管道缺陷超声波内检测机器人运动特性仿真

 唐东林1,任杰1,赵江2,王斌2,申鹏飞1,袁晓红1,陈昂1

(1.西南石油大学 机电工程学院 石油天然气装备教育部重点实验室,四川 成都 610500;2.新疆克拉玛依市金牛工程建设有限责任公司,新疆 克拉玛依 834008)
摘要:利用超声波测距进行管道内缺陷检测时,为了保证机器人的检测精度,需使其运行时始终与管道同轴。分析机器人的运动学关系,利用Pro/E、ADAMS进行机器人在不同弹簧刚度系数K和预紧力下的运动学仿真研究。通过分析机器人质心的位移、动能曲线、弹簧受力的变化情况,得出机器人在不同弹簧刚度K值和预紧力下的运动状态。仿真结果表明,在质心偏离管道轴线小于0.5 mm前提下,机器人弹簧刚度系数的取值为120 N/mm,机器人运行平稳且满足检测精度。
关键词:管道机器人;运动特性;刚度系数K;仿真
中图分类号:TP242 文献标志码:A doi:10.3969/j.issn.1006-0316.2015.01.015
文章编号:1006-0316 (2015) 01-0058-04
Kinetic characteristic simulation of ultrasonic flaws detection robot
TANG Dong-lin1,REN Jie1,ZHAO Jiang2,WANG Bin2,SHEN Peng-fei1,YUAN Xiao-hong1,CHEN Ang1
( 1.Key Laboratory for Petroleum-Gas Equipment of EMC, College of Mechanical and Electrical Engineering, Southwest Petroleum University, Chengdu 610500, China;2.Jinniu Engineering Construction Limited Liability Company, Karamay 834000, China)
Abstract:the ranging conducted of ultrasonic is used detection the flaw in the pipeline.in order to ensure the detection accuracy of the robot and center robot in oil tube while logging. the traveling ability of robot at different spring stiffness coefficient was analyzed by pro/e and ADAMS. this paper analyzed the robot's displacement of the center of mass, kinetic curves and variation of spring forces, and obtained robot motions under different stiffness values K. Simulation results show that the spring stiffness coefficient is 120 N/mm, that can meet the stable walk under the precondition of the centroid axis deviation less than 0.5 mm.
Key words:pipeline robot;kinetic characteristic;stiffness coefficient K;simulation
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收稿日期:2014-08-26
基金项目:教育部重点实验室基金(2010STS04)
作者简介:唐东林(1970-),男,四川成都人,博士后,教授,主要研究方向为无损检测技术、石油装备安全评价技术。
 

 

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