Design And Research Of A Multi-section Cable Pipe Dredging Robot

At present,the common laying method for urban cable lines is calandria cable,which is mostly embedded along with the road and has the characteristics of"centralized construction first and separate use later".The existing backup cable pipeline is large in scale,but due to long-term shelving,a large number of blocked pipelines are generated,which leads to the failure of normal laying of cables in the later period.If the cable pipeline cannot be effectively dredged and cleaned,the safe and stable operation of the power grid will be seriously affected.In this paper,the driving mode,power supply mode,blockage detection mode,information communication mode,bending pipeline passing capacity,innovative mechanism design,system control mode,blockage dredging mode,pipeline damage repair mode and blockage derivation mode of the cable pipeline dredging robot are studied,and an experimental prototype device suitable for dredging people with certain pipe diameter changes and with a certain bending radian is designed and developed to replace the traditional "open excavation" dredging mode,which can effectively reduce the working intensity and cost,and has great market application potential.The research results of this topic mainly include.(1)Analyzing the existing domestic and foreign typical robot equipment,and discussing the pipeline robot equipment in our country.Through analyzing the advantages and disadvantages of different types of pipeline robot driving modes,the spiral driving mode which is most suitable for the pipeline robot working environment studied in this topic is selected as the pipeline robot walking mode,and the technical status in this field is analyzed.(2)Determine the overall plan of the pipe-laying robot,plan and design the functions of each module according to the performance requirements,design the parts of the pipe-laying robot equipment by using the three-dimensional modeling software,assemble the three-dimensional parts drawings of the pipe-laying robot in an overall way,and analyze the types of blockage.(3)Analyze the mechanical properties of the pipe dredging robot,analyze and study the obstacle-surmounting capability of the supporting wheel of the pipe dredging robot and the passage of curved pipes,and establish the corresponding mechanical model.(4)Finite element analysis is carried out on the strength of key structural parts of the robot to verify the reliability of the strength of key parts.(5)The camera and sensor are used to identify and locate the blockage.The visualization of the working environment in the pipe of the pipe arranging robot is realized by using the special camera equipment for the pipe integrating the light source and the high-definition image acquisition equipment,and the pictures are stored and analyzed.(6)Machining and assembling the parts of the robot equipment,making an experimental prototype of the pipe arranging and dredging robot,completing the design of the cable arranging and dredging robot control system,and carrying out experimental tests on the manufactured prototype.