Design and research of drill pipe auxiliary docking manipulator

In order to solve the problems of low efficiency, time-consuming, labor-intensive and high risk of make a connection and put out of hole in oil exploitation engineering, based on the traditional single connection operation process, a dual-arm drill pipe auxiliary docking manipulator with PLC as the main controller is designed with reference to the spherical coordinate manipulator. This paper mainly describes the mechanical structure and control system of the double-arm drill pipe auxiliary docking manipulator, simplifies the control model to the control of the angle α between the manipulator and the column and the horizontal inclination angle of the mechanical claw through the inverse kinematics analysis and expounds the selection and working principle of the hardware and software of the control system, which has certain reference value for the automatic and intelligent development of oil exploitation equipment.