Automatic pipeline cleaning robot

Abstract

The invention provides an automatic pipeline cleaning robot, belongs to the technical field of urban pipeline cleaning, and aims at solving the problem that in the prior art, a large amount of high-pressure and high-speed flowing water flow is adopted for cleaning impurities such as oil stains, and water resources are wasted. Comprising a body, a plurality of telescopic frames are arranged on the side wall of the body, and a crawler wheel is arranged at one end of each telescopic frame; a motor is arranged at one end of the body, a plurality of supports are arranged on an output shaft of the motor, a scraper is arranged at one end of each support, and a drill bit is fixedly connected to one end of the output shaft. A water tank is arranged on the side wall of the motor, a tank cover is arranged at one end of the water tank, a first pipe body is connected to the tank cover, a negative pressure device is connected to one end of the first pipe body, a second pipe body is communicated with one end of the negative pressure device, and the other end of the second pipe body is communicated with a spray head arranged at the top of the scraper blade. According to the sewage pipeline cleaning device, through the arrangement of the first pipeline, the second pipeline, the negative pressure device, the water tank and the spray head, oil stains in the sewage pipeline can be rapidly cleaned.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline cleaning, and particularly relates to an automated pipeline cleaning and decontamination robot. Background Art

[0002] The sewage pipeline system is a crucial part of urban infrastructure. It is responsible for collecting and transporting urban sewage to a sewage treatment plant for treatment to protect the environment and public health. The sewage pipeline system is an indispensable part of urban infrastructure. It is responsible for collecting and transporting urban sewage to a sewage treatment plant for treatment to protect the environment and public health. At the same time, the sewage pipeline system also has characteristics such as being closed, self-flowing, flexible, and maintainable, enabling it to better meet the needs of urban development.

[0003] After long-term use, hard blocks, oil stains, etc. will deposit on the inner wall of the sewage discharge pipeline, which will not only block the sewage discharge pipeline and cause poor sewage discharge, but also affect the pipeline repair work. In addition, the oil stains will corrode the pipeline and shorten the service life of the sewage discharge pipeline.

[0004] Currently, when cleaning sewage pipelines, a large amount of high-pressure and high-speed flowing water is mostly used to clean impurities such as silt and oil stains deposited in the sewage pipelines. This cleaning method not only wastes a large amount of water resources, but also cannot thoroughly clean the oil stains attached to the inner wall of the pipeline. In addition, it is not convenient to clean some hard stones existing in the pipeline. Summary of the Invention

[0005] In view of this, the present invention provides an automated pipeline cleaning and decontamination robot to solve the problems in the prior art that when using a large amount of high-pressure and high-speed flowing water to clean impurities such as silt and oil stains deposited in the sewage pipeline, this cleaning method not only wastes a large amount of water resources, but also cannot thoroughly clean the oil stains attached to the inner wall of the pipeline, and in addition, it is not convenient to clean some hard stones existing in the pipeline.

[0006] The technical solution adopted by the present invention is as follows:

[0007] An automated pipeline cleaning robot, comprising a main body, wherein a plurality of telescopic frames are provided on the side wall of the main body, and the plurality of telescopic frames are arranged at equal intervals along the circumferential direction of the main body. A crawler wheel is provided at one end of each telescopic frame away from the main body; a motor is provided at one end of the main body, and a plurality of brackets are provided on the output shaft of the motor. The plurality of brackets are arranged at equal intervals along the circumferential direction of the output shaft. A scraper is provided at one end of each bracket away from the output shaft, and a drill bit is fixedly connected to the end of the output shaft away from the main body; a water tank is provided on the side wall of the motor, and the water tank is arranged along the circumferential direction of the motor. One end of the water tank facing the bracket is provided with a lid rotatably connected to the water tank. A first pipe body communicating with the water tank is connected to the lid, and a negative pressure device is connected to the end of the first pipe body away from the lid. One end of the negative pressure device communicates with a second pipe body, and the other end of the second pipe body communicates with a spray head provided at the top of the scraper. The number of the crawler wheels is three, and the three crawler wheels are arranged at intervals of 120 degrees along the circumferential direction of the main body. The crawler wheels are driven by a driving motor.

