Dynamic Evolution and Vibration Reduction Analysis of Multi-section Serial In-pipe Inspection Robot When Crossing Obstacles

doi:10.3901/JME.2024.08.348

Abstract

Abstract: As an important equipment to ensure the safe transportation of oil and gas pipelines, pipeline inspection robots with pressure difference are gradually evolving toward integration, intelligence and high precision. The complex flow condition of the medium in the pipe and the random non-uniform excitation in the pipe can cause sudden changes in the dynamic behavior of the pipeline robot, affecting the accuracy and performance of its internal inspection work. The dynamic multi-body model of the serial pipeline robot and the joint simulation solution model of Adams and Matlab/Simulink with fluid-solid coupling simulation are established. The dynamic behavior, vibration superposition, and dynamic evolution law of multi-part serial pipeline robot excited by the girth weld in the pipeline under different sections are studied. Established a comprehensive evaluation index for pipeline robot vibration, combined with simulation data and neural network algorithms to build a structural optimization model for pipeline inspection robot, and used genetic algorithms for parameter optimization. The results show that when the pipeline robot is excited with multiple section pressure differences due to the girth weld in the pipe, the axial vibration tendency of each cabin is similar and the extreme value of axial acceleration does not change significantly. Moreover, vibration transmission occurs when each car passes through the girth weld. The optimized structural parameters of the pipeline robot reduce the extreme values of axial, vertical and pitch accelerations by 74.7%, 38.1% and 37.27%, respectively.

Key words: pipe robot, fluid-solid coupling, dynamic response, vibration reduction optimization, multibody dynamics model

CLC Number:

TE973

ZHANG Hang, FU Kuan, CHEN Minghao, LI Rui, SHI Xinna. Dynamic Evolution and Vibration Reduction Analysis of Multi-section Serial In-pipe Inspection Robot When Crossing Obstacles[J]. Journal of Mechanical Engineering, 2024, 60(8): 348-359.

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