Design Of Rotating Energy Extraction Module For Pipeline Robot

A pipeline robot is an integrated mechanical,electronic or instrumental robot.It can travel along the inside or outside of oil and gas storage and transportation pipelines.It carries one or more types of detection equipment,signal transceiver equipment and mechanical structures to perform a series of pipe cleaning,inspection and inspection of pipelines.The oil and gas pipelines are usually located under the sea or underneath.It is difficult to achieve inspection or maintenance on the outside of the pipeline.Therefore,in-pipe inspection by pipeline robots becomes a feasible solution.Conventional pipeline robots are divided into two types,cable and cableless.The former is powered by cable to supply the pipeline robot.The latter is powered by a battery installed inside the pipeline robot.However,due to the limitation of cable length or battery capacity,the working range of pipeline robots is often limited.In order to overcome this drawback,this thesis design a self-energy extraction pipeline robot,which converts the fluid kinetic energy inside the pipeline into electrical energy through a generator.It can be stored in the battery and supplied to various inspection devices inside the pipeline robot.When the energy harvesting module is working,the energy utilization rate of the flow field inside the pipeline is the core issue we are concerned about.Therefore,This thesis focuses on the structural design of the impeller and the selection of the generator.Then design an experimental system to calculate the energy conversion rate.This thesis studies the impact of changes in the inclination angle of the impeller on the power generation efficiency of the generator.Also investigates the effect of the guide device on improving the torque of the impeller.Based on this,design a power generation unit test and pipeline fluid energy acquisition test system.The energy taking module is modeled and fluid-structure interaction simulation is carried out for the actual flow velocity,pressure and other parameters inside the pipeline.The flow field is analyzed through the streamline diagram of impeller simulation.Subsequently,the strength of the experimental system was verified,and the rotation of the generator inside the pipeline was estimated by calculating the torque acting on the impeller.In order to test the generator and calculate its energy conversion efficiency,power generation unit tests were conducted to provide data support for pipeline fluid energy harvesting tests.Subsequently,the relationship between speed and voltage,current,and torque was fitted based on experimental data.Analyze the speed and torque of the impeller in the pipeline using the voltage and current data obtained from the pipeline fluid energy harvesting test and compare it with the simulation results.By calculating the friction Friction loss,the energy conversion rates of fluid kinetic energy into mechanical energy and mechanical energy into electrical energy are analyzed respectively.Finally,based on simulation results and experimental data,a prototype design of the energy harvesting module was carried out.