Research on the Manipulator Inclination Adjustment System of Automatic Directional Drilling Rig

Manipulator as the key components of the automatic directional drilling rig, the jitter will occur due to self-weight during the swing with decreasing inclination angle. Through AMESim modeling and simulation of the hydraulic system of manipulator inclination adjustment, the research analyzes three cases of setting balance valve, throttle valve and using balance valve and throttle valve simultaneously in the oil return circuit. By comparing the simulation curves, it shows that the balance valve and the throttle valve can dramatically reduce the manipulator arm jitter, but the best effect can be achieved by connecting the throttle valve and the balance valve in series in the oil return circuit, and the jitter can be eliminated. The experimental results and simulation results are basically identical through the experimental research. Because the back pressure of oil return is increased when the manipulator arm swings, higher driving pressure is needed.