基于流固耦合的管道机器人清淤装置外载荷参数优化

Optimization of External Load Parameters of Pipeline Robot Dredging Device Based on Fluid-solid Coupling

为验证管道机器人清淤装置的清淤能力,应用流固耦合和参数优化的方法,在刚度和强度约束条件下,对结构的许用载荷进行分析。建立管道机器人模型并进行简化,导入到ANSYS中并划分六面体网格,首先将模型进行流固耦合下的强度仿真,验证了流体对清淤装置的强度影响很小;然后进入结构分析模块,应用参数优化的方法,以刮刀端部锥面受到轴向和切向外载荷为目标函数,以应力与应变为约束条件进行参数设置,对清淤装置的刮刀、扇形盘以及整体进行仿真计算;得到目标函数与约束条件的关系曲线、轴向与切向可行域曲线。研究结果表明,流体对结构的强度影响极小;轴向力许用范围0~5 000N,切向力许用范围0~3 500N,外载荷的可行域为研究清淤装置的清淤能力,以及过载保护系统具有指导性意义。

In order to verify the dredging capacity of the pipeline robot dredging device,the fluid solid coupling and parameter optimization methods were applied to analyze the allowable load of the structure under the constraints of stiffness and strength.The pipeline robot model was established and simplified.It was imported into ANSYS and divided into hexahedron meshes.Firstly,the model was simulated by fluid solid coupling.It was verified that the fluid has little effect on the strength of the dredging device.Then,in the structural analysis module,the method of parameter optimization was applied,the axial and tangential external load on the taper surface of the end of the scraper was taken as the objective function,the parameters under the constraint of stress and strain were set,and the scraper,fan plate and the whole of the dredging device were simulated.The relation curves of objective function and constraint conditions,axial and tangential feasible region curves were obtained.The results show that the influence of fluid on the strength of the structure is very small.And the allowable range of axial force is 0~5 000 N,and the allowable range of tangential force is 0~3 500 N.The feasible domain of the external load is of guiding significance for studying the dredging capacity of the dredging device and the overload protection system.