Design And Research Of Dual Detection Mode Pipeline Robot

In recent years,with the large-scale exploitation and application of fossil energy such as oil and natural gas,pipeline transportation has become one of the important ways of energy transportation in China.When the pipeline is in service for a certain period of time,the pipeline will be damaged by aging,corrosion and perforation,which will lead to safety accidents.Using pipeline robot technology for daily maintenance of oil and gas pipelines can effectively save manpower and improve efficiency.The existing pipeline robots have the disadvantages of small diameter range,weak pipeline climbing ability and low pipeline detection efficiency.Accurate detection requires additional detection devices.In view of the above problems,this paper proposes a dual detection mode pipeline robot,which has axial and radial detection modes.By integrating the detection module into the mechanical motion structure of the robot,a multi-functional composite robot system is combined.The main research contents of this paper are as follows:(1)Analyze the working environment of robots in oil and gas pipelines,and determine the design requirements of robots.Analyze and select the movement mode,variable diameter support mode,detection mode,and communication mode of the robot,design the structure of the robot,calculate and select standard components such as motors,and use Solid Works to model the overall robot in 3D.(2)The motion characteristics of the robot in straight and curved pipes are analyzed.By establishing multiple motion coordinate systems,the trajectory equations of the robot in different pipelines are derived by using the coordinate transformation method,and the corresponding trajectory curves are obtained by importing into MATLAB.By establishing the size constraint and motion constraint model,the size condition and the theoretical speed ratio relationship between the three groups of driving wheels are determined.(3)Build a virtual prototype testing environment for robots using ADAMS.Simulate the motion of the robot in straight pipes,curved pipes,and vertical pipelines,as well as its traction force,and analyze the speed,displacement,and traction force changes of the robot under different working conditions.(4)By analyzing and selecting the hardware of the robot,the control system design of the robot is completed.By processing and assembling prototypes,corresponding experimental platforms were built to test the robot’s motion speed,pipeline passing ability,diameter adaptability,climbing performance,traction performance,and detection performance.After experimental verification,the experimental results and simulation results are consistent,and the prototype can achieve the expected technical indicators and meet the expected design requirements.