本文選題：鉆桿 + 自動排放系統(tǒng)�。� 參考：《中國地質(zhì)大學(xué)(北京)》2017年碩士論文

【摘要】：鉆桿自動操作設(shè)備替代人工操作,減少施工作業(yè)安全事故,提高施工效率,節(jié)約施工成本。近年來,該設(shè)備的研制已成為鉆探領(lǐng)域的研究熱點。國外逐步研制出全自動化操作鉆桿的系統(tǒng),但仍存在鉆桿庫容量小、操作穩(wěn)定性差、效率低下等缺點;而國內(nèi)對鉆桿自動化操作設(shè)備的研制側(cè)重于鉆桿移擺功能,還未研制出較成熟的具有大容量、高效率、全自動的鉆桿排放系統(tǒng)。本文針對項目預(yù)期任務(wù)及初代樣機試驗所存在的問題,設(shè)計了一套全新的鉆桿單根自動排放系統(tǒng);該系統(tǒng)采用無墊梁式存放+直角坐標(biāo)機械手的排放方案,單根重量50kg,單根長度6米,能夠在36秒之內(nèi)完成鉆桿單根的排放過程。首先,對裝置的總體結(jié)構(gòu)進行設(shè)計�；�2000米的鉆探深度,設(shè)計了容量345根的鉆桿庫;基于無墊梁式存放,建立了鉆桿庫側(cè)擋柱的受力模型,并對受傾覆力矩的側(cè)擋柱螺栓組作受力分析;基于直角坐標(biāo)機械手排放方案,對三軸伺服電機作選型計算。其次,對直角坐標(biāo)機械手排管過程進行三階運動規(guī)劃。采用積分法與圖形面積法對三階運動規(guī)劃進行推導(dǎo);通過將時間及倍數(shù)關(guān)系取整、簡化,確定了具體形式的運動規(guī)劃;基于36秒排放最遠路徑鉆桿,作出了具體運動規(guī)劃,并推導(dǎo)出排放不同路徑鉆桿耗時的最大值、最小值與平均值。再次,運用虛擬仿真軟件ADAMS,對裝置進行了運動學(xué)與動力學(xué)分析。將上述36秒的三階規(guī)劃分別與相同耗時的二階規(guī)劃、改變參數(shù)后的三階規(guī)劃作比較,研究鉆桿的位移、速度和加速度的變化曲線及鉆桿與夾持器接觸力的變化曲線;結(jié)果表明:鉆桿在三階規(guī)劃下歷時36秒運行更加平穩(wěn),驗證了裝置能在36秒內(nèi)排放最遠鉆桿的合理性及可行性。最后,運用Solidworks-simulation模塊對關(guān)鍵部件進行有限元分析。通過在主梁上安裝帶有圓弧定位槽的支撐梁,將最底層鉆桿對側(cè)支撐擋柱的壓力進行轉(zhuǎn)移,優(yōu)化了側(cè)擋柱的受力狀況;同時驗證了其他關(guān)鍵部件均滿足結(jié)構(gòu)強度要求。
[Abstract]:Drilling rod automatic operation equipment replace manual operation, reduce construction work safety accidents, improve construction efficiency and save construction cost. In recent years, the development of the equipment has become a hot spot in the field of drilling. The development of the automatic drilling rod operation equipment in China focuses on the drilling rod displacement function, and has not developed a mature discharge system with large capacity, high efficiency and full automatic drilling rod. In this paper, a set of new automatic emission system for drilling rod is designed for the project expected task and the problems existing in the preliminary prototype test. The emission scheme with a non cushion beam storage + Cartesian coordinate manipulator is adopted, with a single weight of 50kg and a single length of 6 meters, the single root discharge process can be completed within 36 seconds. First, the overall structure of the device is designed. Based on the drilling depth of 2000 meters, a drilling rod tank with capacity of 345 is designed. Based on the non cushion beam storage, a drill is established. The force model of the side retaining column of the rod reservoir and the force analysis of the side retaining column bolt group under the overturning moment are analyzed. Based on the Cartesian coordinate manipulator emission scheme, the three axis servo motor is selected and calculated. Secondly, the three order motion planning is carried out on the Cartesian coordinate mechanical hand row tube process. The integral method and the graphic area method are used to push the three order motion planning. By simplifying the time and multiple relations and simplifying the specific form of motion planning; based on the 36 second emission of the farthest path drill rod, the concrete motion planning is made, and the maximum, minimum and average value of the time consuming of different path drilling rods are derived. Thirdly, the kinematics and dynamics of the device are carried out by using the virtual simulation software ADAMS. By comparing the above 36 second three order programming with the same time consuming two order programming and the three order plan after changing the parameters, the change curves of the displacement, velocity and acceleration of the drill rod and the change curve of the contact force between the drill rod and the clamp are studied. The results show that the drill rod runs more smoothly in 36 seconds under the three order plan, verifying the device. The rationality and feasibility of the farthest drill pipe can be discharged in 36 seconds. Finally, the Solidworks-simulation module is used to analyze the key components by finite element analysis. By installing a supporting beam with a circular arc positioning trough on the main beam, the pressure of the bottom support column is transferred to optimize the force condition of the side retaining column, and it is verified at the same time. Other key components meet the strength requirements of the structure.

【學(xué)位授予單位】：中國地質(zhì)大學(xué)(北京)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：P634.3
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本文編號：1840177