Research On The Tractive Dredging Robot Of Sewer

At present, when the city drainage pipeline is clogged, it is still dredged by manual, so it is important to develop a pipeline dredging robot.A tractive dredging robot of sewer is put forward. The robot moves to the place where is gonging to be dredged by itself, then use a wire rope to drag the robot to complete cleaning the internal silt of the pipe and move to manhole wellhead. The mechanical structure, the control system and the wireless communication system of the dredging robot are mainly researched. Through the analysis and comparison of the performance of several kinds of driving mode, design the DC motor drive system. Based on the modeling and simulation of the process of the movement, choose wheeled style for the robot to move. Designed the dredging bucket which is tangent with the pipeline, and complete the design of lifting and turning the bucket, preventing the silt in the bucket flowing back. Establish the dynamics equation of several wire rope, and through analyzing and comparing, propose a tractive device with wire rope.Based on the function of the robot, design the software and hardware The control system includes controlling the DC motor speed based on the PLC of S7-200 series, reversing the stepping motor and controlling the electric cylinder. The robot adopts DTD433 MA wireless transceiver module for data transmission, and design the software in modularization. The robot sequentially desist after completing debugging the system.The finite element analysis of the parts of the lift and reverse device is done with ANSYS, and through analyzing the stress and deformation of the bucket, the connecting rod, the electric cylinder and the transmission shaft, ensure the strength of the lift and turn-over device is reliable.