油气管道智能封堵机器人新型双球面连接器研究

唐洋; 刘祥; 吴杰; 王远; 熊浩宇

doi:10.13433/j.cnki.1003-8728.20220025

油气管道智能封堵机器人新型双球面连接器研究

doi: 10.13433/j.cnki.1003-8728.20220025

唐洋^{1, 2,},
刘祥¹,
吴杰¹,
王远¹,
熊浩宇¹

1.
西南石油大学机电工程学院，成都　6105002
2.
南方海洋科学与工程广东省实验室，广东湛江　524088

基金项目: 四川省科技成果转移转化示范项目（2022ZHCG0052）、博士后创新人才支持计划项目（BX20190292）、四川省科技成果转移转化示范项目（2022ZHCG0048）及成都市科技局国际合作项目（2020-GH02-00041-HZ）

详细信息

作者简介:
唐洋（1988−），副研究员，硕士生导师，研究方向为管道封堵机器人、水合物开采工具设计，tangyanggreat@126.com

中图分类号: TE978
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- 文章访问数: 103
- HTML全文浏览量: 63
- PDF下载量: 15
- 被引次数: 0
出版历程
- 收稿日期: 2021-08-09
- 刊出日期: 2023-06-25

Research on An Over-line and Universal Shaft Connector for Intelligent Plugging Robot with Oil and Gas Transportation Pipeline

1.
School of Mechatronic Engineering, Southwest Petroleum University, Chengdu 610500, China
2.
Guangdong Laboratory of Southern Marine Science and Engineering(Zhanjiang), Zhanjiang 524088, Guangdong, China

摘要

摘要: 本文所设计双重球面抱合的球铰式可过线万向连接器，用于机器人各单元间的连接与通讯。并且介绍了该连接器的创新性与特点，采用多体动力学仿真分析其轴向载荷对转动角速度及转动力矩的影响；进行转弯实验，对比理论与实际转向角度，测试转动的力矩大小。结果表明：连接器的理论和实际的转向角度相差仅为5°，转向过程中，球头杆先转动到极限位置后接触到球壳体，然后球头杆和球壳体共同转动到达极限位置；转动实验所测的转动力矩与理论计算值较为接近。
- 管道机器人 /
- 双重球面 /
- 万向连接器 /
- 可过线 /
- 长输管道
Abstract: Design a double-spherical hinged ball-hinged universal connector that can be used for connection and communication among a unit of the robot. In this paper, the innovation and characteristics of the connector are introduced. Adams simulation software was used to analyze the influence of the axial load on the rotational angular velocity. The turning experiments to compare theoretical and actual steering anglesare conducted.The line passing performance test to study the influence of cable diameter and number on cable bendingis carried out. A cable damage test experiment to observe the damage of the internal cable after multiple bendsis conducted. Research indicates that the difference between the theoretical and actual steering angle of the connector is only 5°. In the steering process, ball lever firstly rotates to the limit position and then contacts ball shell, and then the ball lever and ball shell rotate together to reach the limit position; the line passing performance test results meet the requirements of pipeline robot.
- pipeline robots /
- double spherical /
- universal connector /
- line passing /
- long-distance pipeline

HTML全文

图 1 管道智能封堵机器人

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图 2 新型双球面连接器

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图 3 转向连接器受拉和受压情况下端球铰处接触应力

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图 4 连接器转动摩擦模型

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图 5 过线转向连接器运动过程

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图 6 球头杆和球壳体角速度

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图 7 不同载荷下转动力矩变化情况

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图 8 连接器转向角度对比

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图 9 实验过程

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图 10 实时拉力曲线

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表 1 45号钢连接器尺寸

参数　规格

整体尺寸 Ø144 mm × 425 mm
球头直径 Ø76.8 mm
球壳体直径 Ø120 mm
过线通道直径 Ø40 mm

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