Pipeline dredging robot

Abstract

The invention relates to the technical field of dredging robots, and discloses a pipeline dredging robot which comprises a supporting shaft body, a supporting frame is rotatably mounted on the right side of the side wall of the supporting shaft body, a connecting frame is fixedly mounted on the side, close to the supporting frame, of the side wall of the supporting shaft body, and a connecting sleeve is rotatably mounted in the middle of the side wall of the supporting shaft body; a connecting ring is fixedly mounted at the left end of the supporting shaft body, and the traveling mechanism is arranged on the side wall of a connecting sleeve; the driving mechanism is arranged on the side wall of the supporting frame; a liquid spraying mechanism; and a scraping mechanism. Through the arrangement of the advancing mechanism, the whole device can stably walk in the pipeline, through the arrangement of the driving mechanism and the liquid spraying mechanism, cleaning liquid can be sprayed to the inner wall of the pipeline in advance, hard dirt on the inner wall of the pipeline is promoted to be subjected to a combination reaction with the cleaning liquid, and finally through the arrangement of the scraping mechanism, the cleaning effect is improved. And dirt and sludge adhered to the inner wall of the pipeline can be quickly removed.

Description

Technical Field

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

[0002] In the long-term process of transporting the medium, the substances in the pipeline will cause a certain degree of erosion to the pipeline, dirt adhesion, etc., resulting in the reduction of the inner diameter of the pipeline, pipeline blockage, slow flow rate, secondary pollution of the medium, etc. The lack of dredging staff and the low efficiency of dredging have formed an unequal relationship between supply and demand with the continuous expansion of the market scale. There are flammable and explosive toxic gases inside the drainage pipes, and the environment inside the pipes is quite harsh, which brings great difficulty to the dredging operation and poses a serious threat to the life safety of the staff. Even with various protective measures and safety training, dredging workers are killed and injured almost every year. With the continuous growth of the total length of the underwater pipeline network, the annual dredging task volume has also increased, but the efficiency of manual dredging is not very impressive, about 5 to 7 cubic meters per day, and it is impossible to clean small-diameter pipes. The emergence of pipeline dredging robots has greatly made up for this deficiency and ensured the safety of the staff.

[0003] After searching, the patent publication number CN212224178U provides a pipeline desilting robot, including: a robot body, a motion mechanism and a crushing unit. Walking mechanisms are provided on both sides of the left and right sides of the robot body, and the walking mechanisms are used to drive the robot body to move. The crushing unit includes: a crushing device, an arc-shaped baffle plate and a guide plate, the crushing device is arranged between the two walking mechanisms, the arc-shaped baffle plate is arranged on the top of the crushing device, and the guide plate is arranged at the bottom of the crushing device. The opening side of the arc-shaped baffle plate faces the crushing device, and the guide plate is inclined toward the opening side of the arc-shaped baffle plate.

[0004] In the above patent document, the action mechanism drives the crushing device to enter or leave the working area, one end of the action mechanism is connected to the crushing device, and the other end is connected to the robot body, so as to break the solid foreign matter during the dredging process and improve the efficiency of the dredging work. However, in actual work, due to the long-term adhesion of dirt in the pipeline, the texture of the dirt is generally hard, and it is difficult to completely clean the dirt through a simple action mechanism, and the cleaning efficiency is low. Therefore, a pipeline dredging robot is urgently needed to solve this problem. Summary of the invention

[0005] 1. Technical issues to be resolved The object of the present invention is to provide a pipeline desilting robot to solve the problem in the above background technology that the existing pipeline desilting robots are difficult to quickly remove hard dirt.

