Pipeline desilting robot and pipeline desilting method

Abstract

The invention provides a pipeline desilting robot and a pipeline desilting method, and relates to the technical field of pipeline desilting. The device comprises a desilting assembly, a wire storage assembly and a wire arrangement assembly, and the desilting assembly can advance along the inner wall of the municipal sewer line and clean sundries on the inner wall; the cable storage assembly is arranged at a wellhead of the vertical shaft and can wind a cable, one end of the cable is wound on the cable storage assembly, and the other end of the cable downwards penetrates through the vertical shaft and extends into the municipal sewer pipeline from a pipe opening, communicated with the vertical shaft, of the municipal sewer pipeline to be connected with the dredging assembly; the cable management assembly is in transmission connection with the cable located between the cable storage assembly and the desilting assembly and can tension the cable between the cable storage assembly and the cable management assembly, and the cable management assembly can tension the cable between the cable management assembly and the desilting assembly in the length direction of the municipal sewer pipeline. According to the invention, the cable can be protected, so that the cable is not liable to be scratched and damaged.

Description

Technical Field

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

[0002] The pipe dredging robot is an automated device specially used to clean sediments, garbage and other debris in pipes. It can be used for various types of pipe dredging work such as sewer pipes, industrial pipes, sewage treatment plants, chemical plants, etc. It is particularly suitable for scenarios where the pipe space is small and personnel cannot enter.

[0003] Existing pipeline dredging robots generally include a frame, moving wheels, a dredging device and a wire storage device. The moving wheels are arranged on the frame and can drive the frame to move in the pipeline. The dredging device is arranged on the frame and can clean up debris in the pipeline. The wire storage device is used to store cables. One end of the cable extends into the pipeline and is electrically connected to the moving wheels and the dredging device on the frame so that power can be supplied to the equipment deep in the pipeline through the cable.

[0004] However, when cleaning municipal sewer pipes, since the cable storage device stores many cables and is large in size, the pipe dredging robot needs to first pass through the vertical shaft opened on the ground and enter the ground before it can drill into the horizontal sewer pipes under the ground for cleaning. As a result, the cable storage device can only stay on the ground, and the cables released by the cable storage device also need to pass downward through the vertical shaft and then enter the sewer pipe, which makes it easy for these cables to come into contact with debris on the shaft wall, sharp corners at the joints of the sewer pipe and the shaft during movement, and be scratched or damaged.

[0005] In view of this, it is necessary to provide a pipeline dredging robot and a pipeline dredging method. Summary of the invention

[0006] In order to solve the problem that when the existing pipe dredging robot is cleaning the municipal sewer pipe, the cable will come into contact with debris on the shaft wall and the sharp corners at the joints of the municipal sewer pipe and the shaft, thereby causing the cable to be scratched or damaged, the present application provides a pipe dredging robot and a pipe dredging method.

[0007] In a first aspect, the present application provides a pipeline desilting robot, which adopts the following technical solution: comprising a desilting component, a wire storage component and a wire management component, wherein the desilting component can move along the inner wall of the municipal sewer pipe and clean the debris on the inner wall; The cable storage assembly is arranged at the wellhead of the shaft and is capable of reeling in cables, one end of the cables is wound around the cable storage assembly, and the other end of the cables passes downward through the shaft and extends from the pipe opening where the municipal sewer pipe is connected to the shaft into the municipal sewer pipe and is connected to the dredging assembly; The wire management assembly is connected to the cable transmission between the wire storage assembly and the dredging assembly, and can tension the cable between the wire storage assembly and the wire management assembly, and the wire management assembly can tension the cable between the wire management assembly and the dredging assembly along the length direction of the municipal sewer pipe.

