Municipal pipeline dredging device

Abstract

The invention discloses a municipal pipeline desilting device. The municipal pipeline desilting device comprises a rack, a desilting module and a walking module. The desilting module is of a three-level protective cover structure. A first driving piece is arranged in a first heat conduction protective cover to drive a drill bit to rotate. A second driving piece is arranged in the second heat-conducting protective cover to control the drill bit to pitch and swing; a third driving piece is arranged in the third heat conduction protective cover to achieve horizontal deflection of the drill bit, and a three-dimensional adjustable dredging system is formed. The walking module adopts a plurality of sections of independent walking units, telescopic supporting legs are uniformly distributed on each unit, and pipe diameters with different thicknesses can be adapted by adjusting the external expansion amount of the supporting legs. According to the device, the multi-degree-of-freedom dredging module and the all-terrain self-adaptive walking module are used, intelligent cleaning of full-section siltation is achieved through spatial position adjustment (rotation / annular sweeping / spiral feeding) of a drill bit and cooperative diameter changing of a walking unit, and the technical problems that traditional equipment is poor in adaptability to different pipe diameters and multiple in dredging blind area are solved.

Description

Technical Field

[0001] The present invention relates to the field of pipeline desilting, and in particular to a municipal pipeline desilting device. Background Art

[0002] As urban underground drainage networks continue to expand, problems such as blockage and reduced flow capacity caused by long-term accumulation of sediment, grease, tree roots, and other solid waste within the pipes are becoming increasingly prominent. Existing technologies for desilting municipal pipes primarily utilize high-pressure jet flushing, mechanical winch towing, and crawler or wheeled desilting robots. However, these solutions still have the following deficiencies in mechanical structure and operational adaptability:

[0003] 1. Single dredging method and poor adaptability

[0004] Traditional high-pressure jet equipment requires external high-power water pumps and long-distance high-pressure hoses, which are limited by the working space and have limited effect on removing hard and compacted sediments. Existing mechanical dredging devices mostly use fixed-direction rotating tools or rigid scrapers, which cannot flexibly adjust the tool posture according to the actual distribution of sediments (such as local accumulation, annular sedimentation or full-section blockage), resulting in blind spots in the operation or the need to repeatedly enter and exit the operation, which is inefficient.

[0005] 2. The diameter range of the walking mechanism is limited

[0006] Existing crawler or wheeled walking mechanisms mostly use integral crawler tracks or synchronous telescopic leg structures, which can only adapt to a single pipe diameter range and cannot switch to walk in pipes of different thicknesses, affecting continuous operation. Summary of the Invention

[0007] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a municipal pipeline desilting device.

[0008] The technical solution of the present invention is as follows: A municipal pipeline desilting device, characterized by comprising: a frame, a desilting module and a walking module;

[0009] The dredging module includes a drill bit, a first heat-conducting protective cover, a base, a second heat-conducting protective cover, a third heat-conducting protective cover, a first driving member, a second driving member and a third driving member, the drill bit is rotatably arranged on the front side of the first heat-conducting protective cover, the first driving member is arranged in the first heat-conducting protective cover and is connected to the drill bit to drive the drill bit to rotate around its own axis, the first heat-conducting protective cover is rotatably arranged on the front side of the base, a second heat-conducting protective cover is provided on the base, the second driving member is arranged in the second heat-conducting protective cover and is connected to the first heat-conducting protective cover to drive the first heat-conducting protective cover to rotate up and down, the base is rotatably arranged on the front side of the third heat-conducting protective cover, the third driving member is arranged in the third heat-conducting protective cover and is connected to the base to drive the base to rotate left and right, and the third heat-conducting protective cover is fixed on the frame;

[0010] The walking module is located at the rear side of the dredging module. The walking module includes a plurality of independent walking units arranged on the frame at intervals along the front-to-back direction. Each independent walking unit includes a plurality of walking legs arranged at intervals along the circumference of the frame. The walking legs can expand outward or retract inward. When the walking legs expand outward, the walking legs abut against the inner wall of the pipe to walk along the inner wall of the pipe. When the walking legs retract inward, the walking legs are separated from the inner wall of the pipe.

[0011] In some embodiments of the present invention, the drill bit is a tapered drill bit that is smaller at the front and larger at the back, and blades are arranged evenly spaced along the circumferential direction on the outer peripheral wall of the drill bit.

