Design And Research Of Oil And Gas Pipiline Magnetic Flux Leakage Detection Robot

Pipeline transportation is widely used in modern energy transportation,among which the pipeline transportation of oil and natural gas occupies a large proportion.Oil and gas pipelines are prone to cracks,holes and other defects under the working environment of long-term transportation of corrosive media,which poses a threat to the safety of oil and gas pipeline transportation.Therefore,it is necessary to regularly detect and evaluate the corrosion and damage of oil and gas pipelines.Pipeline inspection robot is a kind of pipeline inspection equipment which can effectively replace manual maintenance of oil and gas pipelines.It is of great significance to design and research oil and gas pipeline inspection robot.In this paper,we design a suitable for pipe diameter,long tube side of oil and gas pipelines in pipeline magnetic flux leakage inspection robot,including the drive system,mechanical system,magnetic flux leakage testing system and the design of the control system,and in view of the magnetic flux leakage testing system to study the defects and the relationship between the leakage magnetic field,the establishment of a defect quantitative method,the motion characteristics of robot and dynamic characteristics are analyzed.The specific research contents are as follows:(1)Combined with the analysis of the work requirements,the system scheme and the overall scheme of the robot are designed;The mechanical system with the three-axis differential mechanism and the mileage wheel structure as the main mechanism and the magnetic flux leakage detection system with the permanent magnet as the excitation source were designed,and the dimensional passability of each robot section in the bend was calculated.The overall scheme and hardware circuit of the control system are designed.The speed of the motor is controlled by PID strategy.(2)Maxwell electromagnetic simulation software was used to optimize the size of the magnetization module,and the influences of the length and depth of the rectangular and cylindrical defects on the three characteristic quantities of the leakage magnetic field were analyzed respectively,and the quantitative surface of the defects was established by statistical method based on a large number of simulation data.(3)The speed distribution characteristics,output torque characteristics and internal speed characteristics of the three-axis differential system are analyzed.The dynamic equation of the robot was established,the sealing force and resistance of the robot in the pipe were analyzed,the bending process and obstacle crossing process of the robot were analyzed in detail,and a virtual prototype was established in ADAMS to simulate the movement process of the robot,and the correctness of the theoretical analysis was verified.