输油管道内检测机器人结构设计与仿真

Structural Design and Simulation of Inspection Robot in Oil Pipeline

为了对常用型号的输油管道进行快速、准确的检测,设计了一种能够自主独立运行、搭载检测设备、保证较大范围的变径、适应较小直径管道的内检测机器人。该机器人可凭借自身动力在管道中行进,同时还可以利用超声波探伤,对管壁上包含腐蚀、裂口、错位及障碍物等多种缺陷进行探测并记录缺陷所在位置。该管道机器人采用有源驱动模块,可在输油管道内独立运行,额定运动速度为5 cm/s,最大测试距离为1 km,最小过弯半径为813 mm,驱动模块使用了同步带,大大增强了越障能力及运动的稳定性;其中的升降式变径机构的变径范围可以达到114~325 mm;其探头理想探测范围占管道内壁面积的84%。该项设计可为石油运输管道缺陷的检测提供参考。

In order to inspect the oil pipelines quickly and accurately,an internal inspection robot was designed,which can run independently,carry inspection equipment,ensure a wide range of diameter change and adapt to smaller diameter pipelines.The robot can travel in the pipeline by its own power,and at the same time,it can use ultrasonic flaw detection to detect various defects on the pipeline wall such as corrosion,cracks,dislocation and obstacles,and record the locations of the defects.With an active driving module,the pipeline robot can run independently in the oil pipeline.Its rated moving speed is 5 cm/s,the maximum test distance is 1 km,and the minimum cornering radius is 813 mm.The driving module uses a synchronous belt,which greatly improves its obstacle-surmounting ability and the stability of movement.The variable diameter of the lifting variable diameter mechanism ranges from 114 mm to 325 mm and the ideal detection range of the pipeline robot probe occupies 84%of the inner wall area of the pipeline.This design provide a reference for the defect inspection of oil pipelines.