Pipe robot with damping device

Abstract

The application discloses a pipeline robot with a damping device, which comprises a barrel body with end covers connected at both ends, two groups of leather cup assemblies installed at both ends of the barrel body, two groups of leather cup assemblies sealing liquid at front and back ends and forming a sealed pressure difference, and an inner wall of the barrel body being provided with a linear guide rail; the damping device installed in the barrel body comprises a mass block, a radial spring damper with a first end connected with the mass block and a second end slidingly connected with the linear guide rail, an X-axis spring damper with a first end connected with the mass block and a second end connected with the end cover and along an axial direction, a sliding groove provided at the second end of the radial spring damper and matched with the linear guide rail, and the radial spring damper comprising at least one group of Z-axis spring dampers along a horizontal radial direction and one group of Y-axis spring dampers along a vertical direction. The tuned mass damper damping control and the variable center of mass damping control are combined to realize damping-mass block buffering energy-absorbing variable center of mass damping, and the stable operation of an internal detector in a pipeline is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline pigging or internal detection, and particularly relates to a pipeline robot with a vibration reduction device. BACKGROUND

[0002] As the core equipment for oil and gas pipeline internal detection and pigging, the differential pressure type pipeline robot plays a vital role in ensuring the safe operation of the pipeline and preventing accidents. However, when the equipment is running in the pipeline, the instantaneous severe vibration caused by various in-pipe excitations such as pipe bends, deformations, and welds can affect the detection accuracy of the built-in sensors and the structural reliability of the equipment. In severe cases, it can cause excessive impact on the structure, leading to the breakage of the detection probe, the failure of the universal joint, and even serious accidents such as the blocking of the detector, which affects the service reliability of the equipment and threatens the safety of pipeline transportation.

[0003] Variable center of mass vibration control and tuned mass damper vibration control are two commonly used vibration reduction methods. Tuned mass damper is a classic passive vibration control device widely used in fields such as architecture, transportation, and large mechanical equipment. Tuned mass damper transfers the energy of the main body vibration to the tuned mass damper, thereby reducing the structural vibration. A single-degree-of-freedom tuned mass damper system is mainly composed of a spring, a damper, and a mass block. The inertia force generated by the movement of the mass block of the tuned mass damper reduces the movement of the control body, thereby achieving the purpose of vibration reduction. The vibration reduction mechanism of tuned mass damper vibration control is as follows: when the system is subjected to external excitation, forced vibration occurs. When the frequency of the external excitation and the system is equal or close, the system will exhibit severe resonance. At this time, even a small excitation force can cause significant vibration. Tuned mass damper is set to have a natural frequency that is basically the same as the external excitation. When the system vibrates, the tuned mass damper will exert a counteracting force on the system, hindering the vibration of the system, thereby achieving the effect of vibration reduction.

[0004] Tuned mass damper vibration control is mainly used for reciprocating excitation load. The larger the reciprocating motion of the main structure, the more obvious the vibration reduction effect. The pipeline robot moves unidirectionally in the pipeline, and the vibration reduction effect is relatively weak. In recent years, the dynamics of the differential pressure type pipeline robot during operation has gradually attracted attention, but there is relatively little research on vibration reduction. There is almost no application of tuned mass damper in oil and gas pipeline pigging and detection equipment.

[0005] Variable center of mass control refers to changing the position of the center of mass of the equipment to achieve the desired control and vibration reduction effect. It achieves the change of the center of mass by moving the body structure or components.

[0006] The variable center of mass vibration control mode finds that the horizontal radial and gravity vertical vibration is obvious, but the axial vibration effect is poor, and when operating for a long distance, the shift of the center of mass position is easy to cause severe seal disc abrasion and cause serious accidents such as pipe robot skin bowl eversion.

[0007] In summary, how to effectively solve the problems such as unstable operation of the internal detector in the pipeline is a problem that needs to be solved by the technical personnel in the field at present. SUMMARY

[0008] The purpose of the present application is to provide a pipeline robot with a damping device, which combines tuned mass damper damping control and variable center of mass damping control to realize damping-mass block buffer energy absorption variable center of mass damping and ensure the stable operation of the internal detector in the pipeline.

[0009] To solve the above technical problems, the present application provides the following technical scheme:

[0010] A pipeline robot with a damping device, comprising a cylinder body connected with end covers at both ends, two groups of skin bowl assemblies respectively installed at both ends of the cylinder body, two groups of the skin bowl assemblies sealing liquid at the front and rear ends and forming a sealed pressure difference, and a straight guide rail provided on the inner wall of the cylinder body along the axial direction; further comprising a damping device installed in the cylinder body, the damping device comprising a mass block built-in in the cylinder body, a radial spring damper with a first end connected with the mass block and a second end slidingly connected with the straight guide rail, and an axial X-axis spring damper with a first end connected with the mass block and a second end connected with the end cover, the second end of the radial spring damper is provided with a sliding groove matched with the straight guide rail, and the radial spring damper comprises at least one group of Z-axis spring dampers along the horizontal radial direction and one group of Y-axis spring dampers along the vertical direction.

