Design and Analysis of the Pipe Handling Manipulator for Workover Rigs

Aiming at the problems of high labor intensity, low efficiency and poor safety of manual operation in oilfield well repairing operation, a new type of tubing grasping robotic arm of well repairing machine is designed, which aims at realizing the automation of tubing lifting and lowering operation. The arm is suitable for both straight and inclined well workover operations, and is capable of completing such actions as grabbing, moving, centering and discharging the tubing. The article elaborates the structural design of the robotic arm, including the key components such as bottom rotating hydraulic cylinder, big arm, small arm, gripping arm and gripper, and realizes the precise control of each part through the hydraulic system drive. In addition, the article carries out an in-depth analysis of the kinematics and dynamics of the robotic arm, establishes the forward and reverse kinematics model of the robotic arm by using the D-H parametric method, and verifies the workspace and kinematic performance of the robotic arm through MATLAB. The results show that the robotic arm can significantly improve the efficiency of well repair operations, reduce the labor intensity of workers, and enhance the safety of operations, providing technical support for the development of automation of oilfield well repair operations.