CN117030210B - Simulation experiment machine for migration of solid particles to sealing interface of pipeline soft robot - Google Patents
Simulation experiment machine for migration of solid particles to sealing interface of pipeline soft robot Download PDFInfo
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- CN117030210B CN117030210B CN202310629312.8A CN202310629312A CN117030210B CN 117030210 B CN117030210 B CN 117030210B CN 202310629312 A CN202310629312 A CN 202310629312A CN 117030210 B CN117030210 B CN 117030210B
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- 238000007789 sealing Methods 0.000 title claims abstract description 78
- 239000002245 particle Substances 0.000 title claims abstract description 42
- 239000007787 solid Substances 0.000 title claims abstract description 41
- 238000013508 migration Methods 0.000 title claims abstract description 26
- 230000005012 migration Effects 0.000 title claims abstract description 26
- 238000004088 simulation Methods 0.000 title claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 239000007850 fluorescent dye Substances 0.000 claims abstract description 18
- 238000004146 energy storage Methods 0.000 claims description 29
- 239000002184 metal Substances 0.000 claims description 16
- 229910052751 metal Inorganic materials 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 10
- 239000012790 adhesive layer Substances 0.000 claims description 7
- 229920001343 polytetrafluoroethylene Polymers 0.000 claims description 6
- 239000004810 polytetrafluoroethylene Substances 0.000 claims description 6
- 239000010410 layer Substances 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- -1 Polytetrafluoroethylene Polymers 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 239000011521 glass Substances 0.000 claims description 3
- 229910000816 inconels 718 Inorganic materials 0.000 claims description 3
- 238000009413 insulation Methods 0.000 claims description 3
- 239000011859 microparticle Substances 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- 239000012188 paraffin wax Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000001993 wax Substances 0.000 description 4
- 238000005461 lubrication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 206010063659 Aversion Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 239000010779 crude oil Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 239000007790 solid phase Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16J—PISTONS; CYLINDERS; SEALINGS
- F16J15/00—Sealings
- F16J15/16—Sealings between relatively-moving surfaces
- F16J15/32—Sealings between relatively-moving surfaces with elastic sealings, e.g. O-rings
- F16J15/3296—Arrangements for monitoring the condition or operation of elastic sealings; Arrangements for control of elastic sealings, e.g. of their geometry or stiffness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/26—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors
- G01M3/28—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for pipes, cables or tubes; for pipe joints or seals; for valves ; for welds
- G01M3/2853—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for pipes, cables or tubes; for pipe joints or seals; for valves ; for welds for pipe joints or seals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/62—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light
- G01N21/63—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light optically excited
- G01N21/64—Fluorescence; Phosphorescence
- G01N21/645—Specially adapted constructive features of fluorimeters
- G01N21/6456—Spatial resolved fluorescence measurements; Imaging
- G01N21/6458—Fluorescence microscopy
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8411—Application to online plant, process monitoring
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Immunology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Mechanical Engineering (AREA)
- Investigating, Analyzing Materials By Fluorescence Or Luminescence (AREA)
Abstract
The invention discloses a simulation experiment machine for solid particles to migrate to a sealing interface of a pipeline soft robot, which comprises a transparent tube, a linear driving device, a rotary driving device, a pipeline soft robot piston body, an intelligent sealing ring, a transmission shaft, a fluorescent microscope, an image collector, a processor and a display, wherein pressure information of the intelligent sealing ring is transmitted to the processor, and the image collector acquires position and state information of solid fluorescent dye particles in the transparent tube through the fluorescent microscope and transmits the position and state information to the processor. According to the invention, the migration behavior of the microparticles in the sealing interface under a plurality of media is carried out by using a fluorescence microscope, so that a particle migration rule is obtained, and the contact pressure of the sealing surface is detected by using a pressure sensor, so that the influence of particle solid migration under a multiphase medium on the sealing interface is obtained, and therefore, theoretical guidance is provided for the smooth operation of the intelligent equipment sealing system and the design of the tribology system.