[0011] Preferably, the sliding groove is a dovetail groove, the straight guide rail is a dovetail guide rail, the thickness of the dovetail guide rail is greater than the depth of the dovetail groove, and the dovetail guide rail and the dovetail groove are radially floatingly connected.

[0012] Preferably, a cross-arc sliding groove is provided on the end cover, and the second end of the axial spring damper has a spherical ball slidingly connected with the cross-arc sliding groove.

[0013] Preferably, the mass block is located at the center of mass position of the cylinder body in the initial state, the mass block is a regular hexahedron, and the first ends of the two X-axis spring dampers, the two Y-axis spring dampers and the two Z-axis spring dampers are respectively connected with the centers of the six faces of the mass block.

[0014] Preferably, the skin bowl assembly comprises power skin bowls and support skin bowls, adjacent power skin bowls and the power skin bowls and the support skin bowls are isolated by spacer rings, and the back flow surface and the flow surface of adjacent power skin bowls are in a vertical plane.

[0015] Preferably, the pipeline robots comprise A group pipeline robots and B group pipeline robots, the A group pipeline robots are provided with the damping devices, the B group pipeline robots are not provided with the damping devices, and the damping detection device is used to determine whether the A group pipeline robots have damping effect compared with the B group pipeline robots under the same conditions.

[0016] Preferably, the damping detection device comprises:

[0017] a three-axis acceleration sensor used to detect the vibration acceleration of the A group pipeline robots and the B group pipeline robots in the pipeline axial direction, the horizontal radial direction and the vertical direction;

[0018] a data acquisition unit connected with the three-axis acceleration sensor and used to collect the three-axis vibration information of the A group pipeline robots and the B group pipeline robots in the pipeline;

[0019] a data analysis unit used to compare the three-axis vibration information of the A group pipeline robots and the B group pipeline robots;

[0020] a result determination unit used to determine whether the A group pipeline robots have damping effect compared with the B group pipeline robots according to the analysis result of the data analysis unit.

[0021] Preferably, the data analysis unit comprises:

[0022] a time domain analysis module used to perform time domain analysis on the vibration acceleration curve of the A group pipeline robots and the B group pipeline robots, compare the peak acceleration and the overall acceleration amplitude of each axis;

[0023] a frequency domain analysis module used to convert the time domain data into frequency domain data through Fourier transform, analyze the main frequency component of each group of vibrations, and observe whether the main frequency amplitude of the A group pipeline robots is reduced compared with the B group pipeline robots;

[0024] an energy analysis module used to calculate the vibration energy distribution of the A group pipeline robots and the B group pipeline robots, compare the vibration energy of each axis of the two groups, and observe whether the vibration energy of the A group pipeline robots is reduced compared with the B group pipeline robots.

[0025] Preferably, the data analysis unit further comprises:

[0026] a data preprocessing module used to filter and denoise the three-axis vibration information, and align the three-axis vibration data of the A group pipeline robots and the B group pipeline robots.

[0027] The data visualization module is used to draw acceleration curves, frequency spectrum diagrams and energy distribution diagrams of the A group pipeline robot and the B group pipeline robot in each axial direction.

[0028] Preferably, the result judging unit comprises:

[0029] The acceleration judging module is used to judge that the A group pipeline robot has the vibration reduction effect compared with the B group pipeline robot when the acceleration curves of the A group pipeline robot in three axial directions are lower than the acceleration curves of the B group pipeline robot in three axial directions as a whole and the peak acceleration is reduced.

[0030] The main frequency amplitude judging module is used to judge that the A group pipeline robot has the vibration reduction effect compared with the B group pipeline robot when the main frequency amplitude in the vibration frequency spectrum of the A group pipeline robot is reduced compared with the main frequency amplitude in the vibration frequency spectrum of the B group pipeline robot.

[0031] The energy judging module is used to verify that the A group pipeline robot has the vibration reduction effect compared with the B group pipeline robot when the vibration energy of the A group pipeline robot is lower than the vibration energy of the B group pipeline robot.

[0032] The pipeline robot with the vibration reduction device provided by the application is provided with mass-spring dampers in at least three directions respectively, and controls the vibration in at least three directions respectively. At the initial time, the mass block is at the center of mass position, when acceleration and vibration are generated, the mass block adjusts the center of mass position through appropriate movement in X, Y and Z directions, and plays a role of variable center of mass vibration reduction control. When the pipeline robot generates vibration under external excitation, the sliding connection between the mass block and the sliding groove is more accurate in center of mass position control, the spring damper has stronger energy absorption effect, and the vibration in X, Y and Z directions can be better absorbed.

