新型管道机器人力学分析  

Mechanical Analysis of New Pipeline Robot

作　　者：李相敏[1] 李相宇 鄢仁生 LI Xiang-min;LI Xiang-yu;Yan Ren-sheng(Yangtze University College of Arts and Sciences,Jingzhou 434020,China;Shelfoil Petroleum Equipment&Services Co.,Ltd,Dezhou 253034,China;No.9 Oil Production Plant of PetroChina Changqing Oilfield Company,Xi’an 710000,China)

机构地区：[1]长江大学文理学院,湖北荆州434020 [2]德州大陆架石油工程技术有限公司,山东德州253034 [3]中国石油天然气股份有限公司长庆油田分公司第九采油厂,陕西西安710000

出　　处：《中国电子科学研究院学报》2022年第1期57-62,共6页Journal of China Academy of Electronics and Information Technology

基　　金：湖北省自然科学基金(2019CFC857)。

摘　　要：针对管道机器人的国内外研究现状,设计了一种"强适应性、大驱动、快速、双向移动"的新型管道机器人;该机器人采用电机驱动滚珠丝杠副步进的进给方案,主要包括支撑机构、扶正机构、解锁机构;介绍了管道机器人的工作原理及基本结构后,针对不同管径,对在作业中起主要作用的支撑机构在不同作业状态下进行力学分析;研究结果表明管道机器人在直径为165 mm~195 mm的管道作业时,支撑横杆所受最大压力为1308 N,滑块所受推力最大值为1523 N,管道机器人运行速度达到0.1 m/s,其负载能力为600 N,可双向移动及通过一定曲率半径的管道,满足了管道机器人综合特性要求,为在管道实际工况中作业及机构选材提供了理论依据,具有一定的指导意义。In terms of the current situation of research at home and abroad about pipe inspection robots,a new creative type with“strong adaptability,large drive,fast and bi-directional movement”was designed,which had adopted feeding program that driven automatically by ball screw stepping,mainly includes a supporting mechanism,a centering mechanism,and an unlocking mechanism.After introducing the working principle and basic structure of the pipe inspection robots,mechanical analysis were analyzed among different pipe diameters through observing the supporting mechanism that plays a major role under different working condition.The research results show that when the pipeline robot operates with a diameter of 165-195 mm,the maximum pressure on the support crossbar is 1308 N,the maximum thrust force on the slider is 1458 N,the pipeline robot’s operating speed reaches 0.1 m/s,and its load capacity is up to 600 N,which can move in both directions and pass a pipe with a certain radius of curvature,which meets the request of comprehensive characteristics of the pipeline robot.it provides a theoretical basis and certain guiding significance when operating in the actual working conditions of the pipeline and material selection of the mechanism.

关 键 词：管道机器人 强适应性 大驱动 支撑机构 力学分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]