Structural and Passability Analysis of Pipeline Robot

Zhiqiang Li; Weiguo Li; Zhicheng Feng; Lili Wang; Wen'gang Yan; Shijie Guo

doi:10.16578/j.issn.1004.2539.2021.06.022

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Structural and Passability Analysis of Pipeline Robot

Development·Application | 更新时间：2022-11-10

- Structural and Passability Analysis of Pipeline Robot
- Journal of Mechanical Transmission Vol. 45, Issue 6, Pages: 146-152(2021)
- 作者机构：
  
  1.内蒙古工业大学机械工程学院，内蒙古呼和浩特 010051
  2.内蒙古工业大学工程训练教学部，内蒙古呼和浩特 010051
  3.三峡新能源内蒙古分公司，内蒙古呼和浩特 010051
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.06.022
  CLC：
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李智强,李卫国,冯志成等.管道机器人结构与通过性分析[J].机械传动,2021,45(06):146-152.

Li Zhiqiang,Li Weiguo,Feng Zhicheng,et al.Structural and Passability Analysis of Pipeline Robot[J].Journal of Mechanical Transmission,2021,45(06):146-152.
李智强,李卫国,冯志成等.管道机器人结构与通过性分析[J].机械传动,2021,45(06):146-152. DOI： 10.16578/j.issn.1004.2539.2021.06.022.

Li Zhiqiang,Li Weiguo,Feng Zhicheng,et al.Structural and Passability Analysis of Pipeline Robot[J].Journal of Mechanical Transmission,2021,45(06):146-152. DOI： 10.16578/j.issn.1004.2539.2021.06.022.

摘要

针对现有油气管道检测机器人运动方式单一、管径适应范围小、机器人在管道中通过性与适应性差等问题，设计了一种新型变运动方式管道机器人。给出机器人的设计需求，介绍了机器人的整体结构与工作原理；提出了主副簧结合、共同预紧的被动支撑机构和具有倾角可调功能的驱动机构；对支撑机构受力进行分析，同时对机器人通过弯管时的尺寸约束条件与运动约束条件进行分析，并进行了实验验证。结果表明，机器人的结构设计与计算合理，机器人在弯管中的尺寸约束与运动约束分析是正确的，机器人可以顺利通过,R,≥1.5,D,的弯管环境。该研究结果为后续机器人仿真实验与样机制作提供了参考。

Abstract

Aiming at the problems of the existing oil and gas pipeline inspection robots，such as single motion mode，small pipe diameter adaptation range，poor passing ability and adaptability of the robots in pipelines，a new pipeline robot with variable motion mode is designed. The design requirements is presented and the overall structure and working principle of the robot is introduced，the support organization with the combination of main and auxiliary springs to achieve common preloading and drive structure with adjustable angle function are further proposed and analyze force. At the same time，the dimension constraints and motion constraints of the robot through the elbow pipe are analyzed. Finally，experimental verification is carried out. Experimental results show that the structure design and calculation of the robot are reasonable，the size and motion constraint analysis of the robot in the bend pipe are correct，the robot can successfully pass the bend pipe with ,R,≥1.5,D,. The research results provide a reference for the follow-up robot simulation experiment and prototype manufacture.

关键词

管道机器人结构设计弯管通过性

Keywords

Pipeline robotStructural designBend pipe passability

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