Structural Design and Simulation of Inspection Robot in Oil Pipeline

In order to inspect the oil pipelines quickly and accurately,an internal inspection robot was designed,which can run independently,carry inspection equipment,ensure a wide range of diameter change and adapt to smaller diameter pipelines.The robot can travel in the pipeline by its own power,and at the same time,it can use ultrasonic flaw detection to detect various defects on the pipeline wall such as corrosion,cracks,dislocation and obstacles,and record the locations of the defects.With an active driving module,the pipeline robot can run independently in the oil pipeline.Its rated moving speed is 5 cm/s,the maximum test distance is 1 km,and the minimum cornering radius is 813 mm.The driving module uses a synchronous belt,which greatly improves its obstacle-surmounting ability and the stability of movement.The variable diameter of the lifting variable diameter mechanism ranges from 114 mm to 325 mm and the ideal detection range of the pipeline robot probe occupies 84% of the inner wall area of the pipeline.This design provide a reference for the defect inspection of oil pipelines.