Design and Kinematic Simulation Analysis of Crawler Desilting Robot

Abstract

With the acceleration of urbanization in China, the scale of the urban drainage system is expanding, and the problem of prolonged siltation of drainage pipes, boxes and culverts in cities is beginning to be highlighted. And the risk of manual siltation is high, labor-intensive and inefficient. Aiming at this problem, this paper designs a new type of fully hydraulic pump suction desilting robot based on STM32F401RCT6LQFP64 microcontroller as the main control and waterproof grade IP68. The three-dimensional model of the desilting robot is established by Croe for analyzing the principle of desilting. Then, based on Adams, the movement mechanics simulation analysis of the weakest mixing module was carried out to verify the feasibility and stability of its work. The simulation results show that the mixing module runs stably. The hydraulic system and the control system are designed to realize their function.