[0012] In some embodiments of the present invention, a first pivot shaft is provided at the rear end of the drill bit, a first pivot hole is provided on the front side of the first thermal protective cover, the first pivot shaft is pivotally engaged with the first pivot hole, the first driving member includes a first motor, the first motor is fixed in the first thermal protective cover, and the motor shaft of the first motor is fixedly connected to the first pivot shaft.

[0013] In some embodiments of the present invention, it is characterized in that a first ear plate is provided on the rear side of the first heat-conductive protective cover, a second pivot shaft is fixedly provided on the first ear plate, a second ear plate is provided on the front side of the base, the second heat-conductive protective cover is fixedly provided on one side of the second ear plate, a second pivot hole is provided on the second ear plate and the second pivot hole extends into the second heat-conductive protective cover, the second pivot shaft is pivotally matched with the second pivot hole, the second driving member includes a second motor, the second motor is fixedly provided in the second heat-conductive protective cover, and the motor shaft of the second motor is fixedly connected to the second pivot shaft.

[0014] In some embodiments of the present invention, it is characterized in that a third pivot shaft is provided on the rear side of the base, a third pivot hole is provided on the front side of the third heat-conducting protective cover, the third pivot shaft is pivotally matched with the third pivot hole, the third driving member includes a third motor, the third motor is fixedly provided in the third heat-conducting protective cover, and the motor shaft of the third motor is fixedly connected to the third pivot shaft.

[0015] In some embodiments of the present invention, the first heat-conducting protective cover, the second heat-conducting protective cover, and the third heat-conducting protective cover are all made of heat-conducting materials, and their inner walls are affixed with graphene heat-conducting films, and their outer walls are provided with heat dissipation fins.

[0016] In some embodiments of the present invention, the independent walking unit includes a fourth motor, a screw rod, a slider and a connecting rod. The screw rod is rotatably arranged on the frame, the fourth motor is fixedly arranged on the frame and the motor shaft is connected to the screw rod, the slider is provided with a screw hole and is threadedly engaged with the screw rod, the slider is provided with a number of connecting rods corresponding one-to-one to the walking legs, one end of each connecting rod is hinged to the slider, and the other end is hinged to the walking leg, and the walking leg is hinged to the frame.

[0017] In some embodiments of the present invention, the walking leg is provided with a roller, a fifth motor and a transmission gear set, the roller is rotatably arranged on the walking leg, the fifth motor is fixedly arranged on the walking leg, and the motor shaft of the fifth motor is connected to the wheel axle of the roller through a transmission gear set.

[0018] In some embodiments of the present invention, a camera and a main controller are provided on the rack, the camera is connected to the main controller, and the main controller is integrated with a wireless communication module and a rechargeable power supply module.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The drill bit has "omnidirectional freedom". It can not only rotate around its own axis (crushing sediment), but also swing up and down and left and right to achieve "point-ring-surface" full coverage dredging. It can adapt to dredging of different siltation forms such as local siltation, annular siltation and complete blockage, as well as different diameters of pipes.

[0021] 2. Three heat-conducting protective covers are set up to cover the three driving parts respectively, so as to realize anti-fouling, anti-collision and heat-dissipation of the driving parts and ensure the good operation of the driving parts.

[0022] 3. It is equipped with an all-terrain adaptive walking module, which arranges several independent walking units along the axial direction. Each independent walking unit has walking legs that can expand / contract evenly distributed circumferentially, realizing stepless diameter change and stable wall-sticking walking, and adapting to the switching of pipes of different thicknesses.

[0023] 4. This device integrates the functions of dredging, traveling, heat dissipation and control by setting up "three-axis adjustable drill bit + multi-unit independent variable diameter travel", realizing "one-stop" intelligent dredging of different siltation forms and different pipe diameters by a single machine.

[0024] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. The drawings are only examples and are not drawn strictly to scale. Those skilled in the art can also derive other drawings based on these drawings without inventive work.