[0006] (II) Technical solution To achieve the above object, the present invention provides the following technical solutions: A pipeline desilting robot comprises a supporting shaft body, a supporting frame is rotatably mounted on the right side of the side wall of the supporting shaft body, a connecting frame is fixedly mounted on the side wall of the supporting shaft body close to the supporting frame, a connecting sleeve is rotatably mounted on the middle part of the side wall of the supporting shaft body, a connecting ring is fixedly mounted on the left end of the supporting shaft body, and further comprises: A traveling mechanism, which is arranged on the side wall of the connecting sleeve and is used to drive the entire device to move; A driving mechanism, the driving mechanism being arranged on a side wall of the support frame and being used for injecting a cleaning liquid into the support shaft body; A liquid spraying mechanism, which is arranged on the side wall of the connecting ring and is used to spray cleaning liquid into the pipeline to be desilted; The scraping mechanism is arranged on the side wall of the connecting frame and is used for scraping dirt in the pipeline.

[0007] Preferably, the traveling mechanism includes a vertical plate, a bidirectional screw, a connecting seat, a rotating arm and a traveling wheel. The vertical plate is fixedly installed in the middle of the side wall of the connecting sleeve, the bidirectional screw is rotatably installed on the end of the vertical plate away from the connecting sleeve, the connecting seat is threadedly installed on both sides of the side wall of the bidirectional screw, the rotating arm is rotatably installed on the side wall of the connecting seat, and the two rotating arms are rotatably installed on the end away from the connecting seat. Traveling wheels are rotatably installed.

[0008] Preferably, the vertical plates are annularly equidistantly arranged on the side walls of the connecting sleeve, the threads at both ends of the bidirectional screw have opposite directions, the equivalent friction angle of the connecting seat is smaller than the thread lead angle of the bidirectional screw, a pressure spring is wound and installed on the side walls of the bidirectional screw, one end of the pressure spring rests on the side wall of the vertical plate, and the other end of the pressure spring rests on the side wall of the connecting seat, and at least one group of the side walls of the rotating arms are fixedly installed with a traveling motor through a frame, and the output shaft end of the traveling motor is fixedly connected to the center axis of the traveling wheel.

[0009] Preferably, the driving mechanism includes a liquid storage ring, a connecting rod, an extrusion block, a liquid storage bag, an output tube and a guide ring. The liquid storage ring is fixedly installed on the outer side of the side wall of the support frame, a connecting rod is fixedly installed on the side wall of the support shaft body close to the support frame, an extrusion block is slidably installed on the end of the connecting rod away from the support shaft body, and a liquid storage bag is fixedly installed on the inner wall of the liquid storage ring.

[0010] Preferably, a guide ring is rotatably mounted on the side wall of the support shaft body close to the connecting rod, the side wall of the guide ring is connected to the liquid storage bag through an output tube, a sliding groove is opened on the side wall of the connecting rod, and the extrusion block slides in the inner cavity of the sliding groove.

[0011] Preferably, connecting holes are provided on the side walls of the support shaft and the guide ring, and the connecting holes are indirectly arranged. The extrusion block slides in the inner cavity of the liquid storage ring, and a driving motor is fixedly installed on the right side wall of the liquid storage ring through a frame, and the output shaft end of the driving motor is fixedly connected to the support shaft.

[0012] Preferably, the liquid spraying mechanism includes a guide groove, a movable groove, a limit spring and a spray head. The outer wall end of the connecting ring is provided with a movable groove, the inner cavity bottom surface of the movable groove is fixedly installed with a limit spring, and the spray head is fixedly installed at one end of the limit spring away from the inner cavity bottom surface of the movable groove.

[0013] Preferably, a movable groove is provided on the outer side wall of the connecting ring, the movable groove is connected with the supporting shaft body through a guide groove, the spray head slides in the inner cavity of the movable groove, and the spray head is provided in a plurality of groups.

[0014] Preferably, the scraping mechanism includes an auxiliary scraper head, a limiting groove, a return spring and a crushing scraper head. A limiting groove is provided on the outer side of the side wall of the connecting frame, a return spring is fixedly installed on the bottom surface of the inner cavity of the limiting groove, and a crushing scraper head is fixedly installed on one end of the return spring away from the bottom surface of the inner cavity of the limiting groove.

