Design And Key Technology Research Of Pipe Plugging Robot

Long-distance crude oil pipeline transportation occupies a dominant position in the field of crude oil transportation due to its advantages of low cost and large transportation volume.With the increase of the laying of crude oil pipelines in China and the increase in the service life of pipelines,it is often necessary to carry out pipeline repair,valve replacement and other maintenance and repair work on pipelines.The traditional detection method of crude oil pipeline is inaccurate in locating defects,and traditional maintenance requires shutdown of transmission and operation,which affects downstream energy supply.In view of the above problems,this thesis designs a pipeline plugging robot,which can accurately locate the location of pipeline defects and timely plugging,and the plugging process does not affect pipeline transportation.By analyzing the research status and future development trend of mature pipeline plugging technology and pipeline robot at home and abroad,a new type of pipeline plugging robot with precise positioning is proposed,and the overall scheme design is proposed.Using the modular design concept,the robot walking drive joint,blocking guide joint and defect detection section are studied.Specifically design the travel drive components and use Ansys software to check the structural strength of the key mechanism to ensure that the walking reducer meets the robot’s operating requirements.Design optimization and analysis of two key components in the pipeline plugging robot:anchoring kava and plugging diversion.According to the operating characteristics of the anchor kava deceleration stage and the anchoring stage,the mechanical model of anchor kava was established,and the Workbench software was used to analyze and optimize the anchor kava structure.A plugging guide device is preliminarily designed,the influencing factors of the flow field characteristics of the plugging guide device are analyzed,and the inlet shape,inlet radius and diversion pipe diameter of the deflector pipe are simulated and analyzed by Fluent software combined with the control variable method,so as to optimize the structural parameters of the plugging deflector device.In order to accurately locate the location of pipeline defects,an omnidirectional MFL(magnetic flux leakage)detection method based on three-phase excitation long-distance crude oil pipeline is proposed.By establishing a three-phase coil magnetization model based on the three-phase coil magnetization,external excitation intensity change and leakage magnetic field change rate fusion,a three-phase coil magnetization field simulation experiment is carried out by Maxwell software based on the three-phase excitation pipeline detection device.A new MFL experimental system with three-phase excitation was built to test the detection ability of the module to detect defects in all directions of the pipeline.In order to meet the real-time and accuracy of the pipeline plugging robot in the working process,the control system of the pipeline plugging robot is designed as a whole;Combined with the characteristics of RBF neural network algorithm,fuzzy algorithm and PID algorithm,an optimized and improved RBF-PID control strategy is proposed,and Matlab Simulink is used for simulation analysis.The controller uses STM32F407VGT6single-chip microcomputer as the main controller,and uses Altium Designer software to design the smallest system,motor module,communication module,sensor circuit,etc.in the STM32 development board;On the basis of hardware design,the software and human-computer interaction interface design of the control system are carried out.