内外螺旋管道机器人性能分析和结构参数优化

Performance Analysis and Structural Parameter Optimization of Inner and Outer Spiral In-pipe Robots

数值比较了内外螺旋机器人、单节外螺旋机器人和双节外螺旋机器人的轴向推进力、管道壁所受最大压力、液体对机器人的承载力和液体对机器人周向阻力矩与其外壳转速的关系,分析了内螺旋转速和外螺旋转速的变化对机器人轴向推进力的影响以及机器人外螺旋槽结构参数(槽口宽a2、槽底宽b2、倾角α2、螺旋槽槽深h2、螺纹升角Φ2和螺纹线数n2)对机器人轴向推进力的影响,并运用正交试验优化方法优化了外螺旋槽结构参数组合。结果表明:内外螺旋机器人单位有效体积的推进力和液体对其的承载力最大;外螺旋参数的变化对机器人性能的影响远大于内螺旋参数的变化对机器人性能的影响;机器人外螺旋槽结构参数和机器人轴向推进力成非线性关系。在管道直径和机器人内外径确定的条件下,一组最优的外螺旋槽结构参数组合为:a2=1.25mm,b2=0.75mm,α2=70°,h2=0.8mm,Φ2=30°,n2=10。

The relationship among the axial thrust force,pressure of pipeline wall,load capacity of fluid and circumferential drag torque of inner and outer spiral robots,single sectional outer spiral robots and double sectional outer spiral robots and their outer shell rotational speed was numerically compared.The influence of the inner spiral rotational speed and the outer spiral rotational speed on the robotic motion performance was calculated.The influence of the outer spiral structural parameters（notch width a2,groove bottom width b2,dip angleα2,groove depth h2,spiral angleΦ2 and thread number n2）of the robot on the robotic axial thrust force was numerically analyzed.By the orthogonal optimization design method,an optimal combination of the six outer spiral structural parameters was obtained.The results show that the effective axial thrust force and load capacity of fluid of the inner and outer spiral robot are maximal;the influence of the outer spiral parameters on the robotic motion performance is much larger than that of the inner spiral parameters;outer spiral structural parameters have nonlinear relation with the robotic axial thrust force;under the condition of the fixed pipeline diameter and robotic inside and outside diameters,an optimal combination of the six outer spiral structural parameters is that a2 equals to 1.25mm,and b2 equals to 0.75mm,andα2 equals to 70°,and h2 equals to 0.8mm,andΦ2 equals to 30°,and n2 equals to 10.