一种流体驱动式管道机器人的结构设计与运动分析  

The invention relates to the structure of a fluid driven pipeline robot optimization design and motion analysis

作　　者：施涛 袁锐波[1,2] 邵禹然 陈坤 李想 胡启明 SHI Tao;YUAN Ruibo;SHAO Yuran;CHEN Kun;LI Xiang;HU Qiming(Faculty of Mechanical&Electrical Engineering,Kunming University of Science and Technology,Kunming 650504,China;Institute of Hydromechatronics System Integration and Control,Kunming 650504,China)

机构地区：[1]昆明理工大学机电工程学院,昆明650504 [2]光机电液系统集成与控制研究所,昆明650504

出　　处：《重庆理工大学学报（自然科学）》2023年第9期322-331,共10页Journal of Chongqing University of Technology：Natural Science

基　　金：云南省重大科技专项(202202AC080008);中国烟草总公司科技重点项目(110201402027);中泰国际技术转移中心项目(GHJD-2022001)。

摘　　要：基于流体力学理论和油气管道参数设计了一款模块化链式管道机器人,用于解决传统流体驱动式管道机器人周向体积庞大,摩擦阻力难于准确预测的问题。通过三维软件Solidworks建立机器人模型,依据机器人和管道几何形貌对管道机器人驱动力、摩擦力变化规律进行了分析。新设计的管道机器人摩擦阻力可实时检测,最大摩擦力相对于传统皮碗接触支承式管道机器人减小40%,适用最低管道流速为4 m/s。以此为理论依据给出了机器人在管道内的速度控制方案。利用Ansys Workbench软件对机器人压差调节效果进行仿真。以现役油气管道和市政供水管道最大流速为条件,对机器人驱动单元中不同结构的密封皮碗最大承载压力变形情况进行了分析,得出边沿变曲率倾角皮碗相对于传统直板皮碗在抵抗受压变形和密封性能方面均有所提高,更适合管道机器人驱动单元和管壁之间的保压和密封。A modular chain pipeline robot was designed based on fluid dynamics theory and oil and gas pipeline parameters.It is used to solve the problem of large circumferential volume of traditional fluid-driven pipeline robots and the difficulty of accurate prediction of frictional resistance.The robot model was established by the 3D software Solidworks,and the robot and pipe geometry were analyzed based on the robot and pipe geometry to analyze the driving force and friction variation law of the pipe robot.The new design of pipeline robot friction resistance can be detected in real time,and the maximum friction force is reduced by 40%compared with the traditional skin bowl contact support pipeline robot,and the lowest applicable pipeline flow speed is 4 m/s.The speed control scheme of the robot in the pipeline is given based on the theoretical basis of the study.The simulation of the robot differential pressure regulation effect was performed using Ansys Workbench software.Using the maximum flow rate of oil and gas pipelines and municipal water supply pipelines in service as the condition,the variation of the maximum bearing pressure displacement of sealing bowls of different structures in the robot drive unit was analyzed.It is concluded that the edge curvature inclination bowl is better than the traditional straight bowl in terms of resistance to pressure deformation and sealing performance.The edge-variable curvature inclination skin bowl is more suitable for pressure retention and sealing between the pipeline robot drive unit and the pipe wall.

关 键 词：结构设计 摩擦阻力 运动分析 速度控制 皮碗改进 

分 类 号：TE973[石油与天然气工程—石油机械设备] TP242[自动化与计算机技术—检测技术与自动化装置]