Research on automatic conveying system of large-capacity drill pipe based on path planning

In order to solve the problem that the capacity of automatic conveying system of the existing drill pipe and drill rig is insufficient and manual replenishment of drill pipe is required frequently, an automatic conveying system of large-capacity drill pipe is developed.The lifting conveyor path plan combined with the overall structural design of ZYWL multidirectional automatic drill rig designed based on the general conveying path plan and the starting point normalization method for the multi-row and multi-layer pipes.This plan is helpful to reduce the height of the drill rig because of using the space below the side of the drill pipe box.Operating mechanisms are designed, including the drill pipe box, the transferring device, the main and the deputy manipulator.According to the mechanism structural plan, the conveying path is adjusted adaptively to avoid structure and moving interference between the conveying system and the drill rig.It is verified by both the theoretical calculation and the model machine test that the pipe conveying path of automatic conveying system of large-capacity drill pipe is set properly and the drill pipe can be delivered automatically and accurately.