[0008] By adopting the above technical scheme, in the process that the dredging component gradually penetrates into the municipal sewer pipe along the inner wall of the municipal sewer pipe, the cable management component can not only tighten the cables between itself and the cable storage component so that this part of the cables is not easily contacted with debris on the wall of the shaft, but also can tighten the cables between the cable management component and the dredging component along the length direction of the municipal sewer pipe, so that this part of the cables will not contact with the sharp corners at the joint of the municipal sewer pipe and the shaft when entering the municipal sewer pipe from the shaft, thereby protecting the cables and making it difficult for the cables between the dredging component and the cable storage component to be scratched or damaged.

[0009] Specifically, the cable management assembly includes a water-blocking box, a cable locking roller and a brake unit. A cable inlet is provided on the top of the water-blocking box, and a cable outlet is provided on a side of the water-blocking box close to the municipal sewer pipe. The wire locking roller is rotatably connected to the inner wall of the water-proof box, and a spiral wire locking groove is provided on the roller surface of the wire locking roller. The cable extending from the wire storage assembly can pass through the wire inlet into the water-proof box and bypass the wire locking roller along the wire locking groove and then leave the water-proof box from the wire outlet. The brake unit abuts against the wire locking roller and can control the friction force between the brake unit and the wire locking roller.

[0010] By adopting the above technical scheme, the setting of the wire locking groove makes it necessary for the dredging component to drive the wire locking roller to rotate when pulling the cable from the shaft into the municipal sewer pipe, and the brake unit can control the resistance that the dredging component needs to overcome when pulling the cable by controlling the friction between itself and the wire locking roller, so that the cable between the wire management component and the dredging component can be in a tensioned state through the confrontation between the resistance and the pulling force of the dredging component; and because the wire locking roller will also reel in the cable placed in the shaft under the wire storage component when rotating, the cable between the wire management component and the wire storage component can be in a tensioned state through the confrontation between the reeling force and the resistance that needs to be overcome when the cable is pulled out of the wire storage component.

[0011] Furthermore, the brake unit includes a soft brake component, a brake column and a telescopic cylinder, a rotation groove is provided at one end of the wire locking roller, a support column is provided on the inner side wall of the water-isolating box, one end of the support column is inserted into the rotation groove, the wire locking roller is rotatably connected to the support column through a bearing, and the soft brake component is provided on the inner wall of the rotation groove; The cylinder body of the telescopic cylinder is connected to the support column, the piston rod of the telescopic cylinder is connected to the brake column, an inclined surface is formed on the column body of the brake column, the inclined surface abuts against the soft brake component, and the inclined surface is inclined in a direction away from the central axis of the piston rod in the movement direction of the piston rod of the telescopic cylinder.

[0012] By adopting the above technical scheme, the user can change the position where the soft brake part abuts the inclined surface by driving the telescopic cylinder to drive the brake column to move. When the part of the inclined surface farther from the central axis of the piston rod of the telescopic cylinder abuts against the soft brake part, the soft brake part will produce a larger deformation and make the pressure between the brake column and the soft brake part larger, thereby making the friction force between the wire locking roller and the brake column that needs to be overcome when rotating larger; when the part of the inclined surface closer to the central axis of the piston rod of the telescopic cylinder abuts against the soft brake part, the soft brake part will produce a smaller deformation and make the pressure between the brake column and the soft brake part smaller, thereby making the friction force between the wire locking roller and the brake column that needs to be overcome when rotating smaller, thereby controlling the amount of resistance that the wire locking roller needs to overcome when rotating.

[0013] Furthermore, the soft brake component includes an elastic ring and a brake pad, the outer ring of the elastic ring is connected to the inner wall of the rotating groove, and the brake pad is arranged on the inner ring of the elastic ring and can abut against the brake column.

[0014] By adopting the above technical solution, the brake pad can protect the elastic ring so that the elastic ring will not directly contact the brake column during rotation, and the elastic ring is not easily worn out.