[0015] Preferably, an auxiliary scraper head is fixedly mounted on the outer side of the side wall of the connecting frame, and a plurality of the crushing scraper heads and the auxiliary scraper heads are provided in total, and the crushing scraper head slides in the inner cavity of the limiting groove.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. When the invention is used to dredge and remove scale in a pipeline, the worker places the entire device inside the pipeline, and installs a pressure spring by winding the side wall of the bidirectional screw. The threads at both ends of the bidirectional screw are in opposite directions, and the equivalent friction angle of the connecting seat is smaller than the thread lead angle of the bidirectional screw. At this time, under the pulling force of the pressure spring, the connecting seats on both sides can drive the rotating arms to retract. Since the two rotating arms are rotatably installed with traveling wheels at one end away from the connecting seats, the angle between the two rotating arms gradually becomes smaller, so that the traveling wheels can always be against the inner wall of the pipeline. After that, the worker starts the traveling motor, and the output shaft end of the traveling motor is fixedly connected to the central axis of the traveling wheel. That is, under the friction between the traveling wheel and the inner wall of the pipeline, the entire device can be moved in the pipeline, replacing the manual pushing device to walk, which is convenient and fast, and greatly improves the working efficiency of the dredging device.

[0017] 2. When the device in the invention is moving continuously, the driving motor is turned on to rotate the support shaft body, and the connecting rod will rotate along with the rotation of the support shaft body. The extrusion block rotating along with the connecting rod will generate centrifugal force, forcing the extrusion block to move toward the outside of the sliding groove. As the outer diameter of the extrusion block increases, the extrusion block can squeeze the liquid storage capsule, so that the inner cavity volume of the liquid storage capsule decreases. At this time, the cleaning liquid in the liquid storage capsule can enter the inner cavity of the guide ring through the output pipe. When the support shaft body is aligned with the connecting hole on the guide ring, the guide ring and the support shaft body will be in In the conduction state, the cleaning liquid in the guide ring can enter the inner cavity of the supporting shaft body. When the supporting shaft body rotates, the connecting ring will also rotate continuously. The continuously rotating spray head will also generate centrifugal force, forcing the spray head to move toward the outside of the inner cavity of the movable groove. At this time, the limit spring is stretched to make the guide groove and the movable groove conductive, and the cleaning liquid in the supporting shaft body will be able to enter the movable groove from the guide groove. Finally, the cleaning liquid in the movable groove will be sprayed out from the spray head, and the harder dirt on the inner wall of the pipe will be soaked and reacted, further improving the dredging efficiency of the entire device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of a pipeline desilting robot according to the present invention; Figure 2 This is a schematic diagram of the overall structure of a pipeline desilting robot from the rear view of the present invention; Figure 3 This is a schematic cross-sectional structure diagram of a liquid storage ring of a pipeline desilting robot according to the present invention; Figure 4 This is a schematic cross-sectional view of the guide ring of a pipeline desilting robot according to the present invention; Figure 5 This is a schematic diagram showing the structure of the connection clamping part of a pipeline desilting robot of the present invention; Figure 6 This is a schematic diagram showing the structure of a connecting frame of a pipeline desilting robot according to the present invention; Figure 7 This is a schematic diagram showing the structure of a connecting sleeve of a pipeline desilting robot according to the present invention; Figure 8 This is a schematic diagram showing the structure of a connecting ring of a pipeline desilting robot according to the present invention; Fig. 9 This is a schematic cross-sectional view of the supporting shaft of a pipeline desilting robot according to the present invention; Fig.10 The present invention is a schematic diagram of the cross-sectional structure of a connecting ring of a pipeline desilting robot.

[0019] In the figure: 1. support shaft; 2. support frame; 3. connecting frame; 4. connecting sleeve; 5. connecting ring; 6. travel mechanism; 61. vertical plate; 62. bidirectional screw; 621. pressure spring; 63. connecting seat; 64. rotating arm; 65. travel wheel; 651. travel motor; 7. driving mechanism; 71. liquid storage ring; 711. driving motor; 72. connecting rod; 721. sliding groove; 73. extrusion block; 74. liquid storage capsule; 75. output pipe; 76. guide ring; 761. connecting hole; 8. liquid spraying mechanism; 81. guide groove; 82. movable groove; 83. limit spring; 84. spray head; 9. scraping mechanism; 91. auxiliary scraping head; 92. limit groove; 93. reset spring; 94. crushing scraping head. DETAILED DESCRIPTION

[0020] 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.

