Design And Research Of Internal Plugging Robot Based On Oil And Gas Pipeline Leakage

In this paper,according to the design requirements of the inner sealing pipeline robot and the motion characteristics of the robot in the oil and gas pipeline,the driving unit and the plugging unit of the robot were designed in detail by using the modular design concept.In order to simplify the complex driving system of conventional pipeline robot,the driving unit adopted the passive spiral driving principle which is of high transmission ratio,easy speed control,simple structure and large thrust.The stepless speed regulation of the drive system was realized by adjusting the spiral driving angle.Both the driving unit and the plugging unit adopted the connecting rod extensible mechanism to make the robot adaptive to the geometric change of pipe section.Then analyzed the movement of the crawling condition in the straight pipe with variable and equal diameter,and the bend with equal and variable diameter bend,the velocity formula of the passive spiral drive in the straight pipe was obtained.The qualitative analysis of the motion interference in the curved pipe was carried out,and the method of alleviating the motion interference by reducing the spiral driving angle was proposed.At the same time,the driving force and obstacle surmounting ability of the robot driving unit were analyzed,and the driving force and obstacle surmounting ability of the robot can be enhanced by small driving angle.Then,a simplified model of the driving unit was created in ADAMS,and simulated the robot’s interference when the robot passed through curved pipe.And the pressure distribution of the sealed contact surface of the plugging unit of the pipeline robot was analyzed vie the finite element method.The plugging element of the plugging unit has been optimized by improving the internal structure of the sealing material,which improved the pressure distribution of the plugging contact surface,the reliability of the plugging operation can be improved to a certain extent.At last,the relevant experimental tests such as crawling speed,driving force and obstacle-obstacle ability of the inner plugging pipeline robot were conducted experimental platform established,and the mathematical model of the driving force and the obstacle avoidance was verified.In this paper,the design and research of the plugging pipeline robotmake up for the spiral pipe robot with controllable rotation angle,also provided a certain research basis for follow-up research in this field.