Description
Technical Field
The invention relates to the technical field of seal simulation experiments, in particular to a simulation experiment machine for migration of solid particles to a seal interface of a pipeline soft robot.
Background
About 30% of the world's primary energy consumption is due to friction, and more than about 50% of equipment system aversion events are due to lubrication failure and seal failure. Aiming at the requirements of full-section shield equipment, general aviation, deep sea equipment, high-end machine tools and the like, in order to fundamentally solve the problems of the sealing lubrication coupling system, the sealing failure mechanism, the evaluation method and the control technology of the high-parameter sealing lubrication coupling system under special environments and complex working conditions are systematically mastered.
The motion mode of the soft robot is complex, the soft robot has linear motion and a certain rotation in the fluid sealing differential pressure driving process, the operation of the soft robot of the deep sea riser system can be regarded as a severe sealing friction system consisting of a sealing disc, the inner wall of a pipe and a medium from the friction perspective, and the deep sea mixed transportation pipeline is in the environment of high wax content, high viscosity, complex medium and the like (solid particles are contained in the medium), so that how is the solid particles entering a sealing interface to aggravate the abrasion of a sealing bowl and cause sealing failure? The sealing problem is still a black box problem at present, and the sealing condition of a sealing interface and the microscopic state in a sealing gap under complex movement cannot be directly observed. Therefore, how to observe the solid particles entering the sealing interface sealing gap under the complex movement so as to guide the actual application is a technical problem to be solved at present.
Disclosure of Invention
The invention aims to provide a simulation experiment machine for solid particles to migrate to a sealing interface of a pipeline soft robot.
In order to solve the technical problems, the invention adopts the following technical scheme:
the simulation experiment machine for the migration of solid particles to the sealing interface of the pipeline soft robot comprises a transparent pipe, a linear driving device, a rotary driving device, a pipeline soft robot piston body, an intelligent sealing ring, a transmission shaft, a fluorescence microscope, an image collector, a processor and a display, wherein a multiphase medium is arranged in the transparent pipe, and the multiphase medium contains solid fluorescent dye particles and is used for simulating a deep sea oil-gas mixed transportation pipeline; the transmission shaft is arranged on the bearing seat, the pipeline soft robot piston body is arranged at one end of the transmission shaft and is positioned in the transparent tube, the other end of the transmission shaft is connected with the rotary driving device, the rotary driving device is used for driving the pipeline soft robot piston body to rotate, and the linear driving device is used for enabling the pipeline soft robot piston body and the transparent tube to do relative linear motion; the intelligent sealing ring is arranged on the circumferential surface of the piston body of the pipeline soft robot, the intelligent sealing ring is used for transmitting the pressure between the sealing ring and the wall of the transparent pipe to the processor, the image collector acquires the position state information of solid fluorescent dye particles in the transparent pipe through the fluorescent microscope and transmits the position state information to the processor, and the processor obtains the migration rule of the solid fluorescent dye particles through the position state information and combines the migration rule with the received pressure data, and transmits the processed solid fluorescent dye particles to the display.
Further, the transparent tube is a glass tube.
Further, the linear driving device comprises a motor, a screw rod sliding block mechanism and a clamp, an output shaft of the motor is connected with a screw rod in the screw rod sliding block mechanism, the clamp is fixedly connected to a sliding block in the screw rod sliding block mechanism, and the clamp is used for clamping and fixing the transparent tube; the motor drives a sliding block on the lead screw sliding block mechanism, and the sliding block drives the transparent pipe to do linear motion through the clamp.
Further, the linear driving device is arranged on the workbench, a bracket is arranged on one side of the workbench, which is positioned on the transparent tube, and the fluorescent microscope and the image collector are arranged on the bracket.
Further, the bearing seat is mounted on a support plate, and the support plate is fixed on the base.
