基于流固耦合的管道机器人清淤装置

为验证管道机器人的清淤能力,对其清淤装置进行旋转条件下的流固耦合研究。对管道机器人的清淤装置进行简化处理,利用ANSYS Workbench软件,通过添加流体域,获得基于流固耦合的模型;通过mesh模块进行网格划分,得到基于有限元分析的高精度模型,在逆流条件下分别设置固体的转速1.6、0.3 r/s,顺流条件下设置固体的转速1.6 r/s,设置流体的流速和前进速度均为2.5 m/s,进行流固单向耦合计算;得到流体基于速度和压力的运动状态示意图,进行对比分析。结果表明:在逆流高转速条件时,清淤装置清淤效果显著,具有刮削-搅拌-过滤-推进-自流冲刷五位一体清淤作业能力,并为管道机器人的控制提供理论依据。

Research on Pipeline Robot Dredging Device Based on Fluid-Structure Coupling

In order to verify the dredging ability of the pipeline robot, the fluid-solid coupling study of the dredging device under rotating conditions was carried out. Simplify the dredging device of the pipeline robot, and import the simplified three-dimensional model into ANSYS Workbench, and add the fluid domain to obtain the coupled model, then mesh the mesh module to obtain the high-precision finite element model. Finally, based on the finite element method, the solid speeds of 1.6r.s-1 and 0.3r.s-1 are set under countercurrent conditions respectively. The solid speed is set to 1.6r.s-1 under the downstream conditions, and the flow rate and forward speed of the set fluid were both 2.5 m/s, and the fluid-solid unidirectional coupling calculation was performed. A schematic diagram of the motion state of the fluid based on velocity and pressure is obtained and comparative analysis is performed. The results show that the dredging device has obvious dredging effect in the condition of countercurrent high speed, and has the ability of scraping-stirring-filtering-propulsion-self-flowing five-in-one dredging operation, and provides theoretical basis for the control of pipeline robots.