Design And Research Of Adaptive Drainage Pipe Cleaning Robo

With the gradual acceleration of urbanization in my country,the urban drainage system has been expanded year by year,and the problem of blockage in the drainage pipeline has become more and more complex and changeable.Whether the urban drainage system is unobstructed or not affects people’s life and travel safety,but there are many toxic gases in the drainage pipeline that are harmful to the human body.The narrow size of the drainage pipeline is difficult to manually clear the blockage,so the dredging of the drainage pipeline needs to be replaced by a robot people work.This paper analyzes the causes of blockage in drainage pipes,the research status of domestic and foreign pipeline robots,and the product status of domestic and foreign pipeline robots.I It is found that there is a lack of robots for medium and large pipes(800mm～1500mm)in the pipeline robot products to clean up hard waste.Robots for cleaning hard wastes.This paper had designed a pipe cleaning robot capable of cleaning hard waste(mainly concrete)and capable of working in medium to large drainage pipes.This paper had focused on the support mechanism and cleaning mechanism of the adaptive pipe cleaning robot.In this paper,the design parameters of the pipeline robot for cleaning hard waste in medium and large pipelines were set.By classifying and summarizing the structure of the pipeline robot,it was concluded that the pipeline robot with an adaptive shape was more suitable for cleaning hard waste in medium and large pipelines.The adaptive structure of the pipeline robot was designed and researched for the design scheme.An adaptive support mechanism was designed.This paper had completed the research and analysis of the support mechanism about the current adaptive robot,and found that the center of gravity changes relative to the support position when working in pipes of different sizes,whether it was a support mechanism controlled in parallel or a single control mechanism,which led to the instability of the robot.In this paper,by studying the leg mechanism of MIT quadruped bionic mechanical dog and Astor,it was concluded that the two-degree-of-freedom support mechanism could keep the support position unchanged at different deployment angles,and also had strong obstacle-crossing ability.Combining the advantages of the two,a two-degree-of-freedom support mechanism was designed in this paper.Compared with the single-degree-of-freedom support mechanism,it could maintain stability and had strong obstacle-crossing ability.Forward and inverse kinematics analysis,trajectory planning,dynamic simulation analysis and statics simulation analysis of adaptive support mechanism.In this paper,the forward and inverse kinematics of the support mechanism were analyzed,and the trajectory planning of the support mechanism was carried out,so that it could realize the obstacle avoidance function in the complex environment of the drainage pipeline.In this paper,the dynamic simulation of the support mechanism was carried out by ADAMS,and the rationality of the planned trajectory was verified.The statics simulation of the support mechanism with different deployment angles was carried out in ANSYS Workbench,and the improved design of the support mechanism was carried out according to the analysis results to ensure the strength and stiffness of the support mechanism.The cleaning cutter head was designed,and the cleaning ability of the cutter head was simulated and analyzed.This paper had completed the research and analysis of concrete crushing methods,and concluded that the mechanical drilling and cutting method should be used to clean the hard waste in the pipeline.Through the research of the existing concrete cutting tools,the cleaning tool head was designed.A dynamic analysis of the cleaning head was performed in Abaqus Explicit.According to the analysis results,the cleaning cutter head was designed to be improved.