放喷管线自动打磨爬行机器人设计与试验  

Design and Experiment of Automatic Grinding and Crawling Robot for Blowout Pipeline

作　　者：王仕强 于佩航 喻建胜 何莎 骆吉庆 WANG Shiqiang;YU Peihang;YU Jiansheng;HE Sha;LUO Jiqing(Safety Environment Quality Surveillance and Inspection Research,CNPC Chuanqing Drilling Engineering Company Limited,Guanghan Sichuan 618300,China;Sichuan Kete Detection Technology Co.,Ltd,Inc,Guanghan Sichuan 618300,China)

机构地区：[1]中国石油集团川庆钻探工程有限公司,安全环保质量监督检测研究院,四川广汉又618300 [2]四川科特检测技术有限公司,四川广汉618300

出　　处：《机械设计与研究》2023年第1期22-25,30,共5页Machine Design And Research

基　　金：中国石油集团科技重大专项(2021ZZ03-1)。

摘　　要：针对石油钻井井控装置中放喷管线的外表面打磨清理困难,人工打磨效率低且危害操作人员身体健康的问题,设计一种自动打磨爬行机器人。通过对打磨机器人进行受力分析,确定其内部打磨模块总力矩;同时利用COMSOL有限元仿真分析软件对打磨机器人进行仿真模拟,分析了其外壳与打磨片的应力、位移和应变情况,并对该机器人进行了结构优化。最后进行了自动打磨爬行机器人试验测试,结果表明该机器人对放喷管线外壁杂质可有效去除,打磨后表面整体光滑并可见部分金属光泽,满足后续检测需求。An automatic grinding crawling robot is designed to solve the problems such as difficulty in grinding and cleaning the outer surface of the blowout pipeline in the oil drilling well control device,low efficiency of manual grinding and harm to the health of operators.At the same time,COMSOL finite element simulation analysis software is used to simulate the grinding robot,and the structure of the robot is optimized by analyzing the stress,displacement and strain of the grinding robot shell and the grinding sheet.Finally,the automatic grinding and crawling robot is tested.The results show that the robot can effectively remove the impurities on the outer wall of the blowout pipeline.After grinding,the surface is overall smooth and some metallic luster can be seen,which meets the needs of subsequent inspections.

关 键 词：井控装置 放喷管线 打磨机器人 仿真模拟 

分 类 号：TH122[机械工程—机械设计及理论]