Optimization Design And Dynamic Characteristics Research Of Dredging Device Of Pipeline Robot

With the gradual acceleration of urbanization,the requirements for the safety of urban drainage system are becoming higher and higher.As an important part of urban infrastructure construction,the unimpeded drainage of drainage pipe directly affects the safety of urban residents' travel and the development of urbanization.Pipeline cleaning is effective in preventing and solving any blockage sedimentation method,and there exists problem in the economy,applicability,generality,problem such as security,stability and dredging range small.This paper puts forward a set of round pipe robot bait-casting machine-claw hybrid propulsion equipment scheme,and study on the ability of the dynamic characteristics of dredging equipment.Firstly,the rheological characteristics of the silt and the urban drainage system are analyzed to determine the dredging condition,which provides a reasonable basis for the design of the pipeline dredging robot and its dredging device and the dredging principle.Then,SolidWorks is applied to establish a three-dimensional model of the robot and its dredging device,and its dredging device is analyzed in principle,and the device has the ability of scraping,stirring,filtering and pushing.The kinematics and dynamics of dredging disk are studied.Based on ADAMS software,the motion curve and force curve of fan-shaped disk are obtained.The movement mode and the movement rule satisfy the dredging operation requirements of the four-in-one dredging mode.The simulation results of the positive dynamic problem provide the basis for motor selection.ANSYS Workbench software was used to optimize the structure of dredging pan from three aspects.Firstly,based on the method of fluid-solid couplirtg,the problem of the opening of fan-disk filter screen was studied.The opening size of the filter screen was calculated by the formula of starting flow velocity,the fan plates of two different schemes were designed.Through the fluid velocity and pressure distribution diagram,combined with the processing and manufacturing and comparative analysis,the feasible plan is determined.Then,the structure optimization of the dredging disk was studied by sequential optimization method.Under the premise that the stiffness,strength and modal frequency met the allowable range,the dredging disk maximized the reduction of the head-on water inflow rate.After optimization,the area in front of the water decreases greatly.The maximum stress of the structure is greatly reduced,the stiffness and strength of the structure meet the design requirements,and the dynamic performance is improved.Finally,the method of parameter optimization is applied to calculate the allowable load of the scraper under the constraint of stiffness and strength to study the rigid bearing capacity of the scraper.The results show that the allowable external load of scraper is much larger than that of scraping and stirring.After the improvement of the structure,ADAMS software is used to study the impact and vibration of the adaptive spring system.Under the conditions of the lowest speed 20r min-1 and top speed of 100r·min-1.The simulation is carried out under the condition of precompression and prepressure of spring respectively.The impact curve of slider and screw plug and the impact curve of spring are extracted.The results showed that in the high speed and spring stiffness of partial hours system more stable,rigid impact coefficient is greater than the flexible impact coefficient.The flexible element is added between the slider and the screw plug,and the simulation is carried out at a high speed based on the pre-spring pressure,and the results are analyzed that the system needs to add flexible buffer element,which can greatly reduce the impact force and system vibration.In the end,in order to study the working characteristics of dredging device under the action of fluid,the fluid-solid coupling was studied.Firstly,simulation conditions of convection solid coupling were set by using ANSYS Workbench software.The maximum and minimum rotational speeds and fluid velocity and forward speed were allowed under working conditions.Then,based on the finite element method,fluid-solid bidirectional coupling simulation was carried out respectively under downstream flow conditions,and the fluid motion state diagram based on velocity and pressure and the pressure distribution diagram on the surface of dredging disc under different conditions were obtained for comparative analysis.The results show that within the working speed range,the dredging disc achieves the dredging effect of agitation,in which the relative speed is counter-current and the dredging effect is the best at high speed.And provide data reference for the calculation of propulsion force.