Pipeline obstacle removing robot and working method thereof

Abstract

The invention discloses a pipeline obstacle removing robot and a working method thereof, and belongs to the technical field of pipeline obstacle removing, in order to improve the pipeline obstacle removing effect, the pipeline obstacle removing robot comprises a vehicle body (1), a mechanical arm (5) and a grinding cutter head device (6), one end of the mechanical arm (5) is fixed relative to the vehicle body (1), and the other end of the mechanical arm (5) is connected with the grinding cutter head device (6); and the mechanical arm (5) can enable the grinding cutter head device (6) to move. According to the pipeline obstacle removing robot, tree roots and hard scaling substances in a pipeline can be accurately removed, the pipe wall is not prone to being damaged when sludge is removed, and due to the fact that the crushing machine is arranged, a blow-off pipe can be prevented from being blocked when obstacles are discharged.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline obstacle removal, in particular to a pipeline obstacle removal robot and a working method of the pipeline obstacle removal robot. Background Art

[0002] Underground drainage pipes are an important part of the urban drainage system. As the pipeline facilities age, obstacles such as silt impurities, hard scale, and tree roots usually appear in the pipes, causing pipe siltation, rupture, and deformation, leading to urban waterlogging, pollution of the urban environment, and increasing urban maintenance costs. At present, pipeline clearance is mainly carried out manually with simple tools such as dredging winches, high-pressure water jets, and dredging balls, but the clearance effect is not ideal. Summary of the invention

[0003] In order to improve the pipeline obstacle clearing effect, the present invention provides a pipeline obstacle clearing robot and a working method thereof. The pipeline obstacle clearing robot can not only accurately clean tree roots and hard scaling in the pipeline, but also is not easy to damage the pipe wall when cleaning silt. Since it contains a crusher, it can also avoid clogging of the sewage pipe when removing obstacles.

[0004] The technical solution adopted by the embodiment of the present invention to solve the technical problem is:

[0005] A pipeline obstacle clearing robot comprises a vehicle body, a mechanical arm and a grinding and cutting disc device, wherein one end of the mechanical arm is fixed relative to the vehicle body, and the other end of the mechanical arm is connected to the grinding and cutting disc device, and the mechanical arm can move the grinding and cutting disc device.

[0006] A working method of the pipeline obstacle clearing robot as described above, the working method of the pipeline obstacle clearing robot comprises the following steps:

[0007] Placing the pipeline obstacle-clearing robot into the pipeline to be cleared;

[0008] The pipeline obstacle clearing robot walks in the pipeline;

[0009] The mechanical arm drives the grinding and cutting disc device to move, and the high-pressure nozzle on the grinding and cutting disc device cleans the inner wall of the pipeline;

[0010] The detection terminal collects real-time image data and LiDAR data of the cleaned pipeline, analyzes the data, and automatically determines the location of tree roots and hard scale in the pipeline;

[0011] When the detection terminal identifies the tree roots, the pipeline obstacle removal robot automatically stops, and the mechanical arm drives the grinding and cutting disc device to move to the location of the tree roots, and uses the disc to cut off the tree roots;

[0012] When the detection terminal identifies hard scale, the pipeline clearing robot automatically stops, and the robotic arm drives the grinding and cutting disc device to move to the location of the hard scale, and uses the disc to grind off the hard scale.

[0013] The beneficial effects of the embodiments of the present invention are:

[0014] 1. The pipeline obstacle-clearing robot can identify tree roots and hard scaling in the pipeline through the detection terminal, and control the robotic arm to drive the grinding and cutting disc device to cut them accurately.

[0015] 2. The dredging system of the pipeline obstacle clearing robot can prevent the dredging process from damaging the inner wall of the pipeline, reduce the frequency of blockage of the dredging pipe, and improve work efficiency.

[0016] 3. In the process of clearing obstacles, the pipe wall can be cleaned, defects in the pipeline can be detected, and a pipeline inspection report can be automatically generated to achieve integrated operations of dredging, obstacle removal, cleaning, and inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0018] Figure 1 It is a schematic diagram of the pipeline obstacle clearing robot of the present invention in a pipeline.

