摘要
为更好地完成燃气管道修复工程中对内衬软管的切割工作,设计一种应用于非开挖翻转内衬修复技术的管道切割机器人。通过UG 软件设计管道切割机器人的整体三维模型,并建立该机器人的动力学方程,运用ADAMS仿真软件对该机器人进行运动仿真,验证管道切割机器人在实际管道内部运动过程的稳定性。首先分析管道切割机器人每个电机输出力矩曲线图的变化特性,成功验证管道切割机器人的运动姿态满足稳定性要求;然后分析该机器人每个电机质心的位移、速度曲线图的变化特性,成功验证管道切割机器人的运动轨迹满足稳定性要求。仿真结果表明,该管道切割机器人具有结构设计合理、运动安全稳定、动作快速的特点,为非开挖翻转内衬修复技术提供了一种节约成本与工期的优良设备。
To accomplish the cutting of lining hoses in the gas pipe repair project, a pipeline cutting robot is designed to apply the trenchless reversing lining repair technology. The overall three-dimensional model of pipeline cutting robots is devised with the UG software, and the dynamic equations are established accordingly. The movement stability of pipe cutting robots in the actual internal pipelines has been validated by using the ADAMS simulation software to simulate the robot motion. First, by analyzing each drive motor output torque curve of pipe cutting robots, it is validated that their postures successfully meet the requirement of stability;Then, by analyzing the centroid displacement curve and mass velocity curves of pipe cutting robots, it is validated that their trajectory successfully meet the requirement of stability. The simulation results show that the pipeline cutting robot is reasonably designed, safe and stable, and moving fast, which is excellent equipment for the unexcavated inverted lining repair technology to save cost and time of construction.
作者
王庆
黄风光
曹建树
张海超
王鹏智
吴浩玚
WANG Qing;HUANG Fengguang;CAO Jianshu;ZHANG Haichao;WANG Pengzhi;WU Haoyang(School of Mechanical Engineering, Beijing Institute of Petrochemical Technology, Beijing 102617, China;101 Institute of the Ministry of Civil, Beijing 100070, China;Key Laboratory of Pollution Control of the Ministry of Civil Affairs, Beijing 100070, China)
出处
《北京石油化工学院学报》
2019年第2期77-82,共6页
Journal of Beijing Institute of Petrochemical Technology
基金
北京市自然基金资助项目(3182008)
