Pipeline dredging robot

Abstract

The invention discloses a pipeline desilting robot, and relates to the technical field of pipeline desilting robots, the pipeline desilting robot comprises a machine body, a desilting assembly and a pollution discharge assembly, the machine body is fixedly connected with a plurality of groups of symmetrically arranged adjusting strips, the adjusting strips are provided with connecting rods, one end of each connecting rod is rotatably connected with a connecting column, and the connecting columns are fixedly connected with crawling wheels; a fixed seat is fixedly connected to the machine body, and a mechanical arm is connected to the fixed seat; the dredging assembly is connected with the mechanical arm, and the dredging assembly comprises a plurality of sets of scraping plates which are arranged in a circumferential mode. Through the arrangement of the dredging assembly and the sewage discharging assembly, sludge on the inner wall of the pipeline can be effectively scraped off, and the sludge can be better discharged out of the pipeline through the effect of diluting the sludge; the problem that in the prior art, sludge cannot be discharged in time, running of the robot is affected, and consequently the sludge treatment efficiency is low is solved.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline dredging robots, and in particular to a pipeline dredging robot. Background Art

[0002] Pipeline desilting refers to clearing the pipeline, cleaning out silt and other waste inside the pipeline, and keeping it unobstructed for a long time to prevent urban waterlogging. If the pipeline is not desilted regularly, it will cause sewage overflow, pollute the environment, and cause trouble to people's lives.

[0003] At present, in the process of pipeline dredging, in order to improve work efficiency and to avoid harm to the health of the staff doing the dredging, pipeline dredging robots are produced under this background. The use of pipeline dredging robots greatly improves the efficiency of pipeline dredging, and there is no need to manually enter the pipeline for dredging, which reduces the risk. However, in the prior art, when the dredging robot is cleaning the sludge, it is unable to discharge the sludge inside the pipeline in time. Therefore, in the process of the robot continuing to move forward, the resistance becomes larger and larger due to the accumulation of sludge, which makes the robot move slowly inside the pipeline, thereby causing the robot to handle the sludge in a low efficiency. To this end, the present invention proposes a pipeline dredging robot. Summary of the invention

[0004] The object of the present invention is to provide a pipeline dredging robot to solve the problems raised in the above background technology. To achieve the above object, the present invention provides the following technical solutions: a pipeline dredging robot, including a fuselage, a dredging component and a sewage discharge component, the fuselage is fixedly connected with multiple groups of symmetrically arranged adjustment bars, the adjustment bar is installed with a connecting rod, one end of the connecting rod is rotatably connected with a connecting column, the connecting column is fixedly connected with a crawling wheel, the fuselage is fixedly connected with a fixing seat, and the fixing seat is connected with a mechanical arm; the dredging component is connected to the mechanical arm, and the dredging component includes multiple groups of scrapers arranged in a circumference, the dredging component is attached to the inner wall of the pipeline through multiple groups of the scrapers, and then the inner wall of the pipeline is dredged by the rotation of the scrapers; the sewage discharge component is arranged in coordination with the dredging component, and the sewage discharge component is used to discharge the sludge cleaned by the dredging component to the outside of the pipeline, which is convenient for cleaning the sludge, and the sludge is discharged in time through the cooperation of the sewage discharge component.

[0005] Preferably, the dredging assembly includes a fixing sleeve fixedly connected to the mechanical arm, the end of the fixing sleeve is fixedly connected to a fixing plate, the fixing sleeve is fixedly connected to a motor inside the fixing sleeve, the output end of the motor extends to one side of the fixing plate and is rotatably connected to the fixing plate, and the output end of the motor is connected to an adjusting member for adjusting the positions of multiple groups of scrapers, a connecting column is installed on the adjusting member, the outer side surface of the connecting column is slidably connected to a sliding block, the sliding block is fixedly connected to a connecting block, the connecting block is fixedly connected to a support rod fixedly connected to the fixing plate, and multiple groups of telescopic columns are fixedly connected to the sliding block, the end of the telescopic column is fixedly connected to a hinge block, the hinge block is rotatably connected to a connecting plate fixedly connected to the scraper, and a flushing member for flushing the inner wall of the pipe is also connected to the scraper, so as to facilitate the cleaning and falling of silt on the inner wall of the pipe.

