Pipeline desilting three-axis mechanical arm and desilting robot thereof

Abstract

The invention provides a pipeline dredging three-axis mechanical arm and a dredging robot thereof. The pipeline dredging three-axis mechanical arm comprises a mechanical arm support, a bottom joint module, a large arm, a large arm joint module, a small arm, a rotary arm and a small arm joint module. The mechanical arm support is fixedly connected with the bottom joint module; the output end of the bottom joint module is connected with the rotary arm; the bottom joint module is used for driving the rotary arm to rotate in the circumferential direction. The big arm is movably connected with the rotary arm; the big arm joint module is used for driving the big arm to move relative to the rotary arm; the end, away from the rotary arm, of the large arm is movably connected with the small arm. And the output end of the small arm joint module is connected with the small arm. According to the mechanical arm and the dredging robot thereof, when the pipeline dredging robot works, the mechanical arm swings to fit the inner wall of a drainage pipeline, and the maximum suction contour is guaranteed. The working conditions of most drainage pipe networks in China can be effectively covered.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline dredging, and more specifically, relates to a pipeline dredging three-axis robotic arm and a dredging robot thereof. More specifically, it relates to a pipeline dredging three-axis robotic arm and a dredging robot including the pipeline dredging three-axis robotic arm. Background Art

[0002] With the rapid development of cities, desilting underground pipe networks has become increasingly complex and arduous. Currently, municipal desilting in most parts of my country typically involves both manual operations and desilting equipment. Manual operations involve using a high-pressure water cannon in conjunction with a vacuum suction truck to extract sludge. During the operation, the high-pressure water cannon is used to flush the sludge into a manhole, whereupon workers, carrying vacuum hoses, enter the manhole to extract the sludge. This method is labor-intensive, dangerous, and inefficient. Common desilting equipment includes box culvert desilting robots or desilting robots that combine a roller mixer with a suction pump. These robots utilize a tracked chassis and are equipped with a suction pump. A vacuum suction hose draws the sludge to the surface. Box culvert desilting robots are primarily used for dredging box culverts. However, due to their large size, they are unable to enter drainage pipes. The dredging robot combines a roller agitator with a sewage suction pump. The sewage suction pump and roller agitator are fixedly installed. For pipes with smaller diameters, the silt at the curved bottom of the pipe below the robot chassis cannot be cleaned because the bottom of the agitator and sewage suction pump is higher than the crawler chassis.

[0003] In summary, existing manual desilting methods involve high-risk, confined spaces for personnel working in wells. Vacuum desilting methods using suction trucks are limited by the physical properties of vacuum suction and cannot cover common drainage network scenarios. Existing desilting equipment, most of which is robotic, developed for open environments like box culverts and ditches, is too large to fit into drainage pipes.

[0004] Therefore, it is necessary to redesign a pipeline dredging three-axis robotic arm and a dredging robot including the pipeline dredging three-axis robotic arm to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a three-axis pipe dredging robotic arm and a dredging robot thereof, aiming to solve the above-mentioned technical problems existing in the background technology.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a three-axis mechanical arm for pipeline dredging, including: a mechanical arm support, a bottom joint module, an upper arm, an upper arm joint module, a lower arm, a rotating arm and a lower arm joint module; the lower joint module is fixedly connected to the mechanical arm support; the output end of the bottom joint module is connected to the rotating arm; the lower joint module is used to drive the rotating arm to rotate along the circumferential direction; the upper arm is movably connected to the rotating arm; the upper arm joint module is used to drive the upper arm to move relative to the rotating arm; the end of the upper arm away from the rotating arm is movably connected to the lower arm; the output end of the lower arm joint module is connected to the lower arm; the lower arm joint module is used to drive the lower arm to move relative to the upper arm; through the cooperation of the bottom joint module, the upper arm joint module and the lower arm joint module, the rotating arm, the upper arm and the lower arm each have a degree of freedom of rotation to adapt to the arc surface of pipelines with different diameters.

[0007] Preferably, a connection position is provided at the other end of the small arm away from the large arm.

