钻台机械手立根精准排放技术研究与应用

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关键词：自动化钻机；钻台机械手；立根；自动排管；精准排放；ADAMS中图分类号：TE921 文献标识码：ADOI：10.12473/CPM.202407020

Research and Application of Precise Pipe Stand Handling Technique for Drill Floor Manipulator

Zhao LiangliangYe QiangWang YaohuaBai BingjianHou Wenhui Jiang Zhen Luan Luyu （CNPC Baoji Oilfield Machinery Co.，Ltd. ;National Engineering Research Center forOil & Gas Driling Equipment）

Abstract：Precise pipe stand handling is challenge in the advancementof thedrillfloor manipulator.Depending on the structural featuresand fieldapplication of the manipulator，the factors influencing precise pipe stand handling were analyzed，revealing the factors including the nonlinear deformation of pipe，the height change of the support plier，and the matching between the gripper opening of the support plier and the diameter of pipe.Then， the optimaldesign and mathematical modeling of the mechanicalarms were carriedout，and aone-click automatic pipe stand handling program for the drill floor manipulator was developed through the research on pipe stand handling law basedon the virtual prototype technology and the research on the adaptive elastic-clamping support plier technology.Fieldapplicationdemonstrates thatthedrillfloor manipulator is greatlyimproved in terms of pipe handling accuracy，operation efciency，and service reliability. The research results can provide a reference for the design of drill floor manipulator.

Keywords：automated rig；drill floor manipulator；pipe stand;automatic pipe arranging；precise handling; ADAMS

0 引言

钻台机械手作为管柱自动化系统的重要设备之一，解决了我国陆地石油钻机钻井过程中起下钻立根排放机械化、自动化程度相对较低的问题。（剩余7201字）