[0015] Furthermore, the wire management assembly also includes a wire taking-up motor, an active bevel gear and a driven bevel gear. The wire taking-up motor is arranged in the water-proof box, the active bevel gear is arranged on the driving shaft of the wire taking-up motor, and the driven bevel gear is arranged on the rotating shaft of the wire locking roller and meshes with the active bevel gear.

[0016] By adopting the above technical solution, the user can drive the take-up motor to rotate to pull the dredging assembly from the municipal drainage pipe back to the vertical shaft where the water-isolating box is located, thereby realizing the rapid recovery of the dredging assembly.

[0017] Specifically, the wire storage assembly includes a bracket, a wire storage wheel and a wire control motor. The bracket is arranged at the wellhead of the vertical shaft. The wire storage wheel is rotatably connected to the bracket and is suitable for winding up the cable. The wire control motor is transmission-connected to the wire storage wheel and can drive the wire storage wheel to wind up or release the cable.

[0018] By adopting the above technical solution, the user can drive the wire storage wheel to reel in or release the wire through the wire control motor.

[0019] Specifically, the dredging assembly includes a frame, a mobile unit and a dredging unit, and the cable is connected to the frame; The moving unit is arranged on the frame and can drive the frame to move along the inner wall of the municipal sewer pipe; The desilting unit is arranged on the frame and can clean the debris in the municipal sewer pipe.

[0020] By adopting the above technical solution, the moving unit can drive the frame to move along the inner wall of the municipal sewer pipe, so that the silt removal unit on the frame can clean up the debris in the municipal sewer pipe.

[0021] Furthermore, the mobile unit includes a track wheel and a mobile motor, the track wheel is arranged on the frame, and the mobile motor is transmission-connected to the track wheel and can drive the track on the track wheel to rotate.

[0022] By adopting the above technical solution, the user can drive the track on the track wheel to rotate by moving the motor, and then drive the frame to move along the inner wall of the municipal sewer pipe.

[0023] Furthermore, the dredging unit includes a silt scraper ring, a silt scraper motor and a silt crusher knife. The outer ring of the silt scraper ring is in contact with the inner wall of the municipal sewer pipe and can scrape off debris adhered to the inner wall of the municipal sewer pipe as the frame moves. The output shaft of the silt scraper motor extends into the inner ring of the silt scraper ring and is connected to the silt crusher knife, and the silt scraper motor can drive the silt crusher knife to rotate in the inner ring of the silt scraper ring.

[0024] By adopting the above technical solution, when the frame moves along the inner wall of the municipal sewer pipe, the silt scraper ring can scrape off the debris adhered to the inner wall of the municipal sewer pipe along with the movement of the frame, and the silt cleaning motor can drive the silt crushing knife to rotate in the inner ring of the silt scraper ring and break the debris scraped by the silt scraper ring so that the debris can be washed away with the water flow.

[0025] The second aspect of the present application provides a pipeline dredging method, which adopts the following technical solution: Dredging process: firstly, place the dredging component into the municipal sewer pipe and control the dredging component to move away from the water-blocking box along the inner wall of the municipal sewer pipe, and then control the brake unit to gradually increase the friction between the brake unit and the wire locking roller until the cable between the water-blocking box and the dredging component is tensioned along the length direction of the municipal sewer pipe; Recovery process: first control the brake unit to reduce the friction between the brake unit and the wire locking roller to a minimum, then control the wire taking-up motor to drive the wire locking roller to rotate and pull the dredging assembly along the inner wall of the municipal sewer pipe to the water isolation box.

[0026] By adopting the above technical solution, the user can dredge the municipal sewer pipe through the dredging process, and after the dredging is completed or when the dredging component is stuck and cannot move further, the dredging component can be quickly recovered from the municipal sewer pipe through the recovery process.

