Design And Research Of Self-propelled Emergency Plugging Device For Buried Pipeline Leakage

With the large-scale pipeline transportation of fluid medium energy and the laying of urban water and gas pipeline networks,pipeline transportation has become an important part of ensuring national production and life.Most of the urban pipeline transportation is buried.The operation space is small when leakage occurs,and it is difficult to block in time.Therefore,it is very important to develop a self-contained emergency plugging device for buried pipeline leakage to deal with damaged pipelines in a timely and rapid manner.In this paper,a multi-body distributed emergency plugging device is designed for this kind of working condition.The main body of the device is composed of two sets of equivalent pipeline plugging devices connected by an electromagnet module.The pipeline plugging device is mainly composed of a traction robot,a control unit and a plugging repairing unit,and each unit is connected by a parallel coupling.The traction robot adopts the driving form of a motordriven spiral walking,the variable diameter system adopts a spring telescopic type,and the sealing method adopts a bellows airbag expansion type.Each unit of the device is relatively independent,and can effectively perform plugging repair work under various pipeline leakage conditions.Through the analysis of the bendability of the whole set of devices,the single and multibody bendability parameter equations were obtained,which provided a theoretical basis for the design of the multi-body distributed structure.The coordinate conversion method is used to analyze the operating mechanism of the traction robot in straight and curved pipes,and the walking equations of the helical drive traction robot under two operating conditions are derived.It is concluded that when the traction robot is walking in a straight tube,the walking speed is only related to the motor speed and the deflection angle of the driving wheel,its speed is proportional to the motor speed,and is proportional to the tangent of the deflection angle of the driving wheel;When the driving wheel is outside the pipeline,the speed is higher,the inside speed of the pipeline is lower,and the running speed of each wheel changes periodically.Therefore,when the traction robot turns,each wheel needs to adjust the deflection angle in real time to adapt to the speed change.The traction force equation and obstacle obstacle equation are deduced,and the traction force is negatively related to the sine value of the deflection angle of the driving wheel during the operation of the robot.When the system is climbing or increasing the load,the traction force can be increased by reducing the angle of the driving wheel;In the process of obstacle clearance,the ability to overcome obstacles can be improved by reducing the deflection angle of the drive wheel or the motor shaft speed.In the research process of sealing airbags,the existing airbags were optimized,and a corrugated airbag was designed to block the leakage pipeline urgently,which improved the stability of airbag sealing.A traction robot model is established in ADAMS software,and its traction force,running speed,obstacle clearance stability,obstacle clearance height and bend pipe passability are analyzed and analyzed to verify the rationality of the theoretical calculation.ANSYS simulation analysis of the stress distribution of the sealing airbag contact surface and the repaired airbag strain situation verified the rationality of the optimized structure.Finally,a prototype of the device was established to verify the driving force,running speed,running stability,obstacle crossing ability and bendability of the pipe.The results show that the theoretical calculations and simulation results are basically the same,and the experimental prototype meets the design requirements.The self-contained emergency plugging device for buried pipeline leakage designed and studied in this paper will provide important design reference and theoretical basis for the research and development of equipment in this field.