履带式管道巡检修复机器人弯管通过性研究  

Research on the Elbow Passing Ability of Crawler Pipeline Inspection and Repair Robots

作　　者：李健 闫宏伟[1] 刘翼 寇子明 张登崤 Li Jian;Yan Hongwei;Liu Yi;Kou Ziming;Zhang Dengxiao(School of Mechanical Engineering,North University of China,Taiyuan 030051,China;College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024,China;Shanxi Hong'anxiang Technology Co.,Ltd.,Yuncheng 044000,China)

机构地区：[1]中北大学机械工程学院,山西太原030051 [2]太原理工大学机械与运载工程学院,山西太原030024 [3]山西宏安翔科技股份有限公司,山西运城044000

出　　处：《机械传动》2023年第4期164-170,共7页Journal of Mechanical Transmission

基　　金：山西省基础研究计划(20210302123038);山西省科技合作交流专项(202104041101001);国家自然科学基金(52174147)。

摘　　要：管道在能源的运输方面具有重要的作用,其安全、合理、稳定的运行具有重要的意义。以DN250~350 mm的油气管道为主要应用场景,设计了一种以丝杆螺母变径机构达到自适应目的的履带式管道巡检修复机器人。该履带式管道巡检修复机器人分为驱动单元、检测单元、连接单元和隔离修复单元。通过几何分析研究管道几何约束对弯管通过性的影响可知,当该机器人组成单元的长度小于452.88 mm时,从几何约束角度分析可以通过弯管;运用坐标转化法对机器人运行过程进行了运动状态分析,研究该管道机器人的运动特性,得到该机器人的速度方程。由分析可知,履带式机器人采用3履带差速特性的方式通过弯管时运动更加平稳。采用仿真分析的方式,验证了其对弯曲管道形态的通过性。该研究可为油气管道的稳定巡检、应急安防与处理处置提供参考。The pipeline plays an important role in the transportation of energy,and its safe,reasonable and stable operation is of great significance.This study takes DN250-350 mm oil and gas pipelines as the main application scenario,and plans to design a crawler-type pipeline inspection and repair robots that use a screw nut reducing mechanism to achieve diameter reduction to achieve self-adaptive purposes.The crawler-type pipeline inspection and repair robot can be divided into a drive unit,a detection unit,a connection unit and an isolation repair unit.When the length of the constituent unit of the robot is less than 452.88 mm,it can pass through the elbow from the analysis of geometric constraints.The speed equation of the robot can be obtained by analyzing the motion state of the robot during the running process by the coordinate transformation method.The crawler robot moves more smoothly when passing through the bend with the 3-track differential characteristic.By means of simulation analysis and experimental verification,the passing ability of the elbow is verified.The research on the passing ability of the crawler-type pipeline inspection and repair robot can provide some references for the stable inspection,emergency security and treatment of oil and gas pipelines.

关 键 词：油气管道 履带式 巡检修复 弯管通过性 Adams仿真分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TE973.6[自动化与计算机技术—控制科学与工程]