[0006] Preferably, the adjusting member includes a telescopic rod fixedly connected to the output end of the motor, the telescopic end of the telescopic rod is fixedly connected to a connecting plate fixedly connected to the connecting column, the outer side of the connecting column is fixedly connected to a fixed block, a plurality of groups of rotating rods are rotatably connected to the fixed block, and the end of the rotating rod is fixedly connected to a rotating block rotatably connected to the connecting plate, so as to facilitate the adjustment of the positions of the plurality of groups of scrapers so that the scrapers can fit pipes of different diameters.

[0007] Preferably, the flushing component includes a pipe clamp fixedly connected to the fuselage, a connecting pipe is connected inside the pipe clamp, one end of the connecting pipe is connected to a mounting flange, and the other end of the connecting pipe is connected to a collecting pipe installed on the outer side of the telescopic rod, and the collecting pipe is connected to a plurality of groups of connecting pipes, and the plurality of groups of connecting pipes are respectively connected to a plurality of groups of scrapers, and a plurality of groups of through holes are opened on the scraper, and a sealing member for sealing the through holes is installed inside the scraper to facilitate flushing of the inner wall of the pipe.

[0008] Preferably, the sealing member comprises a sealing sheet installed inside the scraper, the sealing sheet is used to seal the port of the connecting pipe, and a sealing plate which is fitted with the top of the scraper is fixedly connected to the sealing sheet, a plurality of drainage holes which are matched with the through holes are provided on the sealing plate, the through holes and the drainage holes are staggered, and a reset member is installed on the sealing sheet to facilitate sealing the scraper when not in use and prevent sludge from falling into the inside of the scraper and causing blockage of the scraper.

[0009] Preferably, the reset member includes a sliding column fixedly connected to the sealing plate, the sliding column is slidably connected to the scraper, and a fixing plate is fixedly connected to the sliding column, a first spring sleeved on the outer side of the sliding column is fixedly connected to the fixing plate, one end of the first spring is fixedly connected to a supporting plate fixedly connected to the scraper, and the supporting plate is slidably connected to the sliding column, so as to facilitate the reset of the sealing plate and the sealing plate.

[0010] Preferably, the sewage discharge assembly includes a first sewage pump installed inside the fuselage, the first sewage pump is connected to a sewage pipe extending to the outside of the fuselage, and a second sewage pump is also installed inside the fuselage, the second sewage pump is connected to a mud discharge pipe extending to the outside of the fuselage, a second spring is fixedly connected to the mud discharge pipe, the end of the second spring is fixedly connected to a sliding pipe slidably connected to the mud discharge pipe, the end of the sliding pipe is connected to a suction head, and a plurality of groups of notches are provided on the suction head to facilitate timely discharge of cleaned and fallen sludge to avoid accumulation that affects the work of the robot.

[0011] Preferably, a support frame is fixedly connected to the fuselage, and a camera is installed on the support frame to facilitate observation of the internal situation of the pipeline.

[0012] Preferably, a sealing cover is installed at one end of the fuselage, and the sealing cover is connected to the sewage pipe to facilitate cleaning of the interior of the fuselage.

[0013] Preferably, the bottom end of the suction head is arranged in an arc shape, so that the suction head can fit the inner wall of the pipe more closely and discharge the sludge conveniently.