[0008] A dredging robot, characterized by comprising a three-axis pipe dredging robotic arm as described in any one of the above items.

[0009] Preferably, a chassis assembly; A traveling assembly connected to the chassis assembly and used to drive the chassis assembly to move; A dragon head is installed on the three-axis pipe desilting robot arm; the dragon head is used to clear obstacles in the pipe; A slurry pump is provided on the chassis assembly; the slurry pump is used to suck the sludge in the pipeline and transport the sludge to a preset location through the pipeline structure; the slurry pump is connected to the dragon head; A sensing component is provided on the three-axis pipe desilting robot arm; the sensing component is used to identify the surrounding working environment; The control component is arranged on the chassis assembly and is electrically connected to the travel component and the sensing component.

[0010] Preferably, the dragon head comprises: A fixed bracket is connected and fixed to the pipeline desilting three-axis robotic arm; the fixed bracket is connected to the slurry pump; A rotary reamer head is mounted on the fixed bracket, and the axis of the rotary reamer head passes through the fixed bracket; The hydraulic motor is in transmission connection with the rotary reamer head and is used for driving the rotary reamer head to rotate.

[0011] Preferably, the sensing component includes a sonar provided on the three-axis pipe dredging robotic arm; the sonar is communicatively connected to the control component; and the sonar is used to identify the environment in front of the robot underwater.

[0012] Preferably, the perception component further includes a camera connected to the sonar; the camera is communicatively connected to the control component; and the camera is used to identify environmental conditions in a waterless condition.

[0013] Preferably, the walking assembly includes: a crawler structure movably connected to the chassis assembly; the crawler structure includes a first crawler leg and a second crawler leg respectively connected to the chassis assembly; the first crawler leg and the second crawler leg are respectively driven by hydraulic pressure.

[0014] Preferably, the control component includes a hydraulic valve group provided on the chassis assembly and an electrical control box provided on the chassis assembly.

[0015] Preferably, it also includes a connecting hook fixedly connected to the chassis assembly.

[0016] The three-axis robotic arm and robot for pipeline dredging provided by the present invention offer the following advantages: Compared with existing technologies, the crawler legs of the present invention advance at fixed intervals to match the arm's swing cycle, completing a continuous and stable dredging operation for the entire robotic system. The slurry pump pumps sludge through a suction pipe and discharges it to a suction tanker onshore. During operation, the robotic arm swings to fit the inner wall of the drainage pipe, ensuring a maximum suction profile. The hydraulically driven slurry pump effectively covers the operating conditions of most domestic drainage networks. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic diagram of the structure of a dredging robot provided in an embodiment of the present invention Figure 1 ; Figure 2 A schematic diagram of a three-axis robotic arm for pipeline desilting provided in an embodiment of the present invention in a retracted state; Figure 3 A schematic diagram of the deployed state of a three-axis robotic arm for pipeline dredging provided by an embodiment of the present invention; Figure 4A schematic structural diagram of a dragon head used in a dredging robot provided in an embodiment of the present invention; Figure 5 A schematic diagram of the structure of a dredging robot provided in an embodiment of the present invention Figure 2 ; Figure 6 A schematic diagram of a dredging robot provided by an embodiment of the present invention in a state of use when located in a pipeline; Figure 7 A schematic diagram of another usage state of a dredging robot provided by an embodiment of the present invention when located in a pipeline; Figure 8 A schematic diagram of another usage state of a dredging robot provided by an embodiment of the present invention when located in a pipeline; Figure 9 A schematic diagram of the specific connection between the hydraulic motor and the rotary reamer head used in a dredging robot according to an embodiment of the present invention Figure 1 ; Figure 10 A schematic diagram of the specific connection between the hydraulic motor and the rotary reamer head used in a dredging robot according to an embodiment of the present invention Figure 2 ; Figure 11 A schematic structural diagram illustrating a specific connection state between a chassis assembly and a crawler structure used in a dredging robot provided in an embodiment of the present invention; Figure 12 A structural schematic diagram of the specific layout positions of a hydraulic valve group, an electrical control box, and a slurry pump used in a dredging robot provided in an embodiment of the present invention.