[0027] In summary, the present application includes at least one of the following beneficial technical effects: 1. It comprises a dredging component, a wire storage component and a wire management component. The dredging component can move along the inner wall of the municipal sewer pipe and clean the debris on the inner wall. The wire storage component is arranged at the wellhead of the vertical shaft and can reel in the cable. One end of the cable is wound on the wire storage component, and the other end of the cable passes downward through the vertical shaft and extends from the pipe opening connected to the municipal sewer pipe and the vertical shaft into the municipal sewer pipe to be connected with the dredging component. The wire management component is connected to the cable between the wire storage component and the dredging component through transmission, and can tension the cable between the wire storage component and the wire management component, and the wire management component can tension the wire management component and the wire management component along the length direction of the municipal sewer pipe. The cables between the dredging components, when the dredging components gradually penetrate into the municipal sewer pipe along the inner wall of the municipal sewer pipe, the cable management component can not only tension the cables between itself and the cable storage component, so that this part of the cables is not easy to contact with the debris on the wall of the shaft, but also can tension the cables between the cable management component and the dredging component along the length direction of the municipal sewer pipe, so that this part of the cables will not contact with the sharp corners at the joint between the municipal sewer pipe and the shaft when entering the municipal sewer pipe from the shaft, thereby protecting the cables and preventing the cables between the dredging component and the cable storage component from being scratched or damaged; 2. The wire management assembly also includes a wire taking-up motor, an active bevel gear and a driven bevel gear. The wire taking-up motor is arranged in the water-blocking box, the active bevel gear is arranged on the driving shaft of the wire taking-up motor, and the driven bevel gear is arranged on the rotating shaft of the wire locking roller and meshes with the active bevel gear, so that the user can drive the wire taking-up motor to rotate to pull the dredging assembly from the municipal drainage pipe back to the vertical shaft where the water-blocking box is located, thereby realizing the rapid recovery of the dredging assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a stereoscopic diagram of a pipeline desilting robot of the present application; Figure 2 is a stereoscopic view of a dredging component of a pipeline dredging robot of the present application, wherein only a portion of the cables are shown; Figure 3 is along Figure 2 A schematic cross-sectional view taken along the central axis in the length direction of the middle frame, wherein only a portion of the frame is shown; Figure 4 is along Figure 1 A schematic cross-sectional view of the central line storage wheel taken along the central axis; Figure 5 yes Figure 4 A schematic enlarged view of the region A, showing the brake unit; Figure 6 is along Figure 4 A schematic cross-sectional view taken along the BB direction, in which only the cable management assembly and part of the cables are shown.

[0029] Figure numerals: 1. dredging assembly; 11. frame; 111. water hole; 112. spoke; 12. mobile unit; 121. track wheel; 13. dredging unit; 131. silt scraper ring; 132. dredging motor; 133. silt crusher; 134. waterproof box; 2. line storage assembly; 21. bracket; 22. line storage wheel; 23. line control motor; 3. line management assembly; 31. waterproof box; 311. support column; 3111. bearing; 32. line locking roller; 33. brake unit; 331. soft brake part; 3311. elastic ring; 3312. brake pad; 332. brake column; 333. telescopic cylinder; 34. take-up motor; 35. active bevel gear; 36. driven bevel gear; 4. municipal sewer; 5. shaft; 6. cable. DETAILED DESCRIPTION

[0030] The following is combined with Figure 1-6 For further explanation: See also Figure 1 , Figure 2 and Figure 4 A pipeline dredging robot includes a dredging component 1, a cable 6, a wire storage component 2 and a wire management component 3. The dredging component 1 can move along the inner wall of a municipal sewer pipe 4 and clean the debris on the inner wall; the dredging component 1 includes a frame 11, a dredging unit 13 and three groups of moving units 12. The dredging unit 13 includes a silt scraping ring 131, a waterproof box 134, a silt scraping motor 132 and a plurality of silt crushing knives 133. The silt scraping ring 131 is arranged at one end of the frame 11 and is connected to the frame 11 through two oppositely arranged spokes 112. A water hole 111 is opened on the frame 11. The water hole 111 runs through the entire length direction of the frame 11. The cable 6 One end is connected to the inner ring of the silt scraper ring 131 through two oppositely arranged spokes 112; one end of the waterproof box 134 is inserted into the water hole 111 and connected to the hole wall of the water hole 111 through two oppositely arranged spokes 112, and the dredging motor 132 is arranged in the waterproof box 134. A through hole leading to the waterproof box 134 is opened on the side of the waterproof box 134 facing the cable 6, and the output shaft of the dredging motor 132 passes through the through hole and extends into the inner ring of the silt scraper ring 131, and each silt breaking knife 133 is connected to the output shaft of the dredging motor 132, so that the dredging motor 132 can drive the silt breaking knife 133 to rotate in the inner ring of the silt scraper ring 131.