[0014] The present invention has at least the following beneficial effects:

[0015] 1. A pipeline dredging robot provided by the present invention is placed inside the pipeline when cleaning the sludge on the inner wall of the pipeline. At this time, the crawling wheel is controlled to move forward by remote control. In this process, the robot arm and the dredging assembly are controlled to make multiple groups of scrapers fit the inner wall of the pipeline. After the scrapers fit the inner wall of the pipeline, the crawling wheel is controlled to move forward. In this process, the motor is started. The start of the motor will cause the adjustment member to drive the multiple groups of scrapers to make circular motion along the axis of the pipeline. Therefore, the sludge on the inner wall of the pipeline is completely scraped off and accumulated at the bottom end of the pipeline by the rotation of the scrapers. In this process, The inner wall of the pipe is flushed by the flushing part to further clean the inner wall of the pipe, and the water and sludge are mixed by the water flow and the rotation of the scraper, so that the scraped sludge is diluted, and then the first sewage pump and the second sewage pump cooperate with each other to clean and discharge all the diluted sludge at the bottom of the pipe. Therefore, the dredging component and the sewage discharge component can effectively scrape off the sludge on the inner wall of the pipe, and the sludge can be better discharged from the pipe by diluting the sludge, thereby solving the problem in the prior art that the sludge cannot be discharged in time, affecting the driving of the robot and resulting in low sludge treatment efficiency.

[0016] 2. A pipeline dredging robot provided by the present invention, when discharging sludge, is provided with a second spring inside the sludge discharge pipe, and the end of the second spring is fixedly connected with a sliding tube, so that the suction head can always be in the lowest state and fit with the inner wall of the pipeline, thereby facilitating the suction of sludge accumulated inside the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a structural schematic diagram of another viewing angle of the present invention as a whole;

[0019] Figure 3 This is a schematic diagram of the robot structure of the present invention;

[0020] Figure 4 This is a schematic diagram of the structure of the dredging assembly of the present invention;

[0021] Figure 5 It is a schematic diagram of the structure of the adjusting member of the present invention;

[0022] Figure 6 For the present invention Figure 5 Schematic diagram of the structure of the middle A area;

[0023] Figure 7 It is a schematic diagram of the structure of the flushing part of the present invention;

[0024] Figure 8 This is a schematic diagram of the internal structure of the scraper of the present invention;

[0025] Fig. 9 It is a schematic diagram of the connection structure between the sealing member and the scraper of the present invention;

[0026] Fig.10 For the present invention Fig. 9 Schematic diagram of the structure of the middle B area;

[0027] Fig.11 It is a schematic diagram of the structure of the sewage discharge component of the present invention.

[0028] In the figure: 1-body; 2-adjustment bar; 3-connecting rod; 4-connecting column; 5-crawling wheel; 6-fixed seat; 7-mechanical arm; 8-dredging assembly; 9-scraper; 10-drainage assembly; 11-fixing sleeve; 12-fixing plate; 13-motor; 14-adjusting member; 15-connecting column; 16-sliding block; 17-telescopic column; 18-hinged block; 19-connecting plate; 20-flushing member; 21-telescopic rod; 22-connecting plate; 23-fixed block; 24-rotating rod; 25-rotating block; 26-pipe clamp; 27-connecting pipe; 28- Mounting flange; 29-collecting pipe; 30-connecting pipe; 31-through hole; 32-seal; 33-sealing sheet; 34-sealing plate; 35-drain hole; 36-reset piece; 37-sliding column; 38-support sheet; 39-first spring; 40-fixing sheet; 41-first sewage pump; 42-sewage pipe; 43-second sewage pump; 44-mud pipe; 45-second spring; 46-sliding pipe; 47-suction head; 48-slot; 49-support frame; 50-camera; 51-sealing cover; 52-connecting block; 53-support rod. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-11The present invention provides a technical solution: a pipeline dredging robot, comprising a fuselage 1, a dredging component 8 and a sewage discharge component 10, wherein the fuselage 1 is fixedly connected with a plurality of symmetrically arranged adjustment bars 2, the adjustment bars 2 are provided with connecting rods 3, one end of the connecting rod 3 is rotatably connected with a docking column 4, the docking column 4 is fixedly connected with a crawling wheel 5, the fuselage 1 is fixedly connected with a fixing seat 6, and a mechanical arm 7 is connected with the fixing seat 6; the dredging component 8 is connected with the mechanical arm 7, and the dredging component 8 comprises a plurality of circumferentially arranged scrapers 9, the dredging component 8 is attached to the inner wall of the pipeline through the plurality of scrapers 9, and then the inner wall of the pipeline is dredged by the rotation of the scrapers 9; the sewage discharge component 10 is arranged in cooperation with the dredging component 8, and the sewage discharge component 10 is used to discharge the sludge cleaned and dropped by the dredging component 8 to the outside of the pipeline.

