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世界地质 2022, 41(4) 898-906 DOI: ISSN: 1004-5589 CN: 22-1111/P

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	旋转自由度
	曲面斜楔
	保压
	机液联合仿真分析
	刚柔耦合分析
	本文作者相关文章
	李昊轩
	王清岩
	金赠伍
	李苓豪
	郭乃铭
	PubMed
	Article by Li H
	Article by Wang Q
	Article by Jin Z
	Article by Li L
	Article by Guo N

曲面斜楔驱动的钻杆夹持机械手设计及机液联合仿真分析

李昊轩1 ，王清岩1，2 ，金赠伍1 ，李苓豪1 ，郭乃铭1

1. 吉林大学建设工程学院，长春 130026; 2. 自然资源部复杂条件钻采技术重点实验室 ( 吉林大学) ，长春 130026

摘要：为解决钻杆旋转时易偏斜的问题，设计了一种具有滚轮结构和曲面斜楔结构的机械手。该机械手保留了钻杆旋转自由度，避免拧卸时钻杆偏斜导致的螺纹破损，保障了施工安全性。为提高机械手工作稳定性，利用蓄能器和负载敏感变量泵提高液压系统的保压性能、减少了能耗。为验证机械手在实际工况中夹紧功能的可靠性，利用Ｒecurdyn 和 AMEsim 进行机液联合仿真分析和刚柔耦合分析，模拟在改变钻杆直径和回路额定压力的情况下钻杆受力、回路压力和机械手关键零部件所受应力的变化情况。结果表明: 当钻杆直径为 φ127 mm、φ108 mm、φ89 mm 和 φ73 mm 时，回路许用压力范围分别为 8 ～ 12 MPa、8 ～ 12 MPa、6 ～ 8 MPa 和 3 ～ 5 MPa。在许用压力范围内，机械手既满足可靠夹紧的需求，其结构强度也满足设计要求。

关键词：旋转自由度曲面斜楔保压机液联合仿真分析刚柔耦合分析

Design of drill pipes clamping manipulator driven by curved wedge and mechanical-hydraulic co-simulation analysis

LI Haoxuan1 ，WANG Qingyan1，2 ，JIN Zengwu1 ，LI Linghao1 ，GUO Naiming1

1. College of Construction Engineering，Jilin University，Changchun 130026，China; 2. Ministry of Land and Ｒesources Key Laboratory of Complicated Conditions Drilling Technology ( Jilin University) ， Changchun 130026，China

Abstract: In order to solve the problem that the drill pipe is easily deflected when it is rotated，a manipulator with the roller structure and the curved wedge structure were designed． The manipulator retains the rotational degree of freedom of the drill pipe，avoiding thread breakage caused by the deflection of the drill pipe during unscrewing， and ensuring construction safety． In order to improve the working stability of the manipulator，the accumulator and the load-sensitive variable pump are used to improve the pressure-keeping performance of the hydraulic system and reduce the energy loss． For verifying the reliability of the clamping function of the manipulator in actual working conditions，the mechanical-hydraulic co-simulation analysis and rigid-soft coupling analysis were carried out by Ｒecurdyn and AMEsim to simulate the change of the drill pipe force，circuit pressure and stress on the key components of the manipulator under the condition of changing the diameter of the drill pipe and the rated pressure of the circuit． The results show that when the diameter of the drill pipe is φ127 mm，φ108 mm，φ89 mm and φ73 mm，the allowable pressure range of the circuit is 8 ～ 12 MPa，8 ～ 12 MPa，6 ～ 8 MPa and 3 ～ 5 MPa，respectively． Within the allowable pressure range，the manipulator not only fits the need for reliable clamping，but also meets the design requirements for the structural strength．

Keywords: rotational degree of freedom curved wedge pressure-keeping mechanical-hydraulic co-simulation analysis rigid-soft coupling analysis

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