[0033] The pipeline robot with the vibration reduction device provided by the application combines the variable center of mass vibration reduction control and the tuned mass damper vibration reduction principle. The variable center of mass vibration reduction control and the tuned mass damper vibration reduction control are two commonly used vibration reduction methods. The vibration reduction mechanism of the tuned mass damper vibration reduction control is as follows: when the system is subjected to external excitation, forced vibration occurs, when the frequency of the external excitation and the system is equal or close, the system will show violent resonance, at this time, even a small excitation force will cause obvious vibration. The tuned mass damper is set through parameters, so that the natural frequency is basically consistent with the external excitation. When the system vibrates, the tuned mass damper will exert a reverse force on the system to hinder the vibration of the system, thereby realizing the effect of vibration reduction. The variable center of mass control refers to changing the center of mass position of the device to produce the expected control vibration reduction effect. The center of mass is changed by moving the body part structure or component, and the double vibration reduction effect is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings described below are only some of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0035] Figure 1 An assembly view of the pipeline robot with a damping device provided in a specific embodiment of the present application;

[0036] Figure 2 A cross-sectional view of the pipeline robot with a damping device;

[0037] Figure 3 A local enlarged view of the pipeline robot with a damping device.

[0038] Reference signs:

[0039] 1 - first power bowl, 2 - second power bowl, 3 - first support bowl, 4 - third power bowl, 5 - fourth power bowl, 6 - second support bowl, 7 - traction device, 8 - barrel, 9 - spacer ring, 10 - bolt, 11 - first X-axis spring damper, 12 - first Y-axis spring damper, 13 - second X-axis spring damper, 14 - second Y-axis spring damper, 15 - mass block, 16 - sliding groove, 17 - guide rail, 18 - first Z-axis spring damper, 181 - external spring, 182 - internal damper, 19 - second Z-axis spring damper. DETAILED DESCRIPTION

[0040] The core of the present application is to provide a pipeline robot with a damping device, which combines tuned mass damper damping control and variable center of mass damping control to realize damping-mass block buffer energy-absorbing variable center of mass damping and ensure the stable operation of the internal detector in the pipeline.

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0042] The damping device is installed in the barrel 8, the pipeline axial direction is defined as the X-axis, the vertical direction is defined as the Y-axis, and the Z-axis is perpendicular to the X-axis and the Y-axis. Mass spring dampers are arranged in at least three directions respectively to control the vibration in at least three directions, thereby ensuring the stable operation of the internal detector in the pipeline.

[0043] Please refer to Figures 1 to 3 , Figure 1 The assembly view of the pipeline robot with damping device provided in the specific embodiment of the present application; Figure 2 The cross-sectional view of the pipeline robot with damping device; Figure 3 The local enlarged view of the pipeline robot with damping device.

[0044] In a specific embodiment, the pipeline robot with damping device provided by the present application comprises a barrel 8 connected with end covers at both ends, two groups of leather cup assemblies respectively installed at both ends of the barrel 8, the two groups of leather cup assemblies sealing the liquid at the front and rear ends and forming a sealed pressure difference, and the inner wall of the barrel 8 being provided with a linear guide rail 17 along the axial direction; further comprising a damping device installed in the barrel 8, the damping device comprising a mass block 15 built-in the barrel 8, a radial spring damper with a first end connected with the mass block 15 and a second end connected with the linear guide rail 17 in sliding connection, and an axial spring damper with a first end connected with the mass block 15 and a second end connected with the end cover along the X-axis direction, the second end of the radial spring damper being provided with a sliding groove 16 matched with the linear guide rail 17, the radial spring damper comprising at least one group of Z-axis spring dampers along the horizontal radial direction and one group of Y-axis spring dampers along the vertical direction.

[0045] In the above structure, the pipeline robot comprises the barrel 8, the two groups of leather cup assemblies and the damping device, the barrel 8 is a hollow structure, the barrel 8 is connected with the end covers at both ends, and the barrel 8 and the end covers form a closed chamber. The two groups of leather cup assemblies are respectively installed at both ends of the barrel 8, the leather cup assemblies are in interference fit with the inner wall of the pipeline, seal the liquid at the front and rear ends and form a sealed pressure difference, and push the pipeline robot to move forward. The leather cup assemblies are mainly used for supporting the entire pipeline robot, and have certain pigging and guiding effects at the same time.

[0046] The damping device comprises the mass block 15, the radial spring damper and the axial spring damper, the mass block 15 is built-in the barrel 8, and the mass block 15 is located at the center of mass position of the barrel 8 in the initial state.

[0047] The spring damper is composed of an external spring 181 and an internal damper 182, the first end of the first X-axis spring damper 11 is connected with the sliding groove 16, and the second end is connected with the mass block 15; the first end of the second X-axis spring damper 13 is connected with the sliding groove 16, and the second end is connected with the mass block 15; the above together constitute the X-axis spring damping mass system. The X-axis spring damper is an axial spring damper, which absorbs the energy of the vibration in the axial direction.

