油气管道牵引机器人设计与仿真

利用牵引机器人牵引维检修装备对新建无流体管道、停输管道、非常规流体管道、分支管道、逆流体流向管道等传统依靠介质推动的机器人无法完成管道作业的特殊工况进行检测。文中设计了一种适应上述特殊工况的蠕动式电磁驱动管道牵引机器人,并利用ADAMS虚拟样机软件对机器人进行了样机仿真分析。研究结果表明:设计的油气管道牵引机器人能够在管道实现牵引作业并适应特殊工况且具有一定避障功能,为油气管道特殊工况下的维检修提供了一种解决方案。

Design and Simulation of Traction Robot for Oil and Gas Pipeline

The traction maintenance equipment of traction robot is used to detect the special conditions in which the traditional media-driven robot can’t complete the pipeline operation,such as new no-fluid pipelines,no-flow pipelines,unconventional fluid pipelines,branch pipelines,counter-current body flow pipelines,etc.A creeping electromagnetic driven pipeline traction robot adapted to the above special conditions was designed,and the prototype of the robot was simulated and analyzed by using ADAMS virtual prototype software.The research results shows that the designed oil and gas pipeline traction robot can achieve traction operation in the pipeline and adapt to special conditions,and has a certain obstacle avoidance function,which provides a solution for the maintenance and repair of oil and gas pipeline under special conditions.