摘要
针对流体输送埋地管道泄漏问题,设计了一种利用管道机器人携带封堵气囊进行快速应急封堵修复的埋地管道泄漏内封堵装置。采用矩阵变换方法建立了牵引系统驱动轮过弯方程,利用MATLAB软件对过弯方程进行了验证,同时利用ADAMS软件仿真分析过弯路径与驱动轮转角对牵引系统行走速度的影响。研究结果表明:由两个串联封堵器组成的应急封堵系统可满足复杂工况下的管道泄漏封堵要求;牵引系统驱动轮在弯管内部行走时,单轮速度呈周期性变化,但三个驱动轮整体周期运动特性一致;驱动轮转角在25°~40°时,牵引系统行走速度与驱动轮转角成正比,且转角为30°时驱动效果最好。该内封堵装置的结构设计可为管道泄漏应急封堵领域装备的研发提供重要参考。
To address the leakage problem of buried pipelines for fluid transportation,an internal sealing device for buried pipeline leakage was designed by using a pipeline robot to deliver a sealing airbag for emergency plugging and sealing.The matrix turning method was used to establish the cornering equation of the driving wheels of driving system.The cornering equation was verified by MATLAB software.The influence of the cornering path and the driving wheel rotation angle on the walking speed of the driving system was simulated by ADAMS software.The study results show that:the emergency plugging system composed of two series plugging devices can meet the requirements of pipeline leakage plugging under complicated working conditions.When the driving wheels of the driving system are walking inside the curved pipe,the speed of the single wheel changes periodically,but the overall driving characteristics of the three driving wheels are consistent.When the driving wheel rotation angle is 25°to 40°,the driving system walking speed is proportional to the driving wheel rotation angle,and the driving effect is best under the rotation angle of 30°.The structure design of the internal plugging device can provide an important reference for the research and development of equipment in the field of emergency plugging of pipeline leakage.
作者
闫宏伟
袁飞
李亚杰
彭方现
杨雄
Yan Hongwei;Yuan Fei;Li Yajie;Peng Fangxian;Yang Xiong(School of Mechanical Engineering,North University of China)
出处
《石油机械》
北大核心
2020年第4期142-148,共7页
China Petroleum Machinery
基金
山西省重点研发计划社会发展项目“危险源管道泄漏自适应安全修复装备关键技术研究”(201603D321117)。
关键词
管道泄漏
内封堵
驱动轮
通过性
仿真分析
pipeline leakage
internal sealing
driving wheel
passability
simulation analysis
