Design And Research Of Skid Mounted Type Automatic Flip System

Pipeline is widely used in drainage,gas transportation and other industries because of its excellent characteristics.During the long-term operation of gas pipelines built in the early stage,soil pressure,vibration load and corrosion aging will lead to pipeline damage and huge losses.Compared with other pipeline repair methods,trenchless turnover lining repair technology has the advantages of less environmental impact,less pavement damage,good construction safety and short construction period,and has a very good development prospects.The existing trenchless repair equipment not only has a single function,but also has a low degree of automation.It is necessary to develop a new type of equipment based on gas pipeline repair.The skid mounted type automatic flip system designed in this paper integrates the functions of automatic flattening,winding and flipping lining hose,which can greatly improve the efficiency of pipeline repair and fill the gaps in the application of trenchless turnover lining repair technology in China.The key research work of this paper is as follows:(1)Design of total scheme for skid mounted type automatic flip system.Considering the advantages and disadvantages of existing trenchless repair equipment at home and abroad,according to the pipeline repair process and operation requirements of trenchless turnover lining method,the pneumatic turnover method is selected to complete the pipeline repair work.At the same time,according to the actual working requirements,the driving mode,walking mode,driving mode of flattening mechanism and sealing mode of winding mechanism are designed to meet the functional requirements of the system.(2)Structure design of skid mounted type automatic flip system.According to the design requirements of the system,the mechanical analysis and calculation of the key transmission mechanism of each module are carried out.Based on the modular design concept,the three-dimensional structure of each module of the skid mounted type automatic flip system is designed bySolidWorks.The driving motors of each module are selected according to the calculated driving torque and other data.To implement the system automation flattening,winding and flipping the lining hose function lay the foundation.(3)Core components finite element analysis and global dynamics simulation of system.The static analysis of the wheel axle of the system is carried out by using ANSYS Workbench software.The analysis results show that the strength and stiffness of the material meet the design requirements.The modal analysis of the winding mechanism of the system is carried out to verify that the excitation frequency of the system is far from the natural frequencies of each order in actual operation.Based on the multi-rigid-body system,the dynamic model of the skid mounted type automatic flip system is established,and the motion simulation of the system is carried out by ADAMS software.Combining with the subsequent experimental analysis,the stability of the system is verified.(4)Design of PLC control system for skid-mounted type automatic flip system.Based on PLC,the movement control of the skid-mounted type automatic flip system is carried out.Firstly,the PLC and hardware equipment are selected.The whole electrical principle wiring diagram and the forward and reverse control program of the motor are designed.The motor is controlled by frequency converter,and the motion control and speed regulation of each module are realized.Reasonable human-computer interaction interface is designed by using touch screen technology.(5)Experimental study of skid mounted type automatic flip system.According to the physical prototype of the skid-mounted type automatic flip system designed and manufactured,the whole pipeline repair process of the system is carried out by the sealing and turnover speed experiments of the winding mechanism,the rising and falling speed experiments of the leveling mechanism,the maximum speed experiments of the walking mechanism and the overall motion stability experiments.Experiments show that the skid-mounted type automatic flip system can repair damaged pipelines smoothly.The structure design of the system is reliable and has high engineering practice value.