| With the increase of popularity urbanization in the world,a large number of drainage pipes have been installed in every corner of the city.As an important part of urban infrastructure construction,drainage pipes will directly affect the urbanization development and residents' travel safety.Regular cleaning of the pipeline is an effective means of protecting the pipeline.Based on this phenomenon,the pipeline dredging robot was born.Although there was many types of existing pipeline dredging robots,they all have problems such as low mechanization,insufficient stability,poor obstacle crossing performance,and poor self-adaptability,and the research on the working capabilities and characteristics of pipeline robots are less studied.In this subject,the work capability and characteristics of a pipeline dredging robot initially designed for a pipe diameter of 500 millimeter are studied.First of all,this article introduced the overall structure and working principle of the pipeline dredging robot.The pipe diameter range,maximum load,and operating speed of the entire machine was determined by analyzing the factors such as the source of the sediment,the material of the sediment,the characteristics of the sediment according to the related Specifications of Pipeline Dredging.Then this article preliminary introduced the working ability of the pipeline robot,including the stability requirements,the ability to overcome obstacles,its own strength and vibration performance.Next,the stability of the dredging robot was studied.According to the walking requirements of the robot,the dredging robot is modeled and simulated mechanically.The static mathematical models of the walking device under different attitudes were established.The simulation of the spring stiffness is feasible by using MATLAB simulation software.Based on ADAMS software,the calculation and simulation of dynamics were obtained.The radial friction force and axial friction force of the walking mechanism were obtained,and the correctness of the spring stiffness calculation of the reducing mechanism was verified.Then,the obstacle-crossing performance of the pipeline robot was researched,and the working ability of the robot under two types of obstacles encountered in the pipeline was mainly analyzed.The statics of the pipeline robot under different obstacle modes were established through mechanical modeling and simulation mathematical model,so the maximum obstacle crossing height and the critical inclination of climbing were obtained.The correctness of the above model and parameters was verified based on the dynamic analysis of ADAMS software.The theoretical support for the design of a new type of dredging robot with strong obstacle clearance capability was provided through the analysis and calculation of the obstacle clearance performance of the pipeline dredging robotThen,The strength,stiffness and resonance of the pipeline robot was researched.Basedon the ANSYS workbench software,the statics of the pipeline robot were studied,and the mechanical characteristics such as the strength,stiffness,and deformation of the whole machine and each part were obtained.Find the weakest link and verify whether the design of the whole machine meets the expected strength and stiffness design requirements.Then,based on ANSYS workbench software,a modal analysis is performed on the whole robot to obtain the natural modal frequency of the machine.By comparing with the motor vibration frequency,the modal frequency of the machine was studied whether resonance would occur.Finally,the performance test of the pipeline robot solid model was researched.The solid model of the robot was assembled and a series of performance experiments were carried out,including the establishment of the robot experimental system,the anti-slip performance experiment,the stepped obstacle performance test,and the slope obstacle performance tests.These experiments provided a detailed and reliable basis for objectively evaluating the overall performance and reliability of the robot. |
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