[0021] See also Figure 1-Figure 10 , the present invention provides a pipeline dredging robot technical solution: A pipeline desilting robot comprises a supporting shaft body 1, a supporting frame 2 is rotatably mounted on the right side of the side wall of the supporting shaft body 1, a connecting frame 3 is fixedly mounted on the side wall of the supporting shaft body 1 close to the supporting frame 2, a connecting sleeve 4 is rotatably mounted on the middle part of the side wall of the supporting shaft body 1, and a connecting ring 5 is fixedly mounted on the left end of the supporting shaft body 1, and further comprises: A traveling mechanism 6, which is arranged on the side wall of the connecting sleeve 4 and is used to drive the entire device to move; A driving mechanism 7, the driving mechanism 7 is arranged on the side wall of the support frame 2, and the driving mechanism 7 is used to inject cleaning liquid into the support shaft body 1; A liquid spraying mechanism 8, which is arranged on the side wall of the connecting ring 5 and is used to spray cleaning liquid into the pipeline to be desilted; The scraping mechanism 9 is arranged on the side wall of the connecting frame 3 and is used for scraping dirt in the pipeline.

[0022] Further, the traveling mechanism 6 includes a vertical plate 61, a bidirectional screw 62, a connecting seat 63, a rotating arm 64 and a traveling wheel 65. The vertical plate 61 is fixedly installed in the middle of the side wall of the connecting sleeve 4, and the bidirectional screw 62 is rotatably installed at one end of the vertical plate 61 away from the connecting sleeve 4. The connecting seat 63 is threadedly installed on both sides of the side wall of the bidirectional screw 62. The rotating arm 64 is rotatably installed on the side wall of the connecting seat 63, and the traveling wheel 65 is rotatably installed at one end of the two rotating arms 64 away from the connecting seat 63. The vertical plate 61 is arranged on the side wall of the connecting sleeve 4 in an annular manner and is equidistant therefrom. The thread directions of the two ends of the bidirectional screw 62 are opposite. The equivalent friction angle of the connecting seat 63 is smaller than the thread lead angle of the bidirectional screw 62. A pressure spring 621 is wound around the side wall of the bidirectional screw 62. One end of the pressure spring 621 is against the side wall of the vertical plate 61, and the other end of the pressure spring 621 is against the side wall of the connecting seat 63. A traveling motor 651 is fixedly installed on the side wall of at least one group of rotating arms 64 through a frame, and the output shaft end of the traveling motor 651 is fixedly connected to the central axis of the traveling wheel 65.

[0023] It should be noted that when silting and descaling the pipeline, the worker places the entire device inside the pipeline, and installs a pressure spring 621 on the side wall of the bidirectional screw 62. The threads at both ends of the bidirectional screw 62 are in opposite directions, and the equivalent friction angle of the connecting seat 63 is smaller than the thread lead angle of the bidirectional screw 62. At this time, under the pulling force of the pressure spring 621, the connecting seats 63 on both sides can drive the rotating arms 64 to retract. Since the two rotating arms 64 are rotatably installed with traveling wheels 65 at one end away from the connecting seats 63, the angle between the two rotating arms 64 gradually becomes smaller, so that the traveling wheels 65 can always be against the inner wall of the pipeline. After that, the worker starts the traveling motor 651, and the output shaft end of the traveling motor 651 is fixedly connected to the central axis of the traveling wheel 65, that is, under the friction between the traveling wheel 65 and the inner wall of the pipeline, the entire device can be moved in the pipeline.

