管道连接件安装作业机器人群体作业技术研究

Research on the group work technology for robots installing adapting piece of pipelines

为了解决水下大口径油气管道沟槽式连接件安装不便的问题,研制了水下大口径管道沟槽式连接件安装作业机器人。同时为了进一步提高连接件的安装作业效率,缩短铺管作业时间,提出了管道连接件安装作业机器人群体作业技术方案,并从机器人群体的组成、通讯方式、作业流程等方面进行了介绍。借助机器人群体作业技术,可以使得水下作业机器人协同作业,节约生产成本。

In order to solve the inconvenience of installing groove-type adapting piece of underwater big caliber oil and gas pipelines,a robot was developed to install the groove-type adapting piece of underwater big caliber pipelines. In order to further improve the efficiency of installing adapting pieces,and shorten the time of laying pipelines,this paper proposed a plan of robot group work technology for installing adapting piece of pipelines,and introduced the composition,communication way,operation procedure and other aspects of the robot group. By using the group work technology of robot,the underwater operating robots can work collaboratively,and the cost can be reduced.