Dynamic Model and Simulation Analysis of Telescopic Drilling Robot
The drilling robot is gradually widely used in the underground working environment of oil mines.A new telescopic drill-ing robot driven by drilling fluid is proposed.Firstly,according to the working principle of the driving force of the drilling robot,the differential pressure hydrodynamic model is established.On this basis,the calculation equations of the traction force of the drilling robot under no-load and load conditions are derived respectively,so the dynamic model of the drilling robot is estab-lished,and the calculation methods of key parameters such as WOB and ROP are proposed.The simulation analysis shows that with the increase of flow,the drilling speed/speed and the traction force of the drilling robot increase approximately linearly.Un-der no-load condition,the drilling robot will be in an accelerated state until the telescopic cylinder stops pumping drilling fluid.Under load conditions,the drilling rate of the drilling robot and the machine can quickly reach a balance.
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