Research On An Autonomous Drainage Dredging Robot

Pipeline robot is a kind of robots, running in the special environment, and it catches the attention of every college and university, as well as research institutions no matter at home and abroad with its unique character. Sludge Cleaning Robot is a special kind of pipeline robots, and at present our country hasn’t related products in the actual pipeline dredging work. According to the need, the design of the mechanical structure, dredging drive system and the control system of the autonomous drainage dredging robot has been finished. The design of drainage pipeline dredging robot has great significance to promote the modernization construction of our city.Firstly the background and significance of dredging pipe robot are illustrated, a large number of literature are consulted, as well as the present situation of dredging methods and the research achievements of pipeline robots are introduced in detail. Depend on these, research of drainage pipeline dredging autonomous robot is very necessary.The overall design scheme of autonomous robot dredging is Put forward. Then system composition and working process of dredging robot are illustrated, the mechanical structure, drive system and control system framework are introduced as well. The combination of mechanical and hydraulic are confirmed as dredging drive system of the robot. Design of dredging drive hydraulic system overall scheme and working principle diagram are illustrated, and the main hydraulic components selection are explained.Finally, PLC series of Siemens S7-200 is used as control system of autonomous dredging robot. The hardware and I/O address of PLC control system of the robot are assigned, software program of the system and the specific application are analyzed.Autonomous dredging robot is a mechanical device that can walk inside the pipes by itself, and it carries the monitoring equipment and dredging device, under the manipulation of the operator for pipeline dredging work. Design of drainage pipeline dredging robot opens a door to solve the problem of drainage pipeline sedimentation jam.