Further, the rotary driving device comprises a variable frequency motor, a ratchet wheel, a pawl and a return spring, wherein the variable frequency motor is arranged on the base, the ratchet wheel is arranged on an output shaft of the variable frequency motor, one end of the pawl is fixed on the transmission shaft, and the other end of the pawl is meshed with the ratchet wheel; the reset spring is used for resetting the pawl; under the action of the ratchet wheel and the reset spring, the pawl drives the transmission shaft to rotate reciprocally, and the transmission shaft drives the pipeline soft robot piston body to rotate reciprocally.
Further, the intelligent sealing ring comprises a sealing ring main body and an elastic energy storage metal body, wherein a circle of annular energy storage groove is formed in the sealing ring main body, the annular energy storage groove is located on the end face of the sealing ring main body, PI films are covered on the planes of groove walls on two sides of the annular energy storage groove, positive electrode conductive films and negative electrode conductive films are respectively covered on the surfaces of the PI films on the groove walls on two sides, the positive electrode conductive films and the negative electrode conductive films form a flexible capacitive pressure sensor, the elastic energy storage metal body is arranged in the annular energy storage groove, and an electric insulation layer is arranged on the outer surface of the elastic energy storage metal body.
Further, one end of the positive electrode conductive film and one end of the negative electrode conductive film are respectively coated with an adhesive layer, and the adhesive layer is used for adhering the data wires electrically connected with the positive electrode conductive film and the negative electrode conductive film.
Further, the elastic energy storage metal body is an O-shaped energy storage metal spring plate, and the material is Inconel718.
Further, the sealing ring main body is made of Polytetrafluoroethylene (PTFE); the positive electrode conductive film and the negative electrode conductive film are made of copper.
The invention has the beneficial effects that:
the invention can simulate the friction process between the soft sealing bowl of the soft robot and the pipe wall, and utilizes the fluorescence microscope to carry out the migration behavior of the microparticles under a plurality of media at the sealing interface to obtain the migration rule of the microparticles, and utilizes the pressure sensor to detect the contact pressure of the sealing surface to obtain the influence of the solid migration of the microparticles under the multiphase media on the sealing interface, thereby providing theoretical guidance for the smooth operation of the sealing system of the intelligent equipment and the design of the tribology system;
the invention particularly carries out fluorescent dye on the solid particles to be observed, and is combined with a fluorescent microscope, thereby greatly improving the definition of the solid particle migration image and laying a foundation for analysis and evaluation;
the intelligent sealing ring is adopted, and the intelligent sensing technology is adopted, so that the pressure information of the sealing element can be transmitted timely, and a foundation is laid for quantitatively evaluating the sealing performance reliability of the sealing element in real time.
Drawings
The invention will be further described with reference to the accompanying drawings, in which embodiments do not constitute any limitation of the invention, and other drawings can be obtained by one skilled in the art without inventive effort from the following figures:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic illustration of a semi-section of the intelligent seal ring of FIG. 1;
FIG. 3 is a perspective view of the device shown in FIG. 2;
FIG. 4 is a schematic view of the annular accumulator tank shown in FIG. 2;
fig. 5 is a cross-sectional view taken along line a-a of fig. 4.
In the figure: 1. a transparent tube; 2. a pipeline soft robot piston body; 3. an intelligent sealing ring; 4. a transmission shaft; 5. a fluorescence microscope; 6. an image collector; 7. a processor; 8. a display; 9. a bearing seat; 10. a support plate; 11. a base; 12. a variable frequency motor; 13. a ratchet wheel; 14. a pawl; 15. a motor; 16. a screw slider mechanism; 17. a clamp; 18. a work table; 19. a bracket; 20. a seal ring main body; 21. an elastic energy storage metal body; 22. an annular energy storage tank; 23. a PI film; 24. a positive electrode conductive film; 25. a negative electrode conductive film; 26. an electrically insulating layer; 27. an adhesive layer; 28. and a data line.
