智能管道密封机器人新型双缸锚固密封机构中橡胶筒的制动与密封性能研究

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering Pub Date : 2025-06-24 DOI:10.1016/j.oceaneng.2025.121858

Jiaqing Xu , Yang Tang , Minghai Zhou , Guorong Wang , Mingbo Wang , Renshan Pang

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引用次数: 0

摘要

基于智能堵管机器人的运动模型和密封机理，建立了一种新型双气缸锚固密封机构制动密封机构有限元仿真模型，确定了橡胶气缸在制动密封阶段的影响参数，分析了橡胶气缸接头角度参数变化对智能堵管机器人制动密封性能的影响；设计并搭建了制动和密封过程的仿真实验。进一步验证了新型双缸锚固密封机构设计的合理性和可靠性。结果表明：28°橡胶缸在制动阶段的Mises应力值为1.296 MPa， Mises壁面位移为9.732 mm，制动效果最好；在密封阶段，接缝角为28°时，Mises应力值为17.42 MPa，接触应力最大，密封效果最好。当制动液压推力达到64.5 kN，制动液压缸推力达到718.76 kN，橡胶缸轴向位移达到58.64 mm时，可有效阻断10 MPa的油气压力。

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Research on the braking and sealing performance of rubber cylinder in the new type of two-cylinder anchor sealing mechanism of intelligent pipeline sealing robot

Based on the motion model and sealing mechanism of intelligent pipeline plugging robot, the finite element simulation model of braking and sealing mechanism of a new type of double-cylinder anchoring and sealing mechanism was established to determine the influence parameters of the rubber cylinder during braking and sealing stage, analyze the influence of parameter changes of the rubber cylinder joint Angle on the braking and sealing performance of intelligent pipeline plugging robot, and design and build the simulation experiment of braking and sealing process. The rationality and reliability of the design of the new double cylinder anchoring and sealing mechanism are further verified. The results showed that the Mises stress value of the 28° rubber cylinder was 1.296 MPa, and the Mises wall displacement was 9.732 mm during the braking stage, and the braking effect was the best. In the sealing stage, when the joint Angle was 28°, the Mises stress value was 17.42 MPa, the maximum contact stress was achieved, and the sealing effect was best. When the braking hydraulic thrust reaches 64.5 kN, the braking hydraulic cylinder thrust reaches 718.76 kN, and the axial displacement of the rubber cylinder reaches 58.64 mm, the 10 MPa oil and gas pressure can be effectively blocked.

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来源期刊

Ocean Engineering 工程技术-工程：大洋

CiteScore

7.30

自引率

34.00%

发文量

2379

审稿时长

8.1 months

期刊介绍： Ocean Engineering provides a medium for the publication of original research and development work in the field of ocean engineering. Ocean Engineering seeks papers in the following topics.