环管道运动机器人行走机构轮轨接触分析

Research on contact between wheel and guide rail of traveling mechanism in orbit-holding pipeline robot

由于油气输送管道工作环境的特殊性及其管道的对接环焊缝不可避免会存在着缺陷,设计了全自动超声检测环管道运动机器人对其进行监测。扫查器的行走机构是环管道运动机器人的核心部分,行走机构的夹紧方式对从动轮与导轨的接触配合提出了较高的要求。以行走机构原理验证试验的分析结果为依据,对从动轮与导轨的接触应力进行了分析计算,并对导轨进行了有限元分析。根据分析结果确定了导轨厚度,并且验证了导轨结构满足使用要求。

Because of the special working environment of the oil and gas pipeline,there will be inevitable defects with its butt girth welds.Automatic ultrasonic test orbit-holding pipeline robot was designed to monitor the butt girth welds.The traveling mechanism of scanner is the core of the orbit-holding pipeline robot.The Clamping mode of traveling mechanism raises much higher requirement for the contact fitting between driven wheel and the guide rail.Based on the testing analysis results of traveling mechanism from the principle verification test of the traveling mechanism,the contact stress between driven wheel and the guide rail was also analyzed and calculated,and the rail was also analyzed based on finite element analysis.The thickness of the guide rail was determined by the analysis result,and the guide rail structure has been proven to meet the application requirements.