Development And Experimental Study Of Pipeline Dredging Robot With Luffing And Supporting Mechanism

There are a large number of pipelines with different diameters in the municipal drainage pipeline network.Due to the size of pipe diameters,the traditional dredging methods can't meet the demand,so the manual operation is widely used.However,the pipeline environment is dirty and disordered,there are many flammable and explosive toxic gases,which are easy to harm workers' bodies.Therefore,there is an inevitable trend to replace workers with robots.Considering the working environment,it is more difficult to develop the pipeline dredging robot.In addition,if the pipeline dredging robot is only suitable for a single pipe diameter,it needs to match different sizes of robots for different pipe diameters,which will waste resources.In this paper,two kinds of wall supporting mechanism driven by pneumatic cylinders are designed to support the wall of the pipeline.Combined with the thrust cylinder and a full pneumatic logic control method,a dredging robot suitable for the size of 600 mm ? 1000 mm pipeline is developed.A luffing and supporting mechanism is designed,which is combined with the creeping walking mode and retains the dredging mode of the piston.After the robot enters the underground pipeline,it can adapt to different pipe diameters by luffing and supporting mechanism.ADAMS is used to optimize the design of the luffing and supporting mechanism,which can effectively improve it's working performance.Considering the actual working conditions,the force analysis of the robot in the pipeline working process is carried out to complete the selection and verification of various cylinders.The advantages of all pneumatic driving and control are clarified,and the X-D line diagram is drawn according to the action logic of the robot,and the design of all pneumatic control system is completed.Fluidsim-p is used to model and simulate the all pneumatic control system,and finally realize the control and drive of the robot without electricity,and it can realize the action of entering the pipe autonomously,without the need for workers to go down the well.On the basis of design calculation and simulation analysis,the diameter adaptive pipeline dredging robot has been completed,and has passed the laboratory test,pipeline simulation experiment and field dredging experiment,which can be used for municipal pipeline dredging operation.