| Crude oil as the most basic energy source is of great significance to the country’s economic development,but after decades of development,traditional oil fields are storing less and less crude oil,and the water content in crude oil is getting higher and higher.As traditional oil fields slowly go into decline,new types of forested oil fields have become new targets for exploitation.Pipeline transportation is the main transportation method for crude oil,but crude oil as a liquid mixture will solidify at low temperatures.Since extreme low temperature weather often occurs in winter in the northeast of China,and the underground of the Daxinganling forest area where the pipeline crosses is mostly seasonal permafrost or multi-year permafrost,the temperature around the pipeline is low and crude oil is prone to supercooling and condensation.The traditional dredging and maintenance methods are costly and inefficient,and can cause certain damage to the pipeline,the forest area near the pipeline and the soil.In order to ensure the smooth flow of crude oil transportation and the normal work of electric tracing heat in the pipeline,this paper designs a kind of pipeline robot which can move long distance in the crude oil pipeline,heating and unblocking and electric tracing heat breakage detection in one,and carries out theoretical calculation and simulation analysis on its related motion characteristics and reliability,and finally optimizes its structure.The specific research contents are as follows:(1)The overall design of the crude oil pipeline robot was determined by analyzing the research status and working characteristics of various types of pipeline robots at home and abroad,and combining the specific environment of the crude oil pipeline and the robot’s working contents.On this basis,the robot drive mechanism,reducer mechanism,barrier crossing mechanism,inspection mechanism and heating mechanism are designed by CREO software,and the overall 3D model of the robot is finally built through assembly.(2)Theoretical analysis and calculation of the motion characteristics of the robot as a whole and each mechanism were carried out.These include: the analysis of the robot’s in-tube passability,the analysis of the mechanical characteristics of the wheel drive mechanism,the analysis of the reducer range of the reducer mechanism and the analysis of the Mc Namee wheel rate relationship under each working condition of the overrunning mechanism,which provide the relevant basis for the size design and selection of the relevant structure.(3)The simulation analysis of the robot’s in-tube motion characteristics was carried out based on ADAMS and FLUENT simulation analysis software.The simulation analysis of the robot’s in-tube passability under each working condition was carried out by ADAMS,and the overall design dimensions of the robot were verified to meet the design requirements.The simulation analysis of fluid driving characteristics of the robot in the pipe was carried out by FLUENT software,which verified the feasibility of driving the umbrella type fluid driving mechanism and the feasibility of heating and unblocking the electric tracing line when the crude oil condenses.(4)The strength and stiffness of the robot were simulated by ANSYS under the coupling effect of the three fields of heat,fluid and solid. |
