Research on Knuckle Boom Pipehandler Location Control and the Hydraulic System Analysis
LI Da-ping;DING Hai-dong;Shanghai Zhenhua Heavy Industries Company Limited;
Knuckle boom pipehandler is the key equipment for marine drilling. In this paper,take the equipment developed by company as the research object,analysis the mechanical and hydraulic system,establish the mathematical equation of catch tube position. In the operation process,the pipe holding constant height move to the target position,then ensure vertical projection position unchanged down. It provides a reference for the parameterized control of similar equipment.
【CateGory Index】： TE951