[0048] Similarly, the first end of the first Y-axis spring damper 12 is connected with the sliding groove 16, and the second end is connected with the mass block 15; the first end of the second Y-axis spring damper 14 is connected with the sliding groove 16, and the second end is connected with the mass block 15; and the above together form a spring damping mass system in the Y-axis direction. The first end of the first Z-axis spring damper 18 is connected with the sliding groove 16, and the second end is connected with the mass block 15; the first end of the second Z-axis spring damper 19 is connected with the sliding groove 16, and the second end is connected with the mass block 15; and the above together form a spring damping mass system in the Z-axis direction. The Y-axis spring damper and the Z-axis spring damper are radial spring dampers, and the inner wall of the cylinder body 8 is provided with a linear guide rail 17 in the axial direction, the second end of the radial spring damper is provided with a sliding groove 16 matched with the linear guide rail 17, and the second end of the radial spring damper is slidably connected with the linear guide rail 17. When the pipeline robot vibrates under external excitation, the second end sliding groove 16 of the radial spring damper slides along the linear guide rail 17, the radial spring damper moves in the radial direction to adjust the barycenter position according to the acceleration and vibration, the barycenter position control is more accurate, the spring damper between the mass block 15 and the sliding groove 16 has stronger energy absorption effect, and the vibration in the radial direction has better energy absorption effect.

[0049] In summary, at the initial time, the mass block 15 is at the barycenter position, when acceleration and vibration are generated, the mass block 15 adjusts the barycenter position by appropriate movement in the X, Y and Z directions, plays a role of variable barycenter vibration control, and when the pipeline robot vibrates under external excitation, the mass block 15 and the sliding groove 16 are slidably connected, the barycenter position control is more accurate, the spring damper has stronger energy absorption effect, and the vibration in the X, Y and Z directions can be better absorbed.

[0050] The pipeline robot with the vibration reduction device provided by the application combines the tuned mass damper vibration reduction control and the variable barycenter vibration reduction principle. The tuned mass damper vibration reduction control and the variable barycenter vibration reduction principle are two commonly used vibration reduction methods. The vibration reduction mechanism of the tuned mass damper vibration reduction control is as follows: when a system is subjected to external excitation, forced vibration occurs, when the frequency of the external excitation is equal to or close to the frequency of the system, the system will show violent resonance, and even a small excitation force can cause obvious vibration. The tuned mass damper is set by parameters so that the natural frequency is basically consistent with the external excitation. When the system vibrates, the tuned mass damper applies a reverse force to the system to hinder the vibration of the system, thereby achieving the effect of vibration reduction. The variable barycenter control refers to changing the barycenter position of the equipment to produce an expected control vibration reduction effect. The variable barycenter control changes the barycenter by moving the body structure or components, thereby achieving the effect of double vibration reduction.

[0051] On the basis of the various specific embodiments described above, the sliding groove 16 is a dovetail groove, the linear guide rail 17 is a dovetail guide rail, the thickness of the dovetail guide rail is greater than the depth of the dovetail groove, and the dovetail guide rail and the dovetail groove are connected in radial floating.

[0052] In a specific embodiment, the sliding groove 16 and the linear guide rail 17 are slidingly fitted along the axial direction and are connected in radial floating, which can enable the radial spring damper to perform dual centroid position adjustment in the axial and radial directions, and the mass position adjustment is more accurate, further improving the damping effect. At the same time, the dovetail groove and the linear guide rail 17 can have mutual limiting effect, avoiding the sliding groove 16 from being separated from the linear guide rail 17 under the action of vibration, and the connection is more reliable and has higher sliding freedom.

[0053] On the basis of the various specific embodiments described above, a cross-arc sliding groove is provided on the end cover, and the second end of the axial spring damper has a spherical ball slidingly connected with the cross-arc sliding groove.

[0054] In a specific embodiment, the sliding grooves in two directions of the cross-arc sliding groove are connected, and preferably, the sliding grooves in the two directions are respectively along the radial and longitudinal directions, which are consistent with the direction of the linear guide rail 17. The spherical ball can be switched to slide in the sliding grooves in the two directions, realizing dual centroid position adjustment of the axial spring damper in the longitudinal and radial directions, and the mass position adjustment is more accurate.

[0055] Preferably, the cross-arc sliding groove is a circular-arc groove, and the spherical ball slides smoothly in the circular-arc groove with small friction. The surface of the end cover of the cross-arc sliding groove has a slot, and the opening of the slot is smaller than the diameter of the spherical ball, so that the spherical ball cannot be separated from the opening. The cross-arc sliding groove and the spherical ball are gap-fitted with a certain amount of circumferential floating, which is more easy for centroid adjustment.

[0056] On the basis of the various specific embodiments described above, the mass block 15 is located at the centroid position of the cylinder 8 in the initial state, the mass block 15 is a regular hexahedron, and the first ends of the two X-axis spring dampers, the two Y-axis spring dampers, and the two Z-axis spring dampers are respectively connected with the centers of the six faces of the mass block 15.

