Development Of Pipeline Dredging Robot And Its Position Rectifying Characteristics Research

Currently,the municipal pipeline system consists of the branch pipeline.It is difficult to clean the branch pipeline with limited diameter.So it is a tendency to use robot to replace human beings to clean the small-sized pipeline.This thesis has developed a pipeline dredging robot which is powered by compressed air,and applied to the branch pipeline with limited diameter.Meanwhile,all penumatic control system of pipeline dredging robot has functions,like dredging,pumping and position rectifying.The mechanical part of the pipeline dredging robot developed in this thesis mainly consists of walking mechanism,dredging mechanism and position rectifying mechanism.The walking mechanism includes two plates,each of which has supporting mechanism,swinging wheels and four support cylinders between two plates.Dredging mechanism consists of the importing mechanism,the pumping mechanism and the exporting mechanism.The main function of the importing mechanism is to break solid sludge and transport them to the pump.The main purpose of the pump is to squeeze sludge and pump it out of the robot.As for the exporting mechanism,it is designed to let squeezed sludge smoothly transport to sludge collecting car on the ground.The position rectifying mechanism developed in this thesis consists of miniature pneumatic motor,helical blade,pressure regulating valve,etc.In the process of dredging,once the position of the pipeline dredging robot changes,its position-rectifying holder rotates and touches roller lever.which increases one side’s pneumatic motor’s inlet pressure.And the output torque of the same side’s helical blade increases.As a result,the counter-torque from the mud forces position-rectifying holder to squeeze the pressure-control roller lever valve which is firmly connected to the robot.In the end,the counter torque applied by sludge rectifies the robot’s position.Through design calculation,modeling and simulation,the pipeline dredging robot has successfully passed performance test and site acceptance test,which means it can be applied in municipal dreging engineering.