Structure Research And Dynamic Analysis Ofthe Reconfigurable Robot For Drainage Pipes

As the essential infrastructure for modern city,city drainage pipeline is the main way of city sewage detergent,but the city drainage pipelines are often clogged.When drainage pipelines are clogged,artificial dredging is often used in domestic.However drainage pipelines are full of sewage and a large number of harmful gases,which do great harm to the pipeline cleaning worker,so it is of great significance to design a city drainage pipe robot for drainage pipeline detection,silting and cable wearing.This paper introduces the development status of the drainage pipeline robots in home and abroad,and analyzes the technical characteristics of all kinds of pipeline robots,and then puts forward the overall design plan of the drainage pipe robot based on fully combining the requirements of the project and the related technology at home and abroad.The pipeline robot adopts the reconfigurable modular design,and the various modules can form different configurations freely.The pipeline robot also install a self-regulating device to adapt to the drainage pipes of different pipe diameters.The pipeline robot adopts reconfigurable design,and the robot can change its configuration according to the change of task and environment.The left and right track module are composed of a complete driving device,a transmission device,a moving device and a control device.They can be used as a single module robot to realize the detection function.The left and right modules can be reconstituted as a dual module robot,and the dual module robot can realize cable pulling and detection function.The left and right box can be connected by the self-regulating device to the central box to form a three module robot to realize cable pulling,detection and silting function.The three module robot can adjust the angle of 30 degrees by the self-adjusting device.Through the reconfiguration device,the pipeline robot can carry out different tasks for pipelines with diameters of more than 200 mm.Aiming at the actual environment of the pipeline robot,the kinematics and dynamics is used to analyze it in detail.Several conditions for the robot to be met are considered,including the ground pressure,driving force,dragging force and the pulling force of the robot.The conditions of the robot to realize the linear motion,the steering movement and the climbing motion are demonstrated.Using MATLAB for simulation analysis,the dynamic characteristics of the robot and the reference for the design of the pipeline robot prototype are carried out,and the limit of the robot's driving ability is verified.In this paper,the relationship between robot caterpillar and ground coupling system is put forward.A caterpillar soil interaction model is established,and the relationship between the mechanical characteristics of soil and the structure of robot is introduced.The formula of soil mechanical properties is expounded,and the experimental measurement and theoretical basis of soil characteristic parameters are briefly introduced.On this basis,the coupling model of the flexible caterpillar and soil is established,and the factors affecting the adhesion of the crawler are systematically analyzed.According to the evaluation criteria of tracked vehicle's passing ability,we define the evaluation index related to robot's passing ability,which provides a basis for designing robot's tracks and verifying the robot's passing ability in the drainage pipeline.The performance test of the pipeline robot is carried out to test the limit of speed,load capacity,turning ability and obstacle ability of the pipeline robot.The experiment verifies the rationality and feasibility of the design of the drainage pipeline robot,which lays a foundation for the design and improvement of the later stage.