排管机管柱防撞与自动控制机构的设计
Design of Collision Avoidance and Automatic Control Mechanism

本文介绍了一种可以配合二层台排管机械手使用的管柱防撞与自动控制机构，通过选择合理的安装位置，最大限度地发挥其防撞和自动控制功能，达到了不需要司钻人员主动停止二层台排管机械手悬持管柱立根下放的动作，也不需要司钻判断其悬持高度，管柱立根接触钻台面时，会自动触发传感器信号，控制系统向电磁阀发出关闭信号，可以自动停止二层台排管机械手油缸的下放动作，可有效避免管柱底部撞击钻台面，达到安全作业的目的。
This paper introduces a pipe string anti-collision and automatic control mechanism that can be used in conjunction with the pipe-handling robot of monkey-board. By selecting a reasonable installation position, it can maximize its anti-collision and automatic control functions, so that the driller does not need to actively stop the action of the pipe-handling robot of monkey-board suspending the pipe string and lowering it, nor does it need the driller to judge its hanging height. When the pipe string is in contact with the drill floor, the sensor signal will be automatically triggered, and the control system will send a closing signal to the solenoid valve, which can automatically stop the lowering action of the cylinder of the pipe-handling robot of monkey-board, effectively preventing the bottom of the pipe string from hitting the drill floor, and achieving the purpose of safe operation.