【作者】 王岩；

【导师】 常玉连；

【作者基本信息】 东北石油大学 ， 机械制造及其自动化， 2011， 硕士

【摘要】 本文研究内容来自黑龙江省科技厅重大科技攻关项目“带压作业井口操作机械化装置研究与设计(GC09A525)”。本文在充分调研、分析现场修井作业工艺及国内外各种修井机械自动化技术的基础上,提出了一种能较好地实现油管自动拉送排放、管柱抓取、管柱扶正、对中及管柱上卸扣的机械自动化的系统方案。根据系统方案进行新型修井作业油管移运系统的设计、理论研究及虚拟样机仿真研究工作。首先进行了新型修井作业油管移运系统各组成部分的详细合理的设计,并利用SolidWorks软件创建出整套系统的三维实体模型。然后研究和分析了机械臂起升系统的运动学数学模型,将该系统简化为平面系统,计算出了该系统的运动自由度,采用ADAMS的运动学理论,得到了大臂的速度和加速度方程。在已求解运动学(位移、速度和加速度)方程的基础上,运用ADAMS中采用的动力学理论,得到了液压缸推力方程,最终得到了液压缸所需驱动力。在理论分析的基础上,将SolidWorks中建立的三维模导入ADAMS软件中进行运动学和动力学仿真分析。通过对大臂的仿真,得到了机械大臂起升的角速度,角加速度曲线等,从曲线得到液压缸的起升速度,同时还将刚性大臂和柔性大臂的仿真结果进行了对比,得知柔性体的仿真更真实,仿真得到的结果将对今后设计的改进提供了依据。更多还原

【Abstract】 The article is a major scientific and technological project which comes from Science and Technology Department of Heilongjiang Province,Wellhead pressure of work with mechanical equipment research and design operations. In this paper, based on full investigate and analysis the progress of workover operation, full investigate and analysis kinds of home and aboard workover and drilling mechanical automation technology. A system scheme that can better realize drag pipe, feeding pipe, emission pipe, grasp pipe, right pipe, center pipe, make up and breakout pipe by mechanical automation was put forward.The designation and theoretical research of the new type workover new tubing pipe system, and the simulation research work of its virtual prototype are the main works in this paper. The detailed and reasonable designation of all component parts of the new type workover new tubing system were completed, the 3 d solid model of whole system was created by SolidWorks software.ADAMS simulation software focuses on the kinematics and dynamic simulation analysis of the mathematical theory used.Then research and analysis the kinematics mathematical model of the system which lifting the manipulator, simplify the system for the planar system,and calculates the freedom of the movement, used the ADAMS kinematic theory, get the big arm of the velocity and acceleration equations. Has been solved in the kinematic (displacement, velocity and acceleration) equation, based on the use of dynamic theory used in ADAMS, has been thrust equation of hydraulic cylinder, hydraulic cylinder finally get the necessary driving force.In the theoretical analysis, based on the three-dimensional model created in SolidWorks into ADAMS software simulation of kinematics and dynamics. By the simulation of the big arm, get the mechanical lifting arm angular velocity, angular acceleration curve and so on.From the curves obtained the hydraulic cylinder lifting speed, and also compared the rigid and flexible boom arm of the simulation results, found that the more realistic simulation of flexible bodies. Simulation results obtained in the future will provide a basis for improved design.更多还原