[0024] Furthermore, the driving mechanism 7 includes a liquid storage ring 71, a connecting rod 72, an extrusion block 73, a liquid storage capsule 74, an output pipe 75 and a guide ring 76. The liquid storage ring 71 is fixedly installed on the outer side of the side wall of the support frame 2, a connecting rod 72 is fixedly installed on the side of the support shaft body 1 close to the support frame 2, an extrusion block 73 is slidably installed on the end of the connecting rod 72 away from the support shaft body 1, and a liquid storage capsule 74 is fixedly installed on the inner side wall of the liquid storage ring 71; A guide ring 76 is rotatably mounted on the side wall of the support shaft body 1 near the connecting rod 72. The side wall of the guide ring 76 is connected to the liquid storage capsule 74 through the output pipe 75. A sliding groove 721 is provided on the side wall of the connecting rod 72. The extrusion block 73 slides in the inner cavity of the sliding groove 721. A connecting hole 761 is provided on the side walls of the support shaft body 1 and the guide ring 76. The connecting hole 761 is indirectly arranged. The extrusion block 73 slides in the inner cavity of the liquid storage ring 71. A drive motor 711 is fixedly installed on the right side wall of the liquid storage ring 71 through a frame. The output shaft end of the drive motor 711 is fixedly connected to the support shaft body 1.

[0025] It should be noted that when the driving motor 711 is turned on to rotate the support shaft body 1, a connecting rod 72 is fixedly installed on the side wall of the support shaft body 1 close to the support frame 2. At this time, the connecting rod 72 will rotate together with the rotation of the support shaft body 1. A sliding groove 721 is provided on the side wall of the connecting rod 72. Under the limiting effect of the sliding groove 721, the extrusion block 73 that rotates together with the connecting rod 72 will generate centrifugal force, forcing the extrusion block 73 to move toward the outside of the sliding groove 721, and as the extrusion block 73 rotates, the extrusion block 73 will rotate. The outer diameter of the block 73 increases as it rotates, and the extrusion block 73 can squeeze the liquid storage capsule 74, so that the inner cavity volume of the liquid storage capsule 74 decreases. At this time, the cleaning liquid in the liquid storage capsule 74 can enter the inner cavity of the guide ring 76 through the output pipe 75. Since connecting holes 761 are provided on the side walls of the support shaft body 1 and the guide ring 76, when the connecting holes 761 on the support shaft body 1 and the guide ring 76 are aligned, the guide ring 76 and the support shaft body 1 will be in a conductive state, and at this time, the cleaning liquid in the guide ring 76 can enter the inner cavity of the support shaft body 1.

[0026] Furthermore, the liquid spraying mechanism 8 includes a guide groove 81, a movable groove 82, a limit spring 83 and a spray head 84. The outer wall end of the connecting ring 5 is provided with a movable groove 82, and the limit spring 83 is fixedly installed on the inner cavity bottom surface of the movable groove 82. The spray head 84 is fixedly installed on one end of the limit spring 83 away from the inner cavity bottom surface of the movable groove 82. A movable groove 82 is provided on the outer wall of the connecting ring 5 . The movable groove 82 is connected to the supporting shaft body 1 through the guide groove 81 . The spray head 84 slides in the inner cavity of the movable groove 82 . There are several groups of spray heads 84 .

[0027] It should be noted that when the support shaft body 1 rotates, the connecting ring 5 will also rotate continuously. Since the spray head 84 is slidably installed in the inner cavity of the movable groove 82, the continuously rotating spray head 84 will also generate centrifugal force, forcing the spray head 84 to move toward the outside of the inner cavity of the movable groove 82. At this time, the limit spring 83 is stretched, so that the guide groove 81 and the movable groove 82 are connected, and the cleaning liquid in the support shaft body 1 will be able to enter the movable groove 82 from the guide groove 81. Through the through hole in the middle part of the inner cavity of the spray head 84, the cleaning liquid in the movable groove 82 will eventually be sprayed out from the spray head 84, and the harder dirt on the inner wall of the pipeline will be soaked and reacted to accelerate the efficiency and quality of the entire device in cleaning the sludge and dirt in the pipeline.

