Scientific journal
Scientific Review. Technical science
ISSN 2500-0799
ПИ №ФС77-57440

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ANALYSIS OF PROCESS OF ROBOTIZATION OF HYDROCUTTING OF OIL PIPELINES

Arhipov A.N. 1 Kobzev A.A. 1 Lekareva A.V. 1 Mahfuz A.A. 1 Petuhov E.N. 1
1 Vladimir State University of a name of A.G. and N.G. Stoletovykh
The world network of oil pipelines and the related oil storages extends with growth of volumes of oil production. In use there is a need of cleaning of tanks of oil storages and oil pipelines, inserts of pipes, inspections of a state. These operations are interfaced to cutting of cavities of the big sizes and a difficult form. Combustible deposits on internal surfaces of oil pipelines don’t allow application for them are sharp the methods which are followed by a flame and a spark. Here application of process of hydrocutting by a water stream with an abrasive is very effective. The wide circulation of hydrocutting of oil pipelines and oil storages is limited to weak extent of its automation. Great opportunities are opened by creation and application of automatic complexes on the basis of a robotics. The concept of creation of a mobile robotic complex of hydrocutting of surfaces of oil pipelines and oil storages provides the analysis, consideration and the solution of the following main questions. 1. Requirements and features of system of automatic control. The system of automatic control of the robot consists of two consistently connected systems – the mobile and transport robot. 2. Type of kinematics and sizes of shoulders of the technological robot. The defining factors are here the look and an arrangement of objects with which MTR, in space, and also the sizes of surfaces of cutting interacts. 3. The analysis of technological trajectories and requirements imposed to the technological robot. These aspects are defined by a type of the cut-out profile, an arrangement and definiteness of surfaces in space, and also requirements from directly process of hydrocutting. 4. Management of a trajectory of the movement of a head of a hydrocut on not completely certain surface of cutting in space