管道智能封堵机器人新型锚封机构机液联合仿真OA

The anchor sealing mechanism directly affects the safety and reliability of high-pressure plugging operations performed by intelligent plugging robots during the maintenance of long-distance oil and gas pipelines.To evaluate the dynamic performance of a newly designed double-cylinder anchor sealing mechanism and its hydraulic control system,as well as to shorten the development cycle and improve design reliability,a co-simulation method combining a virtual prototype with a hydraulic control system is adopted to analyze the anchoring and plugging processes of the robot.Functional tests are also conducted to validate the system performance.The results show that under an oil and gas pressure of 10 MPa,the thrust of the anchoring hydraulic cylinder is 252.5 kN,with a relative error of 7.3%compared to the scaled co-simulation result of 234 kN.The thrust of the sealing hydraulic cylinder is 718.76 kN,with a relative error of 8.45%compared to the co-simulation result of 658 kN.The maximum relative error does not exceed 8.45%,meeting engineering application requirements.The inlet flow rate and pressure of the anchoring hydraulic cylinder are 9.2 L/min and 29.8 MPa,respectively,while those of the plugging hydraulic cylinder are 8.05 L/min and 25.9 MPa,all of which fall within the design range.The experimental results are generally consistent with the simulation data,and the system operates smoothly and reliably.The study verifies the feasibility of the proposed double-cylinder anchor sealing mechanism and provides a useful reference for improving the design reliability and engineering application value of intelligent pipeline plugging robots.