Research and Application of Precise Pipe Stand Handling Technique for Drill Floor Manipulator

• 發表在: Shiyou jixie
• Main Authors: Zhao Liangliang, Ye Qiang, Wang Yaohua, Bai Bingjian, Hou Wenhu, Jiang Zhen, Luan Luyu
• 格式: Article
• 語言: 中文
• 出版: Editorial Office of China Petroleum Machinery 2025-08-01
• 主題: automated rig; drill floor manipulator; pipe stand; automatic pipe arranging; precise handling; adams
• 在線閱讀: http://www.syjxzz.com.cn/en/#/digest?ArticleID=4994

Precise pipe stand handling is challenge in the advancement of the drill floor manipulator. Depending on the structural features and field application of the manipulator， the factors influencing precise pipe stand handling were analyzed， revealing the factors including the nonlinear deformation of pipe， the height change of the support plier， and the matching between the gripper opening of the support plier and the diameter of pipe. Then， the optimal design and mathematical modeling of the mechanical arms were carried out， and a one-click automatic pipe stand handling program for the drill floor manipulator was developed through the research on pipe stand handling law based on the virtual prototype technology and the research on the adaptive elastic-clamping support plier technology. Field application demonstrates that the drill floor manipulator is greatly improved in terms of pipe handling accuracy， operation efficiency， and service reliability. The research results can provide a reference for the design of drill floor manipulator.