管道封堵机器人的大变形橡胶筒静态密封特性仿真与试验研究

Simulation and Experimental Research on Static Sealing Characteristics of Large Deformation Rubber Cylinder of Pipeline Plugging Robot

在管道封堵机器人中大变形橡胶筒是实现密封的核心部件,其在使用中常出现密封失效和撕裂失效等问题.为了明晰上述原因和解决问题,本文中研究了不同橡胶材料以及不同橡胶筒轴向长度、径向长度和倾斜边角等结构参数对管道封堵机器人的静态密封特性影响.基于橡胶材料的高弹性和大变形特性,进行了橡胶筒的多阶段变形力学分析.对橡胶材料进行单轴拉伸压缩试验,得到橡胶材料的本构关系参数.建立管道封堵机器人橡胶筒密封特性分析的有限元计算模型,通过多因素分析方法,获得橡胶筒关键结构参数的最优方案.并设计了室内试验来进一步确定最优橡胶筒材料.研究结果表明集中在橡胶筒肩部的应力直接影响橡胶筒的形变损伤.经过橡胶筒的密封效果对比分析后得出最优的橡胶筒结构为轴向长度180 mm、径向厚度55 mm、倾斜边角28°,橡胶材料硬度为85 HA.

The large deformation rubber cylinder is one of the most important core components of the pipeline plugging robot.Its function is mainly to isolate the oil and gas in the pipeline during pipeline repair and maintenance operations.In field use,the problems of rubber cylinder seal failure and tear failure are more prominent.In order to clarify the above reasons and solve practical engineering problems,this paper studied the effects of different rubber materials,different rubber cylinder axial lengths,radial lengths,inclined edges and other structural parameters on the static sealing characteristics of the pipeline plugging robot.Based on the high elasticity and large deformation characteristics of the rubber material,the multi-stage deformation mechanics analysis of the rubber cylinder was carried out.The uniaxial tensile-compression test was carried out on the rubber material,and the constitutive relation parameters of the rubber material were obtained.The finite element calculation model for the analysis of the sealing characteristics of the rubber cylinder of the pipeline plugging robot was established,and the optimal scheme of the key structural parameters of the rubber cylinder was obtained through the multi-factor analysis method.An indoor test was designed to further determine the optimal rubber cylinder material.It showed that the contact stress between rubber cylinder and pipe wall and the value of the sealing performance coefficient were the key parameters for evaluating the static sealing performance of the pipeline plugging robot.The Mises stress concentrated on the compressed surface of the rubber cylinder directly affected the deformation and damage of the rubber cylinder.Reducing the Mises stress here was beneficial to improve the service life of the pipeline plugging robot.Under the same load,as the hardness of the rubber cylinder material increased,the sealing performance of the rubber cylinder was worse.As the axial length of the rubber cylinder soared,the sealing performance of the rubber cylinder was better,but the Mises stress on the compressed surface of the rubber cylinder was greater.As the radial thickness of the rubber cylinder decreased,the sealing performance of the rubber cylinder was better,but the Mises stress on the compressed surface of the rubber cylinder was greater.With the increase of the rubber cylinder inclined angle,the sealing performance of the rubber cylinder first increased and then weakened,and the Mises stress on the compressed surface of the rubber cylinder first decreased and then increased.After the comparative analysis of the sealing effect of the rubber cylinder,the optimal rubber cylinder structure was obtained as the axial length of 180 mm,the radial thickness of 55 mm,the inclined edge angle of 28°,and the rubber material hardness of 85 HA.The results of this paper had important reference significance for the development of high-performance,long-life,and high-reliability pipeline plugging robots.