[0028] Furthermore, the scraping mechanism 9 includes an auxiliary scraping head 91, a limiting groove 92, a return spring 93 and a crushing scraping head 94. The limiting groove 92 is provided on the outer side of the side wall of the connecting frame 3. The return spring 93 is fixedly installed on the inner cavity bottom surface of the limiting groove 92. The crushing scraping head 94 is fixedly installed on one end of the return spring 93 away from the inner cavity bottom surface of the limiting groove 92. An auxiliary scraper head 91 is fixedly mounted on the outer side of the side wall of the connecting frame 3 . A plurality of crushing scrapers 94 and the auxiliary scrapers 91 are provided in total. The crushing scraper head 94 slides in the inner cavity of the limiting groove 92 .

[0029] It should be noted that with the continuous advancement of the device and the continuous rotation of the support shaft body 1, the connecting frame 3 fixedly installed on the side wall of the support shaft body 1 also rotates continuously. A number of groups of auxiliary scrapers 91 are arranged on the side wall of the connecting frame 3. At this time, with the continuous rotation of the auxiliary scrapers 91, the dirt adhering to the inner wall of the pipe can be scraped off. At the same time, the crushing scraper head 94 also rotates accordingly. Under the centrifugal force of the crushing scraper head 94, the crushing scraper head 94 can move toward the outside of the inner cavity of the limiting groove 92. At this time, the reset spring 93 is stretched to make the crushing scraper head 94 extend outward. At this time, the outermost side of the crushing scraper head 94 will be higher than the outermost side of the auxiliary scraper head 91, and the crushing scraper head 94 and the auxiliary scraper head 91 will be arranged in a canine-tooth staggered manner, which further enhances the effect of the entire device on crushing and removing dirt. When part of the sludge and dirt are broken up, the worker can introduce clean water into the pipe to realize the operation of dredging the pipe.

[0030] Working principle: When silting and descaling the pipeline, the worker places the entire device inside the pipeline, and installs a pressure spring 621 on the side wall of the bidirectional screw 62. The thread directions of the two ends of the bidirectional screw 62 are opposite, and the equivalent friction angle of the connecting seat 63 is smaller than the thread lead angle of the bidirectional screw 62. At this time, under the pulling force of the pressure spring 621, the connecting seats 63 on both sides can drive the rotating arms 64 to retract. Since the two rotating arms 64 are rotated and installed with traveling wheels 65 at one end away from the connecting seats 63, the angle between the two rotating arms 64 gradually becomes smaller, so that the traveling wheels 65 can always be against the inner wall of the pipeline. Then the worker starts the traveling motor 651, and the output shaft end of the traveling motor 651 is fixedly connected to the central axis of the traveling wheel 65, that is, under the friction between the traveling wheel 65 and the inner wall of the pipeline, the entire device can be moved in the pipeline; When the device is continuously moving, the driving motor 711 can be turned on to rotate the support shaft body 1. Since a connecting rod 72 is fixedly installed on the side wall of the support shaft body 1 close to the support frame 2, the connecting rod 72 will rotate along with the rotation of the support shaft body 1. A sliding groove 721 is provided on the side wall of the connecting rod 72. Under the limiting effect of the sliding groove 721, the extrusion block 73 that rotates along with the connecting rod 72 will generate centrifugal force, forcing the extrusion block 73 to move toward the outside of the sliding groove 721. The outer diameter of the extrusion block 73 is continuously increased as it rotates, and the extrusion block 73 can squeeze the liquid storage capsule 74, so that the inner cavity volume of the liquid storage capsule 74 is reduced. At this time, the cleaning liquid in the liquid storage capsule 74 can enter the inner cavity of the guide ring 76 through the output pipe 75. Since the side walls of the support shaft body 1 and the guide ring 76 are both provided with a connecting hole 761, when the connecting holes 761 on the support shaft body 1 and the guide ring 76 are aligned, the guide ring 76 and the support shaft body 1 will be in a conducting state, and at this time, the cleaning liquid in the guide ring 76 can enter the inner cavity of the support shaft body 1; When the support shaft body 1 rotates, the connecting ring 5 will also rotate continuously. Since the spray head 84 is slidably installed in the inner cavity of the movable groove 82, the continuously rotating spray head 84 will also generate centrifugal force, forcing the spray head 84 to move to the outer side of the inner cavity of the movable groove 82. At this time, the limit spring 83 is stretched, so that the guide groove 81 and the movable groove 82 are connected, and the cleaning liquid in the support shaft body 1 will be able to enter the movable groove 82 from the guide groove 81, and the middle part of the inner cavity of the spray head 84 is provided with a through hole. Finally, the cleaning liquid in the movable groove 82 will be sprayed out from the spray head 84, and the harder dirt on the inner wall of the pipeline will be soaked and reacted, so as to accelerate the efficiency and quality of the whole device in cleaning the sludge and dirt in the pipeline; As the device continues to move forward and the support shaft body 1 continues to rotate, the connecting frame 3 fixedly installed on the side wall of the support shaft body 1 also rotates continuously. A number of groups of auxiliary scrapers 91 are arranged on the side wall of the connecting frame 3. At this time, with the continuous rotation of the auxiliary scraper heads 91, the dirt adhering to the inner wall of the pipe can be scraped off. At the same time, the crushing scraper head 94 also rotates accordingly. Under the centrifugal force of the crushing scraper head 94, the crushing scraper head 94 can move toward the outside of the inner cavity of the limiting groove 92. At this time, the reset spring 93 is stretched to make the crushing scraper head 94 extend outward. At this time, the outermost side of the crushing scraper head 94 will be higher than the outermost side of the auxiliary scraper head 91, and the crushing scraper head 94 and the auxiliary scraper head 91 will be arranged in a canine-tooth staggered manner, which further enhances the effect of the entire device in crushing and removing dirt. When part of the silt and dirt are broken up, the worker can introduce clean water into the pipe to realize the operation of dredging the pipe.

