Design And Research Of Key Equipment For Trenchless Rehabilitation System On Gas Pipeline

At present gas pipeline is in the period of rapid construction in our country.However,with the longer lifespan of early gas pipeline,cathodic protection failure and external anticorrosive coating falling off or stray current can damage pipeline.Compared with other repair methods,Cured In Place Pipe trenchless technology has lots of advantages,such as no pollution,small surface excavation area,small construction noise,high construction efficiency,which make up for disadvantages of traditional pipeline repair technology and repairs gas pipeline safely and efficiently.Therefore the damaged gas pipeline should be necessarily repaired by the new repair technology.In this paper,by synthetically analyzing current key equipment of trenchless repair system at home and abroad at present,trenchless repair system on gas pipeline is designed and built.And then by using comparative analysis,in combination with actual situation of gas pipeline,reasonable technical solutions are made.Pipeline cleaning system of which applicative scope of pipe diameter is ?350~450mm and quality grade of cleaning reaches Sa3 is designed.Modular design method is used for mechanical structure of pipe cutting robot.By analyzing sport dynamics for every modules and analyzing cable dragging force,motors of every modules are choosed reasonably,which realizes all-round monitoring and cutting for robot inside the pipeline.By synthetically considering factors of structural complexity,sealing way and winding efficiency,trenchless seal box of simple operation and nice sealing that can suffer from 0.3MPa pressure is designed.Based on multi-body system dynamics dynamic equation of pipe cutting robot is established.ADAMS is used for making motion simulation and analyzing movement stability and size of traction of robot in pipeline.Compared with experimental results,correctness of simulation results is proved.Camera module and cutting module of pipe cutting robot are done statics analysis,and then the simulation results show that maximum deformation and maximum stress value of two modules are far below limit value of material and that its stiffness and strength meet the requirements of design.Finally experiment of sealing testing and flipping velocity testing are done for trenchless seal box,and testing experiment of maximum speed,climbing,movement stability,traction are done for pipe cutting robot and overall experiment of trenchless repair system is done.Experimental results show that trenchless repair system successfully repair damaged gas pipeline,and that performance of key equipment meet requirements of design,which lay the foundation for further research of trenchless repair technology.