[0019] In the figure: 1. Chassis assembly; 2. First crawler leg; 3. Second crawler leg; 4. Robotic arm; 401. Robotic arm support; 402. Upper arm joint module; 403. Lower arm joint module; 405. Bottom joint module; 406. Upper arm; 407. Lower arm; 408. Rotating arm; 5. Sonar; 6. Dragon head; 601. Fixed bracket; 602. Rotating reamer head; 603. Hydraulic motor; 604. Gear structure; 7. Hydraulic valve group; 8. Electrical control box; 9. Slurry pump; 10. Pipeline structure; 11. Hook; 12. Camera; 13. Connector; 14. Mounting plate. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] The present invention provides a dredging robot, please refer to Figures 1 to 12 The system comprises a chassis assembly 1, a travel assembly, a suction assembly, a sensing assembly, and a control assembly. The travel assembly is connected to the chassis assembly 1 and drives the chassis assembly 1. The suction assembly includes a robotic arm 4, a faucet 6 mounted on the robotic arm 4, and a slurry pump 9 mounted on the chassis assembly 1. The robotic arm 4 is used to achieve arc-shaped pipeline trajectory fitting; the faucet 6 is used to clear obstructions within the pipeline; and the slurry pump 9 is connected to the faucet 6 via a pipeline. The slurry pump 9 is used to pump sludge from the pipeline and transport it to a predetermined location via a pipeline structure 10. The rear end of the robotic arm 4 is connected to the slurry pump 9 via a hose. When the robotic arm 4 swings left and right, the two move relative to each other. The hose compensates for this displacement. Specifically, the slurry pump 9 is fixedly connected to the upper side of the chassis assembly 1. The robotic arm 4 is fixedly connected to the upper front of the chassis assembly 1. The faucet 6 is mounted at the front end of the robotic arm 4. The slurry pump 9, piping structure 10, robotic arm 4, and derrick 6 together form the suction unit. A sensing component is mounted on the robotic arm 4; it is used to identify the surrounding working environment. The control component is electrically connected to the travel component, the suction component, and the sensing component. During operation, the robotic arm 4 continuously and periodically swings, while the slurry pump 9 performs continuous suction simultaneously. The travel component drives the robot's movement, thereby achieving continuous and stable desilting within the pipeline.

[0022] As a specific implementation of the embodiment of the present invention, please refer to Figures 1 to 12 The robotic arm 4 is a three-axis pipe dredging robotic arm. It comprises a robotic arm support 401, a base joint module 405, an upper arm joint module 402, a lower arm joint module 403, a slewing arm 408, an upper arm 406, and an lower arm 407. The three-axis pipe dredging robotic arm 4 is fixedly connected to the chassis assembly 1 via the robotic arm support 401. The base joint module 405, upper arm joint module 402, lower arm joint module 403, slewing arm 408, upper arm 406, and lower arm 407 are linked to achieve arc-shaped pipeline trajectory fitting.

