摘要
为了对长时间服役的输气管道进行精准、快速的检测,设计了一种能够实现模块化、同步自主变径、便于搭载检测元件的内检测管道机器人。该机器人搭载CMOS图像传感器及红外反射传感器,可对管内破裂、腐蚀及错口等多种缺陷进行检测,并记录缺陷的具体位置。该管道机器人采用拖揽式的能源供给方式,驱动模块由电动机带动驱动轮转动,在输气管道内独立运行。通过SolidWorks三维建模,ANSYS分析以及MATLAB求解得到该机器人的各项参数:额定爬行速度16 cm/s,最小过弯半径660 mm,牵引力不小于400 N;变径预紧机构采用对称的同步变径式结构,变径范围可达到300~400 mm;机器人尾部设有万向节,可将相同结构串联以实现模块化,同时增加自重,增大牵引力。对管道机器人虚拟样机进行动力学仿真分析,其直管、弯管及竖直管道的速度仿真曲线误差均不超过10 mm/s,验证了该机器人在直管、弯管及竖直管道都具有良好的通过性。该设计可以为长输气管道的内部缺陷检测提供良好的硬件支持。
In order to carry out accurate and rapid detection on long service gas pipelines,an internal detection pipeline robot which can achieve modularization,synchronous and autonomous diameter change and is convenient to carry detecting elements was designed.Equipped with CMOS image sensor and infrared reflection sensor,the robot can detect a variety of defects such as rupture,corrosion and mismatch in the pipe,and record the specific location of the defects.The pipeline robot adopts a towing cable energy supply mode,the driving module is driven by a motor to rotate the driving wheel,and it runs independently in the gas pipeline.With the help of Solid-Works 3D modeling,ANSYS analysis and MATLAB algorithm software,the parameters of the robot were obtained as follows:rated crawling speed of 16 cm/s,minimum elbow passing radius of 660 mm,and traction force not less than 400 N;the variable diameter preload mechanism adopts a symmetrical synchronous variable diameter structure,with a variable diameter range of 300 to 400 mm;the robot tail is equipped with an universal joint,which can connect the same structure in series to achieve modularization,and simultaneously increase its own weight and improve traction force.Finally,dynamic simulation analysis was conducted on the virtual prototype of the pipeline robot,showing that the velocity simulation curve errors of straight,bent and vertical pipes are all less than 10 mm/s,verifying the good passability of the robot in straight,bent and vertical pipes.The robot provides a good hardware support for internal defect detection of long-distance gas pipelines.
作者
郑杰
尚祖跃
窦益华
杨旭
Zheng Jie;Shang Zuyue;Dou Yihua;Yang Xu(Mechanical Engineering College,Xi'an Shiyou University;Xi'an Special Equipment Inspection Institute;School of Power and Energy,Northwestern Polytechnical University)
出处
《石油机械》
北大核心
2023年第11期154-162,共9页
China Petroleum Machinery
基金
国家自然科学基金青年基金项目“附加牵引力与减阻效应的大位移水平井连续油管极限下入机理研究”(52004215)
陕西省创新能力支撑计划“水平井全井筒气体携液机理研究”(2023KJXX-052)
陕西省重点研发计划项目“大位移水平井井下智能牵引机器人设计及无线通信与控制系统研究”(2022GY-129)
陕西省市场监管科技计划项目“智能管道牵引机器人设计及其无线通信与控制系统研究”(2022KY15)
平凉市科技人才专项计划“长输管道智能机器人研发”(PL-STK-2022A-095)
2022年度“武进英才计划”领军型创新人才“倍增工程”项目“智能管道焊接机器人研发”
甘肃省科技计划项目“液压伸缩式井下智能牵引机器人的研究及应用”(23CXGL0018)。
关键词
输气管道
管道机器人
模块化
同步自主变径
缺陷检测
动力学仿真
gas pipeline
pipeline robot
modularization
synchronous autonomous variable diameter
defect detection
dynamic simulation
作者简介
第一作者:郑杰,副教授,生于1987年,2015年毕业于西北工业大学航空宇航科学与技术专业,获博士学位,现从事油气井井下工具及油气管道技术研究工作。地址:(710065)陕西省西安市。email:zhjoil@163.com;通信作者:窦益华,email:yhdou@vip.sina.com。
