Abstract: The traditional tractor support mechanisms were mostly rigid structures, which were easy to cause blockage problems in the hole. Based on this engineering background, a structural scheme of telescopic tractors with flexible support mechanisms was proposed based on inclined blocks. The tractor support mechanisms might keep locked with the pipe walls under the load forces, which was the key for the tractor crawled forward. A rigid-flexible coupling dynamics model of flexible support mechanisms was established under load forces, the influences of parameters such as span, width, thickness and chamfer on locking of flexible support mechanisms were revealed, and the optimum design method of flexible support mechanisms were obtained. The superiorities of rigid-flexible coupling model over rigid model were analyzed by rigid-flexible coupling dynamics simulations, and the maximum load forces of flexible support mechanisms under optimal span, width, thickness and chamfer were obtained. The test results show that the measured values are basically in agreement with the theoretical analysis ones and the simulation ones, which verify the validity of the traction locking laws of flexible support mechanisms and the rigid-flexible coupling model simulation.

Key words: flexible tractor, rigid-flexible coupling model, flexible support mechanism, traction lock

摘要： 传统牵引器支撑机构多为刚性结构，在井下极易产生卡堵等问题，基于该工程背景，提出了一种新的基于斜块柔性支撑机构的伸缩式牵引器结构方案；牵引器在负载力作用下与管壁保持锁止，是牵引器向前爬行的关键，建立了柔性支撑机构在负载力作用下的刚柔耦合动力学模型，揭示了跨度、宽度、厚度和倒角等参数对柔性支撑机构锁止的影响规律，得到了柔性支撑机构结构优化设计方法；通过刚柔耦合动力学仿真分析了刚柔耦合模型相比于刚性模型的优越性，得到了在最优跨度、宽度、厚度和倒角下柔性支撑机构的最大负载力。实验结果表明，实测值与理论分析值和仿真值基本一致，验证了柔性支撑机构牵引锁止影响规律和刚柔耦合模型仿真的正确性。

关键词: 柔性牵引器, 刚柔耦合模型, 柔性支撑机构, 牵引锁止