Structure Design And Performance Analysis Of Parallel Pipeline Dredging Robot With Adjustable Diameter

With the continuous improvement of urban modernization,how to deal with the task of dredging the urban underground pipeline system with high efficiency and low risk has become an important factor affecting the normal life of residents.Pipeline dredging robot is an important means of cleaning pipelines,and its performance directly affects the effect of dredging.This article is mainly aimed at improving the performance of the pipeline dredging robot,with the purpose of enhancing the environmental adaptability and expanding the working range of the pipeline dredging robot,the idea of modular design is used to design a new type of pipeline dredging robot.The main research contents are as follows:A kind of foldable and posture-adjustable walking device which is designed based on a crawler chassis is proposed.A kind of working device based on the 3-US parallel mechanism is proposed.At the same time,according to the internal environment of the pipeline,the work flow of the pipeline dredging robot and the coordinated movement scheme of each device are designed.By adjusting the driving variables of the walking device,the movement trajectory of the walking device is planned.By adjusting the driving variables of the working device,the maximum working range of the working device is analyzed.The changes in the driving force and driving torque of the walking device and the driving torque of the working device are analyzed under different dredging motions by the kinematics simulation software,Adams,and the driving components of each device are selected.The mathematical relationship between the end-pose of the walking device and the force of each component of the walking device is established,and the force transfer relationship between the walking device and the working device under different dredging actions is obtained.Then the force distribution is obtained.The finite element software is used to perform finite element analysis on the pipeline dredging robot to calculate the relatively weak position of each device under different dredging actions.The stability of the pipeline dredging robot is improved by lowering the center of gravity of the pipeline dredging robot.The smoothness of coordinated movement of each device is enhanced by planning the relative position between each device.The structure and size of the pipeline dredging robot parts are optimized,and the arrangement of the devices is adjusted,and the auxiliary motion device of the pipeline dredging robot is designed.