Kinematics Analysis And Structure Optimization Of Pipeline Cleaning Robot

The cleaning and dredging of urban and domestic sewage pipes is a huge and complex project.There are many types of pipes in diameter,which are easily accessible in all directions.The working environment for pipeline cleaning is harsh,and personnel are not allowed to enter and hard to reach in most cases.Therefore,developing a sewer robot to replace manual work can improve work efficiency while ensuring the personal safety of workers,it has also broad application prospects in the cleaning,testing and maintenance of pipelines.This paper takes the pipeline cleaning robot designed by myself as the research object,analyzes and verifies the feasibility of its crawling movement in the pipeline,as well as the mechanical characteristics under dangerous working conditions,and optimizes the structure and size of the parts with large forces.The specific research contents are as follows:(1)Working principle and structural design of pipeline cleaning robot.According to the actual working conditions of the sewer,determine the function and performance of the pipeline cleaning robot,analyze the walking gait and specific movement steps of the robot,select the scheme of the oblique wedge stepping crawling,carry out three-dimensional modeling,and verify the feasibility of the design.(2)Passage analysis and motion mechanics analysis of pipeline cleaning robots.Combining the size of the robot,theoretically analyzing the passability of the 90° elbow,establishing a digital prototype of the pipeline cleaning robot in the software of Adams,obtaining the trajectory of the robot straight pipe and the elbow,and the centroid displacement and speed of the front and rear support components,as well as The force of the main force-bearing parts.(3)Analysis of static characteristics of pipeline cleaning robots.Using the finite element method to analyze the static characteristics of the robot in the two states of supporting the pipe wall and pushing motion under various conditions of rising,falling,horizontal movement and turning,the specific position of maximum stress and deformation was obtained through analysis,and the rigidity and strength of the pipeline cleaning robot were verified to meet the functional requirements.(4)Structural optimization of the pipeline cleaning robot.According to the results of the finite element analysis of Workbench,the size optimization of the force structure of the robot was carried out,and the optimum size of the front and rear conical shell and the propulsion nut was obtained.The total mass of the propulsion component was reduced by 75.51 g,and the weight loss ratio reached 11.60%.On the premise of satisfying stiffness and strength,the optimum element distribution scheme in the design space of the front conical shell is sought.After topological optimization,some materials are removed from the front conical shell.Under the condition that the maximum deformation and stress are basically unchanged,the mass is reduced by 37.65 g,the reduction ratio is 24.04%,and the weight reduction effect is obvious.By optimizing the structure,the reasonable shape and size of the cross section are obtained,the material is saved and the weight of the robot is reduced.