[0031] See also Figure 2and Figure 3 , three groups of mobile units 12 are arranged on the frame 11 at equal intervals along the circumferential direction, and each mobile unit 12 includes a track wheel 121 and a mobile motor (not shown in the figure). Each mobile motor is arranged inside a corresponding track wheel 121 and can drive the track on the track wheel 121 to rotate, so that the three track wheels 121 can drive the frame 11 to move along the inner wall of the municipal sewer pipe 4, and in the process of the frame 11 moving along the inner wall of the municipal sewer pipe 4, the silt scraper ring 131 can scrape off the debris adhered to the inner wall of the municipal sewer pipe 4 with the movement of the random frame 11, and the silt removal motor 132 can drive the silt crusher 133 to rotate in the inner ring of the silt scraper ring 131 and break the debris scraped off by the silt scraper ring 131, so that these debris can be washed away with the water flow.

[0032] See also Figure 4 and Figure 5 The wire storage assembly 2 includes a bracket 21, a wire storage wheel 22 and a wire control motor 23. The bracket 21 is arranged at the wellhead of the vertical shaft 5. The wire storage wheel 22 is rotatably connected to the bracket 21 and is suitable for winding up the cable 6. The output shaft of the wire control motor 23 is connected to the rotating shaft of the wire storage wheel 22, so that the user can drive the wire storage wheel 22 to wind up or release the cable 6 through the wire control motor 23.

[0033] See also Figure 5 and Figure 6 The wire management assembly 3 includes a water-proof box 31, a wire locking roller 32, a brake unit 33, a wire-reeling motor 34, an active bevel gear 35 and a driven bevel gear 36. A wire inlet is provided at the top of the water-proof box 31, and a wire outlet is provided on the side of the water-proof box 31 close to the municipal sewer pipe 4; the wire locking roller 32 is rotatably connected to the inner wall of the water-proof box 31, and a spiral wire locking groove is provided on the roller surface of the wire locking roller 32. The cable 6 extending from the wire storage assembly 2 can pass through the wire inlet into the water-proof box 31 and bypass the wire locking roller 32 along the wire locking groove and then leave the water-proof box 31 from the wire outlet; the brake unit 33 includes a soft brake part 331, a brake column 332 and a telescopic cylinder 333. A rotating groove is provided at one end of the wire locking roller 32, and a support is provided on the inner wall of the water-proof box 31. The support column 311, one end of the support column 311 is inserted into the rotating groove, and the locking roller 32 is rotatably connected to the support column 311 through the bearing 3111; the soft brake component 331 includes an elastic ring 3311 and a plurality of brake pads 3312, the outer ring of the elastic ring 3311 is connected to the inner wall of the rotating groove, and each brake pad 3312 is arranged on the inner ring of the elastic ring 3311 at intervals along the circumferential direction and can abut against the column body of the brake column 332. The above-mentioned elastic ring 3311 can be a rubber ring, and the above-mentioned brake pad 3312 can be a metal sheet, so that the brake pad 3312 can protect the elastic ring 3311, so that the elastic ring 3311 will not directly contact the brake column 332 during rotation, and it is not easy for the elastic ring 3311 to be worn.

