Design And Analysis Of Fluid Driving Diameter Adjustable Pipeline Crawler

In the modern oil industry, nuclear industry, and living facilities,pipelines are more widely used as an efficient means of material handling.But In the course of used, due to man-made or geological activity andlong-term corrosion, resulting in pipe damage, aging, mechanical breakageand damage failure, which Bring enormous economic losses to the countryand the people. Therefore, the pipeline robot came into being. As a highlytargeted special robot, it is very good to solve the difficult problems ofsubmarine and underground pipe inspection, and play an irreplaceable role inpipeline safety and maintenance works.In this paper, through comparison and analysis of the existing pipelinecrawler, which including medium differential pressure-driven and self-driven,self-drive there are six ways of wheeled, tracked, creeping, multi-leggedcrawling, piezoelectric impulse, snake bionic type. Think of the features ofpipeline, a new program which combined differential pressure-driven anddirect-wheel-drive drive was designed. The main structure includes pipediameter adaptive structures, driving structure, the driven structure andumbrella shaped blades structure and the diverter valve structure. The design features of this structure A greater degree of adaptation diameter changes,and make full use of fluid energy, simple structure, low cost, easy fabrication,long work life, without the towing cable, the resistance movement is small,and it can be equipped with appropriate tools to complete the long-distancepipelines to check, testing and other tasks. Then do movement mechanicsanalysis on the crawling, conducted a three-dimensional modeling by Pro/E,do motion simulation analysis by ADAMS, verify the theoretical analysisresults, laid the foundation for the subsequent development of such crawler.