[0031] In this scheme, the movement of the crawler wheel 5 and the swing of the mechanical arm 7 are controlled by a remote control, and each group of equipment in the present invention is controlled by a remote control. Therefore, when cleaning the sludge on the inner wall of the pipeline, the robot is placed inside the pipeline, and the crawler wheel 5 is controlled to move forward by remote control. In this process, the mechanical arm 7 and the dredging component 8 are controlled to make multiple groups of scrapers 9 fit the inner wall of the pipeline. After the scrapers 9 fit the inner wall of the pipeline, the sludge on the inner wall of the pipeline is cleaned by controlling the movement of the crawler wheel 5 and the rotation of the scraper 9 along the inner wall of the pipeline. In this process, the sewage discharge component 10 cooperates with it to discharge all the cleaned and fallen sludge to the outside of the pipeline in time to avoid the accumulation of sludge impurities affecting the advancement of the robot.

[0032] In this solution, the crawling wheel 5 is connected to the fuselage 1 through a connecting rod 3, and the two ends of the connecting rod 3 are respectively installed with an adjustment bar 2 fixedly connected to the fuselage 1 and a docking column 4 connected to the crawling wheel 5. Therefore, the angle and position of the crawling wheel 5 can be adjusted automatically, thereby making it easier for the crawling wheel 5 to crawl as close to the inner wall of the pipeline as possible.

[0033] The dredging assembly 8 includes a fixing sleeve 11 fixedly connected to the mechanical arm 7, the end of the fixing sleeve 11 is fixedly connected to a fixing plate 12, a motor 13 is fixedly connected inside the fixing sleeve 11, the output end of the motor 13 extends to one side of the fixing plate 12 and is rotatably connected to the fixing plate 12, and the output end of the motor 13 is connected to an adjusting member 14 for adjusting the position of multiple groups of the scrapers 9, a connecting column 15 is installed on the adjusting member 14, the outer side surface of the connecting column 15 is slidably connected to a sliding block 16, a connecting block 52 is fixedly connected to the sliding block 16, a supporting rod 53 fixedly connected to the fixing plate 12 is fixedly connected to the connecting block 52, and the sliding block 16 is fixedly connected with a plurality of telescopic columns 17, the ends of the telescopic columns 17 are fixedly connected with hinge blocks 18, the hinge blocks 18 are rotatably connected with a connecting plate 19 fixedly connected with the scraper 9, and the scraper 9 is also connected with a flushing member 20 for flushing the inner wall of the pipeline; the adjusting member 14 includes a telescopic rod 21 fixedly connected with the output end of the motor 13, the telescopic end of the telescopic rod 21 is fixedly connected with a connecting piece 22 fixedly connected with the connecting column 15, the outer side surface of the connecting column 15 is fixedly connected with a fixed block 23, the fixed block 23 is rotatably connected with a plurality of rotating rods 24, and the ends of the rotating rods 24 are fixedly connected with a rotating block 25 rotatably connected with the connecting plate 19.

[0034] In this scheme, in the process of cleaning sludge, the telescopic rod 21 is started, and the connecting piece 22 is driven to move by the start of the telescopic rod 21, and then the connecting column 15 is moved by the movement of the connecting piece 22, and the fixed block 23 is moved by the movement of the connecting column 15, and the rotating rod 24 is swung by the movement of the fixed block 23. In this process, the position of the scraper 9 is changed by the swing of the rotating rod 24 and the cooperation of the telescopic column 17, and then the position of the scraper 9 is adjusted by starting the telescopic rod 21, and the scraper 9 is fitted with the inner wall of the pipeline by the cooperation of the mechanical arm 7. At this time, the motor 13 is started again, and the start of the motor 13 will drive the telescopic rod 21 to rotate, and the rotation of the telescopic rod 21 makes the connecting piece 22 drive the connecting column 15 to rotate, thereby driving the fixed block 23 and the sliding block 16 to rotate, and then the rotating rod 24 and the telescopic column 17 are rotated, thereby driving the scraper 9 to fit the inner wall of the pipeline and rotate along the axis of the pipeline, so that the inner wall of the pipeline is cleaned by the rotation of the scraper 9.

