基于位置开关的钻杆机械手定位系统研究

为改变现有钻杆机械手定位以机械限位或液压憋压为主的现状,通过分析三自由度关节式机械手结构特点、遥控自动钻机钻杆输送轨迹以及现有方法主要缺点,制定了以接近式位置开关为传感器的定位系统总体方案。根据各关节运动方式和定位需求,设计了针对性的位置开关和感应块配对方式。试验和现场应用表明,该方法提高了机械手的位置判断准确度、定位精度以及响应速度,促进了上、下钻杆效率的提升。

Research on Positioning System of Drill Pipe Manipulator Base on Position Switch

To change the situation of positioning the drill pipe manipulator by only the mechanical limitation or the hydraulic pressure-out way,the main plan of the positioning system in which the position switch is adopted as the sensor was made,through analyzing the three degree of freedoms articulated manipulator,the pipe conveying track of the remote automatic drilling rig and the main defects of existing methods.Targeted matching methods of position switches and sensing blocks were designed according to the moving ways and positioning requirements of different joints. Test and field application show that the position judging accuracy, the position precision and the response speed of the manipulator were all enhanced, and the efficiency of the pipe loading and unloading was promoted.