[0019] Figure 2 1. It is a schematic bottom view of the pipeline obstacle clearing robot of the present invention.

[0020] Figure 3 is a schematic diagram of the support arm.

[0021] Figure 4 is a schematic diagram of the detection terminal.

[0022] Figure 5 It is a structural schematic diagram of a grinding and cutting disc device.

[0023] Figure 6 It is a cross-sectional schematic diagram of a grinding and cutting disc device.

[0024] Figure 7 It is a schematic diagram of the knife disc.

[0025] Figure 8 It is a working schematic diagram of the pipeline obstacle clearing robot described in the present invention.

[0026] The following are the descriptions of the reference numerals:

[0027] 1. Vehicle body; 2. Power box; 3. Support arm; 4. Detection terminal; 5. Mechanical arm; 6. Grinding and cutting disc device; 7. Desilting system; 8. Pipeline; 9. Pipeline obstacle removal robot;

[0028] 101. chassis; 102. travel tire; 103. lifting lug; 104. crushing chamber;

[0029] 301, supporting hydraulic cylinder; 302, first connecting rod; 303, second connecting rod; 304, articulated seat; 305, swinging hydraulic cylinder;

[0030] 401, housing; 402, laser radar; 403, camera; 404, camera bracket; 405, algorithm processing module; 406, lighting;

[0031] 601, protective shell; 602, cutter head; 603, cutter head driving mechanism; 604, high-pressure nozzle; 605, spray head; 606, high-pressure water pipe; 607, spray water pipe; 608, bearing;

[0032] 701, housing; 702, shovel teeth; 703, variable diameter auger; 704, rubber teeth; 705, sludge discharge pipe; 706, crusher; 707, auger drive mechanism; 708, connector; 709, external discharge port;

[0033] 801, working well; 802, silt impurities; 803, tree roots; 804, hard scaling;

[0034] 901, sewage suction pump; 902, control terminal; 903, external discharge pipe;

[0035] 4011, bracket mounting slot;

[0036] 4041, front telescopic rod; 4042, rear support rod;

[0037] 6021, grinding section; 6022, cutting section; 6023, transmission section; 6024, first grinding tooth; 6025, second grinding tooth; 6026, cutting tooth.

[0038] 6031, motor; 6032, driving gear; 6033, baffle. DETAILED DESCRIPTION

[0039] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0040] In order to facilitate understanding and description, the following description of the present invention adopts an absolute position relationship. Unless otherwise specified, the directional word "upper" generally means Figure 1In the upper side direction, the locative word "lower" generally indicates Figure 1 In the lower side direction, the locative word "left" generally indicates perpendicular to Figure 1 the paper surface of Figure 1 and pointing to the outside of the paper surface, the locative word "right" generally indicates perpendicular to Figure 1 the paper surface of Figure 1 and pointing to the inside of the paper surface, the locative word "front" generally indicates

[0041] such as Figure 1 and Figure 8 shown, a pipeline obstacle removal robot according to an embodiment of the present invention includes a vehicle body 1, a robotic arm 5, and a grinding cutter head device 6. One end of the robotic arm 5 is fixed relative to the vehicle body 1, and the other end of the robotic arm 5 is connected to the grinding cutter head device 6. The robotic arm 5 can move the grinding cutter head device 6 in space (including moving and rotating).

[0042] such as Figure 2 shown, the vehicle body 1 includes a chassis 101. A traveling tire 102 is connected to the lower part of the chassis 101. Lifting lugs 103 are provided at both the front and rear ends of the chassis 101. Support arms 3 are connected to both the left and right sides of the chassis 101. The support arms 3 can extend and abut against the inner surface of the pipeline 8.