[0035] The flushing part 20 includes a pipe clamp 26 fixedly connected to the fuselage 1, a connecting pipe 27 is connected to the pipe clamp 26, one end of the connecting pipe 27 is connected to a mounting flange 28, and the other end of the connecting pipe 27 is connected to a collection pipe 29 installed on the outer side of the telescopic rod 21, and the collection pipe 29 is connected to multiple groups of connecting pipes 30, and the multiple groups of connecting pipes 30 are respectively connected to multiple groups of scrapers 9, and the scrapers 9 are provided with a plurality of groups of through holes 31, and the scrapers 9 are installed with a sealing member 32 for sealing the through holes 31; the sealing member 32 includes a sealing sheet 33 installed inside the scraper 9, and the sealing sheet 33 is used to seal the port of the connecting pipe 30, and the sealing sheet 33 is fixedly connected to the sealing member 33. A sealing plate 34 is connected to the top of the scraper 9, and a plurality of drainage holes 35 matching the through holes 31 are provided on the sealing plate 34. The through holes 31 and the drainage holes 35 are staggered, and a reset member 36 is installed on the sealing sheet 33; the reset member 36 includes a sliding column 37 fixedly connected to the sealing sheet 33, the sliding column 37 is slidably connected to the scraper 9, and a fixing plate 40 is fixedly connected to the sliding column 37, and a first spring 39 sleeved on the outer side of the sliding column 37 is fixedly connected to the fixing plate 40, one end of the first spring 39 is fixedly connected to a support plate 38 fixedly connected to the scraper 9, and the support plate 38 is slidably connected to the sliding column 37.

[0036] In this solution, during the process of the scraper 9 rotating to clean the sludge, the water source is connected to the connecting pipe 27 through the action of the mounting flange 28. At this time, the water source is transported to the collecting pipe 29 through the connecting pipe 27, and then the water is transported to the inside of the connecting pipe 30 through the action of the collecting pipe 29, and then the water is transported to the inside of the scraper 9 through the action of the connecting pipe 30. In this process, the sealing sheet 33 is squeezed to move by the action of the water pressure, and the sealing plate 34 is driven to move by the movement of the sealing sheet 33. Due to the movement of the sealing sheet 33, the water flow can enter the scraper 9, and then due to the movement of the sealing plate 34, the through hole 31 corresponds to the drainage hole 35. At this time, the water flow will be discharged through the drainage hole 35 and the through hole 31 to flush the inner wall of the pipe, and the sludge can be diluted and softened by the action of the water flow, thereby facilitating cleaning.

[0037] In this solution, during the movement of the sealing sheet 33, the sliding column 37 will be driven to move, and the movement of the sliding column 37 will cause the fixed sheet 40 to move, so that the first spring 39 is compressed by the movement of the fixed sheet 40. Therefore, after the water flow stops being transported, due to the elastic force of the first spring 39, the sliding column 37 drives the sealing sheet 33 to reset, and the sealing plate 34 is reset by the reset of the sealing sheet 33, so that the drain port and the through hole 31 are staggered again, thereby preventing sludge from falling into the scraper 9, causing the scraper 9 to be blocked and affecting the water flow.

