| 差压式管道内检测机器人驱动力与速度分析 |
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| 引用本文： | 张培,李著信,苏毅,张镇,孙振华.差压式管道内检测机器人驱动力与速度分析[J].后勤工程学院学报,2010,26(4):24-28. |
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| 作者姓名： | 张培 李著信 苏毅 张镇 孙振华 |
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| 作者单位： | 1. 后勤工程学院军事供油工程系,重庆,401311;77322部队,云南,663600
2. 后勤工程学院军事供油工程系,重庆,401311 |
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| 基金项目： | 总后勤部军需物资油料部资助项目 |
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| 摘 要： | 差压式管道内检测机器人是利用管道中流动介质压力差驱动的检测装置，机器人受力情况及周围流场分布对其运动状态有着重要的影响。通过对检测机器人受力分析和数值模拟，讨论了影响给定机器人驱动力的主要因素，得到了以水为流动介质在水平管道情况下，水流速度与机器人稳态速度的近似关系式，为以后进一步研究机器人定位提供帮助。
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| 关 键 词： | 管道机器人 压力差 影响因素 相对速度 |
Drive Force and Velocity Analysis of Differential-pressure-driven In-pipe Inspection Robot |
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| ZHANG Pei,LI Zhu-xin,SU Yi,ZHANG Zhen,SUN Zhen-hua.Drive Force and Velocity Analysis of Differential-pressure-driven In-pipe Inspection Robot[J].Journal of Logistical Engineering University,2010,26(4):24-28. |
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| Authors: | ZHANG Pei LI Zhu-xin SU Yi ZHANG Zhen SUN Zhen-hua |
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| Institution: | 1. Dept. of Petroleum Supply Engineering, LEU, Chongqing 401311, China ; 2. Unit 77322, Yunnan 663600, China) |
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| Abstract: | Differential-pressure-driven in-pipe inspection robot is a detection device driven by pressure-difference of fluid medium itself in the pipeline. Robot force situation and the distribution of the flow field around it have an important impact on its motion state. In this paper, the authors discuss the main impact factors of driving force of a given robot by force analysis and numerical simulation with Fluent, and obtain the approximate relationship between the flow speed and the steady-state speed of robot making the water as the mobile medium in the horizontal pipe, and provide the help with the further study of robot positioning. |
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| Keywords: | pipeline robot pressure-difference impact factors relative velocity |
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