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管道检测机器人在垂直输气管道的运动分析
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北华航天工业学院博士科研启动基金项目(BKY-2021-06)


Motion Analysis of Pipeline Inspection Robot in Vertical Gas Pipeline
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    摘要:

    管道检测机器人用于管道腐蚀缺陷和变形缺陷的定期巡检,当管道存在较大倾角时会对机器人的运行状态产生影响,尤其是机器人进入垂直管道内运行,机器人自重将明显影响设备的运行速度,严重时可能导致机器人超速运行,影响检测数据质量。利用动量守恒定律建立了在垂直管道向下运行时机器人前后端气体的压差增量与机器人运行速度增量间的关系式,指出压差增量与气体的密度、扰动波传播速度和机器人的速度增量等因素有关。建立了机器人在垂直管道内运行加速度和运行距离的关系式,并对关系式进行了简化,方便工业现场应用。通过与数值仿真结果对比,建立的关系式可有效计算出机器人在垂直管道内运行时的速度增量和运行距离,为工业现场预测机器人的运动参数提供了保障。

    Abstract:

    Pipeline inspection robots are used for regular inspection of pipeline corrosion defects and deformation defects,a large inclination angle of the pipeline will affect the running state of the robots,especially the robots run in the vertical pipelines,the weight of the robot will obviously affect itself running speed,seriously,the inspection data will be affected by high running speed.The relationship between the pressure increment of the gas at the front and rear of the robot and the velocity increment of the robot was established when the robot run down the vertical pipeline based on the law of conservation of momentum,it was pointed out that the pressure increment was related to the density of gas,the velocity of the disturbance wave and the velocity increment of the robot.The relationships of the running acceleration and the running distance of the robot in the vertical pipeline were established,and the relationships were simplified,which were convenient for industrial application.Compared with the numerical simulation results,the established relationships can be used to effectively calculate the speed increment and running distance of the robot in the vertical pipeline,which provides reference for the prediction of the robots motion parameters in industrial field.

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臧延旭,赵宣,杨博霖,白港生,姜海洋,梁也,梁雪婷.管道检测机器人在垂直输气管道的运动分析[J].机床与液压,2022,50(5):28-32.
ZANG Yanxu, ZHAO Xuan, YANG Bolin, BAI Gangsheng, JIANG Haiyang, LIANG Ye, LIANG Xueting. Motion Analysis of Pipeline Inspection Robot in Vertical Gas Pipeline[J]. Machine Tool & Hydraulics,2022,50(5):28-32

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  • 在线发布日期: 2022-05-31
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