| Inspection Gauge Abstract When the differential pressure pipeline robot moves in the pipeline,it does not need additional energy supply.It is generally used to perform dredging and detection tasks in longdistance transportation pipelines.At present,the research on the running state of the pipeline robot is mainly one-dimensional model,and the analysis of the flow field is mainly twodimensional model.There is little information about robot-driven leather bowls and speed control.In this thesis,a three-dimensional model of the pipeline robot is established,and the fluid-solid coupling characteristics during the operation of the robot pipeline are studied through numerical simulation.This thesis analyzes the operating principle of the robot at work,designs the structure of the robot,and determines the size parameters of each component.In addition,the simulation model is simplified reasonably according to the existing structure to improve the operation efficiency.The numerical verification of the skin bowl model ensures the rationality of the model structure.Finally,the internal flow field of the pipeline and the simplified robot model are verified by grid independence,and the reasonable grid size is selected to reduce the operation time and improve the efficiency under the premise of ensuring the accuracy of the results.The fluid pressure was applied to the robot to analyze the stress-strain characteristics of the bowl under static and moving states,and the influence of friction on the stress-strain of the bowl was obtained.The pipeline robot in the moving state is further simulated.The velocity curve of the robot is obtained by changing the fluid velocity and friction coefficient,and the influence laws of different factors are summarized.The results show that the higher the fluid velocity is,the higher the driving speed will be.The larger the friction coefficient is,the smaller the driving speed is when the driving device is stable.The transient dynamic simulation of the driving bowl was carried out,and the stress curve of the bowl was obtained by changing the height of the inner wall obstacle and the thickness of the bowl.The growth rate curve was obtained according to the stress data.Through the growth rate curve,the influence law of barrier height and skin bowl thickness on skin bowl is summarized.The results show that the thickness of the bowl has a greater effect on the edge stress of the bowl when the height of the barrier is the same as the increase of the bowl thickness.A pipeline robot test bench in a straight pipeline was built to measure the speed and traction of the pipeline robot when running in the pipeline.Through the movement of the motor-driven robot,the velocity data and traction force data are obtained by using infrared sensors and tension pressure sensors.The traction force results of the robot at different speeds are obtained by changing the motor speed,and the stress of the skin bowl is obtained by force analysis.The results show that the traction motor has no effect on the traction force of the driving device.The greater the thickness of the bowl,the greater the stress on itself.The results of this study can provide a basis for improving the capacity of robot pipeline and improving the efficiency of oil and gas pipeline transportation.The relevant simulation results have certain reference value for the development of pipeline robot industry. |
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