Research and Simulation of Cornering Characteristics on Oil and Gas Pipeline Robots

Xia Wenfeng; Yu Jiuyang; Dai Yaonan; Cheng Hang; Zhang Dean; Hu Tianhao

doi:10.16578/j.issn.1004.2539.2023.04.006

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Research and Simulation of Cornering Characteristics on Oil and Gas Pipeline Robots

Theory·Research | 更新时间：2023-05-04

- Research and Simulation of Cornering Characteristics on Oil and Gas Pipeline Robots
- Journal of Mechanical Transmission Vol. 47, Issue 4, Pages: 38-43(2023)
- 作者机构：
  
  1.武汉工程大学湖北省绿色化工装备工程技术研究中心机电工程学院，湖北武汉 430205
  2.武汉秦岭凌科航空电力系统有限公司，湖北武汉 430205
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.04.006
  CLC：
- Published：15 April 2023，
  
  Received：20 March 2022，
扫描看全文
夏文凤,喻九阳,戴耀南等.油气管道机器人过弯特性研究与仿真[J].机械传动,2023,47(04):38-43.

Xia Wenfeng,Yu Jiuyang,Dai Yaonan,et al.Research and Simulation of Cornering Characteristics on Oil and Gas Pipeline Robots[J].Journal of Mechanical Transmission,2023,47(04):38-43.
夏文凤,喻九阳,戴耀南等.油气管道机器人过弯特性研究与仿真[J].机械传动,2023,47(04):38-43. DOI： 10.16578/j.issn.1004.2539.2023.04.006.

Xia Wenfeng,Yu Jiuyang,Dai Yaonan,et al.Research and Simulation of Cornering Characteristics on Oil and Gas Pipeline Robots[J].Journal of Mechanical Transmission,2023,47(04):38-43. DOI： 10.16578/j.issn.1004.2539.2023.04.006.

摘要

针对管道机器人在变径管道中转弯困难、移动稳定性差等问题，研究了一种自适应性油气管道机器人，采用可变径的2履带1滚轮支撑式移动机构，确保机器人在管道中稳定移动。对油气管道机器人在管道内的通过性进行理论研究，确定机器人尺寸；通过Adams软件对机器人的转弯性能进行了动力学研究。仿真结果表明，机器人在600 mm的管道内能顺利完成转弯运动。因此，确定电动机所提供力矩应大于90 N

http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=42990237&type=

http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=42990243&type=

1.86266661

2.62466669

m。进行实验研究发现，实验测得速度值与仿真结果一致，验证了设计的合理性。

Abstract

Aiming at the problems that the pipeline robot is difficult to turn and has poor moving stability in the variable diameter pipeline

an adaptive oil and gas pipeline robot is studied; adopting a variable-diameter two-track and one-roller-supported moving mechanism

the stable movement of the robot in the pipeline is ensured. Theoretical research on the passage of oil and gas pipeline robots in the pipeline is conducted

and the size of the robot is determined; the dynamics of the robot's turning performance is studied by Adams. The simulation results show that the robot can successfully complete the turning movement in the 600 mm pipeline

and therefore it is determined that the torque provided by the motor should be greater than 90 N

http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=42990247&type=

http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=42990254&type=

1.86266661

2.62466669

m. Experimental studies have found that the speed value of the experimental measurement is consistent with the simulation results

which verifies the rationality of the design.

关键词

管道机器人运动学仿真转弯性能Adams

Keywords

Pipeline robotKinematics simulationCornering performanceAdams

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