[0038] The sewage discharge assembly 10 includes a first sewage pump 41 installed inside the fuselage 1, the first sewage pump 41 is connected to a sewage pipe 42 extending to the outside of the fuselage 1, and a second sewage pump 43 is also installed inside the fuselage 1, the second sewage pump 43 is connected to a mud discharge pipe 44 extending to the outside of the fuselage 1, a second spring 45 is fixedly connected inside the mud discharge pipe 44, the end of the second spring 45 is fixedly connected to a sliding pipe 46 slidably connected to the mud discharge pipe 44, the end of the sliding pipe 46 is connected to a suction head 47, and the suction head 47 is provided with a plurality of notches 48.

[0039] In this solution, the sewage pipe 42 is connected to the external pipe remaining outside the pipe. During the cleaning process, the first sewage pump 41 and the second sewage pump 43 are started. The sludge that falls from the inside of the pipe after cleaning is sucked into the sliding pipe 46 through the suction head 47 by the start of the second sewage pump 43, and then enters the mud pipe 44 through the sliding pipe 46, and then enters the inside of the fuselage 1 through the second sewage pump 43. Finally, the sludge is discharged into the external pipe through the action of the first sewage pump 41 and the sewage pipe 42, and the sludge is discharged in time through the external pipe.

[0040] In this solution, a second spring 45 is provided between the sliding tube 46 and the mud discharge tube 44. Therefore, the sliding tube 46 is always in the lowest position due to the action of the second spring 45, so that the suction head 47 can always be in contact with the bottom end of the pipe, thereby facilitating the discharge of the sludge accumulated at the bottom end of the pipe.

[0041] In this solution, a support frame 49 is fixedly connected to the fuselage 1, and a camera 50 is installed on the support frame 49 to facilitate observation of the internal situation of the pipeline. A sealing cover 51 is installed at one end of the fuselage 1, and the sealing cover 51 is connected to the sewage pipe 42 to facilitate cleaning of the inside of the fuselage 1. The bottom end of the suction head 47 is arranged in an arc shape, so that the suction head 47 can fit the inner wall of the pipeline more closely, thereby facilitating the discharge of sludge.

[0042] Working principle: In this solution, the walking of the crawling wheel 5 and the swinging of the robot arm 7 are all controlled by a remote control, and each set of equipment in the present invention is controlled by a remote control. Therefore, when cleaning the sludge on the inner wall of the pipeline, the robot is placed inside the pipeline, and the crawling wheel 5 is controlled to move forward by remote control. In this process, the telescopic rod 21 is started, and the connecting piece 22 is driven to move by the start of the telescopic rod 21, and then the connecting column 15 is moved by the movement of the connecting piece 22, and the fixed block 23 is moved by the movement of the connecting column 15, and the rotating rod 24 is swung by the movement of the fixed block 23. In this process, the position of the scraper 9 is changed by the swing of the rotating rod 24 and the cooperation of the telescopic column 17. Then, the position of the scraper 9 is adjusted by starting the telescopic rod 21, and the mechanical arm 7 cooperates with it to make the scraper 9 fit the inner wall of the pipe. At this time, the motor 13 is started again, and the start of the motor 13 will drive the telescopic rod 21 to rotate. The rotation of the telescopic rod 21 makes the connecting piece 22 drive the connecting column 15 to rotate, thereby driving the fixed block 23 and the sliding block 16 to rotate, and then the rotating rod 24 and the telescopic column 17 to rotate, thereby driving the scraper 9 to fit the inner wall of the pipe and rotate along the axis of the pipe. Therefore, the inner wall of the pipe is cleaned by the rotation of the scraper 9. In the process of the scraper 9 rotating to clean the sludge, the water source is connected to the connecting pipe 27 through the action of the mounting flange 28. At this time, the water source is connected through the connecting pipe The water is transported to the collecting pipe 27, and then transported to the inside of the connecting pipe 30 by the action of the collecting pipe 29, and then transported to the inside of the scraper 9 by the action of the connecting pipe 30. In this process, the sealing sheet 33 is squeezed to move by the action of the water pressure, and the sealing plate 34 is driven to move by the movement of the sealing sheet 33. Due to the movement of the sealing sheet 33, the water flow can enter the inside of the scraper 9, and then due to the movement of the sealing plate 34, the through hole 31 corresponds to the drainage hole 35. At this time, the water flow will be discharged through the drainage hole 35 and the through hole 31 to wash the inner wall of the pipeline, and the sludge can be diluted and softened by the action of the water flow, so as to facilitate cleaning. In the process of cleaning, the first sewage pump 41 and the second sewage pump 4 are started at the same time. 3. By starting the second sewage pump 43, the sludge that has been cleaned and dropped inside the pipeline is sucked into the sliding pipe 46 through the suction head 47, and then enters the sludge discharge pipe 44 through the sliding pipe 46, and then enters the inside of the fuselage 1 through the second sewage pump 43, and finally the sludge is discharged into the external pipeline through the first sewage pump 41 and the sewage pipe 42, and the sludge is discharged in time through the external pipeline. In this scheme, the sewage pipe 42 is connected to the external pipeline left outside the pipeline. During the rotation of the scraper 9, the water and the sludge are fully mixed, and the sludge is further diluted and softened. Therefore, it is easier to clean the sludge out of the pipeline, avoiding the sludge that is too thick to be discharged by the first sewage pump 41 and the second sewage pump 43.

