摘要
长输管道智能封堵机器人通过清管器的发球端进入管内,在管道介质推动下向前运动,到达指定封堵管段时减速、刹车并封堵。为了避免其运动中碰撞、冲击,保障作业安全性,需实现封堵机器人管内运动规律可调可控。因此,文中基于节流压降原理,设计了封堵机器人可调速模块,建立整机运动分析模型,分析其驱动皮碗个数、泄流装置开度、管道的摩擦因数和适用管道尺寸等因素对速度调节规律的影响。结果表明:摩擦因数在0.58~0.68范围内对发挥调速性能的最小开度值影响较小;随着开度的增大,机器人前后的压差值逐渐减小,当开度超过0.25,管道智能封堵机器人将减速运动;随着开度的增大所需要的启动压力将相应增大;在不同管径的长输管中,运行驱动力及阻力随管径增大近似于正比增加。文中研究可为可调速长输管道智能封堵机器人设计、工程样机研制及应用提供理论及数据支撑。
The intelligent blocking robot for long-distance pipelines enters the pipe through the delivery end of the pipe cleaner, moves forward under the push of the pipeline medium, as well as decelerates, brakes and blocks when it reaches the designated blocked pipe section. In order to avoid collisions and impacts in motion and ensure safety of the operations, it is necessary to ensure that the motion law of the blocking robot in the tube is adjustable and controllable. Therefore, based on the principle of throttling pressure drop, a speed-adjustment module of the blocking robot is designed, and the motion model of the whole structure is set up. Besides, the analysis is conducted on influence upon the speed-adjustment motion law exerted by the number of the driving cups, the opening of the discharge device, the friction coefficient of the pipeline, the applicable pipeline size, and so on. The results show that the friction coefficient in the range of 0.58~0.68 has little effect on the minimum opening value for speed-adjustment performance;as the opening value increases, the pressure difference value before and after the robot gradually decreases. When the opening value exceeds 0.25, the pipeline intelligent blocking robot decelerates. When the opening value rises, the required starting pressure increases accordingly. In the long-distance pipeline of different diameters, the driving force and the resistance of operation increase approximately, proportionally with the increasing pipe diameter. The research provides theoretical and data support for design, development of engineering prototypes and application of intelligent blocking robots for long-distance pipelines with speed adjustment.
作者
唐洋
刘祥
何胤
孙鹏
吴杰
刘显锋
TANG Yang;LIU Xiang;HE Yin;SUN Peng;WU Jie;LIU Xian-feng(School of Mechatronic Engineering,Southwest Petroleum University,Chengdu 610500;Guangdong Laboratory of Southern Marine Science and Engineering(Zhanjiang),Zhanjiang 524088;Emergency Center,Tarim Oilfield Company,PetroChina,Korla 841000)
出处
《机械设计》
CSCD
北大核心
2022年第4期58-64,共7页
Journal of Machine Design
基金
四川省科技成果转移转化示范项目(2022ZHCG0052)
博士后创新人才支持计划项目(BX20190292)
成都市科技局国际合作项目(2020-GH02-00041-HZ)
南方海洋科学与工程广东省实验室(湛江)资助项目(ZJW-2019-03)
油气藏地质及开发工程国家重点实验室项目(PLN201827)。
关键词
长输管道
封堵机器人
节流压降
清管器
调速
long-distance pipeline
blocking robot
throttling pressure drop
pipe cleaner
speed adjustment
