Pipe Detection Robot Head Leather Bowl Study On Dynamic Characteristics Of Coupling Structures

In recent years,with the extension of service time,soil corrosion,landform settlement,collapse,heat transport deformation,ocean current scouring,man-made construction damage and other reasons,the pipeline often produces different degrees of deformation,corrosion and damage.Once there is oil leakage in the pipeline,oil transportation will be interrupted and the Marine and surrounding ecological environment will be affected.The pipeline detection robot can accurately detect the location of leakage,but due to the friction and other reasons during its operation,the detection robot will produce self-excited vibration,which will reduce the accuracy of detection,and even cause the phenomenon of failure jam.In order to avoid this situation,it is very important to conduct dynamic analysis on the self-excited vibration of pipeline inspection machine.It is an important part of the whole robot structure to detect the head bowl of the robot.In this paper,the dynamics of the head bowl of the pipeline robot is analyzed.1)Simplifying the cup to ring plate-conical shell-coupling structure of cylindrical shell,according to the stress-strain relationship,the rotating plate and shell with the improved Fourier triple trigonometric series method to build the ring plate and conical shell cylindrical shells and allowable displacement function,principle of combination of Rayleigh,ring plate is deduced from the Angle of energy,conical shell and three dimensional motion equation of cylindrical shell,The vibration characteristic parameters of each structure are obtained by solving a standard eigenvalue problem.The correctness of the mathematical model is verified by the finite element simulation results.2)On the basis of the established motion equations of each substructure,the coupling boundary conditions among the substructures are introduced,and the coupling simulation is carried out by means of linear springs evenly distributed on each coupling boundary surface.The three dimensional linear equations of motion of the annular plate-conical shell,conical shell-cylindrical shell,annular plate-cylindrical shell and annular plate-conical shell-cylindrical shell(shell)coupling system were constructed respectively,and the forced vibration response of the shell was analyzed.The numerical results obtained by this method are compared with the results of finite element simulation and experiment to verify the accuracy of the dynamic model established in this paper.3)Considering the influence of the pu leather cup material frequency dependence,based on the four parameters of fractional derivative model,through improved particle swarm algorithm,match the theoretical value and experimental value calculation,the push of the structure of the nonlinear material parameters,and set up considering cup material nonlinear vibration characteristic analysis of the theoretical model,the natural frequency of the cup and the vibration response under base excitation.4)The corresponding experimental test system was built,and the vibration characteristics of the bowl were tested by means of hammering and frequency sweeping test technology.The theoretical calculation results in this paper were in good agreement with the experimental test results.At the same time,the variation of nonlinear vibration characteristics of the skin bowl under different factors is discussed.