我国管道输送安全保障特种作业机器人的研究与世界先进水平存在差距,制约了我国海洋资源勘探开发水平.从摩擦学和可靠性角度分析海洋立管作业机器人设计制造和服役的主要特点.介绍了海洋管道和立管作业机器人的主要作用.分别讨论了管道清理机器人、智能检测机器人、海管维修张紧器设备、智能式封堵机器人等服役过程的摩擦学系统和可靠性研究进展.从管道输送的流动保障、节能降耗、安全高效,及机器人安全可靠运行、检测及评定等方面进行了探讨.提出了海洋立管作业机器人的研究建议.%There are still huge gaps in our pipe-robots for oil & gas pipeline and its flow assur-ance;a better understanding of the researches in Europeans and Americans is needed.Large diam-eter,high pressure,long distance pipelines are being used in China in last decade (from 2004 to 2014),these in-pipe robots applications get more and more attentions and the world was shocked by its practical applications,such as pipe-laying,wax pigging,inspecting,isolating,repairing and so on.The main tribology and reliability problems of in-pipe robot are summarized and analyzed. Based on this,a discussion on green tribology,flow assurance,safe and efficiency,testing and eval-uate of the various pipe-robots is carried out.Some open problems are discussed and the future trends are provided.
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