[0034] See also Figure 4 and Figure 5 The cylinder body of the telescopic cylinder 333 is arranged in the receiving groove opened on the support column 311, and the brake column 332 is truncated cone-shaped. The small end of the truncated cone-shaped brake column 332 is connected to the piston rod of the telescopic cylinder 333, so that an inclined surface can be formed on the column body, which is inclined in the direction away from the central axis of the piston rod in the movement direction of the piston rod of the telescopic cylinder 333. Then, the user can drive the telescopic cylinder 333 to drive the brake column 332 to move, so as to change the position where the soft brake part 331 abuts against the inclined surface. When the piston rod of the telescopic cylinder 333 is retracted into the cylinder body, the soft brake part 331 The deformation will gradually increase and increase the pressure between the brake column 332 and the soft brake component 331, thereby increasing the friction force between the wire locking roller 32 and the brake column 332 that needs to be overcome when the wire locking roller 32 rotates; when the piston rod of the telescopic cylinder 333 extends from the cylinder body, the deformation of the soft brake component 331 will gradually decrease and reduce the pressure between the brake column 332 and the soft brake component 331, thereby reducing the friction force between the wire locking roller 32 and the brake column 332 that needs to be overcome when the wire locking roller 32 rotates, thereby controlling the amount of resistance that the wire locking roller 32 needs to overcome when rotating.

[0035] See also Figure 4 and Figure 5 The wire-reeling motor 34 is arranged in the water-proof box 31, the active bevel gear 35 is arranged on the driving shaft of the wire-reeling motor 34, and the driven bevel gear 36 is arranged on the rotating shaft of the wire-locking roller 32 and meshes with the active bevel gear 35, so that the user can drive the wire-reeling motor 34 to rotate to pull the dredging assembly 1 from the municipal drainage pipe back to the vertical shaft 5 where the water-proof box 31 is located, thereby realizing the rapid recovery of the dredging assembly 1.

[0036] The implementation principle of a pipeline desilting robot in this application is: The setting of the spiral locking groove makes it necessary for the dredging component 1 to drive the locking roller 32 to rotate when pulling the cable 6 from the shaft 5 into the municipal sewer pipe 4. The user can control the piston rod of the telescopic cylinder 333 to gradually retract into the cylinder body when starting the dredging component 1 to gradually penetrate into the municipal sewer pipe 4 along the inner wall of the municipal sewer pipe 4, so that the resistance that the dredging component 1 needs to overcome when pulling the cable 6 gradually increases, and then the cable 6 between the wire management component 3 and the dredging component 1 is in a tensioned state through the confrontation between the resistance and the pulling force of the dredging component 1, so that this part of the cable 6 can enter the municipal sewer from the shaft 5. When in the pipe 4, it will not come into contact with the sharp corners at the joint of the municipal sewer pipe 4 and the shaft 5; and because the wire locking roller 32 will also reel in the cable 6 placed in the shaft 5 under the wire storage assembly 2 when rotating, the user can control the speed of releasing the cable 6 by the wire storage wheel 22 through the wire control motor 23 to be equal to the speed of reeling in the cable 6 by the wire locking roller 32, so that the cable 6 between the wire storage wheel 22 and the wire locking roller 32 is also in a tensioned state, so that this part of the cable 6 is not easy to come into contact with the debris on the wall of the shaft 5, thereby protecting the cable 6 and making the cable 6 between the dredging assembly 1 and the wire storage assembly 2 not easy to be scratched or damaged.

[0037] It should be noted that the above-mentioned cable 6 can be made of underwater zero-buoyancy special cable (PU polyurethane floating cable). The density of this type of cable 6 is basically the same as that of water, which allows the cable 6 between the cable management component 3 and the cable storage component 2 to be suspended in the water in the municipal sewer pipe 4 without rubbing against the inner wall of the municipal sewer pipe 4 under the action of gravity or buoyancy. The cable 6 between the cable management component 3 and the dredging component 1 can also be in a tensioned state through the confrontation between the resistance encountered when the cable 6 is pulled and the pulling force of the dredging component 1 on the cable 6.