[0043] The vehicle body 1 is mainly used to carry the components of the pipeline inspection robot and move in the depth direction of the pipeline. The lifting lugs 103 are arranged at both ends of the vehicle body 1 to provide an anchoring position for lifting and lowering the pipeline dredging robot. The traveling tires 102 are arranged obliquely along the vehicle body 1 to ensure the stability of the robot when walking in the pipeline. The vehicle body 1 can adopt a crawler type or a screw propulsion type for its forward walking mode.

[0044] such as Figure 2 shown, a pair of support arms 3 are connected to both the left and right sides of the chassis 101. The pair of support arms 3 are arranged at intervals in the front and rear. The pair of support arms 3 are symmetric and mirror images of each other in the front and rear. The support arm 3 includes a support hydraulic cylinder 301, a first connecting rod 302, a second connecting rod 303, a hinge seat 304, and a swing hydraulic cylinder 305. The support arms 3 are fixed on both sides of the vehicle body 1. When walking normally, the support arms are in a closed state. When performing grinding operations, the support arms 3 open and support against the pipe walls of the pipelines 8 on both sides to ensure the overall stability of the vehicle body 1. The support arms 3 can be replaced with arc-shaped support arms.

[0045] such as Figure 1 and Figure 3As shown, one end of the supporting hydraulic cylinder 301 is hinged to the base frame 101, and the cylinder barrel, the first connecting rod 302, the second connecting rod 303 and the articulated seat 304 of the supporting hydraulic cylinder 301 are hinged in sequence, and the articulated seat 304 is connected and fixed to the base frame 101. One end of the swinging hydraulic cylinder 305 is hinged to the second connecting rod 303, and the other end of the swinging hydraulic cylinder 305 is hinged to the base frame 101. The swinging hydraulic cylinder 305 can drive the supporting hydraulic cylinder 301 to rotate around the first vertical axis, which is the axis of the articulated shaft of which one end of the supporting hydraulic cylinder 301 is hinged to the base frame 101. The supporting hydraulic cylinder 301 can swing back and forth, and the piston rod of the supporting hydraulic cylinder 301 can be extended and abut against the inner surface of the pipe 8.

[0046] like Figure 1 and Figure 4 As shown, a power box 2 is provided on the vehicle body 1, and the power box 2 and the vehicle body 1 are connected and fixed up and down. Batteries and cables are arranged in the power box 2, which is fixed on the vehicle body 1 to provide power output for the whole vehicle. Alternatively, the pipeline obstacle clearing robot power system can adopt an external cable form. A detection terminal 4 is provided on the power box 2 for collecting and analyzing pipeline detection data. The detection terminal can identify the defect type inside the pipeline during the robot's walking process and automatically generate a pipeline detection report. A mechanical arm 5 is fixed on the power box 2, and one end of the mechanical arm 5 is connected and fixed to the power box 2. The detection terminal 4 and the mechanical arm 5 are arranged front and back.

[0047] like Figure 4 As shown, the detection terminal 4 includes a laser radar 402, a camera 403 and an illuminator 406. The detection terminal 4 also includes a housing 401, a camera bracket 404 and an algorithm processing module 405 (i.e., a control unit). The laser radar 402 and the illuminator 406 are both fixed to the housing 401. The housing 401 is provided with a bracket mounting groove 4011. The camera bracket 404 is installed in the bracket mounting groove 4011. The camera 403 is installed on the camera bracket 404. The camera bracket 404 and the laser radar 402 are arranged at intervals on the left and right.

[0048] The lighting lamp 406 is directed to the top of the pipeline and the front of the robot, respectively, to provide a good visual environment for robot control and image acquisition; the laser radar 402 collects the three-dimensional point cloud data of the pipeline, and the camera 403 is mounted on the camera bracket 404, and collects the pipeline image data in all directions through lifting and rotating; the algorithm processing module 405 integrates the three-dimensional point cloud data and the pipeline image data, automatically identifies the position of the tree roots and hard scales inside the pipeline, and controls the mechanical arm 5 to drive the grinding and cutting disc to perform grinding and cutting operations according to the identified positions of the tree roots and hard scales. The mechanical arm 5 can drive the grinding and cutting disc to the position of the tree roots and hard scales according to the instructions of the algorithm processing module 405.

