论文部分内容阅读
管道智能机器人的运行可靠性是长输管道安全运行的关键技术。从管内机器人的密封皮碗和压差驱动力着手,分析了清蜡时淤积卡球的风险,建立了皮碗式智能机器人的非稳态运移模型,在此基础上,综述了复杂管道的清管规律、内检测器动力学特性和泄流调速装置等,进一步构建了管内智能机器人运移过程的摩擦学系统。分析了管道蜡层机械剥离时宏观与微观的不同摩擦特性,对比分析了非稳态摩擦、正交切削、颗粒微淤积3类典型摩擦模型,指出未来应加大管道智能机器人摩擦学设计及零部件方面的研究力度,阐述了智能机器人摩擦学与可靠性的研究难点及未来的研究趋势。
Pipeline intelligent robot’s operational reliability is the key technology for the safe operation of long-distance pipelines. Starting with the sealed cup and the driving force of differential pressure in the robot, the risk of sedimenting the card ball when the wax is removed is analyzed, and the unsteady transport model of the cup-shaped intelligent robot is established. On this basis, the complex pipe The law of pigging, the dynamical characteristics of inner detector and the device of discharge speed governor to further build the tribological system of intelligent robotic migration in pipe. This paper analyzes the macroscopical and microscopic friction characteristics of pipe wax layer when mechanical peeling, compares and analyzes three typical friction models of non-steady friction, orthogonal cutting and micro-sedimentation. It is pointed out that in the future, the tribology design of pipeline intelligent robot should be enlarged and zero Components of the research efforts, elaborated intelligent robot tribology and reliability of the study difficult and future research trends.