Structural Design And Analysis Of A Fluid-driven Cup-pipeline Robot

At present,pipeline transportation has been widely used in the transportation of gas and liquid energy such as oil and natural gas.However,the pipeline will have some problems such as wear,crack,corrosion,aging and mechanical damage under long-term work.These problems can cause leakage,pollution,irreversible consequences to the surrounding ecosystem,or cause major safety accidents.Therefore,regular inspection and maintenance of pipelines is required.However,the transportation distance of energy transmission pipelines such as oil and gas determines that ordinary cable-type pipeline robots are not suitable,and more effective methods and devices are needed for detection.Aiming at the requirements of long-distance petrochemical pipeline inspection,based on the principle of fluid dynamics,a wireless-driven cup pipeline robot has been developed.This robot can be equipped with different inspection equipment to replace traditional manual inspection in the pipeline.Detection provides a stable environment.The specific research contents are as follows:First of all,the domestic and foreign status quo of pipeline robots is summarized and analyzed.The analysis shows that although domestic research on pipeline robots has gradually improved,there are few studies on the design of fluid-driven pipeline robots,and there is no specific consideration of the cup parameters in the geometric constraints proposed for the design of the bending performance of fluid-driven pipeline robots.Influence.Secondly,according to the pipeline detection requirements,the design specification of the pipeline robot is proposed,and the passability of the pipeline robot is analyzed.After obtaining the corresponding constraints,the constraints are coded using MATLAB software,and the obtained results are visualized.processing to obtain the overall feasible region of the robot design.On this basis,the structural design of the fluid-driven robot is completed.The main structural design includes the design of the multi-parameter cup structure,the reciprocating mechanism of the spring slider and the design of the crank opening valve discharge speed control device.Again,the mechanical properties of the leather bowl material of the robot are studied through basic mechanical experiments.Referring to the fitting effects of various models,the Mooney-Rivlin2 nd constitutive model is finally determined to describe the nonlinear mechanical properties of the polyurethane leather bowl,which provides more accurate material parameters for the subsequent numerical analysis of the pipeline robot.Afterwards,the static analysis of the robot is carried out.By simulating the working conditions of multiple parameters of the leather bowl structure in the ANSYS static analysis module,the simulation results of each parameter of the leather bowl are obtained,and the best parameter ratio of the leather bowl is obtained by comparative analysis(The thickness of the leather bowl is 40 mm,the edge angle of the leather bowl is 10 °,and the depth of the groove of the leather bowl is 20 mm).Finally,the simulation experiment is carried out on the operating environment of the robot in the real fluid,and the coupling analysis of the velocity of the robot and the characteristics of the fluid in the pipe is carried out through two-way fluid-solid coupling.The impact,and then the robot gradually tends to work stably with the fluid flow,which indicates that the design of the cup robot cannot ignore the initial impact during its movement,which provides an important requirement for the design of the fluid-driven pipeline robot.The movement of the robot in fluid environments with different densities and viscosities was compared and analyzed,and it was found that the viscosity has a great influence on the velocity of the robot’s discharge port,which indicates that the robot needs to focus on the influence of the viscosity of the fluid on the robot during work.