[0049] like Figure 4As shown, the camera bracket 404 includes a front telescopic rod 4041 and a rear support rod 4042 arranged front and back, and the camera bracket 404 can make the camera 403 swing up and down. The camera bracket 404 includes two front telescopic rods 4041, and the two front telescopic rods 4041 are symmetrically arranged. The camera bracket 404 includes two rear support rods 4042, and the two rear support rods 4042 are symmetrically arranged. The front telescopic rod 4041 and the rear support rod 4042 are both in an inclined state, the upper end of the front telescopic rod 4041 is hinged to the rear support rod 4042, the lower end of the front telescopic rod 4041 is hinged to the housing 401, the upper end of the rear support rod 4042 is hinged to the camera 403, and the lower end of the rear support rod 4042 is hinged to the housing 401.

[0050] like Figure 5 and Figure 6 As shown, the cutting disc device 6 comprises a protective shell 601, a cutter disc 602, a cutter disc driving mechanism 603 and a high-pressure nozzle 604. The cutter disc driving mechanism 603 is located inside the protective shell 601. The other end of the robot arm 5 is fixedly connected to the protective shell 601. The cutter disc driving mechanism 603 can drive the cutter disc 602 to rotate. The high-pressure nozzle 604 is sleeved inside the cutter disc 602.

[0051] like Figure 6 and Figure 7 As shown, the axes of the protective shell 601, the blade disc 602, the blade disc 602 and the high-pressure nozzle 604 coincide. The blade disc 602 includes a grinding section 6021, a cutting section 6022 and a transmission section 6023 arranged in sequence along the axial direction, and the grinding section 6021, the cutting section 6022 and the transmission section 6023 are all located outside the protective shell 601.

[0052] The outer end surface of the grinding section 6021 is provided with two rows of first grinding teeth 6024, which are arranged along the radial direction of the cutter disc 602. One row of first grinding teeth 6024 contains a plurality of first grinding teeth 6024 arranged at intervals along the circumference of the cutter disc 602. Along the diameter of the cutter disc 602 and in the direction away from the cutter disc 602, the axial thickness (axial direction of the cutter disc 602) of the first grinding teeth 6024 gradually decreases, and the circumferential width (circumferential direction of the cutter disc 602) of the first grinding teeth 6024 gradually increases. The outer peripheral surface of the grinding section 6021 is provided with a plurality of second grinding teeth 6025, which are arranged at intervals along the circumference of the cutter disc 602. The first grinding teeth 6024 and the second grinding teeth 6025 function to grind the hard scale 804 in the pipe 8.

[0053] like Figure 6 and Figure 7As shown, the outer circumference of the cutting section 6022 is provided with a plurality of cutting teeth 6026, which may be triangular in structure, and are arranged at intervals along the circumference of the cutter disc 602. The function of the cutting teeth 6026 is to cut the tree roots 803 in the pipe 8.

[0054] The outer circumferential surface of the transmission section 6023 is provided with a plurality of transmission teeth, and the plurality of transmission teeth are arranged at intervals along the circumference of the cutter disc 602. The cutter disc drive mechanism 603 includes a motor 6031 and a drive gear 6032 connected in sequence, and the transmission teeth of the transmission section 6023 are meshedly connected with the drive gear of the cutter disc drive mechanism 603.

[0055] like Figures 5 to 7 As shown, the cutting disc device 6 also includes a spray head 605. The cutting disc 602 and the protective shell 601 are arranged at intervals. The spray head 605 is located between the cutting disc 602 and the protective shell 601. The spray head 605 has an annular structure. The axis of the spray head 605 coincides with the axis of the cutting disc 602. The spray head 605 is sleeved outside the transmission section 6023, and the outer peripheral surface of the spray head 605 is provided with multiple nozzles.