[0057] In a specific embodiment, the mass block 15 is a regular hexahedron and is connected with the spring dampers in three directions, and the mass spring damper system is arranged in three axial directions to absorb energy in X, Y, and Z directions. The mass block 15 adjusts the centroid position by appropriate movement in X, Y, and Z directions, which plays a role in variable centroid damping control. Specifically, the spring damper and the center of each face of the mass block 15 are connected, i.e., the spring damper and the mass block 15 are connected in central symmetry, the mass block 15 is evenly affected by the spring damper, the centroid position is close to the center position of the cylinder 8, the centroid is easy to adjust, and large centroid change is avoided, which reduces the sealing disc abrasion.

[0058] On the basis of the above various embodiments, the leather cup assembly includes power leather cups and support leather cups, and the adjacent power leather cups and the power leather cups and the support leather cups are isolated from each other by the spacer ring 9, and the backflow surface and the flow surface of the adjacent power leather cups are in a vertical plane.

[0059] In a specific embodiment, each group of leather cup assemblies includes two groups of power leather cups and one group of support leather cups, the first power leather cup 1, the second power leather cup 2, and the first support leather cup 3 pass through the base part in turn, are isolated from each other by the spacer ring 9, and are fastened and connected by the bolt 10; the third power leather cup 4, the fourth power leather cup 5, and the second support leather cup 6 pass through the base part in turn, are isolated from each other by the spacer ring 9, and are fastened and connected by the bolt 10.

[0060] In Figure 1 , the power leather cup seals the front and rear ends of the pipeline robot, forms a sealed pressure difference, and pushes the pipeline robot forward. The double-power leather cup design has better sealing effect and longer service life, and can also improve the cleaning effect. The first support leather cup 3 and the second support leather cup 6 are mainly used to support the entire pipeline robot, and also have certain cleaning and guiding effects. When the ball is collected or tested, the traction device 7 is used to pull the ball or test it. The pipeline robot as a whole adopts a symmetrical design and has good balance.

[0061] On the basis of the above various embodiments, the pipeline robot includes a group A pipeline robot and a group B pipeline robot, the group A pipeline robot is provided with a damping device, the group B pipeline robot is not provided with a damping device, and a damping detection device is further included to determine whether the group A pipeline robot has a damping effect compared with the group B pipeline robot under the same conditions.

[0062] In actual application, the damping detection device verifies the damping effect of the damping device when the pipeline robot passes through a specific excitation in the pipeline. Specifically, by comparing the axial, horizontal radial, and vertical vibration accelerations of the group A pipeline robot provided with the damping device and the group B pipeline robot not provided with the damping device, the damping effectiveness of the damping device in actual working conditions is determined. The test pipeline simulates the actual working conditions of the pipeline and is provided with target pipeline features such as elbow pipes and welds. The group A pipeline robot and the group B pipeline robot should be consistent in other aspects, and the damping detection device is installed in the same position. The two groups of pipeline robots accurately reflect the damping effect of the damping device provided with the damping device and the damping effect of the damping device not provided with the damping device, and the detection results have reliable persuasiveness.

[0063] On the basis of the above various embodiments, the damping detection device can include a three-axis acceleration sensor, a data acquisition unit, a data analysis unit, and a result determination unit,

[0064] The triaxial acceleration sensor is used to detect the vibration acceleration of the A group pipeline robot and the B group pipeline robot in the axial, horizontal radial and vertical directions of the pipeline.

[0065] The data acquisition unit is connected with the triaxial acceleration sensor and is used to collect the triaxial vibration information of the A group pipeline robot and the B group pipeline robot in the pipeline.

[0066] The data analysis unit is used to compare the triaxial vibration information of the A group pipeline robot and the B group pipeline robot.

[0067] The result judgment unit is used to judge whether the A group pipeline robot has a vibration reduction effect compared with the B group pipeline robot according to the analysis result of the data analysis unit.

[0068] In practical application, the triaxial acceleration sensor is used to measure the vibration acceleration, so as to ensure that the triaxial vibration information of the pipeline robot in the pipeline can be captured. The data acquisition unit is used to collect and record the data of the acceleration sensor in real time, so as to ensure high precision and high frequency sampling of the data.

[0069] The preparation process before vibration reduction detection includes:

[0070] Calibration of the sensor, calibration of the triaxial acceleration sensor to ensure the measurement accuracy of the sensor in each axis and record the zero point offset.

[0071] Preparation of the pipeline robot, installation of the vibration reduction device on the A group pipeline robot to ensure firm installation and not to affect the normal operation of the pipeline robot. The B group pipeline robot is the same as the A group pipeline robot, but does not install the vibration reduction device.

