Research On Desilting Mechanism Of Traction Sewer Dredging Robot

In recent years,with the increasing pipeline dredging robot research in our country,although it has been made many breakthrough progress,but most of the pipeline dredging robot only can complete testing,wearing rope work,rarely able to work independently to complete the desilting.So according to the present situation of domestic desilting for pipeline robot,a traction type drainage pipeline dredging system is put forward.The working principle of the dredging system of traction type drainage pipe is introduced in the paper.The drag force of the wire rope under different conditions is also calculated,which provides the important technical index for the design of the dredging mechanism of the dredging robot.The design of a multi-link dredging mechanism,describes its composition,and selects the appropriate joint bearings.The driving mechanism of the traveling mechanism and the dredging mechanism is determined,that isthe traveling mechanism adopts the driving method of its own power;and the driving way of the dredging mechanism adopts the combination of external force driving and self-driving.Then,the kinematics and simulation analysis of the desilting mechanism are carried out.Through the calculation of the degrees of freedom and the calculation of the geometric relations,the key variables are found to be the length of the two electric cylinders,and then through the MATLAB software simulation,according to the extension range of the two electric cylinders,the dredging bucket rollover trajectory and other important working performance dimensions are obtained.The reasonableness of the dredging mechanism is verified,and the design of the solid connecting rod and the checking of the strength provides a reliable basis.At last,the control system of desilting robot control system is designed,ande has realized the desilting remote control of the robot.So the development of the drainage pipeline dredging robot can open up a new path.