Experiments on Down Hole Robot Walking for Detecting Oil-Well Fault Based on Virtual Prototype

摘要

Based on the principle and structure design of the robot for detecting fault in oil well,using Pro/E,it was done for the modeling of the robot prototype which has the 5000N force of traction,adapt to pipe for down-hole in Φ90～Φ130mm,and using ADAMS,the modeling of the prototype and simulation of robot for detecting fault of down-hole were developed. From experiment results of the movement of robot's feet and robot's motion at down-hole in different pipe,it shows that the robot can walk stably at down-hole in petroleum well. The experiment results provide a feasible technological project for the improvement and manufacture of the robot.