摘要
我国分布着密集的输油气管网,一些老旧管网存在着腐蚀、裂纹、断裂等危险情况。对管网进行安全检测成了必要工作。现在市面上有很多管道机器人,但几乎都是固定管径的,只能为特定直径的输油管道服务。为了解决机器人适应不同直径管道问题,同时提高管道机器人对输油管道的检测效率,设计了一种履带式的变径管道机器人。采用连杆机构实现机器人的变径,机器人的变径范围为300~350 mm。基于管道机器人的变径和机械原理要求,对变径管道机器人的履带式行走机构、变径连杆机构、变径传动机构进行设计,最后基于三维建模软件SolidWorks对管道机器人的各个零件进行建模和整体装配,建立机器人的三维模型。该变径管道机器人变径灵活,能适应不同直径的输油管道。
There are dense oil and gas pipeline networks in our country,and some old pipeline networks are exposed to dangers such as corrosion,cracks,and fractures.The safety inspection of the pipe network has become a necessary work.There are many pipeline robots on the market,but almost all of them can only serve oil pipelines with specific diameters.In order to solve the problem of robots adapting to pipelines of different diameters,and at the same time to improve the inspection efficiency of pipeline robots on oil pipelines,a crawler-type variable-diameter pipeline robot is designed.The link mechanism is adopted to realize the diameter reduction of the robot,and the diameter range of the robot is 300~350 mm.Based on the pipe robot’s diameter reduction and mechanical principle requirements,the crawler walking mechanism,the diameter reducing link mechanism,and the diameter reducing transmission mechanism of the variable diameter pipeline robot are designed.Finally,based on the 3D modeling software SolidWorks,modeling and overall assembly of various parts of the pipeline robot are carried out to build a three-dimensional model of the robot.The variable diameter pipeline robot has flexible diameter change and can adapt to oil pipelines of different diameters.
作者
常生
刘玉良
王忠超
CHANG Sheng;LIU Yuliang;WANG Zhongchao(College of Marine Engineering Equipment,Zhejiang Ocean University,Zhoushan 316000,China)
出处
《机械工程师》
2021年第11期64-65,68,共3页
Mechanical Engineer
基金
舟山市科技局“面向油轮油气回收管道的智能检测机器人研究与应用”(2020C21001)。