[0056] The grinding and cutting cutter disc device 6 also includes a high-pressure water pipe 606, a spray water pipe 607, a bearing 608 and an anti-slip structure. The outlet end of the high-pressure water pipe 606 is connected to the high-pressure nozzle 604, the inlet end of the high-pressure water pipe 606 is connected to the high-pressure water source, the outlet end of the spray water pipe 607 is connected to the spray head 605, and the inlet end of the spray water pipe 607 is connected to the spray water source. The high-pressure water source and the spray water source can be located on the vehicle body 1. The cutter disc 602 and the high-pressure nozzle 604 are connected through the bearing 608. The cutter disc drive mechanism 603 can drive the cutter disc 602 to rotate, while the high-pressure nozzle 604 does not rotate. The anti-slip structure can prevent the cutter disc 602 from detaching from the grinding and cutting cutter disc device 6. The anti-slip structure can be a baffle 6033 fixed to the outer end of the driving gear 6032, and the outer diameter of the baffle 6033 is larger than the major diameter of the driving gear 6032.

[0057] The blade drive mechanism 603 drives the blade 602 to rotate and cut tree roots and hard scale. The outer wall of the bearing 608 is fixed at the center of the top of the blade. The water spray end of the high-pressure nozzle is fixedly connected to the inner wall of the bearing 608, and the water inlet end is connected to the high-pressure water pipe 606, and the inner wall of the pipeline is washed with high-pressure water. The spray head is circumferentially arranged on the protective shell 601 and connected to the spray water pipe 607 to spray and reduce dust when cutting tree roots and hard scale. When the robot is driving normally in the pipeline, the grinding and cutting blade cleans the inner wall of the pipeline by spraying high-pressure water. When encountering tree roots, the high-pressure water spraying is stopped, and the lower plate of the blade 602 is used to cut the tree roots, and the spray head is started to spray water mist at the same time. Similarly, when encountering hard scale, the upper plate of the blade 602 is used to grind and cut the scale.

[0058] like Figure 1 and Figure 2As shown, the pipeline obstacle clearing robot also includes a dredging system 7, which includes a shell 701, a variable diameter auger 703, a dredging pipe 705, a crusher 706 and an auger driving mechanism 707. The shell 701 is located in front of the vehicle body 1, and the front and lower parts of the shell 701 are provided with openings. The shell 701 is connected and fixed to the vehicle body 1 or the power box 2 through a connecting piece 708. The variable diameter auger 703 is located in the shell 701, and the variable diameter auger 703 is provided with rubber teeth 704. The auger driving mechanism 707 can drive the variable diameter auger 703 to rotate. The chassis 101 contains a crushing chamber 104, and the crusher 706 is located in the crushing chamber 104. The shell 701 is connected to the crushing chamber 104 through the dredging pipe 705. The internal cavity of the shell 701 is connected to the internal cavity of the crushing chamber 104, and the crushing chamber 104 is provided with an external discharge port 709.

[0059] The dredging system 7 is fixed to the vehicle body 1 and the power box 2 through a connector 708; the rear lower end of the outer shell 701 is an arc convex downward, which can completely fit the curvature of the bottom of the pipeline, scrape off the silt on the inner wall of the pipeline, and avoid silt leakage. The lower end of the outer shell 701 can be provided with shovel teeth 702; the auger driving mechanism 707 drives the variable diameter auger 703 to cut and loosen the silt impurities 802 in the pipeline. The variable diameter auger 703 completely fits the curvature of the bottom of the pipeline to deepen the cutting range. Rubber teeth 704 are provided on the variable diameter auger 703 to prevent damage to the pipe wall; the crusher 706 performs secondary crushing on large impurities in the silt to prevent long-distance silt extraction from causing pipe blockage; the silt discharge pipe 705 is connected to an external vacuum pump on the ground to discharge the silt impurities 802 to the ground slag pool.

