發(fā)布時(shí)間：2018-04-28 03:56

  本文選題：井下機(jī)器人 + 行走機(jī)構(gòu)��； 參考：《東北石油大學(xué)》2015年碩士論文

【摘要】：本文在充分調(diào)研石油井下牽引器國內(nèi)外發(fā)展現(xiàn)狀的基礎(chǔ)上,分析了國內(nèi)外現(xiàn)有石油井下牽引器的性能與參數(shù)資料,考慮了未來水平井鉆修作業(yè)技術(shù)需求,提出了未來石油井下牽引器需要滿足的要求與發(fā)展趨勢是向更加智能化的石油井機(jī)器人發(fā)展,并提出了一種采用剛?cè)峄旌闲凶邫C(jī)構(gòu)的石油井機(jī)器人行走方案。該方案采用柔性的彈簧支片與剛性連桿剛?cè)峄旌系姆绞酱媪藗鹘y(tǒng)伸縮式石油井下牽引器的剛性連桿脹閘機(jī)構(gòu),較之目前石油井下牽引器所采用的剛性蠕動(dòng)行走方案與輪式行走方案能提供更大的井下環(huán)境適應(yīng)性。本文主要論述的內(nèi)容有:石油井機(jī)器人行走機(jī)構(gòu)的結(jié)構(gòu)設(shè)計(jì)、參數(shù)設(shè)計(jì);采用2R偽剛體模型建立柔性彈簧支片的靜力學(xué)模型,得出柔性彈簧支片受力與變形間的關(guān)系方程,并推導(dǎo)出行走機(jī)構(gòu)驅(qū)動(dòng)力與彈簧支片和管壁間接觸力的關(guān)系方程;通過多體動(dòng)力學(xué)仿真軟件RecurDyn對石油井機(jī)器人行走機(jī)構(gòu)對多種井下環(huán)境的適應(yīng)性進(jìn)行了動(dòng)力學(xué)仿真研究;最后對石油井機(jī)器人實(shí)驗(yàn)樣機(jī)進(jìn)行了實(shí)驗(yàn)研究并對實(shí)驗(yàn)結(jié)果與仿真結(jié)果進(jìn)行了對比分析。文中詳細(xì)介紹了RecurDyn軟件中如何導(dǎo)入模型、添加約束、創(chuàng)建接觸、添加驅(qū)動(dòng)等操作的基本步驟�；赗ecurDyn對行走機(jī)構(gòu)在無約束情況下的運(yùn)動(dòng)狀態(tài)與有管壁約束情況下的運(yùn)動(dòng)狀態(tài)進(jìn)行了仿真研究,對彈簧支片的2R偽剛體模型進(jìn)行了驗(yàn)證。針對縮徑、凸起、局部錯(cuò)位三種常見的井下套管變形情況對行走機(jī)構(gòu)進(jìn)行了井下環(huán)境適應(yīng)性仿真分析,得出了在給定的行走機(jī)構(gòu)尺寸參數(shù)下石油井機(jī)器人剛?cè)峄旌闲凶邫C(jī)構(gòu)在上述三種套管變形情況下所能提供的漲緊力與適應(yīng)性。本文最后介紹了石油井機(jī)器人行走機(jī)構(gòu)接觸力實(shí)驗(yàn)裝置和石油井機(jī)器人試驗(yàn)樣機(jī)與石油井機(jī)器人牽引力地面測試裝置,并對行走機(jī)構(gòu)對不同尺寸套管壁所能產(chǎn)生的接觸力以及石油井機(jī)器人所能產(chǎn)生的牽引力進(jìn)行了地面實(shí)驗(yàn)。實(shí)驗(yàn)證明采用剛?cè)峄旌闲凶邫C(jī)構(gòu)的石油井機(jī)器人在一般井下環(huán)境中能產(chǎn)生較大牽引力且具有較好的通過性能,驗(yàn)證了仿真模型的正確性。
[Abstract]:On the basis of investigating the present situation of oil downhole tractor at home and abroad, this paper analyzes the performance and parameter data of oil downhole tractor at home and abroad, and considers the technical requirements of drilling and repairing in future horizontal well. It is pointed out that the requirement and development trend of the future oil downhole tractor is to develop a more intelligent oil well robot, and a walking scheme of oil well robot using rigid and flexible hybrid walking mechanism is proposed. In this scheme, the flexible spring support and rigid connecting rod are mixed together to replace the traditional expansion type oil downhole tractor's rigid connecting rod flatulence mechanism. Compared with the rigid peristaltic walking scheme and wheeled walking scheme adopted by the oil downhole tractor at present, it can provide greater underground environmental adaptability. The main contents of this paper are as follows: structure design, parameter design of walking mechanism of oil well robot, static model of flexible spring branch established by 2R pseudo-rigid body model, and the relation equation between force and deformation of flexible spring branch. The relation equation between driving force of walking mechanism and contact force between spring branch and pipe wall is deduced, and the adaptability of walking mechanism of oil well robot to various downhole environments is studied by means of multi-body dynamics simulation software RecurDyn. Finally, the experimental prototype of oil well robot is studied, and the experimental results are compared with the simulation results. In this paper, the basic steps of how to import model, add constraints, create contacts and add drivers in RecurDyn software are introduced in detail. Based on RecurDyn, the kinematic state of walking mechanism under unconstrained and tubular constraints is simulated, and the 2R pseudo-rigid body model of spring branch is verified. Aiming at three kinds of common downhole casing deformation such as shrinkage, bulge and local dislocation, the paper simulates and analyzes the underground environment adaptability of the walking mechanism. The tightening force and adaptability of the oil well robot rigid flexible hybrid walking mechanism under the three casing deformation conditions are obtained under the given size parameters of the walking mechanism. Finally, the paper introduces the contact force experimental device of the walking mechanism of the oil well robot and the ground test device of the oil well robot test prototype and the petroleum well robot tractive force. The contact force of the walking mechanism on the pipe wall with different sizes and the traction produced by the oil well robot are tested on the ground. The experimental results show that the oil well robot with rigid and flexible walking mechanism can produce large tractive force in general downhole environment and has good performance. The correctness of the simulation model is verified.
【學(xué)位授予單位】：東北石油大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TE938

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本文編號(hào)：1813659