Development Of Pipeline Dredging Robot And Its Pumping Characteristics Research

The municipal pipeline system likesthecity’s artery, and its’blocking or clearing directly affect the city’s normal operation. If the pipeline is obstructed, it will cause the city waterlogging. Therefore, cleaning the pipeline frequently is the most efficient way to keep the line clear. Traditional dredging mainly depends on manual operation. For main pipe with a large diameter, manual cleaning by entering it is feasible. But for many branch pipes, the diameter is too small that workers can’t enter and the only thing they can do is partially dredging. In some extremecases, there is no choice but to excavate it, which will affect the city’s functions. Faced with this situation, using robot operation is the best choice.Robot technology is one of the fastest developing technologytoday. Also it is a direction of manufacturing industry development in the future. Nowadays, the robot has been used in the pipeline to detect its defect, and provide a new method for the pipeline’s construction acceptance. This thesis developed a pipe cleaning robot which is powered by compressed air, and this robot can be applied to the small diameter pipe. Also, it has the function of dredging, detection and real-time video transmission.The robot mechanical structure include two plates, each has three support cylinders. Between the two plates, connecteddrive cylinders and bellows. When the robot works inside the pipe, each cylinder moves sequentially, to realize the robot walking. At the same time, the cylinders drive the corrugated pump to shrink and stretch, transporting the sludge to the ground through hosepipe.The water content of the sludge affect the robot’s dredging directly.In this thesis, by analyzing the physical property of the sludge, the relationship between the viscosity and water content of sludgewassummarized. And the force in the different partswas calculatedduring the sludge was transported.Then the static and dynamic characteristic was analyzed when the model of the sludge being transported in the hosepipe was established. Besides, the thesis has completed the theoretical calculation of the pressure and flow characteristics about the corrugated pump.Combined with the design and theoretical analysis,the selection and machining of the robot mechanical componentsare completed, also the installation and debugging of mechanical system;completed the designing and debugging of the logic control system based on the singlechip;realized video transmission; completed the overall development, commissioning and laboratory test of the prototype.The robot developed in this thesishas the functions ofmoving in the pipe, desilting, detection,which have laid the foundation of realizing the intelligentpipe dredging.