油气管道智能封堵机器人新型双球面连接器研究

Research on An Over-line and Universal Shaft Connector for Intelligent Plugging Robot with Oil and Gas Transportation Pipeline

本文所设计双重球面抱合的球铰式可过线万向连接器,用于机器人各单元间的连接与通讯。并且介绍了该连接器的创新性与特点,采用多体动力学仿真分析其轴向载荷对转动角速度及转动力矩的影响;进行转弯实验,对比理论与实际转向角度,测试转动的力矩大小。结果表明:连接器的理论和实际的转向角度相差仅为5°,转向过程中,球头杆先转动到极限位置后接触到球壳体,然后球头杆和球壳体共同转动到达极限位置;转动实验所测的转动力矩与理论计算值较为接近。

Design a double-spherical hinged ball-hinged universal connector that can be used for connection and communication among a unit of the robot.In this paper,the innovation and characteristics of the connector are introduced.Adams simulation software was used to analyze the influence of the axial load on the rotational angular velocity.The turning experiments to compare theoretical and actual steering anglesare conducted.The line passing performance test to study the influence of cable diameter and number on cable bendingis carried out.A cable damage test experiment to observe the damage of the internal cable after multiple bendsis conducted.Research indicates that the difference between the theoretical and actual steering angle of the connector is only 5°.In the steering process,ball lever firstly rotates to the limit position and then contacts ball shell,and then the ball lever and ball shell rotate together to reach the limit position;the line passing performance test results meet the requirements of pipeline robot.