Research And Design On Manhole Dredging Manipulator

In view of the current shortage of our country in the aspects of City manhole dredging, as most of the cities are still dredging artificially, there are problems such as dredging incompletely, labor intensity, security risks and etc, A manhole dredging manipulator of practical mechanism is presented, the mechanism can achieve the purposes of high efficiency during dredging process, simple operation and mechanical instead of artificial, designed and researched for the manhole dredging manipulator as well.1)According to functional demand analysis, a design scheme for the manhole dredging manipulator is proposed, determined the dimension parameter for various parts, the manhole dredging manipulator has been set up 3D model and also the model assembled through 3D modeling software Solid Works.2)The kinematics theory of robot is summarized; the D-H method is used based on the theory of kinematics, connecting rod coordinate system established and kinematic analysis carried out for the manipulator, positive inverse kinematics equation is obtained.3)The mechanics analysis carried out for main part of the manhole dredging manipulator, established finite element model, finite element analysis carried out for the more stress part of horizontal telescopic harm and lift arm by finite element analysis software ANSYS, equivalent effect force cloud and equivalent effect variable cloud obtained finally.4)Design of the hydraulic system carried out and calculated the technical parameter for each of the hydraulic cylinder for the manhole dredging manipulator; carried out the control system hardware design and the PLC control system software design for the manhole dredging manipulator.The results of this research are significance on reducing labor intensity, improve operation automation, eliminate safety hazards in the process of workers' operation and etc. of China's City manhole dredging process.