Research and simulation of key bending parameters of suitable diameter oil and gas pipeline cleaning robots
ObjectiveTo improve the internal (variable diameter, bending) passage ability of oil and gas pipeline cleaning robots, a multi-segment adaptive wheel-type pipeline cleaning robot was proposed.MethodsThe robot was designed with a two-segment structural configuration to reduce its turning radius. An e...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2025-06-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#DOI：10.16578/j.issn.1004.2539.2025.06.019 |
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| Summary: | ObjectiveTo improve the internal (variable diameter, bending) passage ability of oil and gas pipeline cleaning robots, a multi-segment adaptive wheel-type pipeline cleaning robot was proposed.MethodsThe robot was designed with a two-segment structural configuration to reduce its turning radius. An extendable and retractable walking mechanism, formed by integrating a linear guide rail with a telescopic wheel assembly, was employed to enable adaptive movement within a certain range of pipe diameters. To ensure the operational stability of the cleaning robot inside pipelines, the motion process of the pipeline cleaning robot was simulated using Adams software, and its motion parameters were analyzed. The variation patterns of the robot’s speed and wheel torque when passing through elbow pipes and pipes with varying diameters were thereby obtained.ResultsThe speed of the robot will briefly increase to 1 146.9 mm/s when entering a 90° bend, and then decrease rapidly to 220 mm/s when exiting. In the continuous variable diameter pipe, the speed of the robot is maintained at about 520 mm/s, and the driving motor torque increases to 42.5 N·m with the decrease of the pipe diameter. The simulation data shows the correctness of the theoretical analysis and the rationality of the structural design. The tets results are consistent with the simulation results, further verifying the rationality of the pipeline cleaning robot design. |
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| ISSN: | 1004-2539 |