摘要
为了设计一套能够通过纯液压控制的简易机械手,实现钻机半自动上钻杆的功能,基于人工上钻杆的动作流程,分析了简化上钻杆动作逻辑关系。通过三维设计软件建立了机械手结构模型,分析了相关运动学机械原理结构,对关键机构进行结构设计和参数优化计算,对关键受力件进行强度校核和有限元分析,对模型进行运动学仿真,最后试制了半自动上杆装置并进行试验。试验结果表明:该装置进行上杆作业时运动机构和液压系统无卡阻现象。
In order to design a set of simple manipulator that can realize semi-automatic drill pipe feeding through pure hydraulic control,based on the action flow of manual drill pipe feeding,the logic relationship of simplified drill pipe feeding action was analyzed.The structure model of the manipulator was established through the 3D design software,the relevant kinematic mechanical principle structure was analyzed,the structure design and parameter optimization calculation were carried out for the key mechanism.The strength check and finite element analysis were carried out for the key stressed parts,and the kinematics simulation was carried out for the model.Finally,the semi-automatic drill pipe feeding device was trial manufactured and tested.The test results show that there is no jamming phenomenon in the motion mechanism and hydraulic system when the device is working on the drill pipe.
作者
谢杰
XIE Jie(CCTEG Chongqing Research Institute,Chongqing 400039,China)
出处
《矿业安全与环保》
北大核心
2022年第5期18-23,共6页
Mining Safety & Environmental Protection
关键词
钻机
机械手
液控系统
浮动机构
杠杆机构
有限元分析
优化设计
drilling rig
manipulator
hydraulic control system
floating mechanism
leveraged institution
finite element analysis
optimal design