[0072] Installation of the sensor, fixing the triaxial acceleration sensor on the cylindrical barrel 8 of the A group pipeline robot and the B group pipeline robot respectively to ensure that the measurement direction of the sensor corresponds to the axial, horizontal radial and vertical direction of the pipeline respectively. Check the installation position of the sensor to ensure that no additional vibration signal is introduced due to installation problems.

[0073] Check the experimental environment to ensure that there is no other interference in the test pipeline and the internal and external environment of the pipeline is stable. Check the connection and working state of the data acquisition system to ensure that the experimental data can be accurately recorded.

[0074] The execution of the vibration reduction detection process includes:

[0075] Execute the A group experimental process:

[0076] Put the A group pipeline robot into the test pipeline and confirm that the connection between the sensor and the data acquisition system is normal.

[0077] Start the data acquisition unit to start recording the triaxial acceleration data in real time.

[0078] Start pulling the pipeline robot, and make the pipeline robot pass through the preset feature pipe section.

[0079] Continue to collect vibration data during the whole process of the pipeline robot passing through the feature pipe section area until the A group pipeline robot completely passes through the pipeline.

[0080] End data collection, save and backup experimental data.

[0081] Check the integrity and accuracy of the data to ensure that there is no data loss or abnormality.

[0082] Perform the B group experimental procedure:

[0083] Repeat the experimental procedure of the A group, and perform experiments using the B group pipeline robot. Ensure that all experimental conditions such as pulling speed, pipeline environment, data collection settings, etc. are consistent with the A group.

[0084] Record and save the experimental data of the B group, and ensure the integrity of the data.

[0085] After the vibration detection is performed, the data processing and analysis steps are performed, including: data preprocessing; data analysis; data visualization;

[0086] After the data processing and analysis process, the experimental result analysis step is performed.

[0087] On the basis of the above various specific embodiments, the data analysis unit can include a time domain analysis module, a frequency domain analysis module, and / or an energy analysis module,

[0088] The time domain analysis module is used to perform time domain analysis on the vibration acceleration curves of the A group pipeline robot and the B group pipeline robot, and compare the peak acceleration and overall acceleration amplitude of each axis;

[0089] The frequency domain analysis module is used to convert time domain data into frequency domain data through Fourier transform, analyze the main frequency components of each group of vibrations, and observe whether the main frequency amplitude of the A group pipeline robot is reduced compared to the B group pipeline robot;

[0090] The energy analysis module is used to calculate the vibration energy distribution of the A group pipeline robot and the B group pipeline robot, compare the vibration energy of the two groups in each axis, and observe the reduction of the vibration energy of the A group pipeline robot compared to the B group pipeline robot.

[0091] In the above embodiments, the three-axis vibration information of the A group pipeline robot and the B group pipeline robot is subjected to time domain analysis, frequency domain analysis and / or energy analysis. The time domain analysis specifically refers to time domain analysis of the vibration acceleration curves of the A group and the B group, and comparison of the peak acceleration and the overall acceleration amplitude in each axial direction. The frequency domain analysis specifically refers to conversion of the time domain data into frequency domain data through Fourier transform, analysis of the main frequency components of the vibration of each group, and observation of whether the vibration damping device reduces the main frequency amplitude of the vibration. The energy analysis specifically refers to calculation of the vibration energy distribution of the A group and the B group, comparison of the vibration energy in different axial directions of the two groups, and verification of whether the vibration damping device reduces the vibration energy of the pipeline robot. The data analysis is comprehensive, and ensures that the experimental results are accurate and reliable.

[0092] The data analysis step includes:

[0093] The time domain analysis is performed on the vibration acceleration curves of the A group and the B group, and the peak acceleration and the overall acceleration amplitude in each axial direction are compared.

[0094] The frequency domain analysis is performed by converting the time domain data into frequency domain data through Fourier transform, analyzing the main frequency components of the vibration of each group, and observing whether the vibration damping device reduces the main frequency amplitude of the vibration.

[0095] The energy analysis is performed by calculating the vibration energy distribution of the A group and the B group, comparing the vibration energy in different axial directions of the two groups, and verifying whether the vibration damping device reduces the vibration energy of the pipeline robot.

[0096] On the basis of the above embodiments, the data analysis unit can further include a data preprocessing module, which is used to filter and denoise the three-axis vibration information, and align the three-axis vibration data of the A group pipeline robot and the B group pipeline robot.

[0097] Specifically, the three-axis acceleration data of the A group pipeline robot and the B group pipeline robot are imported into the analysis software, and the data is filtered and denoised to eliminate possible electromagnetic interference or environmental noise, and ensure the purity and authenticity of the data.

[0098] The filtered and denoised A group pipeline robot and B group pipeline robot data are aligned to ensure the consistency of the time axis and the same comparison nodes, facilitating subsequent comparison and analysis.

[0099] The data preprocessing step includes:

[0100] The acceleration data of the A group and the B group is imported into the analysis software.

[0101] The data is filtered and denoised.

[0102] The data of the A group and the B group is aligned to ensure the consistency of the time axis.

