Research On The Effect Of High Pressure Water Jet Device On The Motion Performance Of Water Pipe Cleaning Robot

Water is the source of life,and is one of the most important material resources which are indispensable for human survival and development.Daily life of urban residents also cannot be separated from running water,and the vast majority of tap water supply depends on the pipeline transportation technology.However,due to long-term operation of the water supply pipeline,there are corrosion,leakage,sediment,etc.,seriously affect the water safety of residents.Therefore,it also promotes the development of pipeline cleaning technology to a certain extent.In this paper,a new type of in-pipe cleaning robot was proposed,which is based on the problem of the city's large diameter water pipeline cleaning.Based on the design of the robot,the effect of high pressure water jet device on the motion performance of the in-pipe cleaning robot was studied by the combination of theoretical analysis and simulation analysis.Specific research work is as follows:Firstly,the overall design scheme of the in-pipe cleaning robot system was given,and the design of the overall structure of the in-pipe cleaning robot was completed with the 3D design software SolidWorks.Secondly,through the analysis of vehicle traction output and the mechanism principle,the mechanical model of the pressing mechanism and mechanics model of typical obstacle-overcoming were established,and the performance of in-pipe cleaning robot is studied.Then,the mechanism of high pressure water jet cleaning was studied,and the key parameters of the high pressure water jet were given,and the design and optimization of these parameters were finished.Based on the multi rigid body dynamics and mechanical vibration theory,the impact of high pressure water jet device on the overall motion performance of the proposed robot was studied,and the simplified multi-body mechanics model of in-pipe cleaning robot system with two degrees of freedom damping vibration model was established.Finally,based on the multi-body dynamics software ADAMS,the simulation experiment platform of pipeline cleaning robot was established.Based on the simulation platform,the feasibility of the designed robot carrier was verified,and the reliability of the design of the relevant parameters of the high pressure water nozzle device was verified.And that the robot's vibration,mass distribution and high pressure water injection device of high-speed rotation,have a great impact on the motion performance of the proposed robot.The overall structure layout reasonable layout of robot,the robot as far as possible to meet that the mass distribution coefficient is equal to 1,and the attitude angle is equal to 0 degrees,which are effective measures to improve the motion performance;to realize the robot carrier and high-pressure water jet device cooperatively work stably,the high pressure water jet device must run after the robot carrier runs at the set speed,and the jet rotation arm starts at a low speed,which besides,we must ensure the enough preloading force on tension springs.