[0031] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions of the technical solution of the present invention by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the present invention.

Claims

1. A pipeline desilting robot, comprising a support shaft body (1), a support frame (2) being rotatably mounted on the right side of the side wall of the support shaft body (1), a connecting frame (3) being fixedly mounted on the side wall of the support shaft body (1) close to the support frame (2), a connecting sleeve (4) being rotatably mounted on the middle part of the side wall of the support shaft body (1), and a connecting ring (5) being fixedly mounted on the left end of the support shaft body (1), characterized in that: Also includes: A traveling mechanism (6), the traveling mechanism (6) being arranged on a side wall of the connecting sleeve (4), and the traveling mechanism (6) being used to drive the entire device to travel; A driving mechanism (7), the driving mechanism (7) being arranged on a side wall of the support frame (2), and the driving mechanism (7) being used to inject cleaning liquid into the support shaft body (1); A liquid spraying mechanism (8), the liquid spraying mechanism (8) being arranged on the side wall of the connecting ring (5), the liquid spraying mechanism (8) being used to spray cleaning liquid into the pipeline to be desilted; A scraping mechanism (9), wherein the scraping mechanism (9) is arranged on a side wall of the connecting frame (3), and the scraping mechanism (9) is used to scrape dirt in the pipeline.

2. A pipeline desilting robot according to claim 1, characterized in that: The travel mechanism (6) comprises a vertical plate (61), a bidirectional screw (62), a connecting seat (63), a rotating arm (64) and a travel wheel (65); the vertical plate (61) is fixedly mounted on the middle part of the side wall of the connecting sleeve (4); the bidirectional screw (62) is rotatably mounted on one end of the vertical plate (61) away from the connecting sleeve (4); the connecting seat (63) is threadedly mounted on both sides of the side wall of the bidirectional screw (62); the rotating arm (64) is rotatably mounted on the side wall of the connecting seat (63); and the travel wheels (65) are rotatably mounted on one end of the two rotating arms (64) away from the connecting seat (63).