[0060] The robot is placed in the drainage pipe through the working well, and the robot moves along the depth direction of the pipe. During the movement, the detection terminal collects images and three-dimensional point cloud data in the pipe in real time, analyzes the data, and automatically determines the location of tree roots and hard scale in the pipe; the mechanical arm drives the grinding and cutting disc to move along the pipe segment, and starts the high-pressure nozzle on the grinding and cutting disc to clean the inner wall of the pipe; the dredging system absorbs and crushes the silt impurities in the pipe and transports them to the ground; when the detection terminal detects tree roots or hard scale, the robot moves to the corresponding position, starts the parking system and supports the support arm on the inner wall of the pipe to ensure the stability of the whole vehicle. The detection terminal controls the mechanical arm to drive the grinding and cutting disc to the location of hard scale or tree roots for grinding and cutting operations, and at the same time starts the grinding and cutting disc spray system to reduce dust during operation and improve monitoring visibility.

[0061] Therefore, according to the present invention, this pipeline obstacle clearing robot (which can be called a multifunctional underground drainage pipeline obstacle clearing robot) can accurately remove tree roots and hard scale inside the pipeline and clean the inner wall of the pipeline. Its dredging system can prevent damage to the pipe wall and blockage of the sewage pipe during the dredging process.

[0062] The working method of the pipeline obstacle clearing robot is introduced below. The working method of the pipeline obstacle clearing robot comprises the following steps:

[0063] like Figure 1 and Figure 8 As shown, the external discharge port 709 is connected to the sewage suction pump 901 through the external discharge pipe 903, and the pipeline obstacle removal robot 9 is placed into the pipeline 8 to be cleared through the lifting lug 103 using the working well 801 on the ground, the sewage suction pump 901 is located on the ground, and the ground control terminal 902 is turned on to debug the equipment, and preparations for detecting the pipeline 8 are started;

[0064] The pipeline obstacle clearing robot 9 is controlled to walk in the pipeline 8 by the control terminal 902;

[0065] The mechanical arm 5 drives the grinding and cutting disc device 6 to move in three-dimensional space (up, down, left, right, front, and back). The high-pressure nozzle 604 on the grinding and cutting disc device 6 cleans the inner wall of the pipe 8 and removes the sludge impurities 802.

[0066] The sludge impurities 802 in the pipeline 8 enter the crushing chamber 104 through the internal cavity of the shell 701 and the sludge discharge pipe 705 in turn, and the crusher 706 in the crushing chamber 104 performs secondary crushing on the sludge impurities 802. The crushed sludge impurities 802 are discharged to the ground slag pool through the external discharge port 709, the external discharge pipe 903 and the sewage suction pump 901 in turn;

[0067] The detection terminal 4 collects image data and laser radar data of the cleaned pipeline 8 in real time, analyzes the data, and automatically determines the location of the tree roots 803 and hard scaling objects 804 in the pipeline 8;

[0068] When the detection terminal 4 identifies the tree root 803, the pipeline obstacle removal robot 9 automatically stops, opens the support arm 3 to support the two sides of the pipe wall, closes the pipeline dredging system 7 and the high-pressure nozzle 604, and the robot arm 5 drives the grinding and cutting disc device 6 to move to the position of the tree root 803, uses the knife disc 602 to cut off the tree root 803, and opens the spray head 605 to reduce dust;

[0069] When the detection terminal 4 identifies the hard scale 804, the pipeline obstacle clearing robot 9 automatically stops, opens the support arm 3 to support the two sides of the pipe wall, closes the pipeline dredging system 7 and the high-pressure nozzle 604, and the robot arm 5 drives the grinding and cutting disc device 6 to move to the position of the hard scale 804, uses the cutter disc 602 to grind off the hard scale 804, and opens the spray head 605 to reduce dust.

[0070] The debris or silt cut by the cutter head 602 enters the crushing chamber 104 through the internal cavity of the housing 701 and the silt discharge pipe 705 in turn, and the crusher 706 in the crushing chamber 104 performs secondary crushing on the debris or silt, and the crushed debris or silt is discharged to the ground slag pool through the external discharge port 709, the external discharge pipe 903 and the sewage suction pump 901 in turn;

[0071] After the obstacle removal is completed, the robotic arm 5 is reset, the grinding and cutting disc device 6 is closed, the support arm 3 is retracted, the high-pressure nozzle 604 and the pipeline dredging system 7 are turned on, and the pipeline obstacle removal robot 9 continues to move forward. The above steps are implemented as needed to achieve obstacle removal in the pipeline.

