CAJ | 학술논문

牵引机器人输送技术是油田水平井测试中仪器输送的有效手段,自动定心机构是牵引机器人的辅助支撑,用来承受牵引机器人的自重,使机器人始终保持与管道同轴.通过对弹簧蓄能轮式定心机构结构形式与工作原理的研究,建立了偏置式4对臂自动定心机构的力学模型;利用ADAMS(Automatic Dynamic Analysis of Mechanical Systems)的优化工具,分析了各结构参数与弹簧力的敏感系数,完成了结构参数的优化;根据优化结果建立了仿真模型,利用ADAMS的机械系统建模与仿真模块对其力学特性及动态性能进行了仿真研究,发现越障时结构上存在缺陷,由于两臂之间采用铰接,越障时不能形成独立的力封闭三角形.据此提出了改进方案,通过增加连杆来消除两臂间的制约关系.改进后的模型在越障时避免了单侧轮受力,减少了冲击,提高了机器人运动的平稳性.图9表3参19
견인궤기인수송기술시유전수평정측시중의기수송적유효수단,자동정심궤구시견인궤기인적보조지탱,용래승수견인궤기인적자중,사궤기인시종보지여관도동축.통과대탄황축능륜식정심궤구결구형식여공작원리적연구,건립료편치식4대비자동정심궤구적역학모형;이용ADAMS(Automatic Dynamic Analysis of Mechanical Systems)적우화공구,분석료각결구삼수여탄황력적민감계수,완성료결구삼수적우화;근거우화결과건립료방진모형,이용ADAMS적궤계계통건모여방진모괴대기역학특성급동태성능진행료방진연구,발현월장시결구상존재결함,유우량비지간채용교접,월장시불능형성독립적력봉폐삼각형.거차제출료개진방안,통과증가련간래소제량비간적제약관계.개진후적모형재월장시피면료단측륜수력,감소료충격,제고료궤기인운동적평은성.도9표3삼19
Traction robot conveying technology is efficient in horizontal well logging.Auto-centralizer is an assistant support to bear the weight of robot and center robot in oil tube while logging.The mechanical model for auto-centralizer with four pair bias arms was built based on spring-lever mechanism.ADAMS(Automatic Dynamic Analysis of Mechanical Systems)was applied to analyze the sensitiveness coefficient of structural parameters and spring force,thus optimizing the structural parameters.Consequently,a simulation model was built based on the optimization result,and a simulation study was carried out on the mechanics property and dynamic performance with ADAMS mechanics system modeling and simulation module.The results implied that the original structure had a disadvantage while crossing obstacles.Further studies indicated that the coupling hinge joint between the pair arms couldn't form a closed triangle of force while crossing obstacles.We have employed an improved structure to overcome it by adding a connecting lever to eliminate the constraint between the arms.Contrast experiments show that the new structure avoids bearing load with one side and has less shock while crossing obstacles,thus improving the smoothness of movement for the traction robot.