3. A pipeline desilting robot according to claim 2, characterized in that: The vertical plate (61) is annularly equidistantly arranged on the side wall of the connecting sleeve (4); the threads of the two ends of the bidirectional screw (62) are in opposite directions; the equivalent friction angle of the connecting seat (63) is smaller than the thread lead angle of the bidirectional screw (62); a pressure spring (621) is wound and installed on the side wall of the bidirectional screw (62); one end of the pressure spring (621) abuts against the side wall of the vertical plate (61); and the other end of the pressure spring (621) abuts against the side wall of the connecting seat (63); a traveling motor (651) is fixedly installed on the side wall of at least one group of the rotating arms (64) via a frame; and an output shaft end of the traveling motor (651) is fixedly connected to the central axis of the traveling wheel (65).

4. The pipeline desilting robot according to claim 1, characterized in that: The driving mechanism (7) comprises a liquid storage ring (71), a connecting rod (72), an extrusion block (73), a liquid storage capsule (74), an output tube (75) and a guide ring (76); the liquid storage ring (71) is fixedly mounted on the outer side of the side wall of the support frame (2); a connecting rod (72) is fixedly mounted on the side of the side wall of the support shaft body (1) close to the support frame (2); an extrusion block (73) is slidably mounted on the end of the connecting rod (72) away from the support shaft body (1); and a liquid storage capsule (74) is fixedly mounted on the inner side wall of the liquid storage ring (71).

5. A pipeline desilting robot according to claim 4, characterized in that: A guide ring (76) is rotatably mounted on a side wall of the support shaft (1) close to the connecting rod (72); the side wall of the guide ring (76) is connected to the liquid storage bag (74) via an output tube (75); a sliding groove (721) is provided on the side wall of the connecting rod (72); and the extrusion block (73) slides in the inner cavity of the sliding groove (721).

6. A pipeline desilting robot according to claim 5, characterized in that: The side walls of the support shaft body (1) and the guide ring (76) are both provided with a communication hole (761), and the communication hole (761) is indirectly provided. The extrusion block (73) slides in the inner cavity of the liquid storage ring (71). A drive motor (711) is fixedly mounted on the right side wall of the liquid storage ring (71) via a frame, and an output shaft end of the drive motor (711) is fixedly connected to the support shaft body (1).

7. A pipeline desilting robot according to claim 6, characterized in that: The liquid spraying mechanism (8) comprises a guide groove (81), a movable groove (82), a limit spring (83) and a spray head (84); the outer wall end of the connecting ring (5) is provided with a movable groove (82); the limit spring (83) is fixedly mounted on the inner cavity bottom surface of the movable groove (82); and the spray head (84) is fixedly mounted on one end of the limit spring (83) away from the inner cavity bottom surface of the movable groove (82).

8. The pipeline desilting robot according to claim 7, characterized in that: A movable groove (82) is provided on the outer side wall of the connecting ring (5); the movable groove (82) is connected to the supporting shaft body (1) via a guide groove (81); the spray head (84) slides in the inner cavity of the movable groove (82); and a total of several groups of the spray heads (84) are provided.

9. The pipeline desilting robot according to claim 1, characterized in that: The scraping mechanism (9) comprises an auxiliary scraping head (91), a limiting groove (92), a return spring (93) and a crushing scraping head (94); the limiting groove (92) is provided on the outer side of the side wall of the connecting frame (3); the return spring (93) is fixedly mounted on the bottom surface of the inner cavity of the limiting groove (92); and the crushing scraping head (94) is fixedly mounted on one end of the return spring (93) away from the bottom surface of the inner cavity of the limiting groove (92).

10. The pipeline desilting robot according to claim 9, characterized in that: An auxiliary scraper head (91) is fixedly mounted on the outer side of the side wall of the connecting frame (3); a plurality of the crushing scraper heads (94) and the auxiliary scraper heads (91) are provided in total; and the crushing scraper heads (94) slide in the inner cavity of the limiting groove (92).

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