HCW-90型全液压自动猫道钻具翻板机构控制优化

Control synchronization optimization for the transfer mechanism of HCW-90 full hydraulic automatic catwalk

摘要:

针对HCW-90型全液压自动猫道钻杆翻越档销进入V型槽的动作进行研究，涉及钻杆翻越档销、钻杆沿翻板滚动以及钻杆稳定在V型槽内等3个动态过程。操纵翻板机构的液压缸动作的控制信号是影响管体运移快速性和平稳性的主要因素，翻板动作的同步性则决定了管体运移的空间姿态和定位精度。本文主要采用机液联合仿真的方法，对HCW-90型全液压自动猫道的翻板机构进行模拟测试，分析机构的动态性能，研究确保钻杆稳定运移且能提高快速性的具体措施。

Abstract:

This paper has studied the movement that HCW-90 full hydraulic automatic catwalk drives a drilling rod over the stop pin and entering the V-groove， which involves three dynamic processes： the drilling rod over the stop pin， the drilling rod rolling along the transfer， and the drilling rod stabilizing in the V-groove. The control signal of the action of the hydraulic cylinder that manipulates the transfer mechanism is the main factor that affects the rapidity and stability of tubes’ movement. The synchronization of transfers’ movement determines the spatial attitude and positioning accuracy of tubes’ movement. This paper mainly simulated the dynamic performance of the mechanism transfer mechanism of HCW-90 full hydraulic automatic catwalk with the method of mechanical-hydraulic co-simulation， and studied the specific measures to ensure the stable movement of the drilling rod and improve the rapidity.