Detailed Description
In order to better understand the technical solutions of the present invention, the following description will be made in detail with reference to the accompanying drawings and specific embodiments, and it should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper surface", "lower surface", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "forward rotation", "reverse", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
As shown in fig. 1, a simulation experiment machine for transferring solid particles to a sealing interface of a pipeline soft robot comprises a transparent pipe 1, a linear driving device, a rotary driving device, a pipeline soft robot piston body 2, an intelligent sealing ring 3, a transmission shaft 4, a fluorescence microscope 5, an image collector 6, a processor 7 and a display 8, wherein a multiphase medium is arranged in the transparent pipe 1, and the multiphase medium contains solid fluorescent dye particles and is used for simulating a deep sea oil-gas mixed transportation pipeline; the transmission shaft 4 is mounted on a bearing seat 9, the bearing seat 9 is mounted on a supporting plate 10, and the supporting plate 10 is fixed on a base 11. The pipeline soft robot piston body 2 is arranged at one end of the transmission shaft 4 and is positioned in the transparent tube 1, the other end of the transmission shaft 4 is connected with a rotary driving device, and the rotary driving device is used for driving the pipeline soft robot piston body to rotate. Specifically, the rotary driving device comprises a variable frequency motor 12, a ratchet wheel 13, a pawl 14 and a return spring, wherein the variable frequency motor 12 is arranged on a base 11, the ratchet wheel 13 is arranged on an output shaft of the variable frequency motor 12, one end of the pawl 14 is fixed on a transmission shaft 4, and the other end of the pawl 14 is meshed with the ratchet wheel 13; the reset spring is used for resetting the pawl; under the action of the ratchet wheel 13 and the reset spring, the pawl 14 drives the transmission shaft 4 to rotate reciprocally, and the transmission shaft 4 drives the pipeline soft robot piston body 2 to rotate reciprocally.
The linear driving device is used for enabling the pipeline soft robot piston body 2 and the transparent tube 1 to do relative linear motion, and particularly comprises a motor 15, a screw rod sliding block mechanism 16 and a clamp 17, an output shaft of the motor 15 is connected with a screw rod in the screw rod sliding block mechanism 16, the clamp 17 is fixedly connected to a sliding block in the screw rod sliding block mechanism 16, the clamp 17 is used for clamping and fixing the transparent tube 1, the motor 15 drives the sliding block on the screw rod sliding block mechanism 16, and the sliding block drives the transparent tube 1 to do linear motion through the clamp 17.
The linear driving device is arranged on a workbench 18, a bracket 19 is arranged on the workbench 18 and positioned on one side of the transparent tube 1, and the fluorescent microscope 5 and the image collector 6 are arranged on the bracket 19.
The intelligent sealing ring 3 is arranged on the circumferential surface of the pipeline soft robot piston body 2, the intelligent sealing ring is used for transmitting the pressure between the sealing ring and the pipe wall of the transparent pipe 1 to the processor 7, the transparent pipe 1 is a glass pipe, the image collector 6 acquires the position and state information of solid fluorescent dye particles in the transparent pipe 1 through the fluorescent microscope 5, transmits the position and state information to the processor 7, and the processor 7 obtains the migration rule of the solid fluorescent dye particles through the position and state information and combines the solid fluorescent dye particles with the received pressure data, and transmits the processed solid fluorescent dye particles to the display 8.
As shown in fig. 2, 3, 4 and 5, the intelligent sealing ring 3 comprises a sealing ring main body 20 and an elastic energy storage metal body 21, a circle of annular energy storage groove 22 is arranged on the sealing ring main body 20, the annular energy storage groove 22 is positioned on the end face of the sealing ring main body 20, PI films 23 are covered on the planes of groove walls on two sides of the annular energy storage groove 22, the PI film surfaces 23 on the groove walls on two sides are respectively covered with an anode conductive film 24 and a cathode conductive film 25, the anode conductive film 24 and the cathode conductive film 25 form a flexible capacitive pressure sensor, the elastic energy storage metal body 21 is arranged in the annular energy storage groove 22, and an electric insulation layer 26 is arranged on the outer surface of the elastic energy storage metal body. One end of the positive electrode conductive film 24 and one end of the negative electrode conductive film 25 are coated with an adhesive layer 27, respectively, and the adhesive layer 27 is used for adhering a data line 28 electrically connected with the positive electrode conductive film and the negative electrode conductive film.