[0026] Figure 1 is a perspective view of the present invention;

[0027] Figure 2 It is a front view of the present invention;

[0028] Figure 3 is a schematic diagram of a dredging module of the present invention;

[0029] Figure 4 is a cross-sectional view of the dredging module of the present invention;

[0030] Figure 5 is a cross-sectional view of the second heat-conducting protective cover portion of the dredging module of the present invention;

[0031] Figure 6 Schematic diagram of the walking module of the present invention;

[0032] Figure 7 Schematic diagram of the drill bit of the present invention being adjusted up and down;

[0033] Figure 8 Schematic diagram of the drill bit of the present invention being adjusted left and right;

[0034] Figure 9 yes Figure 8 Left view of .

[0035] Reference numerals:

[0036] 1. Frame;

[0037] 2. Dredging module; 21. Drill bit; 22. First heat-conducting shield; 23. Base; 24. Second heat-conducting shield; 25. Third heat-conducting shield; 26. First drive member; 27. Second drive member; 28. Third drive member; 29. ​​Blade; 210. First pivot axis; 211. Second pivot axis; 212. First ear plate; 213. Second ear plate; 214. Third pivot axis;

[0038] 3. Walking module; 31. Independent walking unit; 32. Walking legs; 33. Fourth motor; 34. Screw; 35. Slider; 36. Connecting rod; 37. Roller; 38. Fifth motor; 39. Transmission gear set. DETAILED DESCRIPTION

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0040] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", "vertical", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present invention.

[0041] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0042] In the description of the present invention, references to "first feature" and "second feature" may include one or more of these features. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features being described. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more of these features.

[0043] Refer to the following drawings Figures 1-9 A municipal pipeline desilting device according to an embodiment of the present invention is described. The device includes: a frame 1 , a desilting module 2 and a traveling module 3 .

[0044] like Figure 1 and Figure 2 As shown, the silt removal module 2 and the walking module 3 are arranged on the frame 1, the silt removal module 2 is located at the front side, and the walking module 3 is located at the back side. The silt removal module 2 is used to clean the silt in the pipeline, and the walking module 3 is used to drive the device to move in the pipeline.

[0045] like Figure 3-Figure 5 As shown, the dredging module 2 includes a drill bit 21, a first heat-conducting protective cover 22, a base 23, a second heat-conducting protective cover 24, a third heat-conducting protective cover 25, a first driving member 26, a second driving member 27 and a third driving member 28. The drill bit 21 is rotatably arranged on the front side of the first heat-conducting protective cover 22, the first driving member 26 is arranged in the first heat-conducting protective cover 22 and is connected to the drill bit 21 to drive the drill bit 21 to rotate around its own axis, the first heat-conducting protective cover 22 is rotatably arranged on the front side of the base 23, and the second heat-conducting protective cover 24 is provided on the base 23. The second driving member 27 is arranged in the second heat-conducting protective cover 24 and is connected to the first heat-conducting protective cover 22 to drive the first heat-conducting protective cover 22 to rotate up and down, the base 23 is rotatably arranged on the front side of the third heat-conducting protective cover 25, the third driving member 28 is arranged in the third heat-conducting protective cover 25 and is connected to the base 23 to drive the base 23 to rotate left and right, and the third heat-conducting protective cover 25 is fixed on the frame 1.

[0046] Specifically, the silt removal module 2 primarily utilizes a rotating drill bit 21 to drill through silt, achieving silt removal. This simple and effective method of silt removal is crucial. Because silt can deposit in various locations within the pipeline, such as mild accumulation, it may be confined to a single location on the inner wall of the pipeline or form a ring-shaped deposit. However, severe accumulation can potentially block the entire pipeline. Furthermore, different pipelines often have varying thicknesses. Therefore, to effectively clear silt at various locations and on different pipelines, the drill bit 21 in the silt removal module 2 is designed with multiple degrees of freedom.

[0047] First, the drill bit 21 can be continuously rotated around its own axis under the action of the first driving member 26 to drill and break up the sediment. Figure 7 As shown, the second driving member 27 can drive the first heat-conducting protective cover 22 to rotate up and down, thereby adjusting the up and down position of the drill bit 21, as shown in FIG. Figure 8 As shown, the third driving member 28 can drive the base 23 to rotate left and right, thereby adjusting the left and right position of the drill bit 21, thereby ultimately achieving flexible adjustment of the position of the drill bit 21 in three-dimensional space. In this way, with the continuously rotating drill bit 21, the silt can be effectively cleaned up.

