管内智能封堵机器人封堵及调速装置设计与研究

提出一种适用于小管径、中低压力油气运输管道维抢修作业的封堵及调速装置。该装置借助管道内介质压差驱动行进，利用电机控制环形缝隙及节流口，实现行进速度的控制及管道内输送介质的封堵。阐述封堵、驱动及调速装置的设计；采用有限元仿真分析方法，研究封堵橡胶的密封特性、环形缝隙及节流口对机器人行进速度的影响；并利用所研制的机器人样机在实验测试平台上开展了封堵可靠性及调速性能实验研究。结果表明：所设计的封堵及调速装置能够在介质压差的驱动下行进，通过控制环形缝隙及节流口可实现速度调控，同时在1 MPa介质压力条件下，可实现快速、可靠封堵。研究结论为管道内智能封堵机器人在速度调控及封堵可靠性方面的研究提供了参考。

Design and Research on the Plugging and Speed Regulation Device of Intelligent Plugging Robot in Pipe

A device was proposed,which was suitable for plugging and speed regulation of small diameter,medium and low pressure oil and gas transportation pipeline maintenance and repair operations.The device was driven by the pressure difference of the medium in the pipeline,and the motor was used to control the annular gap and the orifice to realize the control of the traveling speed and the blockage of the conveying medium in the pipeline.The design of the plugging,driving and speed regulating device was explained.The method of finite element simulation analysis was used to study the sealing characteristics of the plugging rubber,the influence of the annular gap and the orifice on the traveling speed of the robot.Finally,the developed robot prototype was used to carry out the sealing reliability and speed control performance test research on the experimental test platform.The results show that the designed plugging and speed regulating device can be driven by the pressure difference of the medium in the pipeline,and the speed can be adjusted by controlling the annular gap and the orifice.At the same time,it can achieve fast and reliable plugging under the condition of 1 MPa medium pressure.It provides a reference for the research on speed control and plugging reliability of intelligent plugging robots in pipelines.