[0103] On the basis of the various specific embodiments described above, the data analysis unit can further include a data visualization module, which is used to draw acceleration curves, frequency spectrum diagrams and generate energy distribution diagrams of the A group of pipeline robots and the B group of pipeline robots in each axial direction.

[0104] Specifically, the acceleration curves of the A group of pipeline robots and the B group of pipeline robots in each axial direction are drawn, and the peak values and overall trends are compared. The frequency spectrum diagrams are drawn to show the differences between the two groups of vibrations in each frequency component. The energy distribution diagrams are generated to intuitively show the changes in vibration energy of the pipeline robots under different conditions.

[0105] The data visualization step includes:

[0106] The acceleration curves of the A group and the B group in each axial direction are drawn, and the peak values and overall trends are compared.

[0107] The frequency spectrum diagrams are drawn to show the differences between the two groups of vibrations in each frequency component.

[0108] The energy distribution diagrams are generated to intuitively show the changes in vibration energy of the pipeline robots under different conditions.

[0109] On the basis of the various specific embodiments described above, the result judgment unit can include an acceleration judgment module, a main frequency amplitude judgment module and / or an energy judgment module,

[0110] The acceleration judgment module is used to judge that the A group of pipeline robots has a vibration reduction effect compared to the B group of pipeline robots when the acceleration curves of the A group of pipeline robots in three axial directions are overall lower than the acceleration curves of the B group of pipeline robots in three axial directions, and the peak acceleration is reduced.

[0111] The main frequency amplitude judgment module is used to judge that the A group of pipeline robots has a vibration reduction effect compared to the B group of pipeline robots when the main frequency amplitude in the vibration spectrum of the A group of pipeline robots is reduced compared to the main frequency amplitude in the vibration spectrum of the B group of pipeline robots.

[0112] The energy judgment module is used to verify that the A group of pipeline robots has a vibration reduction effect compared to the B group of pipeline robots when the vibration energy of the A group of pipeline robots is lower than the vibration energy of the B group of pipeline robots.

[0113] In actual application, if the acceleration curves of the A group of pipeline robots in each axial direction are overall lower than those of the B group of pipeline robots, and the peak acceleration is significantly reduced, it indicates that the vibration reduction device is effective. If the main frequency amplitude in the vibration spectrum of the A group of pipeline robots is significantly reduced compared to the B group of pipeline robots, it further proves the vibration reduction effect of the vibration reduction device. By analyzing the energy distribution in each axial direction, if the vibration energy of the A group of pipeline robots is significantly lower than that of the B group of pipeline robots, the vibration reduction effect of the vibration reduction device is verified.

[0114] The experimental result analysis steps include:

[0115] The acceleration curve is analyzed, if the acceleration curve of the A group pipeline robot in each axial direction is lower than that of the B group pipeline robot as a whole, and the peak acceleration is obviously reduced, it is proved that the damping device is effective.

[0116] The vibration frequency spectrum is analyzed, if the amplitude of the main frequency of the A group vibration frequency spectrum is significantly reduced compared with the B group pipeline robot, it is further proved that the damping effect of the damping device is reduced.

[0117] The energy distribution of each axial direction is analyzed, if the vibration energy of the A group is significantly lower than that of the B group pipeline robot, the damping effect of the damping device is verified.

[0118] The experimental conclusion is drawn, according to the comparison and analysis results, the effectiveness of the damping device under actual working conditions is concluded. If the A group pipeline robot performs well, the damping device is designed reasonably and is suitable for practical application. If the effect is not obvious, the parameters of the damping device are optimized, such as the mass of the mass block 15, the damping coefficient, the stiffness, etc., and the damping detection device is applied again to carry out the damping detection experiment.

[0119] By applying the technical solutions provided by the embodiments of the present application, combining the damping control of the tuned mass damper and the variable mass center damping principle, a damping-mass block 15 buffer energy absorption variable mass center damping idea is proposed, by setting the mass block 15 inside the pipeline robot, the moving direction of the ball is limited, the mass block 15 absorbs the impact energy, by adjusting the spring stiffness, the mass block 15 is located at the center of mass when the pipeline robot runs in the straight pipe section, so that the large change of the center of mass will not be caused, and the sealing disc abrasion is reduced.

[0120] Each embodiment in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other.

[0121] The pipeline robot with a damping device provided by the present application is described in detail. The principles and implementation modes of the present application are described by applying specific examples. The description of the above embodiments is only used to help understand the method and core idea of the present application. It should be pointed out that, for ordinary skilled persons in the technical field, without departing from the principles of the present application, the present application can be improved and modified, and these improvements and modifications also fall within the protection scope of the claims of the present application. Therefore, the present application will not be limited to the embodiments shown in the present application, but will be consistent with the widest scope of the principles and novel features disclosed in the present application.