[0023] Specifically, the robot arm support 401 is fixedly connected to the upper end surface of the chassis assembly 1 through a bolt structure. A bottom joint module 405 is fixedly connected to the robot arm support 401. The output end of the bottom joint module 405 is connected to a swivel arm 408. When the bottom joint module 405 is in operation, it can drive the swivel arm 408 to rotate in the circumferential direction. The swivel arm 408 includes a circular base plate movably connected (i.e., hinged) to the driving end of the bottom joint module 405, and two connecting plates are provided on the side of the circular base plate. The bottom joint module 405 is arranged on the upper end surface of the robot arm support 401. A group of upper arms 406 are connected to any connecting plate. One end of the upper arm 406 is movably connected to one end of the connecting plate facing away from the bottom joint module 405. This end of the upper arm 406 is connected to a fixed upper arm joint module 402. The upper arm joint module 402 is used to drive the upper arm 406 to move relative to the swivel arm 408. The other end of the upper arm 406 is movably connected to the lower arm 407. The other end of the upper arm 406 is connected to the lower arm joint module 403. The output end of the lower arm joint module 403 is connected to the lower arm 407. The lower arm joint module 403 is used to drive the lower arm 407 to move relative to the upper arm 406. A connecting arm is movably connected to another connecting plate, and the other end of the connecting arm is movably connected to the lower arm 407. The upper arm 406 and the connecting arm are arranged relative to each other to ensure the smooth movement of the robot arm 4. A connection position is provided at the other end of the lower arm 407 away from the upper arm 406. The upper arm joint module 402 drives the upper arm 406 to swing; the forearm joint module 403 drives the forearm 407 to swing; the bottom joint module 405, the upper arm joint module 402, and the forearm joint module 403 cooperate to enable the swivel arm 408, the upper arm 406, and the forearm 407 to each have a degree of rotational freedom, that is, the entire robotic arm 4 has the ability to swing with three degrees of freedom to adapt to the arc surface of pipes with different diameters. More specifically, the bottom joint module 405 is fixed to the robotic arm support 401, the upper arm joint module 402 is fixed to the upper side of the swivel arm 408, and the forearm joint module 403 is fixed to the tail end of the upper arm 406. Each joint module is equivalent to a rotatable articulated joint, which enables the swivel arm 408, the upper arm 406, and the forearm 407 of the robotic arm 4 to be linked, and the robotic arm 4 has the ability to swing with three degrees of freedom. The joint modules are respectively composed of a motor, a reducer, and an encoder, and the joint modules have the ability to drive the joints to rotate. The motor reducer is the primary driver of the joint motor, while the encoder provides joint position information. The operator specifies a target position for the joint module. The encoder data determines the required rotation angle to reach the target position, and the motor reducer is then controlled to drive the joint to the target position. The three joint modules independently control their joint angles, which together form the robot arm's motion capability, enabling three-degree-of-freedom trajectory scanning.

[0024] As a specific implementation of the embodiment of the present invention, please refer to Figures 1 to 12The dragon head 6 includes: a fixed bracket 601, a rotary reamer head 602 and a hydraulic motor 603. The fixed bracket 601 is connected and fixed to the forearm 407 of the robotic arm 4. Specifically, the fixed bracket 601 is connected to the end of the forearm 407 away from the forearm joint module by a bolt structure. The rotary reamer head 602 is mounted on the front end of the fixed bracket 601, and the axis of the rotary reamer head 602 passes through the fixed bracket 601. The hydraulic motor 603 is connected to the rotary reamer head 602 through a gear structure 604, and is used to drive the rotary reamer head 602 to rotate. Specifically, the hydraulic motor 603 is mounted on the fixed bracket 601, and the hydraulic motor 603 rotates the rotary reamer head 602 through gear transmission. More specifically, the gear structure 604 includes a first gear mounted on the fixed bracket 601 and a second gear connected to the output end of the hydraulic motor 603, and the first gear is engaged with the second gear. When the first gear rotates, it can drive the rotary reamer head 602 to rotate. The high-power hydraulic drive effectively enables the rotary reamer head 602 to shred obstructions within the pipeline. The fixed bracket 601 is a tubular structure, with the rotary reamer head 602 mounted at its front end. The rear end of the fixed bracket 601 is connected to the slurry pump 9 via a hose. After the faucet 6 completes the crushing operation, the slurry pump 9 suctions the crushed debris. The faucet 6 and slurry pump 9 work together to integrate crushing and suction functions.

[0025] In any feasible embodiment, the rotary reamer head 602 includes a cutter head base connected to the fixed bracket 601, a filter screen structure provided on the cutter head base, a gear structure provided on the cutter head base, and a blade structure connected to the gear structure. The blade structure is provided in front of the filter screen structure. The gear structure is connected to the hydraulic motor 603 via a gear. Specifically, the blade structure includes three arc-shaped alloy blades, each having a herringbone shape. The three arc-shaped alloy blades are arranged at equal intervals along the circumference. The angle between adjacent alloy blades is 120°. The gear structure can drive the alloy blades to rotate.