[0038] Based on the structure of the above pipeline dredging robot, the second aspect of the present application further provides a pipeline dredging method, which is implemented by using the above pipeline dredging robot. The method specifically includes: Dredging process: first, place the dredging component 1 into the municipal sewer pipe 4 and control the dredging component 1 to move away from the water-blocking box 31 along the inner wall of the municipal sewer pipe 4, and then control the brake unit 33 to gradually increase the friction between the brake unit 33 and the wire locking roller 32 until the cable 6 between the water-blocking box 31 and the dredging component 1 is tensioned along the length direction of the municipal sewer pipe 4; Recovery process: first control the brake unit 33 to reduce the friction between the brake unit 33 and the wire locking roller 32 to a minimum, then control the wire taking-up motor 34 to drive the wire locking roller 32 to rotate and pull the dredging assembly 1 along the inner wall of the municipal sewer pipe 4 to the water isolation box 31.

[0039] Since the pipeline dredging method of the present application is implemented by the above-mentioned pipeline dredging robot, it can also have all the technical effects of the above-mentioned pipeline dredging robot. In particular, the user can dredge the municipal sewer pipe 4 through the dredging process, and after the dredging is completed or when the dredging component 1 is stuck and cannot continue to move, the dredging component 1 can be quickly recovered from the municipal sewer pipe 4 through the recovery process.

[0040] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A pipeline desilting robot for cleaning a municipal sewer pipe (4) connected to a vertical shaft (5), characterized in that: It comprises a dredging component (1), a wire storage component (2) and a wire management component (3); the dredging component (1) can move along the inner wall of the municipal sewer pipe (4) and clean the debris on the inner wall; The wire storage assembly (2) is arranged at the wellhead of the vertical shaft (5) and is capable of reeling in the cable (6); one end of the cable (6) is wound around the wire storage assembly (2); the other end of the cable (6) passes downward through the vertical shaft (5) and extends from the pipe opening of the municipal sewer pipe (4) connected to the vertical shaft (5) into the municipal sewer pipe (4) to be connected to the silting assembly (1); The cable management component (3) is transmission-connected to the cable (6) located between the cable storage component (2) and the dredging component (1), and is capable of tensioning the cable (6) between the cable storage component (2) and the cable management component (3), and the cable management component (3) is capable of tensioning the cable (6) between the cable management component (3) and the dredging component (1) along the length direction of the municipal sewer pipe (4).

2. A pipeline desilting robot according to claim 1, characterized in that: The wire management assembly (3) comprises a water-blocking box (31), a wire locking roller (32) and a brake unit (33); a wire inlet is provided on the top of the water-blocking box (31), and a wire outlet is provided on one side of the water-blocking box (31) close to the municipal sewer pipe (4); The wire locking roller (32) is rotatably connected to the inner wall of the water-proof box (31), and a spiral wire locking groove is provided on the roller surface of the wire locking roller (32), so that the cable (6) extending from the wire storage assembly (2) can pass through the wire inlet into the water-proof box (31) and bypass the wire locking roller (32) along the wire locking groove and then leave the water-proof box (31) from the wire outlet; The brake unit (33) abuts against the wire locking roller (32) and is capable of controlling the magnitude of the friction force between the brake unit (33) and the wire locking roller (32).

3. A pipeline desilting robot according to claim 2, characterized in that: The brake unit (33) comprises a soft brake component (331), a brake column (332) and a telescopic cylinder (333); a rotation groove is provided at one end of the wire locking roller (32); a support column (311) is provided on the inner side wall of the water-isolating box (31); one end of the support column (311) is inserted into the rotation groove; the wire locking roller (32) is rotationally connected to the support column (311) via a bearing (3111); and the soft brake component (331) is provided on the inner wall of the rotation groove; The cylinder body of the telescopic cylinder (333) is connected to the support column (311), and the piston rod of the telescopic cylinder (333) is connected to the brake column (332). An inclined surface is formed on the column body of the brake column (332), and the inclined surface abuts against the soft brake component (331), and the inclined surface is inclined in a direction away from the central axis of the piston rod in the movement direction of the piston rod of the telescopic cylinder (333).