[0048] For example, if the sediment is only deposited at a certain position on the inner wall of the pipe during operation, the drill bit 21 can be adjusted so that the drill bit 21 is aligned with the sediment and the sediment can be directly drilled out. Figure 9 As shown, while the drill bit 21 rotates, the third driver 28 continuously drives the base 23 to rotate left and right, driving the drill bit 21 in a circular motion to clear the silt. If the silt blocks the entire pipe, the drill bit 21 can first be used to drill through the center of the silt. Then, the second driver 27 and the second driver 28 work together to drive the drill bit 21 gradually closer to the inner wall of the pipe to clear the silt. For internal desilting of pipes of varying diameters, the angle of the drill bit 21 can be adjusted according to the inner diameter of the pipe.

[0049] In addition, each driving component of the dredging module 2 is arranged in a thermally conductive protective cover, which not only protects the driving components to prevent them from being easily contaminated by silt and damaged during dredging, but also has good thermal conductivity and heat dissipation effects to ensure the smooth operation of the driving components.

[0050] like Figure 1 、 Figure 2 and Figure 6 As shown, the walking module 3 is located at the rear side of the dredging module 2. The walking module 3 includes a plurality of independent walking units 31 arranged on the frame 1 at intervals along the front-to-back direction. Each independent walking unit 31 includes a plurality of walking legs 32 arranged at intervals along the circumference of the frame 1. The walking legs 32 can expand outward or retract inward. When the walking legs 32 expand outward, the walking legs 32 abut against the inner wall of the pipe to walk along the inner wall of the pipe. When the walking legs 32 retract inward, the walking legs 32 are separated from the inner wall of the pipe.

[0051] Specifically, since the walking module 3 is provided with a plurality of independent walking units 31, each independent walking unit 31 is provided with a walking leg 32 that can expand outward or retract inward, the degree of contact between each independent walking unit 31 and the inner wall of the pipe can be independently adjusted. When these independent walking units 31 are in contact with the inner wall of the pipe, the device can move stably and reliably in the pipe. Since the working states of each independent walking unit 31 are independent of each other and do not affect each other, when switching to move in pipes of different thicknesses, the degree of expansion of the walking legs 32 in the independent walking unit 31 is adjusted according to the inner diameter of the pipe. For thick pipes, the degree of expansion of the walking legs 32 is high, and for thin pipes, the degree of expansion of the walking legs 32 is low, so as to ensure that the walking legs 32 can be supported on the inner wall of the pipe, thereby enabling the device to move in pipes of different thicknesses.

[0052] In some embodiments of the present invention, the drill bit 21 is a tapered drill bit 21 that is smaller in the front and larger in the back. Blades 29 are evenly spaced along the circumference of the drill bit 21 , which facilitates drilling away sediment.

[0053] In some implementations of the present invention, Figure 3-Figure 5 As shown, a first pivot shaft 210 is provided at the rear end of the drill bit 21, and a first pivot hole is provided on the front side of the first heat-conducting protective cover 22. The first pivot shaft 210 is pivotally matched with the first pivot hole. The first driving member 26 includes a first motor, and the first motor is fixedly arranged in the first heat-conducting protective cover 22. The motor shaft of the first motor is fixedly connected to the first pivot shaft 210, so that the first motor can drive the drill bit 21 to rotate by driving the first pivot shaft 210 to rotate.

[0054] In some implementations of the present invention, Figure 3-Figure 5 As shown, a first ear plate 212 is provided on the rear side of the first heat-conducting protective cover 22, and a second pivot shaft 211 is fixed on the first ear plate 212. A second ear plate 213 is provided on the front side of the base 23. The second heat-conducting protective cover 24 is fixed on one side of the second ear plate 213. A second pivot hole is provided on the second ear plate 213 and the second pivot hole extends into the second heat-conducting protective cover 24. The second pivot shaft 211 pivots with the second pivot hole. The second driving member 27 includes a second motor. The second motor is fixed in the second heat-conducting protective cover 24. The motor shaft of the second motor is fixedly connected to the second pivot shaft 211. Therefore, the second motor can drive the first heat-conducting protective cover 22 to swing up and down by driving the second pivot shaft 211 to rotate, thereby driving the drill bit 21 to swing up and down.