[0043] It is worth noting that: by providing a second spring 45 between the sliding tube 46 and the mud discharge tube 44, the sliding tube 46 is always in the lowest position due to the action of the second spring 45, so that the suction head 47 can always be in contact with the bottom end of the pipe, thereby facilitating the discharge of sludge accumulated at the bottom end of the pipe.

[0044] It is particularly noted that: during the movement of the sealing sheet 33, the sliding column 37 will be driven to move, and the movement of the sliding column 37 will cause the fixed sheet 40 to move, so that the first spring 39 is compressed by the movement of the fixed sheet 40. Therefore, after the water flow stops being transported, the elastic force of the first spring 39 causes the sliding column 37 to drive the sealing sheet 33 to reset, and the sealing plate 34 is reset by the reset of the sealing sheet 33, so that the drain port and the through hole 31 are staggered again, thereby preventing sludge from falling into the scraper 9, causing the scraper 9 to be blocked and affecting the water flow.

[0045] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline desilting robot, comprising: A fuselage (1), wherein the fuselage (1) is fixedly connected to a plurality of symmetrically arranged adjustment bars (2), the adjustment bars (2) are provided with a connecting rod (3), one end of the connecting rod (3) is rotatably connected to a docking column (4), the docking column (4) is fixedly connected to a crawling wheel (5), the fuselage (1) is fixedly connected to a fixing seat (6), and the fixing seat (6) is connected to a mechanical arm (7); It is characterized by further comprising: A dredging assembly (8), the dredging assembly (8) being connected to the mechanical arm (7), and the dredging assembly (8) comprising a plurality of groups of scrapers (9) arranged in a circumferential manner, the dredging assembly (8) being in contact with the inner wall of the pipeline through the plurality of groups of scrapers (9), and then dredging the inner wall of the pipeline by rotating the scrapers (9); A sewage discharge component (10), wherein the sewage discharge component (10) is arranged in cooperation with the dredging component (8), and the sewage discharge component (10) is used to discharge the sludge cleaned and dropped by the dredging component (8) to the outside of the pipeline.

2. A pipeline desilting robot according to claim 1, characterized in that: The dredging assembly (8) comprises a fixing sleeve (11) fixedly connected to the mechanical arm (7), the end of the fixing sleeve (11) is fixedly connected to a fixing plate (12), a motor (13) is fixedly connected inside the fixing sleeve (11), an output end of the motor (13) extends to one side of the fixing plate (12) and is rotatably connected to the fixing plate (12), and an adjusting member (14) for adjusting the position of the plurality of groups of scrapers (9) is connected to the output end of the motor (13), a connecting column (15) is installed on the adjusting member (14), and the connecting column (15) The outer side surface of the sliding block (16) is slidably connected to the sliding block (16), the connecting block (52) is fixedly connected to the sliding block (16), the connecting block (52) is fixedly connected to the supporting rod (53) fixedly connected to the fixing plate (12), and the sliding block (16) is fixedly connected to a plurality of groups of telescopic columns (17), the ends of the telescopic columns (17) are fixedly connected to hinge blocks (18), the hinge blocks (18) are rotatably connected to a connecting plate (19) fixedly connected to the scraper (9), and the scraper (9) is also connected with a flushing member (20) for flushing the inner wall of the pipeline.

