蠕动式管道机器人结构设计与运动特性分析  被引量:14

Structural design and motion characteristics analysis of peristaltic pipeline robots

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作  者:刘洪斌[1] 冀楠 LIU Hongbin;JI Nan(College of Mechanical and Electrical Engineering,Southwest Petroleum University,Chengdu 610500,China)

机构地区:[1]西南石油大学机电工程学院,四川成都610500

出  处:《哈尔滨工程大学学报》2022年第8期1169-1177,共9页Journal of Harbin Engineering University

基  金:四川省教育厅基金项目(13ZA0179);西南石油大学教育部重点实验室基金项目(OGE201403-22).

摘  要:为提高管道机器人在管道内行走的安全性及可靠性,本文针对管径为457 mm的天然气运输管道,设计一款液压驱动蠕动式爬行管道检测机器人,用以对管道内壁的损伤及管体腐蚀开裂情况进行离线检测。根据管道内工况需求,利用蠕动爬行原理对管道机器人整体结构设计。计算管道机器人的驱动能力和越障能力,并采用多体动力学仿真技术对其进行分析,得出管道机器人运行过程中所能达到的最大驱动力及能够通过的最大障碍高度,并制作了物理样机并对其各项性能进行测试。结果表明:管道机器人的运动特性与理论分析结果一致,机器人运行过程平稳可靠,能够保证足够的管道通过性能及驱动能力,可实现复杂工况下的运行和检测。A hydraulically driven creeping pipeline detection robot is designed for the natural gas pipeline with a diameter of 457 mm to improve the safety and reliability of the pipeline robot walking in the pipeline.This robot is used to detect damages to the inner wall of the pipeline and the corrosion cracking of the pipe body off-line.First,according to the requirements of the working conditions in the pipeline,the overall structure of the pipeline robot is designed,and the working principle of peristaltic crawling in the pipe is described.Second,the driving and obstacle-crossing capabilities of the pipeline robot are theoretically calculated,and the multibody dynamics simulation technology system is used to analyze these capabilities.The maximum driving force and the maximum obstacle height that the pipeline robot can pass through are obtained.Finally,a physical prototype is created to test its performance.Results show that the motion characteristics of the pipeline robot are consistent with the theoretical analysis results.The robot runs smoothly and reliably,ensures sufficient pipeline passing performance and driving capability,and realizes the operation and detection under complex working conditions.

关 键 词:管道机器人 驱动能力 越障能力 软件仿真 虚拟样机 液压蠕动式 结构设计 管道检测 

分 类 号:TP242[自动化与计算机技术—检测技术与自动化装置]

 

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