[0055] In some implementations of the present invention, Figure 3-Figure 5As shown, a third pivot shaft 214 is provided on the rear side of the base 23, and a third pivot hole is provided on the front side of the third heat-conducting shield 25. The third pivot shaft 214 pivotally engages with the third pivot hole. The third driving member 28 includes a third motor, which is fixedly disposed within the third heat-conducting shield 25. The motor shaft of the third motor is fixedly connected to the third pivot shaft 214. Thus, the third motor drives the third pivot shaft 214 to rotate, thereby driving the base 23 to rotate left and right, thereby adjusting the drill bit 21 to rotate left and right.

[0056] In some embodiments of the present invention, the first thermal conductive shield 22, the second thermal conductive shield 24 and the third thermal conductive shield 25 are all made of thermal conductive materials, and their respective inner walls are affixed with graphene thermal conductive films, and their outer walls are provided with heat dissipation fins, thereby facilitating the timely conduction of the heat of the motor to the outside for heat dissipation, thereby ensuring the normal operation of the motor.

[0057] In some implementations of the present invention, Figure 5 As shown, the independent walking unit 31 includes a fourth motor 33, a screw rod 34, a slider 35 and a connecting rod 36. The screw rod 34 is rotatably arranged on the frame 1, the fourth motor 33 is fixedly arranged on the frame 1 and the motor shaft is connected to the screw rod 34, a screw hole is provided on the slider 35 and is threadedly engaged with the screw rod 34, and a plurality of connecting rods 36 corresponding to the walking legs 32 are provided on the slider 35. One end of each connecting rod 36 is hinged to the slider 35, and the other end is hinged to the walking leg 32. The walking leg 32 is hinged to the frame 1, so that the fourth motor 33 can drive the screw rod 34 to rotate when working, and then drive the slider 35 to move. During the movement of the slider 35, the walking leg 32 can be driven to expand or retract through the connecting rod 36.

[0058] In some embodiments of the present invention, a roller 37, a fifth motor 38 and a transmission gear set 39 are provided on the walking leg 32. The roller 37 is rotatably arranged on the walking leg 32, and the fifth motor 38 is fixedly arranged on the walking leg 32. The motor shaft of the fifth motor 38 is connected to the wheel shaft of the roller 37 through the transmission gear set 39. Therefore, when the fifth motor 38 is working, the roller 37 can be driven to rotate through the transmission gear set 39. That is to say, the walking leg 32 realizes walking by adopting the form of the roller 37 rolling on the inner wall of the pipe.

[0059] In some embodiments of the present invention, a camera and a main controller are provided on the frame 1. The camera is connected to the main controller. The main controller is integrated with a wireless communication module and a rechargeable power module. The camera is used to collect images in the pipeline in real time. The main controller can communicate with a remote terminal (such as a mobile phone) through the wireless communication module, so that the staff can remotely control the device through the remote terminal. The power module is used to supply power to each electrical component.

[0060] In summary, this device has the following characteristics:

[0061] 1. The drill bit 21 has "omnidirectional freedom". It can not only rotate around its own axis (crushing sediment), but also swing up and down and left and right to achieve "point-ring-surface" full coverage dredging. It can adapt to dredging of different siltation forms such as local siltation, annular siltation and complete blockage, as well as siltation of different diameters.

[0062] 2. Three heat-conducting protective covers are set up to cover the three driving parts respectively, so as to realize anti-fouling, anti-collision and heat-dissipation of the driving parts and ensure the good operation of the driving parts.

[0063] 3. It is equipped with an all-terrain adaptive walking module 3, which has several independent walking units 31 arranged along the axial direction. Each independent walking unit 31 has walking legs 32 that can expand / contract evenly distributed circumferentially, realizing stepless diameter change and stable wall-adhering walking, and adapting to the switching of pipes of different thicknesses.

[0064] 4. This device integrates the functions of dredging, traveling, heat dissipation and control by setting up "three-axis adjustable drill bit 21 + independent variable diameter travel of multiple units", realizing "one-stop" intelligent dredging of different siltation forms and different pipe diameters by a single machine.

[0065] Although some embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations to these embodiments without departing from the principles and purpose of the present invention are all within the scope of protection of the claims of the present invention.

