Design And Research Of Pipe Defect Detection Robot

Pipeline transportation,because of its long transmission distance,stable transmission,cost-effective is widely used in the long-distance transportation of oil,natural gas and other energy,the cleanliness of the inner wall of the pipeline affects the transportation of energy and subsequent industrial production.In the long-term use of transport pipelines,impurities in oil and gas will adhere to the inner wall of the pipeline.The attachment of impurities will affect the transmission rate of energy,and even lead to pipeline blockage.Impurities will also cause corrosion to the pipe wall and reduce the service life of the pipeline.Manual pipeline cleaning is limited by pipe diameter size,especially in small and medium-sized pipelines,inconvenient operation,increased safety risks,low cleaning efficiency,can be used to clean the inner wall of small and mediumsized pipelines.In this paper,a pipeline cleaning device is designed for the removal of impurities in the pipeline,which combines a variety of cleaning methods.The device has the function of walking and cleaning,which can walk in the pipeline at a certain speed and clean the inner wall at the same time.The main contents of this paper are as follows:According to the design requirements of pipeline cleaning device,the overall scheme of pipeline cleaning device is analyzed,and then the various components of the device are designed,including walking mechanism,cleaning mechanism,water and gas conveying mechanism,power transmission mechanism,etc.The overall scheme selects the walking mode combined with spiral and support wheel,and the cleaning mode selects the hydraulic pressure main nozzle,rotary water pressure auxiliary nozzle and elastic scraper to clean the pipe wall.The water and air conveying mechanism is designed to operate independently with one chamber and two chambers according to the demand,and the power transmission mechanism is determined to combine the multi-section through hole universal joint with the constraint spring.Modeling of pipe cleaning unit components and assembling of mechanism and unit in Solid Works.Analyze the passability of the device at the bend of the pipe,calculate and analyze the obstacle crossing of the device when it passes the obstacle,obtain the maximum height of the obstacle that the device can cross,establish the motion model of the device in the pipe,analyze the motion state of the device in the straight pipe and the bend,and obtain the change of the motion trajectory and spiral Angle of the device in the straight pipe when it passes the bend.The virtual prototype of the device was established in ADAMS to study and verify the motion displacement and passability of the device in the L-shaped pipeline.Mechanical analysis is carried out on the front and back of the device to obtain the basic parameters of the key components involved.Flow analysis is carried out on the nozzle of the cleaning mechanism of the device.The simplified three-dimensional model of the nozzle is imported into ANSYS Fluent to analyze the pressure change of the water flow in the nozzle and verify the rationality of the nozzle design.The water and gas fluid model of the mechanism was established by ANSYS Fluent,and the contact surface between the static point and the rotating point was created in the water and gas flow model.The moving mesh parameters were set,and the water and gas pressure changes in and at the inlet and outlet of the mechanism with a certain rotation speed and different rotation angles were observed respectively,and the rationality of the design of the water and gas conveying mechanism was analyzed.The pneumatic control system of the device was designed,the trial production and experiment of the physical prototype of the device were carried out,and the walking and cleaning experiments of the pipeline cleaning device were carried out under different spiral angles,so as to verify the walking ability of the physical prototype in the pipeline and the cleaning coverage effect under different spiral angles.