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针对油田生产特殊工艺井测井的特殊要求,对其送进技术的局限性进行了研究,提出了一种基于并联机构的新型管道机器人,取代以往的送进技术。利用坐标变换的方法建立了该机器人的运动模型,并进行了机器人在直管和弯道中的行走机理分析。同时,对该管道机器人进行了虚拟样机仿真分析。通过虚拟样机在直管和弯道中的行走仿真,验证了理论分析的结论是正确的。该机器人具有较大的拖动力。
Aiming at the special requirements of oil well production special well logging, the limitations of its feed technology are studied, and a new type of pipeline robot based on parallel mechanism is proposed instead of the traditional feed technology. The coordinate transformation method was used to establish the robot’s motion model and the robot’s traveling mechanism analysis in straight pipe and curve was carried out. At the same time, the virtual simulation of the pipeline robot was carried out. The simulation of walking in straight pipe and curve by virtual prototype verifies that the theoretical analysis is correct. The robot has a large drag force.