Claims

1. A municipal pipeline desilting device, characterized in that: include: Frame, dredging module and travel module; The dredging module includes a drill bit, a first heat-conducting protective cover, a base, a second heat-conducting protective cover, a third heat-conducting protective cover, a first driving member, a second driving member and a third driving member, the drill bit is rotatably arranged on the front side of the first heat-conducting protective cover, the first driving member is arranged in the first heat-conducting protective cover and is connected to the drill bit to drive the drill bit to rotate around its own axis, the first heat-conducting protective cover is rotatably arranged on the front side of the base, a second heat-conducting protective cover is provided on the base, the second driving member is arranged in the second heat-conducting protective cover and is connected to the first heat-conducting protective cover to drive the first heat-conducting protective cover to rotate up and down, the base is rotatably arranged on the front side of the third heat-conducting protective cover, the third driving member is arranged in the third heat-conducting protective cover and is connected to the base to drive the base to rotate left and right, and the third heat-conducting protective cover is fixed on the frame; The walking module is located at the rear side of the dredging module. The walking module includes a plurality of independent walking units arranged on the frame at intervals along the front-to-back direction. Each independent walking unit includes a plurality of walking legs arranged at intervals along the circumference of the frame. The walking legs can expand outward or retract inward. When the walking legs expand outward, the walking legs abut against the inner wall of the pipe to walk along the inner wall of the pipe. When the walking legs retract inward, the walking legs are separated from the inner wall of the pipe.

2. The municipal pipeline desilting device according to claim 1, characterized in that: The drill bit is a tapered drill bit with a smaller front and a larger back. Blades are arranged evenly spaced along the circumference on the outer peripheral wall of the drill bit.

3. The municipal pipeline desilting device according to claim 1, characterized in that: A first pivot shaft is provided at the rear end of the drill bit, and a first pivot hole is provided on the front side of the first heat-conducting protective cover. The first pivot shaft is pivotally engaged with the first pivot hole. The first driving member includes a first motor, which is fixed in the first heat-conducting protective cover, and the motor shaft of the first motor is fixedly connected to the first pivot shaft.

4. The municipal pipeline desilting device according to claim 1, characterized in that: A first ear plate is provided on the rear side of the first heat-conducting protective cover, a second pivot shaft is fixedly provided on the first ear plate, a second ear plate is provided on the front side of the base, the second heat-conducting protective cover is fixedly provided on one side of the second ear plate, a second pivot hole is provided on the second ear plate and the second pivot hole extends into the second heat-conducting protective cover, the second pivot shaft is pivotally matched with the second pivot hole, the second driving member includes a second motor, the second motor is fixedly provided in the second heat-conducting protective cover, and the motor shaft of the second motor is fixedly connected to the second pivot shaft.

5. The municipal pipeline desilting device according to claim 1, characterized in that: A third pivot shaft is provided on the rear side of the base, a third pivot hole is provided on the front side of the third heat-conducting protective cover, the third pivot shaft is pivotally engaged with the third pivot hole, the third driving member includes a third motor, the third motor is fixedly arranged in the third heat-conducting protective cover, and the motor shaft of the third motor is fixedly connected to the third pivot shaft.

6. The municipal pipeline desilting device according to claim 1, characterized in that: The first heat-conducting protective cover, the second heat-conducting protective cover and the third heat-conducting protective cover are all made of heat-conducting materials, and the inner walls of each are affixed with graphene heat-conducting films, and the outer walls are provided with heat dissipation fins.

7. The municipal pipeline desilting device according to claim 1, characterized in that: The independent walking unit includes a fourth motor, a screw rod, a slider and a connecting rod. The screw rod is rotatably arranged on the frame, the fourth motor is fixedly arranged on the frame and the motor shaft is connected to the screw rod, the slider is provided with a screw hole and is threadedly engaged with the screw rod, the slider is provided with a plurality of connecting rods corresponding to the walking legs one by one, one end of each connecting rod is hinged to the slider, and the other end is hinged to the walking leg, and the walking leg is hinged to the frame.

8. The municipal pipeline desilting device according to claim 1, characterized in that: The walking leg is provided with a roller, a fifth motor and a transmission gear set, the roller is rotatably arranged on the walking leg, the fifth motor is fixedly arranged on the walking leg, and the motor shaft of the fifth motor is connected to the wheel shaft of the roller through the transmission gear set.

9. The municipal pipeline desilting device according to claim 1, characterized in that: The frame is provided with a camera and a main controller, the camera is connected to the main controller, and the main controller is integrated with a wireless communication module and a rechargeable power supply module.

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