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The Research for the Measuring Instrument Mechanical Arm Used in Oil-Field Layered Water Injection

Author: LiuXinXin
Tutor: ZhangGuangYu
School: Harbin Institute of Technology
Course: Mechanical and Electronic Engineering
Keywords: measuring instrument mechanical arm flexible shaft hybrid rigid-flexible dynamic modeling dynamics simulation
CLC: TP241
Type: Master's thesis
Year: 2009
Downloads: 16
Quote: 0
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Abstract


The majority of Daqing Oil Field has entered the high watery development period, the injection way realization of layered controlled injection in the water-injection already became the important method to solve the contradiction between the oil field level, to maintain the stratum energy, to maintain long-term stable production, the high production, to enhance the recovery ratio of the oil field. The layered testing and adjusting combination water-distributing system which Daqing Oil Field is now developing wants to realize the function of“the pressure synchronously read, the flux real-time monitored, the tap continuously adjusted”, achieved the goal of enhancement of test efficiency, reduction the time of testing and adjusting, enhancement of the rate of test material accuracy, the measuring instrument is an important part in the system.According to the actual situation, this paper has propose a concept of the arm mechanism which can complete adjustment function. It includes manipulator unfolding and positioning mechanism, manipulator compliant drive docking mechanism. The measuring instrument manipulator positioning mechanism can achieve the function of robot arm automatically started, positioning, recovery in the target water, under the guidance-oriented of Oriented institutions. After the manipulator unfolded and positioned, docking mechanism of the robot arm can achieve a flexible docking with the plug that is closed and sit in the water plug in the Water distribution device. Then, the drive motor’s torque will be delivered to the plug head through the manipulator compliant drive mechanism, in order to complete regulation of traffic. It established flow field model of the outside of manipulator, analysed the impact of of flow field on manipulator, Manipulator designed to provide theoretical data for manipulator design.Then, it carried out static analysis on the manipulator positioning mechanism for according to the results of flow field analysis,initially identified the parameters of driven torsion spring of the manipulator shoulder. After that, it did the harmonic response analysis to manipulator unfolding and positioning mechanism base on ANSYS soft, to determine the matching of the two parameters of driven torsion spring of manipulator shoulder and elbow, as to reduce the vibration response of the manipulator positioning mechanism in the disturbed flow, and improve the ability of the organization. It studied principles of research and analysis methods of steel flexible shaft which is the key transmission components in the Manipulator compliant drive mechanism, and determined the main parameters of steel flexible shaft which is suitable for the application, to provide a theoretical basis for specific development.At last, based on ANSYS and ADAMS co-simulation technology, it established the hybrid rigid-flexible dynamic model of the manipulator docking mechanism. It did dynamic simulation under general initial docking conditions, and validated rationality and reliability of the design of the docking mechanism from kinematic characteristics and mechanical properties. Through the simulation data, we can norm-setting the process of putting the measuring instrument into the injection wells.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Manipulator
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