Development Of Desilting Robot For Underground Drainage Trunk Pipelines

After the underground drainage pipeline is used for a long time,the silt will be deposited in the pipeline,and it needs to be cleaned in time to ensure the smoothness of the pipeline.During the dredging operation of the main drainage pipeline,due to the restriction of the inspection wellhead size,large dredging equipment cannot enter the drainage pipeline,and small dredging equipment will be immersed in the silt and cannot walk after entering.The main drainage pipeline usually adopts manual dredging method,which not only has low dredging efficiency,but also contains inflammable and explosive toxic gas in the pipeline,which will threaten the life and safety of workers.Aiming at the problem of pipeline dredging,this thesis has developed a pneumaticdriven pipeline dredging robot.Its walking body is an umbrella telescopic wall supporting mechanism.It can enter from the inspection well head with a diameter of 630 mm in the retracted state.It walks on the wall of a pipeline with a diameter of 2000 mm,and can carry a stirring and pumping device to transport the sludge inside the pipeline to the ground.This thesis mainly completed the following work:Completed the mechanical structure design of the pipeline dredging robot.Faced with the large-scale dimensional changes of the robot,three types of telescopic wall supporting schemes were designed and analyzed and compared.The umbrella wall supporting mechanism was selected and combined with the omnidirectional wheel walking device,double The combination of spiral stirring device and sludge pump realizes the working requirements of the robot walking on the wall of the pipeline and pumping the sludge.Through the motion simulation analysis of the robot’s extension process,the static analysis of the key components and the optimization design of the size of the support legs,the reliability and stability of the robot during the extension process are improved.The advantages and disadvantages of full pneumatic control and electric-pneumatic control in the application of pipeline dredging robots are analyzed and compared.The electric-pneumatic control scheme is selected and the design of pneumatic circuit and electric control circuit is completed according to the action of each pneumatic actuator.The upper computer software interface and control program are designed through Lab View,combined with the electric control loop to control the on and off of each solenoid valve,so as to control the pipeline dredging robot to complete the dredging action.According to the design plan and simulation analysis results,the robot parts were selected,processed and assembled,and the prototype of the pipeline dredging robot was produced.The laboratory test,the test platform and the on-site dredging test were carried out.The pipeline dredging robot can walk on the wall of a pipeline with a diameter of2000 mm and complete the dredging operation.The pipeline dredging robot developed in this thesis can enter the main drainage pipeline from the inspection wellhead to replace the workers in dredging operations.At the same time,it has the characteristics of waterproof and explosion-proof,which improves the efficiency of dredging and protects the lives of workers.