4. A pipeline desilting robot according to claim 3, characterized in that: The soft brake component (331) comprises an elastic ring (3311) and a brake pad (3312), wherein the outer ring of the elastic ring (3311) is connected to the inner wall of the rotating groove, and the brake pad (3312) is arranged on the inner ring of the elastic ring (3311) and can abut against the brake column (332).

5. The pipeline desilting robot according to claim 2, characterized in that: The wire management assembly (3) further comprises a wire taking-up motor (34), an active bevel gear (35) and a driven bevel gear (36); the wire taking-up motor (34) is arranged in the water-proof box (31); the active bevel gear (35) is arranged on the driving shaft of the wire taking-up motor (34); and the driven bevel gear (36) is arranged on the rotating shaft of the wire locking roller (32) and meshes with the active bevel gear (35).

6. The pipeline desilting robot according to claim 1, characterized in that: The wire storage assembly (2) comprises a bracket (21), a wire storage wheel (22) and a wire control motor (23); the bracket (21) is arranged at the wellhead of the vertical shaft (5); the wire storage wheel (22) is rotatably connected to the bracket (21) and is suitable for winding up the cable (6); the wire control motor (23) is transmission-connected to the wire storage wheel (22) and can drive the wire storage wheel (22) to wind up or release the cable (6).

7. The pipeline desilting robot according to claim 1, characterized in that: The dredging assembly (1) comprises a frame (11), a moving unit (12) and a dredging unit (13), and the cable (6) is connected to the frame (11); The moving unit (12) is arranged on the frame (11) and is capable of driving the frame (11) to move along the inner wall of the municipal sewer pipe (4); The desilting unit (13) is arranged on the frame (11) and is capable of clearing debris in the municipal sewer pipe (4).

8. The pipeline desilting robot according to claim 7, characterized in that: The mobile unit (12) comprises a track wheel (121) and a mobile motor. The track wheel (121) is arranged on the frame (11). The mobile motor is in driving connection with the track wheel (121) and can drive the track on the track wheel (121) to rotate.

9. The pipeline desilting robot according to claim 7, characterized in that: The silt removal unit (13) comprises a silt scraping ring (131), a silt removal motor (132) and a silt breaking knife (133); the outer ring of the silt scraping ring (131) is in contact with the inner wall of the municipal sewer pipe (4) and can scrape off debris adhered to the inner wall of the municipal sewer pipe (4) as the frame (11) moves; the output shaft of the silt scraping motor (132) extends into the inner ring of the silt scraping ring (131) and is connected to the silt breaking knife (133); and the silt scraping motor (132) can drive the silt breaking knife (133) to rotate in the inner ring of the silt scraping ring (131).

10. A pipeline desilting method, implemented by using the pipeline desilting robot according to claim 5, characterized in that: include: Dredging process: firstly, place the dredging component (1) into the municipal sewer pipe (4) and control the dredging component (1) to move away from the water-blocking box (31) along the inner wall of the municipal sewer pipe (4), and then control the brake unit (33) to gradually increase the friction between the brake unit (33) and the wire locking roller (32) until the cable (6) between the water-blocking box (31) and the dredging component (1) is tightened along the length direction of the municipal sewer pipe (4); Recovery process: first control the brake unit (33) to reduce the friction between the brake unit (33) and the wire locking roller (32) to a minimum, then control the wire taking-up motor (34) to drive the wire locking roller (32) to rotate and pull the dredging component (1) along the inner wall of the municipal sewer pipe (4) to the water isolation box (31).

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