[0026] In any practicable embodiment, the rotary reamer head 602 further includes a guide block connected to and located in front of the blade structure, with the end of the guide block facing away from the blade structure being curved. The guide block rotates synchronously with the blade structure, providing a preliminary crushing effect on debris before the blade structure processes it and guiding it into contact with the blade structure.

[0027] As a specific implementation of the embodiment of the present invention, please refer to Figures 1 to 11The walking assembly includes a track structure connected to the chassis assembly 1. The track structure includes a first track leg 2 and a second track leg 3, each connected to the chassis assembly 1. The first track leg 2 and the second track leg 3 are hydraulically driven. Specifically, the first track leg 2 and the second track leg 3 are hingedly connected to the left and right sides of the chassis assembly 1. The environment within the drainage pipe is complex, with obstacles of varying shapes. Using hydraulically driven track legs to advance effectively improves the pipeline desilting robot's obstacle-crossing capabilities and allows it to adapt to complex drainage pipe environments. More specifically, the track structure is hydraulically driven. That is, the hydraulic structure drives the first track leg 2 and the second track leg 3 to rotate, thereby driving the robot's movement. More specifically, a connector 13 is rotatably connected to the chassis assembly 1. The track structure is fixedly connected to the connector. A set of rotating shaft structures are rotatably connected to each of the left and right sides of the chassis assembly 1. Each set of rotating shaft structures is fixedly connected to a set of track structures via a connector 13. The shaft structure and chassis assembly 1 can be secured in position using a locking mechanism (previously available). Before placing the robot in a pipeline, the shaft structure and connector 13 can be adjusted to adjust the position of the track structure and chassis assembly 1, thereby adjusting the overall height of the dredging robot. This effectively expands the robot's applicability.

[0028] As a specific implementation of the embodiment of the present invention, please refer to Figures 1 to 8 The sensing component is disposed on the upper side of the fixed support 601. The sensing component includes a sonar 5 disposed on the fixed support 601. The sonar 5 is in communication with the control component. The sonar 5 is used to identify the environment in front of the robot underwater.

[0029] In some feasible embodiments, the sensing component further includes a camera 12 disposed on the fixed bracket 601. The camera 12 is communicatively connected to the control component. The camera 12 is used to identify environmental conditions in a waterless state. Specifically, the camera 12 is disposed adjacent to the sonar 5. The sonar 5 is disposed at the upper end of the fixed bracket 601. The camera 12 is connected to any side surface of the sonar 5 and is located above the fixed bracket 601. The sonar 5 is provided with a first connection position for connecting and fixing to the forearm 407 (connection and fixation can be achieved by a bolt structure or a magnetic structure), and the sonar 5 is provided with a first connection position for connecting and fixing to the fixed bracket 601 (connection and fixation can be achieved by a bolt structure or a magnetic structure).

[0030] As a specific implementation of the embodiment of the present invention, please refer to Figures 1 to 8, the control component includes a hydraulic valve group 7 provided on the chassis assembly 1 and an electrical control box 8 provided on the chassis assembly 1. Specifically, the upper left side of the chassis assembly 1 is connected to the hydraulic valve group 7, and the upper right side of the chassis assembly 1 is connected to the electrical control box 8. The control component is used to control the robot to complete walking and suction movements. The hydraulic valve group 7 is connected to the hydraulic motor 603 and the hydraulic structure through pipelines. The hydraulic valve group 7 is used to provide working power. The electrical control box 8 is electrically connected to the upper arm joint module 402 and the lower arm joint module 403. The operating status of the bottom joint module 405, the upper arm joint module 402, and the lower arm joint module 403 can be adjusted respectively through the electrical control box 8.

