Design Of Sealing Robot System For Oil And Gas Pipeline Leakage

With the increasing demand for oil and natural gas and other energy resources,the pipeline for conveying fluid media is gradually laid on a large scale,and the leakage problem of the pipeline has become the focus of research at home and abroad.When the pipeline leaks,it is mainly through the manual operation of sealing equipment to seal the leakage operation,the risk is very high,so it is particularly important to develop a pipeline robot with sealing ability to replace the manual completion of the sealing operation of the leakage pipeline,but there is little research on the pipeline sealing robot at home and abroad.This paper proposes a kind of sealing robot for oil and gas pipeline leakage.When the pipeline leaks,it can reach the leakage place quickly and replace the operator to complete the sealing operation in a timely and reliable manner.The main contents of this paper are as follows:Firstly,according to the above working conditions,the overall design of the pipeline blocking robot is carried out to determine the main configuration of the pipeline blocking robot.The structure of the end-effector is designed,and the 3d model of the main body of the pipeline sealing robot is established with the help of Solid Works3 d modeling software.Taking the gas leakage pipeline as the model,the main driving components of the end-effector are selected.Finite element analysis of key components of end-effector is carried out with ANSYS software.Simulation results show that the designed end-effector meets the requirements of strength and stiffness.Secondly,the improved D-H parameter method was used to establish the kinematics model of the robot and solve the forward and inverse kinematics.The forward and inverse solutions of the manipulator were simulated and analyzed by MATLAB to verify the correctness of the forward and inverse solutions.Based on Monte Carlo method,the workspace cloud map of the manipulator was obtained,and the workspace range of the manipulator was determined.MATLAB is used to simulate the trajectory planning of straight line segment in Cartesian space,which fully verifies the correctness of the trajectory planning algorithm selected for the manipulator in Cartesian space.Finally,complete the camera calibration with Zhang Zhengyou calibration method,and got the camera parameters,then the leakage of the collected image preprocessing,including gray,binarization and image filtering,through Canny edge detection operator to detect the image edge in full,the template matching algorithm based on shape of leak point identification,access to leak pixel coordinates,It is proved that the scheme can reliably locate the leakage point.The pipeline sealing robot designed and studieds in this paper will provide important theoretical basis and design reference for the research and development of this field.