Claims

1. A pipeline robot with a vibration reduction device, characterized in that: The invention comprises a cylinder (8) with end covers connected at both ends, two groups of leather cup assemblies respectively installed at both ends of the cylinder (8), the two groups of leather cup assemblies seal the front and rear end liquids and form a sealing pressure difference, and the inner wall of the cylinder (8) is provided with a linear guide rail (17) along the axial direction; and further comprises a vibration damping device installed in the cylinder (8), the vibration damping device comprising a mass block (15) built into the cylinder (8), a radial spring damper with a first end connected to the mass block (15) and a second end connected to the linear guide rail (17) for sliding connection, and a first end connected to the mass block (15) and a second end connected to the linear guide rail (17) for sliding connection. The end cover is connected and arranged along the axial X-axis spring damper, the second end of the radial spring damper is provided with a slide groove (16) matched with the linear guide rail (17), the radial spring damper includes at least one group of Z-axis spring dampers along the horizontal radial direction and one group of Y-axis spring dampers along the vertical direction, including a group A pipeline robot and a group B pipeline robot, the group A pipeline robot is equipped with the vibration reduction device, and the group B pipeline robot is not equipped with the vibration reduction device, and also includes a vibration reduction detection device for judging whether the group A pipeline robot has a vibration reduction effect compared with the group B pipeline robot under the same conditions, The vibration reduction detection device comprises: A three-axis acceleration sensor for detecting the vibration acceleration of the pipeline robots of group A and group B in the axial, horizontal radial and vertical directions of the pipeline; A data acquisition unit connected to the three-axis acceleration sensor and used to collect three-axis vibration information of the pipeline robots of group A and group B in the pipeline; A data analysis unit for comparing the three-axis vibration information of the pipeline robots of group A and group B; a result determination unit configured to determine, based on the analysis result of the data analysis unit, that the pipeline robots of group A have a vibration reduction effect compared to the pipeline robots of group B; The data analysis unit includes: The time domain analysis module is used to perform time domain analysis on the vibration acceleration curves of the pipeline robots in group A and group B, and compare the peak acceleration of each axis and the overall acceleration amplitude; The frequency domain analysis module is used to convert time domain data into frequency domain data through Fourier transform, analyze the main frequency components of each group of vibration, and observe whether the main frequency amplitude of the pipeline robots in group A is lower than that of the pipeline robots in group B; The energy analysis module is used to calculate the vibration energy distribution of the pipeline robots in group A and group B, compare the vibration energy of the two groups in each axis, and observe the reduction in vibration energy of the pipeline robots in group A compared to those in group B. The result judgment unit includes: An acceleration judgment module is used to judge that the pipeline robots of group A have a vibration reduction effect compared with the pipeline robots of group B when the acceleration curve of the three axes of the pipeline robots of group A is lower than the acceleration curve of the three axes of the pipeline robots of group B and the peak acceleration is lower; A main frequency amplitude judgment module is used to judge that the pipeline robots in group A have a vibration reduction effect compared with the pipeline robots in group B when the main frequency amplitude in the vibration spectrum of the pipeline robots in group A is lower than the main frequency amplitude in the vibration spectrum of the pipeline robots in group B; The energy judgment module is used to verify that the pipeline robots in group A have a vibration reduction effect compared with the pipeline robots in group B when the vibration energy of the pipeline robots in group A is lower than the vibration energy of the pipeline robots in group B.

2. The pipeline robot with a vibration damping device according to claim 1, characterized in that: The slide groove (16) is a dovetail groove, the linear guide rail (17) is a dovetail guide rail, the thickness of the dovetail guide rail is greater than the depth of the dovetail groove, and the dovetail guide rail and the dovetail groove are radially floatingly connected.

3. The pipeline robot with a vibration damping device according to claim 2, characterized in that: The end cover is provided with a cross-arc sliding groove, and the second end of the axial spring damper is provided with a ball slidably connected to the cross-arc sliding groove.

4. The pipeline robot with a vibration damping device according to claim 1, characterized in that: In an initial state, the mass block (15) is located at the center of mass of the cylinder (8), the mass block (15) is a regular hexahedron, and the first ends of the two X-axis spring dampers, the two Y-axis spring dampers, and the two Z-axis spring dampers are respectively connected to the centers of the six faces of the mass block (15).

5. The pipeline robot with a vibration damping device according to claim 1, characterized in that: The leather cup assembly comprises a power leather cup and a support leather cup. Adjacent power leather cups and the power leather cups and the support leather cups are isolated from each other by a spacer ring (9). The backflow surface and the frontflow surface of adjacent power leather cups are on the same vertical plane.

6. The pipeline robot with a vibration damping device according to claim 1, characterized in that: The data analysis unit further includes: The data preprocessing module is used to filter and denoise the three-axis vibration information and align the three-axis vibration data of the pipeline robots in groups A and B; The data visualization module is used to draw the acceleration curves and frequency spectrum of the pipeline robots of group A and group B in each axis and generate energy distribution diagrams.

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