[0031] As a specific implementation of the embodiment of the present invention, please refer to Figures 1 to 12 The robot also includes a connecting hook 11 fixedly connected to the rear of the chassis assembly 1, which allows it to be suspended into the well. Specifically, the chassis assembly 1 is connected to the fixed robotic arm support 401, the slurry pump 9, the control assembly, and the connecting hook 11, in order from front to rear. The slurry pump 9 and the control assembly are arranged on the chassis assembly 1, adjacent to the fixed robotic arm support 401. This reduces the length of the connecting hose, effectively improving the efficiency of the slurry pump 9's suction operation and, consequently, the dredging robot's effectiveness. More specifically, the chassis assembly 1 is provided with a mounting plate 14, which is vertically mounted on the chassis assembly 1. A mounting hole is provided in the middle of the mounting plate 14. The inlet of the slurry pump 9 is mounted on the mounting plate 14 through the mounting hole. The outlet of the slurry pump 9 is located above the inlet. A hydraulic valve assembly 7 is provided on one side (e.g., the left side) of the slurry pump 9. An electrical control box 8 is provided on the other side (e.g., the right side) of the slurry pump 9. The hydraulic valve group 7 and the electrical control box 8 are both arranged in an inclined manner toward the slurry pump 9. The arrangement of the slurry pump 9, the electrical control box 8, and the hydraulic valve group 7 has the characteristics of high integration, small space occupation, and better suitability for application in pipelines.

[0032] Compared to existing technologies, the dredging robot provided by this invention can complete continuous and stable dredging operations. Silt pumped by the slurry pump 9 is discharged via a suction pipe to a suction tanker truck onshore. During operation, the robot's mechanical arm 4 swings to fit the inner wall of the drainage pipe, ensuring a maximum suction profile. The slurry pump 9 is hydraulically driven, effectively covering the operating conditions of most domestic drainage networks.

[0033] Specifically, the working mode of the pipeline dredging robot is to enter the well through a conventional inspection well. After reaching the bottom of the inspection well, the posture is manually adjusted so that the crawler structure touches the ground and walks into the drainage pipe. Common inspection well diameters are Ф700 and Ф1000, and the smallest inspection well is Ф600 in size. Therefore, if the robot wants to enter the well, it must be able to enter a Ф600 diameter inspection well. The requirements for robot miniaturization are very high. The present invention adopts a hydraulically driven crawler structure, which effectively improves the energy density of the walking unit and reduces the overall size of the crawler leg. The present invention uses a three-axis robotic arm 4. When the pipeline dredging robot is lowered into the inspection well, the robotic arm 4 is in a recovered state, which effectively reduces the cross-sectional size of the robot, so that the overall cross-sectional size of the pipeline dredging robot can be shrunk to within Ф600. After the pipeline dredging robot enters the drainage pipe, its operating mode is as follows Figure 8 As shown. The pipeline desilting robot is powered and signals are transmitted by the onshore cable car. The pipeline desilting robot is hydraulically driven by the onshore hydraulic power station. The sludge sucked by the pipeline desilting robot's slurry pump 9 is discharged to the onshore suction tanker through the suction pipe. When the pipeline desilting robot is operating, the mechanical arm 4 swings to fit the inner wall of the drainage pipe to ensure the maximum suction profile (please refer to Figure 7 During the automated operation of the pipeline dredging robot, its robotic arm 4 continuously swings periodically while the slurry pump 9 performs continuous suction synchronously. The crawler legs advance at fixed intervals to match the swing cycle of the robotic arm 4, completing the continuous and stable dredging operation of the entire pipeline dredging robot system. The motion trajectory of the robotic arm 4 can be effectively controlled to fit the arc of the pipeline. After entering the pipeline, the robotic arm 4 can deploy an operation method that fits the pipeline trajectory. The hydraulically driven dragon head 6, first crawler leg 2, second crawler leg 3, and slurry pump 9 achieve high energy density and a small size. These components are integrated to form a robot system capable of dredging operations. The miniaturized design of the pipeline dredging robot can lower a Ø600 diameter inspection well. In combination with the high-lift slurry pump 9, it can cover most of the dredging operations of domestic drainage networks. After entering the pipeline, the dredging robot can realize automatic arm swinging operations. After entering the drainage pipeline, it can realize automated and continuous operations. The walking speed is set according to the amount of silt accumulation, realizing the dredging robot's continuous and automatic arm swinging and suction operations. The small integrated design allows the dredging robot to enter the drainage pipe from the inspection well. The slurry pump it carries has high lift characteristics and can adapt to the working conditions of most drainage networks in my country.

