The Research On Oil And Gas Pipeline Robot's Structure Design And Motion Control

Pipeline plays a crucial role in conveying material,provides convenience to human life,however,it will bring immeasurable damage to human's life and property safety once the pipeline was leaked or damaged.In order to maintain the security,improve the service life of the pipeline,scholars from all over the world to carry out the research work of pipeline robot,developed different kinds of pipeline robots which applied to the pipeline cleaning,crack detection,maintenance,etc.With the progress of science and technology,the technology of pipeline robotics has also developed rapidly.But most of the current pipeline robots stay in the experimental stage,some of which are used in real life pipeline,and because of the energy supply and other factors,the scope of work is limited.This article combines with the social development project who belongs to Zhejiang province's public welfare technology study-the key technology research on deep oil and gas pipeline's position detection which based on strapdown inertial navigation(Item Number:2016C33025),mainly aims at the mechanism design and motion control of oil and gas in-pipe robot which used in pipelines with a diameter of 600~700mm.Firstly,analyzing the working principle of the existing in-pipe robots,designs the structure of the robot according to the project's technical indicators,and introduces its adaptive pipe diameter and transmission principle in detail.Secondly,sets up the kinematics equation according to the structure of the robot,analyses the robot's posture deflection problem,establishes the static equilibrium equation of the robot,the speed of each moving wheel through the pipe is analyzed.In addition,the parametric modeling of ADAMS's and the quadratic nonlinear programming algorithm are adopted to optimize the robot'sadjusted mechanism,besides,the transmission mechanism is optimized by comparing the transmission scheme.Then,simulates the robot's variable diameter range,traveling speed and traction force through virtual prototype technology,get the robot variable diameter range can be achieved from 600~ 700 mm,marching wheel speed can reach 1.196 m/min,the traction force is about 109.0 N,validate the rationality of the design.Finally,the control system which is divided into two parts are studied,and the first experimental prototype is developed.