介质压差驱动管道机器人在线取能方法研究

摘要

提出一种摩擦轮式在线取能的研究方法,阐述了新型锥阀调节式介质压差驱动管道机器人的运行调控机理.通过分析管道机器人驱动单元在管道内工况下运行速度、压力差及所受驱动力之间的关系,得到其负载特性.进而利用CFD软件对流体系统进行建模、合理设置参数及网格划分,验证了其在实际工况下的负载特性,仿真结果表明满足管道机器人检测作业的功率需求不小于200 W.依据能量参数指标和管道行业技术要求,管道内壁正压力不大于800 N的指标,研制出了具有按需自动启动停止收放、压力可调、跨越障碍等功能的摩擦轮式在线取能单元,与驱动单元协同作业实现在线取能,并存储于蓄电池中.为管道机器人在长输管道内作业的能源供给提供了新的解决方案.%In this study,a new research method of on-line energy obtaining with friction wheel is proposed,and the operation regulation mechanism of a new type of cone valve regulating in-pipe robot driven by medium differentialpressure is described.We analyze the relationship between operating speed,difference pressure and driving force of the in-pipe robot driving unit under working condition and obtain,the load characteristics.With modeling the fluid system by using CFD software,we establish reasonable parameters and meshing to verify the actual conditions of the load characteristics,and the simulation results show that the energy demand of in-pipe robot detection operation is no less than 200 W.Based on energy parameters and the technical requirements the inner wall pressure needed no more than 800 N in the pipeline industry,we develop a friction wheel on-line energy obtaining unit with on-demand automatically start-stop control,adjustable pressure,easily overcoming obstacles and other functions.The on-line energy obtaining unit cooperatives with the driving unit to realize the on-line energy obtaining and storage in the battery.The method provides a new solution to the energy supply of the in-pipe robot in long distance transportation pipeline.