The materials of the positive electrode conductive film 24 and the negative electrode conductive film 25 are copper; the elastic energy storage metal body 21 is an O-shaped energy storage metal spring plate, and the material is Inconel718; the seal ring main body 20 is made of Polytetrafluoroethylene (PTFE).
In large-scale equipment with severe environmental conditions such as deep space, deep sea, deep land and the like, sealing elements in the equipment sealing system cannot be easily detached and replaced due to the fact that constructors cannot enter the equipment, construction space is limited, maintenance cost is high and the like. Typically, failure modes of the seal system due to frictional wear are manifested as transient information. In the sealing system of the invention, the positive electrode conductive film 24 and the negative electrode conductive film 25 in the intelligent sealing ring 3 form a flexible capacitive pressure sensor,
the capacitance is represented by formula (1) as c=epsilon 0 ε r A/d (1)
Wherein epsilon 0 、ε r The relative dielectric constants of the vacuum and dielectric layers are respectively, A is the overlapping area of the upper polar plate and the lower polar plate, and the unit is m 2 D is the vertical distance between the two plates in m.
Working principle: during experiments, firstly, a multiphase medium sample is prepared, fluorescent dye particles are added, a friction process of a soft robot sealing bowl under a plurality of mediums is simulated, a fluorescence microscope and an image acquisition device are utilized to acquire images of a friction interface and process the images, finally clear fluorescent images are obtained on a display, solid migration of the particles under the multiphase medium can be observed, and the contact pressure measured by a pressure sensor before and after the solid particles enter is compared to obtain the influence on the friction interface, so that practical application is guided.
Specifically, before experiments, gel state medium samples with high viscosity, high sand content and high wax content are prepared by self-preparing, crude oil in different sea areas is added with microcrystalline solid paraffin and the like, different brands of paraffin can be purchased, for example, no. #48 paraffin, no. #56 paraffin and the like, the mass ratio of solid phase wax is selected to be more than 5% to 60%, the gel state medium samples are subjected to the steps of integral water bath heating, heat preservation, stirring, natural cooling, container sealing and the like in a laboratory link, at least more than 5 solid-liquid medium samples with different types, different sand contents, different wax contents and the like are prepared, and proper fluorescent dye particles are added, so that the multiphase medium containing the solid fluorescent dye particles is prepared and used for simulating the scene in a deep sea oil-gas mixed transportation pipeline.
Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction. While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (9)
1. The simulation experiment machine for the migration of solid particles to the sealing interface of the pipeline soft robot is characterized in that: the intelligent oil-gas mixing transmission device comprises a transparent pipe, a linear driving device, a rotary driving device, a pipeline soft robot piston body, an intelligent sealing ring, a transmission shaft, a fluorescent microscope, an image collector, a processor and a display, wherein a multiphase medium is arranged in the transparent pipe, and the multiphase medium contains solid fluorescent dye particles and is used for simulating a deep sea oil-gas mixing transmission pipeline; the transmission shaft is arranged on the bearing seat, the pipeline soft robot piston body is arranged at one end of the transmission shaft and is positioned in the transparent tube, the other end of the transmission shaft is connected with the rotary driving device, the rotary driving device is used for driving the pipeline soft robot piston body to rotate, and the linear driving device is used for enabling the pipeline soft robot piston body and the transparent tube to do relative linear motion; the intelligent sealing ring is arranged on the circumferential surface of the piston body of the pipeline soft robot, the intelligent sealing ring is used for transmitting the pressure between the sealing ring and the wall of the transparent pipe to the processor, the image collector acquires the position and state information of solid fluorescent dye particles in the transparent pipe through the fluorescent microscope, and transmits the position and state information to the processor, and the processor obtains the migration rule of the solid fluorescent dye particles through the position and state information, combines the migration rule with the received pressure data, and transmits the processed solid fluorescent dye particles to the display; the intelligent sealing ring comprises a sealing ring main body and an elastic energy storage metal body, wherein a circle of annular energy storage groove is formed in the sealing ring main body, the annular energy storage groove is located on the end face of the sealing ring main body, PI films are covered on the planes of groove walls on two sides of the annular energy storage groove, positive electrode conductive films and negative electrode conductive films are respectively covered on the surfaces of the PI films on the groove walls on two sides, the positive electrode conductive films and the negative electrode conductive films form a flexible capacitive pressure sensor, the elastic energy storage metal body is arranged in the annular energy storage groove, and an electric insulation layer is arranged on the outer surface of the elastic energy storage metal body.