[0072] The above is only a specific embodiment of the present invention, and cannot be used to limit the scope of the invention. Therefore, the replacement of equivalent components, or equivalent changes and modifications made according to the protection scope of the present invention should still fall within the scope of the present invention. In addition, the technical features of the present invention can be freely combined with each other, with technical features and technical solutions, with technical solutions and embodiments.

Claims

1. A pipeline obstacle clearing robot, characterized in that: The pipeline obstacle clearing robot comprises a vehicle body (1), a mechanical arm (5) and a grinding and cutting disc device (6); one end of the mechanical arm (5) is fixed relative to the vehicle body (1), and the other end of the mechanical arm (5) is connected to the grinding and cutting disc device (6); the mechanical arm (5) can move the grinding and cutting disc device (6).

2. The pipeline obstacle clearing robot according to claim 1, characterized in that: The vehicle body (1) comprises a base frame (101), the lower part of the base frame (101) is connected to a running tire (102), both ends of the base frame (101) are provided with lifting ears (103), the left and right sides of the base frame (101) are connected to support arms (3), and the support arms (3) can be extended to abut against the inner surface of the pipe (8).

3. The pipeline obstacle clearing robot according to claim 2, characterized in that: A pair of support arms (3) are connected to both left and right sides of the base frame (101), the pair of support arms (3) are spaced apart from each other, the pair of support arms (3) are symmetrical from front to back and mirror images of each other, the support arms (3) comprise a support hydraulic cylinder (301), a first connecting rod (302), a second connecting rod (303), an articulated seat (304) and a swing hydraulic cylinder (305), one end of the support hydraulic cylinder (301) is articulated to the base frame (101), the cylinder barrel of the support hydraulic cylinder (301), the first connecting rod (302), the second connecting rod (303), an articulated seat (304) and a swing hydraulic cylinder (305) 2) The second connecting rod (303) and the articulated seat (304) are hinged in sequence, the articulated seat (304) and the base frame (101) are connected and fixed, one end of the swing hydraulic cylinder (305) is hinged to the second connecting rod (303), and the other end of the swing hydraulic cylinder (305) is hinged to the base frame (101), the swing hydraulic cylinder (305) can drive the supporting hydraulic cylinder (301) to rotate around the first vertical axis, and the piston rod of the supporting hydraulic cylinder (301) can be extended and abut against the inner surface of the pipe (8).

4. The pipeline obstacle clearing robot according to claim 2, characterized in that: A power box (2) is arranged on the vehicle body (1), a detection terminal (4) is arranged on the power box (2), a mechanical arm (5) is fixed on the power box (2), the detection terminal (4) and the mechanical arm (5) are arranged front and back, and the detection terminal (4) contains a laser radar (402), a camera (403) and an illumination lamp (406).

5. The pipeline obstacle clearing robot according to claim 4, characterized in that: The detection terminal (4) further comprises a housing (401), a camera bracket (404) and an algorithm processing module (405); the laser radar (402) and the lighting lamp (406) are both fixed on the housing (401); a bracket mounting groove (4011) is provided on the housing (401); the camera bracket (404) is installed in the bracket mounting groove (4011); the camera (403) is installed on the camera bracket (404); the camera bracket (404) comprises a front telescopic rod (4041) and a rear support rod (4042) arranged front and rear; and the camera bracket (404) can enable the camera (403) to swing up and down.

6. The pipeline obstacle clearing robot according to claim 1, characterized in that: The grinding and cutting blade device (6) comprises a protective shell (601), a blade disc (602), a blade disc driving mechanism (603) and a high-pressure nozzle (604). The blade disc driving mechanism (603) is located in the protective shell (601). The other end of the mechanical arm (5) is connected and fixed to the protective shell (601). The blade disc driving mechanism (603) can drive the blade disc (602) to rotate. The high-pressure nozzle (604) is sleeved in the blade disc (602).

