井架攀爬机器人设计与分析

Design and Analysis of Derrick Climbing Robot

目前,陆地应用较广的是K形井架。K形井架最大的受力部位为井架大腿。井架大腿容易发生局部杆件截面锈蚀,引起大腿应力发生变化,从而影响整个井架的稳定性。为探测石油井架大腿这种“隐形”的缺陷--内蚀,以JJ225/45-K井架为攀爬对象,设计了一种攀爬机器人结构。该结构机器人能够携带检测设备仪器对井架主立柱进行探伤。通过静力学平衡分析计算,求得机器人稳定攀爬所需最小吸附力为2242.30 N;进一步利用D-H参数法和蒙特卡洛法,求得搭载平台的转动空间半径为480mm、平动空间体积为400 mm×200 mm×700 mm。仿真结果表明,机器人在一足吸附、一足固定的状态下,前足活动范围大于攀爬对象尺寸,后足的立足点与前足相吻合。机器人能够实现灵活避障和空间翻转。

At present,the more widely used land is the K-shaped flenick.The laigest stress part of the K-shaped denick is the derrick thigh.It is easy for the derrick leg to corrode the section of local roti,which causes the change of the stress of the thigh and affects the stability of the whole derrick.To detect the inner corrosion which is hidden defect of the leg of oil derrick,a climbing robot structure is designed,taking JJ225/45-K derrick as clinibing object.Tlie structural robot can carry inspection equipmenl and instmments to inspect the main mast column.By statics balance analysis and calculation,the mini mum adsorption force required for the robot to climb stably is 2242.30 N.Furthermore,the D-H paiameter method and Monte Carlo method are used to obtain the rotalional space radius of the platform is 480 mm,and the translational space volume is 400 mm×200 mm×700 mm.The simulation results show that the motion range of the forefoot is larger than the size of the climbing object,and the foothold of the hind foot is consistent with that of the forefoot when one foot is absorbed and one foot is fixed.The robot can flexibly avoid obstacles and flip space.