2. The simulation experiment machine for migration of solid particles to a sealing interface of a pipeline soft robot according to claim 1, wherein: the transparent tube is a glass tube.
3. The simulation experiment machine for migration of solid particles to a sealing interface of a pipeline soft robot according to claim 1, wherein: the linear driving device comprises a motor, a screw rod sliding block mechanism and a clamp, wherein an output shaft of the motor is connected with a screw rod in the screw rod sliding block mechanism, the clamp is fixedly connected to a sliding block in the screw rod sliding block mechanism, and the clamp is used for clamping and fixing the transparent tube; the motor drives a sliding block on the lead screw sliding block mechanism, and the sliding block drives the transparent pipe to do linear motion through the clamp.
4. A simulation experiment machine for migration of solid particles to a sealing interface of a pipeline soft robot according to claim 3, wherein: the linear driving device is arranged on the workbench, a bracket is arranged on one side of the workbench, which is positioned on the transparent tube, and the fluorescent microscope and the image collector are arranged on the bracket.
5. The simulation experiment machine for migration of solid particles to a sealing interface of a pipeline soft robot according to claim 4, wherein: the bearing seat is arranged on the supporting plate, and the supporting plate is fixed on the base.
6. The simulation experiment machine for migration of solid particles to a sealing interface of a pipeline soft robot according to claim 5, wherein: the rotary driving device comprises a variable frequency motor, a ratchet wheel, a pawl and a return spring, wherein the variable frequency motor is arranged on the base, the ratchet wheel is arranged on an output shaft of the variable frequency motor, one end of the pawl is fixed on the transmission shaft, and the other end of the pawl is meshed with the ratchet wheel; the reset spring is used for resetting the pawl; under the action of the ratchet wheel and the reset spring, the pawl drives the transmission shaft to rotate reciprocally, and the transmission shaft drives the pipeline soft robot piston body to rotate reciprocally.
7. The simulation experiment machine for migration of solid particles to a sealing interface of a pipeline soft robot according to claim 1, wherein: and one end of the positive electrode conductive film and one end of the negative electrode conductive film are respectively coated with an adhesive layer, and the adhesive layers are used for adhering data wires electrically connected with the positive electrode conductive film and the negative electrode conductive film.
8. The simulation experiment machine for migration of solid particles to a sealing interface of a pipeline soft robot according to claim 7, wherein: the elastic energy storage metal body is an O-shaped energy storage metal spring plate, and the material is Inconel718.
9. The simulation experiment machine for migration of solid particles to a sealing interface of a pipeline soft robot according to claim 8, wherein: the anode conductive film and the cathode conductive film are made of copper; the sealing ring main body is made of Polytetrafluoroethylene (PTFE).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310629312.8A CN117030210B (en) | 2023-05-31 | 2023-05-31 | Simulation experiment machine for migration of solid particles to sealing interface of pipeline soft robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310629312.8A CN117030210B (en) | 2023-05-31 | 2023-05-31 | Simulation experiment machine for migration of solid particles to sealing interface of pipeline soft robot |
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| Publication Number | Publication Date |
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| CN117030210A CN117030210A (en) | 2023-11-10 |
| CN117030210B true CN117030210B (en) | 2024-03-22 |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2037161A1 (en) * | 2007-09-17 | 2009-03-18 | Carl Freudenberg KG | Seal with integrated sensor and seal assembly with such a seal |
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| CN117030210A (en) | 2023-11-10 |
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