石油井下牵引机器人驱动单元优化设计  

Optimization Design of Driving Unit for Downhole Petroleum Traction Robot

作　　者：刘娜娜 吴伟[1] 李博[1] LIU Nana;WU Wei;LI Bo(Mechanical Engineering College,Xi′an Shiyou University,Xi′an 710065,China)

机构地区：[1]西安石油大学机械工程学院

出　　处：《机电工程技术》2020年第1期57-59,共3页Mechanical & Electrical Engineering Technology

摘　　要：由于石油井下牵引机器人的工作空间限制,在满足足够大的牵引力的同时,还需要具有小的外径尺寸。通过建立轮式牵引机器人驱动单元的受力模型,改善轮式牵引机器人的牵引性能。在同一管径水平井内,研究影响牵引性能的各个部件,确定爬行轮直径、驱动臂以及推杆长度。利用MATLAB软件进行优化分析,并通过采用模块化驱动单元,计算牵引机器人的牵引力、驱动转矩的变化规律,证明了优化设计的可行性。Due to the limitation of the working space of the downhole petroleum traction robot, it is necessary to have a small outer diameter size while satisfying a large enough traction force. By establishing the force model of the driving unit of the wheeled traction robot, the traction performance of the wheeled traction robot was improved. In horizontal wells with the same diameter, study the components that affect the traction performance to determine the diameter of the crawling wheel, the driving arm and the length of the push rod. Matlab software was used for optimization analysis, and the law of traction force and driving torque of the traction robot were calculated when the modular driving unit was adopted, which proved the feasibility of optimization design.

关 键 词：牵引机器人 牵引性能 驱动机构 

分 类 号：TE935[石油与天然气工程—石油机械设备]