Research And Development Of Pipeline Dredging Robot Based On Pneumatic Logic Control

In recent years,waterlogging phenomenon occurs frequently in many cities every summer.The occurrence of urban waterlogging reflects the obstruction of urban underground drainage pipes.In order to ensure the smooth drainage of the pipeline,it needs to clean up the pipeline regularly.The current dredging of pipeline mainly relies on manual operations,but because the diameter of the pipes is too small,the workers are difficult to enter.Dredging operations can not be carried out smoothly,resulting in a different degree of pipeline congestion.Consequently,the use of robot dredging is more effective for smaller diameter pipes.In this paper,the common pipeline dredging robot has been studied.For the current common pipeline dredging robot,whether from the way of walking or dynamic support are different.They can be applied to different pipelines.In this paper,a kind of high-safety and all-pneumatic piping dredging robot is designed for compressed air as the driving force.The mechanical structure of the pipeline dredging robot developed in this paper is divided into two parts:walking mechanism and dredging mechanism.According to the method of peristaltic earthworm design the walking mechanism used before and after the two installation plates of the body,and the corresponding position with support cylinders,between the two installation plates with propulsion cylinders.The dredging mechanism designed in this paper is mainly composed of dredging cylinder,piston and dredging cylinder piston rod,combined with the walking mechanism,the position of the dredging mechanism is placed between the two propulsion tanks to realize the dredging action and the propulsion action synchronization.The piston cylinder and the dredging plate of the dredging mechanism are simulated and analyzed to verify their safety.In this paper,the performance of the sludge in the pipeline is analyzed,and the force analysis is carried out according to the walking and dredging process of the robot in the pipeline.According to the analysis,the models of cylinders are selected.In order to ensure high safety of the dredging robot,all-pneumatic control program is used.In this paper,the stroke control circuit is used.Then it can draw the signal-action state diagram(X-D)of the system according to the principle of pneumatic logic.According to the X-D diagram,using fluidSIM software to draw the aerodynamic schematic diagram and to simulate and verify the feasibility of the program.Combined with the design and simulation results,the mechanical structure of the robot and the control system components for selection and processing,and complete the installation of parts and tracheal connections,and finally in the simulation of the pipeline to test,and according to the test results to adjust and optimize.The pipeline robot developed in this paper has the advantages of high safety and all-pneumatic control,and can be safe and reliable in complicated pipeline.