钻台机械手的研制及应用
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摘要
随着钻采装备的不断发展,超深井钻机的数量越来越多,在钻井过程中钻台面排放钻具是一项任务繁重的工作,传统依靠人力排放钻具的作业方式已经不能很好地满足油田需求。鉴于此,研制了一种新型钻具排放工具——钻台机械手。钻台机械手采用程序控制和液压驱动的形式实现钻具规定动作的排放。其起升装置采用伸缩式结构,不工作时缩回至钻台面以下,不占用钻台面空间。对其液压调平机构进行了深入研究,得到该机构相关设计参数的最优解以达到调平误差最小的目标,经过动力学仿真软件ADAMS分析验证了其正确性。现场应用中,采用钻台机械手排放立根相比传统人工在钻台面排放立根效率提高了约25%。该钻台机械手对于提高作业效率、降低人工成本、减轻作业强度以及实现大直径钻具机械化排放有重要意义。
With the continuous development of drilling and production equipment, the number of ultra-deep drilling rig is increasing. It is a heavy task to handle drilling tool on the drill floor during drilling. Traditional human-powered drilling tool handling can no longer meet the needs of the oil field. In view of this, a new drilling tool handling tool, the drill floor manipulator, was developed. It uses program control and hydraulic drive to achieve the specified handling action of the drilling tool. The lifting device uses a telescopic structure, which is retracted below the drill floor when not working, leaving unoccupied drill floor space. The hydraulic leveling mechanism is deeply studied to attain the optimal solution of the relevant design parameters of the mechanism, so as to achieve the goal of minimum leveling error. It is then verified by dynamic simulation software ADAMS. In the field applications, the drill floor manipulator has an efficiency of stand handling about 25% higher than that of the conventional human-powered job. The drill floor manipulator is of great significance for improving work efficiency, reducing labor costs and work intensity, and achieving mechanized handling of large diameter drilling tools.
With the continuous development of drilling and production equipment, the number of ultra-deep drilling rig is increasing. It is a heavy task to handle drilling tool on the drill floor during drilling. Traditional human-powered drilling tool handling can no longer meet the needs of the oil field. In view of this, a new drilling tool handling tool, the drill floor manipulator, was developed. It uses program control and hydraulic drive to achieve the specified handling action of the drilling tool. The lifting device uses a telescopic structure, which is retracted below the drill floor when not working, leaving unoccupied drill floor space. The hydraulic leveling mechanism is deeply studied to attain the optimal solution of the relevant design parameters of the mechanism, so as to achieve the goal of minimum leveling error. It is then verified by dynamic simulation software ADAMS. In the field applications, the drill floor manipulator has an efficiency of stand handling about 25% higher than that of the conventional human-powered job. The drill floor manipulator is of great significance for improving work efficiency, reducing labor costs and work intensity, and achieving mechanized handling of large diameter drilling tools.
引文
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[3] 赵亮亮,马洪钟,王定亚,等.一种具有自动排放钻具功能的钻台面机械手:201520858293.7 [P].2016-04-13.ZHAO L L,MA H Z,WANG D Y,et al.A kind of drilling platform manipulator with the function of automatic discharging drilling tools:201520858293.7 [P].2016-04-13.
[4] 胡元.高空作业车工作平台调平机构[J].工程机械,2006,12(37):34-36.HU Y.Leveling mechanism of working platform of aerial working vehicle[J].Engineering Mechanism,2006,12(37):34-36.
[5] 田丽敏,郭维斌.全折叠小型高空作业车的调平机构[J].工程机械,2003,9(2):20-22.TIAN L M,GUO W B.Leveling mechanism of full folding arm small aerial working vehicle[J].Engineering Mechanism,2003,9(2):20-22.
[6] 王欣.大型履带起重机设计的关键问题研究及软件系统研制[D].大连:大连理工大学,2000.WANG X.Research on key problems in design of large crawler crane and development of software system[D].Dalian:Dalian University of Technology,2000.
[7] 许志勇.汽车起重机计算机辅助设计系统的研究与开发[D].大连:大连理工大学,2000.XU Z Y.Research and development of computer aided design system for truck crane[D].Dalian:Dalian University of Technology,2000.
[8] 陈立平,张云清,任卫群,等.机械系统动力学分析及ADAMS应用教程[M].北京:清华大学出版社,2005.CHEN L P,ZHANG Y Q,REN W Q,et al.Mechanical system dynamics analysis and ADAMS application course [M].Beijing:Tsinghua University Press,2005.
[9] 郑建荣.ADAMS——虚拟样机技术入门与提高[M].北京:机械工业出版社,2002.ZHENG J R.ADAMS—introduction and improvement of virtual prototyping technology [M].Beijing:Machinery Industry Press,2002.