7. The pipeline obstacle clearing robot according to claim 6, characterized in that: The cutter disc (602) comprises a grinding section (6021), a cutting section (6022) and a transmission section (6023) which are sequentially arranged along the axial direction, and the grinding section (6021) and the cutting section (6022) are both located outside the protective shell (601); The outer end surface of the grinding section (6021) is provided with two rows of first grinding teeth (6024), the two rows of first grinding teeth (6024) are arranged along the radial direction of the cutter disc (602), and one row of first grinding teeth (6024) includes a plurality of first grinding teeth (6024) arranged at intervals along the circumferential direction of the cutter disc (602); Along the diameter of the cutter disc (602) and in a direction away from the cutter disc (602), the axial thickness of the first grinding tooth (6024) gradually decreases, and the circumferential width of the first grinding tooth (6024) gradually increases; The outer peripheral surface of the grinding section (6021) is provided with a plurality of second grinding teeth (6025), and the plurality of second grinding teeth (6025) are arranged at intervals along the circumference of the cutter disc (602); The outer circumferential surface of the cutting section (6022) is provided with a plurality of cutting teeth (6026), and the plurality of cutting teeth (6026) are arranged at intervals along the circumference of the cutter disc (602).

8. The pipeline obstacle clearing robot according to claim 7, characterized in that: The cutting blade device (6) further comprises a spray head (605). The blade disc (602) and the protective shell (601) are arranged at intervals. The spray head (605) is located between the blade disc (602) and the protective shell (601). The spray head (605) is an annular structure. The spray head (605) is sleeved outside the transmission section (6023). A plurality of nozzles are arranged on the outer peripheral surface of the spray head (605).

9. The pipeline obstacle clearing robot according to claim 4, characterized in that: The pipeline obstacle clearing robot further comprises a dredging system (7), the dredging system (7) comprising a housing (701), a variable diameter auger (703), a dredging pipe (705), a crusher (706) and an auger driving mechanism (707), the housing (701) being located in front of the vehicle body (1), the housing (701) being connected to the vehicle body (1) or the power box (2) via a connecting piece (708), the variable diameter auger (703) being located in the housing (701), and the variable diameter auger (703) being located on the housing (701). A rubber tooth (704) is provided, and an auger driving mechanism (707) can drive the variable diameter auger (703) to rotate. The base frame (101) contains a crushing chamber (104), and the crusher (706) is located in the crushing chamber (104). The outer shell (701) is connected to the crushing chamber (104) through a silt discharge pipe (705), and the internal cavity of the outer shell (701) is connected to the internal cavity of the crushing chamber (104). The crushing chamber (104) is provided with an external discharge port (709).

10. A working method of the pipeline obstacle clearing robot according to claim 1, characterized in that: The working method of the pipeline obstacle clearing robot comprises the following steps: placing the pipeline obstacle-clearing robot (9) into the pipeline (8) to be cleared; The pipeline obstacle clearing robot (9) walks in the pipeline (8); The mechanical arm (5) drives the grinding and cutting disc device (6) to move, and the high-pressure nozzle (604) on the grinding and cutting disc device (6) cleans the inner wall of the pipeline (8); The detection terminal (4) collects image data and laser radar data of the cleaned pipeline (8) in real time, analyzes the data, and automatically determines the location of the tree roots (803) and hard scale (804) in the pipeline (8); When the detection terminal (4) identifies the tree root (803), the pipeline obstacle clearing robot (9) automatically stops, and the mechanical arm (5) drives the grinding and cutting disc device (6) to move to the position of the tree root (803), and uses the cutter disc (602) to cut off the tree root (803); When the detection terminal (4) identifies the hard scaling (804), the pipeline obstacle clearing robot (9) automatically stops, and the mechanical arm (5) drives the grinding and cutting disc device (6) to move to the position of the hard scaling (804), and uses the disc (602) to grind off the hard scaling (804).

Images