管道封堵机器人的卡瓦承压性能与管壁损伤特性仿真与试验研究  

Simulation and Experimental Study on Slip Bearing Performance and Pipe Wall Damage Characteristics of Pipeline Plugging Robots

作　　者：唐洋[1,2] 张吴镝 张玉林 王远 TANG Yang;ZHANG Wudi;ZHANG Yulin;WANG Yuan(School of Mechatronic Engineering,Southwest Petroleum University,Chengdu,610500;Energy Equipment Institute,Southwest Petroleum University,Chengdu,610500)

机构地区：[1]西南石油大学机电工程学院,成都610500 [2]西南石油大学能源装备研究院,成都610500

出　　处：《中国机械工程》2023年第22期2758-2771,共14页China Mechanical Engineering

基　　金：国家重点研发计划(2021YFC28000903);四川省科技成果转移转化示范项目(2022ZHCG0048,2022ZHCG0052);博士后创新人才支持计划(BX20190292);成都市科技局国际合作项目(2020-GH02-00041-HZ);四川省自然科学基金创新研究群体项目(2023NSFSC1980)。

摘　　要：管道封堵机器人卡瓦在减速与坐封过程中易出现坐封失效和管壁损伤等问题。针对卡瓦在减速与坐封过程中出现的犁沟效应和硬接触现象,分析了卡瓦减速与坐封受力情况和管壁损伤因素;建立了卡瓦减速与坐封过程的有限元仿真模型,分析了卡瓦牙顶角、牙倾角、牙齿数等结构参数变化对其承压性能和管壁损伤特性的影响规律;采用多因素正交试验分析方法,获得了牙顶角、牙倾角、牙齿数关键结构参数组合最优的4种卡瓦;设计并搭建了卡瓦减速与坐封过程模拟实验,加工了4种最优组合结构参数卡瓦实物,完成了卡瓦减速坐封过程中与管壁摩擦的实验测试。通过仿真与实验所得卡瓦承压性能和管壁损伤程度结果对比分析,优选出卡瓦的最优结构参数组合为:牙顶角θ=65°,牙倾角γ=60°,牙齿数m=18。The problems such as setting failure and tube wall damage were easy to occur in the deceleration and setting processes of pipeline plugging robot slips.Aiming at the ploughing effectiveness and hard contact phenomenon of slip in the deceleration and setting processes,the force of the slip deceleration and setting and the damage factors of pipe wall were analyzed.The finite element simulation model of slip deceleration and setting processes was established,and the influences of structural parameters such as slip tooth apex angle,tooth inclination angle and tooth number on the bearing performance and tube wall damage characteristics were analyzed.Four kinds of slips with the optimal combination of the key structural parameters of tooth apex angle,tooth dip angle and tooth number were obtained by using the method of multi-factor orthogonal experimental analysis.The simulation experiments of slip deceleration and setting processes were designed and built.Four kinds of slips with optimal combined structural parameters were processed,and the experimental test of friction between slip and tube wall during slip deceleration and setting was completed.Through the comparative analysis of the results of the pressure bearing performance and the damage degree of tube wall obtained by simulation and experiments,the optimal structural parameter combination of slip is optimized as tooth apex angleθ=65°,tooth dip angleγ=60°,and tooth number m=18.

关 键 词：管道封堵机器人 卡瓦 承压特性 管壁损伤 结构参数优化 

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