面向油气储运管道的直进式日常监测机器人设计

Design of a direct-entry daily monitoring robot for oil and gas storage and transportation pipelines

随着石油和天然气需求的日益增大,石油和天然气储运管道铺设的数量也大大增加。针对现有油气储运管道监测维护成本高的缺陷,研究创新地构建了一种用于油气储运管道直进式的监测机器人。研究首先设计了相关机器人参数,然后对机器人过弯性能进行了设计,最后利用仿真实验和实际的油气储运管道进行实验。选择0°姿态角下进行仿真实验,管道机器人在400 mm、800 mm和1 000 mm的曲率半径弯道环境中,x轴坐标变化最大,其中1 000 mm中的变化值为492.86 mm。同时为了验证机器人驱动轮的性能,在弯道中对驱动轮的性能进行对比,在400 mm、800 mm和1 000 mm曲率半径中,三者的速度分别为18.06 mm、18.62 mm和23.95 mm。结果表明基于油气管道设计的直进式机器人具有较好的运动状态,能够为油气储运管道监测提供可靠的技术支持。

With the increasing demand for oil and natural gas,the number of oil and gas storage and transportation pipelines laid has increased greatly.Aiming at the defects of high cost of monitoring and maintenance of existing oil and gas storage and transportation pipelines,the study innovatively constructed a monitoring robot for straight-in oil and gas storage and transportation pipelines.The study firstly designed the relevant robot parameters,then designed the robot bending performance,and finally conducted experiments using simulation experiments and actual oil and gas storage pipelines.The simulation experiments are carried out at 0° attitude angle,and the pipeline robot has the largest change of x-axis coordinates in the curvature radius bending environments of 400mm,800mm and 1000mm,in which the change value is 492.86mm in 1000mm.Meanwhile,in order to verify the performance of the robot's drive wheels,the performance of the drive wheels is compared in the curves,and the performance of the drive wheels in the curvature radii of 400mm,800mm and In the radius of curvature of 1000mm,the speeds of the three are 18.06mm,18.62mm and 23.95mm,respectively.The results show that the direct-entry robot designed based on the oil and gas pipeline has a better motion state,and can provide reliable technical support for the monitoring of oil and gas storage and transportation pipelines.