Research On Pipeline Desilting Robot

The municipal drainage pipe system is like the artery of the city,and its good working state is the necessary condition to maintain the normal operation of the city.When the drain pipe becomes blocked,manual work is usually used to clear up the sludge.But the cramped interior of most drains,the harsh environment and the high levels of flammable and explosive gases limit manual cleanup.Manual cleaning operation has high labor intensity,low efficiency and incomplete cleaning.With the development of science and technology,robot technology is applied in all walks of life,so it is an inevitable trend to develop a dredging robot for cleaning,dredging and testing municipal drainage pipes.In this paper,a pipeline robot with desilting and detecting functions is designed for municipal drainage pipelines.The main body of the robot is divided into wheel drive system,rocker arm swing rod suspension,differential balancing device,vehicle body and camera cradle system.The suspension adopts the rocker bar structure with six wheels independent drive,which satisfies the obstacle crossing ability of the robot to the greatest extent.Differential balancing device is a part connecting the body and the suspension,which reduces the influence of the suspension on the body pitch through the undulating terrain.Symmetrical bevel gear differential balance scheme is adopted,with simple structure and large bearing capacity.In order to improve the performance of the robot,the optimization and dynamics simulation are carried out.In order to minimize the total work consumed by the front,middle and rear wheels of a single obstacle jump,the single-side rocker rod suspension was optimized by using the sequential quadratic programming method,and the optimal value of the suspension structure size was found.The dynamic simulation of the pipe desilting robot is carried out,and the dynamic performance under different working conditions is obtained.The control system of pipeline desilting robot realizes the control of its driving motor,the control of the cradle head system and the data acquisition and display of each sensor.The control system is mainly divided into lower computer hardware system,lower computer software system and upper computer software system.According to the actual working condition and the overall scheme of the control system,the drive motor and reducer of the pipe desilting robot are calculated and selected.Then the hardware of each lower computer is selected.The hardware of lower computer includes control chip,drive motor,each sensor,AD module,motor drive module and so on.According to the electrical characteristics of the selected hardware,the peripheral circuit is designed.The communication mode and protocol of each hardware are analyzed,the software system of lower computer is written,and the functions of driving motor control,turntable control and sensor data acquisition are realized.The upper computer software realizes the internal image display,robot motion control and data display functions.