| Submarine pipeline has fleetly developed with grow apace of submarine exploratory development technology. Owing to the effect of geological variation, medium erosion, ocean current strike on oil/gas pipeline, there is prone to defect such as rust and crack. It brings about enormous economic losses and grievous ocean environment pollution without timely repair resulting in oil/gas leakage. So the maintenance of submarine pipeline is vital to the reliability of oil/gas transportation. The engineering prototype-6 independent wheels crawler, has been developed for in-pipe moving, after the systemic research on submarine in-pipe crawler technology aimed at the 863 Program of Submarine In-pipe Crawler and Inspection Technology (Code:2001AA602021). The crawler adopts novel moving mechanism-6 modularized drive-arms, which lay out with axial interleaving and tangential isometry and which compose two parallel drive-section to produce dispersive and independent traction. Furthermore the crawler adopts a symmetric controllable force close mechanism that on-line adjusts contact force with wheels and pipe-wall and unlocks for fault rescue of inspection system.The systemic research on the crawler has been fulfilled including the mechanics property, meta-diameter capability, cross-obstacle capability and relation of close force to its position. Dynamic property of the crawler is simulated by ADAMS after establishing its virtual prototype model. The simulation result verifies that the crawler can smoothly travel in elbow and it presents sufficient evidence for engineering prototype of the crawler in design and manufacture. The crawler adopts proper dynamic seal and static seal and is performed seal property test, which provide theoretical foundation for engineering prototype application of the crawler. The control system of the crawler is designed and optimized establishing its hardware system and software system. |
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