油气管道爬行机器人的设计及仿真实验  

Design and simulation tests of crawling robot for oil and gas pipeline

作　　者：彭鹤[1] 王路路 王勇 赵翰学 贡军民 PENG He;WANG Lu-lu;WANG Yong;ZHAO Han-xue;GONG Jun-min(College of Mechanical and Transportation Engineering, China University of Petroleum, Beijing 102249, China;Intel China Research Center Co.Ltd. , Beijing 100190, China;Engineering Technology Branch, Xinjiang Petroleum Administrative Bureau Co.Ltd. , Kelamayi 834000, China)

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]英特尔(中国)研究中心有限公司,北京100190 [3]新疆石油管理局有限公司工程技术公司,新疆克拉玛依834000

出　　处：《沈阳工业大学学报》2021年第1期48-54,共7页Journal of Shenyang University of Technology

基　　金：中国石油大学(北京)科研基金资助项目(2462018YJRC018).

摘　　要：针对新建无流体管道、非常规流体管道、分支管道和逆流体流向管道等特殊工况下,传统介质推动机器人无法完成作业的问题,对能够适应特殊管道工况的油气管道爬行机器人进行了研究,完成了一种气动式爬行机器人的详细设计,包括结构设计和控制系统设计等.利用ADAMS虚拟样机软件对油气管道爬行机器人在U型和90°管道的动力学进行了仿真分析.结果表明,该油气管道爬行机器人具有一定避障和过弯能力,可以完成油气管道特殊工况下的检测和维修.Aiming at the problem that traditional media-driven robots cannot complete the work under such special operating conditions as new pipelines with no fluid,unconventional fluid pipelines,branch pipelines and reverse fluid flow pipelines,the crawling robot for oil and gas pipeline with high adaptability to the special pipeline operating conditions was investigated.A detailed design,including structural design and control system design etc.,for a pneumatic crawling robot was accomplished.The simulation analysis of the dynamics of oil and gas pipeline crawling robot working in U-shaped and 90°pipelines was carried out with ADAMS virtual prototype software.The results show that the as-proposed crawling robot has a certain capability of obstacle avoidance and path turning,and can complete the detection and maintenance of oil and gas pipeline under special operating conditions.

关 键 词：油气管道 特殊工况 爬行机器人 结构设计 控制系统设计 运动学仿真 虚拟样机实验 物理样机实验 

分 类 号：TE973[石油与天然气工程—石油机械设备]