探测技术与实验研究专项之“深部大陆科学钻探装备研制”（编号：SinoProbe-09-05） |
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| 中文摘要:本文主要针对一种新型的可以保留钻杆旋转自由度的机械手，研究其运移钻杆时的稳定性和安全性是否满足要求。该机械手通过蓄能器提高了停泵保压效果，通过滚轮结构保留了钻杆的旋转自由度。本文建立了机械手的多体动力学模型及配套的液压控制回路，并进行机-液联合仿真分析。在分别改变钻杆直径和液压回路压力的条件下，观察机械手夹紧效果。通过仿真得到了钻杆的夹紧力变化曲线及钻杆重心位置变化曲线，确定了液压系统的许用压力范围，并验证了单机械手夹持状态下钻杆运移平稳性满足要求。 |
| 中文关键词:单机械手 钻杆运移 管具可旋转 保压 机液联合仿真 平稳性分析 |
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| Analysis of smooth movement of drill pipes clamped with a single manipulator |
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| Abstract:This paper studies a new type of manipulator that can retain the freedom of rotation of the drill pipe in terms of its stability and safety in movement of the drill pipe. The manipulator improves the pressure-keeping retention effect through the accumulator during pump shut-off， and retains the rotational freedom of the drill pipe through the roller structure. In this paper， the multibody dynamic model of the manipulator and the supporting hydraulic control circuit are established， and the mechanic-hydraulic co-simulation is performed. Under the condition of changing the drill pipe diameter and the hydraulic circuit stress respectively， the clamping effect of the manipulator was observed. Through simulation， the clamping force change curve and the gravity position change curve of the drill pipe are obtained， the allowable pressure range of the hydraulic system is determined， and the movement smoothness of the drill pipe clamped with the single manipulator is verified to meet the requirements. |
| keywords:single manipulator drill pipes movement pipes with rotational degree of freedom pressure-keeping mechanic-hydraulic co-simulation smoothness analysis |
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