Study On The Structure And Working Performance Of The Walking Device Of The Pipe Desilting Robot

With the rapid development of modern industry and the needs of people's daily lives,a large number of pipelines are installed in every corner of the city and factory.Among them,the application of drainage pipes is to bring great convenience to people's lives.However,with the development of underground drainage pipeline systems,some problems of drainage pipelines have gradually emerged.In particular,the problem of siltation or even blockage inside the pipeline seriously affects the normal production and life of the residents.Therefore,in order to solve the problem of dredging of drainage pipes,it is of great theoretical significance and practical value to design a pipe dredging robot with fast traveling speed,large traction force,strong pipeline adaptability and stable and reliable operation.Based on the design conditions,this paper proposes a wheel-claw walking device for pipe dredging robots suitable for pipe diameter.This thesis mainly studies the overall scheme design of the wheel-claw walking device of the pipe dredging robot,the wheeled working mechanism,the stepping unit mechanism of the claw type propulsion device,and the jaw clamping mechanism of the claw type propulsion device.In-depth research provides a basis for dynamic matching,spring system design,etc.,and lays a foundation for better working characteristics.First,by consulting the relevant specifications of pipeline dredging,the working conditions of the walking device of the pipeline dredging robot are determined,the design requirements of the dredging robot dredging robot are specified,and the performance index parameters of the walking device are obtained.By comparing the existing research work at home and abroad,a wheel-claw walking type pipe dredging robot is proposed.The wheel-claw type walking device is a combined walking device composed of a wheeled walking device and a claw-type propelling traveling device.The wheeled walking device drives the robot to walk under the condition of small resistance,and has the advantage of high speed.The claw type propulsion walking device works under the condition of large resistance and has the advantage of large thrust.The combination of the two type devices can be used in different working environments and improve work efficiency.In this thesis,several important aspects are analyzed including the overall scheme design,the wheeled walking mechanism,the stepping unit mechanism of the jaw type propulsion device,and the jaw clamping mechanism of the jaw type propulsion device.Then,for the wheel-type walking mechanism part of the wheel-claw walking device,the spring pre-tightening force and the forwarding force of the diameter varying spring system are studied.According to the working conditions,the theoretical modeling method is used to analyze the force of the selected wheeled walking device,and obtain the relation between the forward power of the wheeled walking device and the torque of the driving motor,and between the forward power and the spring pre-tightening force of the diameter varying spring system.Based on the ADAMS dynamics simulation software,the working characteristics of the wheeled walking device are simulated and analyzed.It is showed that the wheeled walking device meets the expected working requirements,meantime the selection of the driving motor and the preloading spring is also determined.After,the statics and dynamics of the stepping unit mechanism of the propulsion walking device in the wheel-claw walking device are studied.The theoretical modeling method is used to analyze the force of the selected stepping unit mechanism,the torque and rotation speed of the ball screw pair in the stepping unit are obtained,and then the ball screw and the driving motor are selected.Based on the static simulation software of ANSYS WORKBENCH,the ball screw pair is simulated and analyzed,and the mechanical properties such as strength,stiffness and elastic deformation of the ball screw pair are obtained.It is verified that the selection of the ball screw pair meets the working requirements.Based on the ADAMS dynamic simulation analysis software,the dynamic analysis of the stepping unit ball screw pair is carried out,and the running speed and acceleration are obtained.The working characteristics are analyzed,and the selected ball screw is verified to meet the expected design requirements.The simulation analysis of the impact force of the screw nut contact limit plate is carried out,and the impact force is too large.The limit is optimized and improved.Last,static and dynamic studies are carried out for the jaw clamping mechanism of the propulsion walking device in the wheel-claw walking device.Based on the mathematical modeling method,the kinematic model and static model of the jaw clamping mechanism are established,the working space range,motion characteristics and clamping force of the jaw clamping mechanism are obtained,and the electric push rod stroke and telescopic speed as well as the size of the thrust are determined,then the electric push rod is chosen.Based on the kinematics simulation analysis of-ADAMS,the motion characteristics and working space range of the jaw clamping mechanism during opening and contraction are obtained,and the working space range and motion characteristics of-the jaw clamping mechanism are verified to meet the expected design requirements.The rod electric push rod stroke and the telescopic speed are selected reasonably.The ADAMS dynamics simulation analysis showed that the clamping force provided by the jaw clamping mechanism,met the expected design requirements,and the thrust of the electric push rod is reasonably selected.Based on the static simulation analysis of ANSYS workbench,the mechanical properties of the jaw clamping mechanism,such as stiffness,strength,elastic deformation and dangerous point of force,are obtained.The results show that the design for every component of the jaw clamping meechanism meets the expected design requirements.