[0034] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A three-axis robotic arm for pipeline dredging, characterized in that: include: A robotic arm support (401), a bottom joint module (405), an upper arm (406), an upper arm joint module (402), a lower arm (407), a rotary arm (408), and a lower arm joint module (403); The bottom joint module (405) is fixedly connected to the robotic arm support (401); the output end of the bottom joint module (405) is connected to the rotary arm (408); the bottom joint module (405) is used to drive the rotary arm (408) to rotate along the circumferential direction; The upper arm (406) is movably connected to the rotating arm (408); the upper arm joint module (402) is used to drive the upper arm (406) to move relative to the rotating arm (408); One end of the upper arm (406) facing away from the rotary arm (408) is movably connected to the lower arm (407); the output end of the lower arm joint module (403) is connected to the lower arm (407); the lower arm joint module (403) is used to drive the lower arm (407) to move relative to the upper arm (406); The bottom joint module (405), the upper arm joint module (402), and the lower arm joint module (403) cooperate with each other to enable the rotating arm (408), the upper arm (406), and the lower arm (407) to each have a degree of rotational freedom, so as to adapt to the arc surface of pipelines with different diameters.

2. A three-axis pipe dredging robot arm according to claim 1, characterized in that: The other end of the small arm (407) away from the large arm (406) is provided with a connection position.

3. A dredging robot, characterized in that: It comprises a three-axis pipe dredging robotic arm as described in any one of claims 1-2.

4. A dredging robot according to claim 3, characterized in that: Also includes: Chassis assembly (1); A traveling assembly connected to the chassis assembly (1) and used to drive the chassis assembly (1) to move; A dragon head (6) is mounted on the pipeline desilting three-axis robotic arm; the dragon head (6) is used to clear obstacles in the pipeline; A slurry pump (9) is provided on the chassis assembly (1); the slurry pump (9) is used to suck the sludge in the pipeline and transport the sludge to a preset position through the pipeline structure; the slurry pump (9) is connected to the dragon head (6); A sensing component is provided on the three-axis pipe desilting robot arm; the sensing component is used to identify the surrounding working environment; A control component is arranged on the chassis assembly (1) and is electrically connected to the travel component and the sensing component.

5. The dredging robot according to claim 4, characterized in that: The dragon head (6) comprises: A fixed bracket (601) is connected and fixed to the pipeline desilting three-axis mechanical arm; the fixed bracket (601) is in communication with the slurry pump (9); A rotary reamer head (602) is mounted on the fixed bracket (601); the rotary reamer head (602) crushes debris by rotating; The hydraulic motor (603) is in transmission connection with the rotary reamer head (602) and is used to drive the rotary reamer head (602) to rotate.

6. The dredging robot according to claim 5, characterized in that: The sensing component comprises a sonar (5) arranged on the pipeline dredging three-axis robotic arm; the sonar (5) is communicatively connected with the control component; and the sonar (5) is used to identify the environment in front of the robot underwater.

7. The dredging robot according to claim 6, characterized in that: The sensing component further comprises a camera (12) connected to the sonar (5); the camera (12) is in communication connection with the control component; and the camera (12) is used to identify environmental conditions in a waterless state.

8. A dredging robot according to any one of claims 4 or 6, characterized in that: The walking assembly comprises: a crawler structure movably connected to the chassis assembly (1); the crawler structure comprises a first crawler leg and a second crawler leg respectively connected to the chassis assembly; the first crawler leg and the second crawler leg are respectively driven by hydraulic pressure.

9. The dredging robot according to claim 8, characterized in that: The control component comprises a hydraulic valve group (7) arranged on the chassis assembly (1) and an electrical control box (8) arranged on the chassis assembly (1); the hydraulic valve group (7) is arranged on one side of the slurry pump (9) in an inclined posture; and the electrical control box (8) is arranged on the other side of the slurry pump (9) in an inclined posture.

10. The dredging robot according to claim 4, characterized in that: It also includes a connecting hook (11) fixedly connected to the chassis assembly (1).

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