全液压驱动管道机器人公理化设计

Axiomatic design for purely hydraulic drive in-pipe robot

随着管道机器人应用领域与任务需求的不断增大,机器人设计中存在的问题日益突出,如输出功能相互耦合、定位精度不高以及复杂环境下可靠性低。针对石油水平井对于管道机器人的特殊应用需求,将公理化设计理论应用到机器人系统设计中,创新设计一种基于挠性支撑结构的全液压驱动管道机器人。概述公理化基本原理与设计过程,对全液压驱动管道机器人进行概念设计,完成设计耦合性分析。确定机器人机械系统与液压系统具体结构组成,并分析其工作机理。应用AMESim软件,对机器人运动原理方案进行仿真分析,结果表明:全液压驱动管道机器人可以实现自动往复运动,牵引力可以达到30 kN,运动速度可以达到0.12 m/s;机器人牵引能力与运动速度可以完成单独调节,从而实现解耦设计。

As the applications and the demands of in-pipe robot are increasing, the problems in robot such as the coupling of output functions, the low positioning accuracy and the low reliability in complex environment, are becoming more and more serious. The axiomatic design theory was applied to the design of in-pipe robot, and a purely hydraulic drive in-pipe robot based on the flexible support structure was presented, which can meet the special needs in the horizontal well. The principle and process of axiomatic design were summarized, and the robot concept design was carried out to complete the design coupling analysis. The concrete composition of mechanical system and hydraulic system of robot were designed and its working mechanism was analyzed. Based on AMESim, the motion principle of the robot was simulated and analyzed, and the results show that the robot can achieve automatic reciprocating motion, the traction force can reach 30 kN, and the motion speed can reach 0.12 m/s. Moreover, the traction capacity and the motion speed of the robot can be adjusted separately, which means the decoupling design is realized.