摘要
小口径管道在船舶、石油化工等工业领域具有广泛应用,其内部状态对设备的安全运行具有重要影响,管道自适应内检测机器人是对管道内部状态检测的有效方法。通过Solidworks建立轮式管道内检机器人仿真模型,对其适应管径变化及转弯的能力进行分析。通过ADAMS方法对内检机器人进行模拟计算,依据实际工况进行条件约束,对机器人的爬行运动学及动力学进行仿真分析。结果表明,所设计小口径管道内检测机器人具有一定范围的管道变径及转弯自适应能力,可适应95mm到105mm之间的管道直径变化,可顺利通过的管道最小转弯半径为200mm;在给定速度与预紧力的情况下,轮子与管壁间的力随着管径变小而增加。
Small diameter pipelines are widely used in shipping,petrochemical and other industrial fields.Their internal state has a seriously impact on the safe operation of equipment.Pipeline self adaptive internal testing robot is an effective method for pipeline internal state inspection.A virtual pipeline internal testing wheeled robot prototype model was established by Solidworks software,and its variable diameter capacity and bending ability were analyzed.Then the model was introduced into ADAMS,and the constraints were added to the pipeline according to the actual conditions,and the kinematics and dynamics simulation analysis of the pipeline was carried out.The results show that the designed pipeline robot has good variable diameter ability and can adapt to the pipeline variable diameter demand between 95mm and 105mm,and the minimum turning radius of the pipe is 200mm.The contact force of the wheel and the tube wall increases with the smaller diameter at a given speed and preload.
作者
毛柳伟
王国庆
MAO Liu-wei;WANG Guo-qing(PLA 92578 Troops,Beijing 100071,China)
出处
《机械设计与制造》
北大核心
2021年第10期229-232,共4页
Machinery Design & Manufacture
基金
辽宁省自然科学基金面上项目(2019-MS-243)。
关键词
管道机器人
内检测
自适应
ADAMS
变径能力
转弯半径
Pipeline Robot
Internal Testing
Self-Adaptive
ADAMS
Variable Diameter Capacity
Bending Ability