3. A pipeline desilting robot according to claim 2, characterized in that: The adjusting member (14) comprises a telescopic rod (21) fixedly connected to the output end of the motor (13); the telescopic end of the telescopic rod (21) is fixedly connected to a connecting piece (22) fixedly connected to the connecting column (15); the outer side surface of the connecting column (15) is fixedly connected to a fixing block (23); a plurality of groups of rotating rods (24) are rotatably connected to the fixing block (23); and the ends of the rotating rods (24) are fixedly connected to rotating blocks (25) rotatably connected to the connecting plate (19).

4. A pipeline desilting robot according to claim 3, characterized in that: The flushing component (20) comprises a pipe clamp (26) fixedly connected to the body (1), a connecting pipe (27) being connected inside the pipe clamp (26), one end of the connecting pipe (27) being connected to a mounting flange (28), and the other end of the connecting pipe (27) being connected to a collecting pipe (29) mounted on the outer side of the telescopic rod (21), the collecting pipe (29) being connected to a plurality of groups of connecting pipes (30), the plurality of groups of connecting pipes (30) being connected to a plurality of groups of scrapers (9) respectively, and a plurality of groups of through holes (31) being provided on the scrapers (9), and a sealing member (32) for sealing the through holes (31) being installed inside the scrapers (9).

5. A pipeline desilting robot according to claim 4, characterized in that: The sealing member (32) comprises a sealing sheet (33) installed inside the scraper (9), the sealing sheet (33) being used to seal the port of the connecting pipe (30), and a sealing plate (34) fixedly connected to the sealing sheet (33) and arranged in close contact with the top end of the scraper (9), the sealing plate (34) being provided with a plurality of groups of drainage holes (35) matched with the through holes (31), the through holes (31) and the drainage holes (35) being arranged in a staggered manner, and a reset member (36) being installed on the sealing sheet (33).

6. A pipeline desilting robot according to claim 5, characterized in that: The reset member (36) comprises a sliding column (37) fixedly connected to the sealing plate (33), the sliding column (37) being slidably connected to the scraper (9), and a fixing plate (40) being fixedly connected to the sliding column (37), and a first spring (39) sleeved on the outer side surface of the sliding column (37) being fixedly connected to the fixing plate (40), one end of the first spring (39) being fixedly connected to a supporting plate (38) fixedly connected to the scraper (9), and the supporting plate (38) being slidably connected to the sliding column (37).

7. A pipeline desilting robot according to claim 6, characterized in that: The sewage discharge assembly (10) comprises a first sewage discharge pump (41) installed inside the body (1), the first sewage discharge pump (41) is connected to a sewage discharge pipe (42) extending to the outside of the body (1), and a second sewage discharge pump (43) is also installed inside the body (1), the second sewage discharge pump (43) is connected to a mud discharge pipe (44) extending to the outside of the body (1), a second spring (45) is fixedly connected inside the mud discharge pipe (44), the end of the second spring (45) is fixedly connected to a sliding pipe (46) slidably connected to the mud discharge pipe (44), the end of the sliding pipe (46) is connected to a suction head (47), and the suction head (47) is provided with a plurality of groups of notches (48).

8. The pipeline desilting robot according to claim 7, characterized in that: A support frame (49) is fixedly connected to the body (1), and a camera (50) is mounted on the support frame (49).

9. The pipeline desilting robot according to claim 8, characterized in that: A sealing cover (51) is installed at one end of the body (1), and the sealing cover (51) is connected to the sewage pipe (42).

10. The pipeline desilting robot according to claim 9, characterized in that: The bottom end of the suction head (47) is arranged in an arc shape.

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