Design of city sewer dredging robot with variable diameter

摘要

The cleaning of city sewers has always been a problem that has plagued the daily life of urban residents and the industrial production. In this paper, a cable-free double-track sewer dredging robot with variable diameter is proposed for dredging and detection of city sewers. The system composition and working principle of the dredging robot are described, and the key technologies of the robot walking in the square and circular pipe are studied. In addition, the dredging system driving scheme of the pipe robot, coordination mode between the dredging manipulator and the reamer mechanism and sludge treatment scheme are designed, and the capsizing of the robot in the working state is described. Finally, the control module of the pipe dredging robot is designed. The city sewer dredging robot designed in this paper can autonomously walk in the city sewers and carry the machine vision equipment and dredging equipment to complete the dredging of sewers. The design in this paper provides a new feasible solution for the cleaning of sewers in city.