论文部分内容阅读
由于油气输送管道工作环境的特殊性及其管道的对接环焊缝不可避免会存在着缺陷,设计了全自动超声检测环管道运动机器人对其进行监测。扫查器的行走机构是环管道运动机器人的核心部分,行走机构的夹紧方式对从动轮与导轨的接触配合提出了较高的要求。以行走机构原理验证试验的分析结果为依据,对从动轮与导轨的接触应力进行了分析计算,并对导轨进行了有限元分析。根据分析结果确定了导轨厚度,并且验证了导轨结构满足使用要求。
Due to the particularity of the working environment of the oil and gas pipeline and the inevitable defects of the butt welds of the pipeline, a fully automated ultrasonic testing circular pipe robot is designed to monitor the situation. The walking mechanism of the scanner is the core part of the circular pipe moving robot. The clamping mechanism of the traveling mechanism puts forward higher requirements on the contact and engagement of the driven wheel and the guide rail. Based on the analysis results of the principle test of walking mechanism, the contact stress between the driven wheel and the guide rail is analyzed and calculated, and the guide rail is analyzed by finite element method. According to the results of the analysis, the thickness of the guide rail was determined, and the guide rail structure was verified to meet the requirements.