| 胶囊机器人管内流场的数值模拟和实验测量 |
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| 引用本文： | 梁亮,唐蒲华,刘煜.胶囊机器人管内流场的数值模拟和实验测量[J].实验流体力学,2021,35(3):60-68. |
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| 作者姓名： | 梁亮 唐蒲华 刘煜 |
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| 作者单位： | 长沙学院 机电工程学院, 长沙 410022 |
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| 基金项目： | 国家自然科学基金51875051湖南省自然科学基金2019JJ40324湖南省教育厅科学研究项目19A047湖南省教育厅科学研究项目20A043 |
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| 摘 要： | 胶囊机器人广泛应用于人体肠道的检查和治疗。根据永磁体法，设计制造了一种磁控光滑胶囊机器人。基于计算流体动力学（CFD）方法，模拟了胶囊机器人在充满黏液的管道内旋进（旋转和平移）时，其周围流体的流场（速度和涡量）；利用粒子图像测速（PIV）技术测量该流场；计算了胶囊机器人以不同转速旋进时，管道内流体流场以及胶囊机器人所受到的阻力、阻力矩和周围流体的平均湍流强度等。最后，还对胶囊机器人周围流体流线的形状和分布、流体速度及涡量的分布和大小进行了实验测量。结果表明:1）随着胶囊机器人转速的增大，胶囊机器人四周和下部区域流体速度和流体涡量都略微增大，而其周围流体的流线和涡量分布规律基本相似。2）随着胶囊机器人转速的增大，胶囊机器人前进方向所受阻力矩和周围流体平均湍流强度均增大，而其前进方向所受阻力基本不变。3）实验测量到的胶囊机器人周围流体流线的形状和分布、流体速度及涡量的分布和大小与数值计算结果基本相似。
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| 关 键 词： | 胶囊机器人 CFD(计算流体动力学) PIV(粒子图像测速) 流体流场 转速 |
| 收稿时间： | 2020-12-01 |
Numerical simulation and experimental measurement of fluid flow field in pipe with capsule robot |
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| Affiliation: | College of Electromechanical Engineering, Changsha University, Changsha 410022, China |
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| Abstract: | Capsule robots are widely used in the inspection and treatment of human intestines. According to the permanent magnet method, a magnetically controlled smooth capsule robot is designed and manufactured. Based on the Computational Fluid Dynamics (CFD) method, the fluid flow field (velocity and vorticity) around the capsule robot is numerically simulated when the capsule robot precesses (rotates and translates) in the pipe filled with mucus. The Particle Image Velocimetry (PIV) technology is used to measure the fluid flow field. The resistance, the resisting moment of the robot and the average turbulent intensity of the surrounding fluid are further calculated as the capsule robot precesses at different rotational speeds. Finally, the shape and distribution of fluid streamlines, and the distribution and size of the fluid velocity and vorticity around the capsule robot are also experimentally measured. The results show that: 1) when the rotational speed of the capsule robot is increased, the fluid velocity and vorticity in the surrounding and lower regions of the capsule robot are slightly increased, while the fluid streamlines and vorticity distribution of the surrounding fluid are basically similar. 2) With the increase of the rotational speed of the capsule robot, the resisting moment of the capsule robot in the forward direction and the average turbulent intensity of the surrounding fluid are all increased, while the resistance of the capsule robot in the forward direction remains basically unchanged. 3) The experimentally measured shape and distribution of fluid streamlines, and the measured distribution and size of the fluid velocity and fluid vorticity around the capsule robot are basically similar to the numerical calculation results. |
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