油气管道机器人技术研发进展  

Research and development progress in oil and gas pipeline robotics

作　　者：曹建树[1,2] 林立[1] 李杨[1] 李魁龙[1] 

机构地区：[1]中国石油大学(北京)机械与储运工程学院,北京102249 [2]北京石油化工学院机械工程学院,北京102617

出　　处：《油气储运》2013年第1期1-7,共7页Oil & Gas Storage and Transportation

摘　　要：管道机器人综合了智能移动载体技术和管道缺陷无损检测技术,主要用于输油气管道的检测、喷涂、接口焊接、异物清理等检修维护作业。运动方式是管道机器人的技术核心,包括主动运动方式和被动运动方式两大类。系统阐述了仿生式、履带式、螺旋驱动式、车型式和支撑轮式等5种主动运动方式管道机器人及被动运动方式管道机器人PIG的技术特点和难点,例举了国内外现有产品和技术。对比分析了各种技术的综合性能,提出了管道机器人研发需要重点解决的技术问题。Pipeline robots integrated with smart mobile carrier and pipeline defect nondestructive testing technology are mainly used for detection, coating spraying, joint welding, foreign material removal and other maintenances of industrial pipelines such as oil and gas pipelines. Mode of motion is core technology of the pipeline robots, including active and passive modes. This paper elaborates technical features and difficulties of the pipeline robots using active motion modes such as bionic type, crawler type, screw driven type, vehicle type and supporting wheel type and those using passive motion mode are elaborated and enumerates products and technologies at home and overseas. Based on the above technology, a comparative analysis is carried out for overall performance of various technologies and key technical problems required to resolve for R＆D of pipeline robots are proposed. （1 Table, 7 Figures, 19 References）

关 键 词：管道 机器人 运动方式 主动运动 被动运动 

分 类 号：TE832[石油与天然气工程—油气储运工程]