[0008] In this technical solution, it should be noted that the main body is cylindrical and made of steel. The telescopic frame has a telescopic function, enabling this device to adapt to sewage pipes with different diameters. The crawler wheels adopt the existing technology and are flexible chain rings driven by a driving wheel and surrounding the driving wheel, idler wheels, guide wheels, and supporting wheels. The crawler is composed of crawler plates and crawler pins, etc. The crawler pins connect the crawler plates to form a crawler chain ring. There are holes at both ends of the crawler plate for meshing with the driving wheel, and guiding teeth in the middle for straightening the crawler. The drill bit is used to break hard stones in the sewage pipe. The water tank is set in a circular shape and wraps around the side wall of the motor. The water tank is filled with cleaning liquid, which is used to clean the oil stains on the pipe wall. In this solution, during specific implementation, the staff first put this robot into the sewage pipe to be cleaned. The diameter of the robot can be adjusted according to the inner diameter of the pipe. Then, the staff remotely control to start the crawler wheels and the motor. The crawler wheels drive the robot to move forward in the pipe, and the motor drives its output shaft to rotate. After the output shaft rotates, it drives the scraper and the drill bit to rotate. The scraper scrapes off the dirt blocks on the inner wall of the pipe, and the drill bit can break the relatively hard stones in the pipe. In addition, during the rotation of the scraper, since the second pipe body is connected to the scraper, the second pipe body will drive the negative pressure device, the first pipe body, and the box cover to rotate together to prevent movement interference. At the same time, the negative pressure device will spray the cleaning liquid in the water tank from the nozzle through negative pressure. The cleaning liquid can clean the oil stains in the pipe. To sum up, in this invention, by setting the telescopic frame and the crawler wheels, this robot can adapt to sewage pipes with different diameters and has strong applicability. By setting the drill bit and the scraper, it can clean the hard blocks on the inner wall of the pipe and the stones in the pipe. By setting the first pipe, the second pipe, the negative pressure device, the water tank, and the nozzle, it can clean the oil stains in the sewage pipe. In addition, by setting the rotatable box cover, the first pipe, the second pipe, and the negative pressure device can all rotate following the rotation of the scraper, preventing the occurrence of movement interference.

[0009] Preferably, the negative pressure device includes an elastic water bag. One end of the water bag is communicated with the first pipe body, and the other end is communicated with the second pipe body. There is an extrusion device on the side wall of the motor for extruding the water bag. The extrusion device includes a convex block. The convex block is arranged on the side wall of the motor. The extrusion convex block is located between the motor and the water bag, and the height of the extrusion convex block is greater than the distance between the water bag and the side wall of the motor. The cross-section of the extrusion convex block is an arc structure. A first one-way valve and a second one-way valve are respectively arranged in the first pipe body and the second pipe body.

[0010] In this technical solution, it should be noted that the water bag adopts an elastic water bag. After being compressed by an external force, the water bag can restore to its initial shape through its own elastic force. That is, when the water bag is compressed, it will release air, and when the water bag restores to its initial shape, it will inhale air. Therefore, in this solution, by setting an extrusion device to extrude the water bag, the intermittent liquid output of the nozzle can be achieved. The specific principle is as follows: In the initial state, the water bag contacts the extrusion bump, and the water bag is compressed. During the rotation of the output shaft, it will drive the water bag on the box cover to rotate together. During the rotation of the water bag, it will first separate from the extrusion bump. After the water bag separates from the extrusion bump, it will expand to suck the cleaning liquid in the water tank into the water bag through the first pipeline (at this time, the first one-way valve is in the open state and the second one-way valve is in the closed state). When the water bag contacts the extrusion bump again, the water bag is compressed, and it will transport the cleaning liquid in the water bag to the nozzle through the second pipeline (at this time, the first one-way valve is in the closed state and the second one-way valve is in the open state), and it is sprayed by the nozzle to act on the oil stain on the pipeline. To sum up, in the present invention, during the rotation of the water bag, it can intermittently contact the extrusion bump, thereby realizing the intermittent liquid output of the nozzle. Compared with continuous liquid output, it will not cause excessive waste of cleaning liquid.

[0011] Preferably, a baffle is fixedly connected to the top of the water bag, and the baffle is fixedly connected to the box cover.

[0012] In this technical solution, it should be noted that the baffle provided is used to limit the top of the water bag, so that the extrusion effect of the water bag by the extrusion bump is better.

[0013] Preferably, a plurality of scraping blocks are provided on the top of the scraping plate, and the top of the scraping blocks is higher than the top of the nozzle.

[0014] In this technical solution, it should be noted that the scraping blocks are made of iron blocks, so that the scraping effect of the pipe plate on hard blocks is better.

[0015] Preferably, the telescopic frame includes a first connecting rod and a second connecting rod. One end of the first connecting rod is hinged to the crawler wheel, and the other end is hinged to the main body. One end of the second connecting rod is hinged to the crawler wheel, and the other end is hinged to the main body. The middle of the second connecting rod is connected to a third connecting rod. One end of the third connecting rod away from the second connecting rod is connected to a spring. One end of the spring away from the third connecting rod is connected to a fourth connecting rod. One end of the fourth connecting rod away from the spring is hinged to the main body.

[0016] In this technical solution, it should be noted that the self-adaptive adjustment of the crawler wheel can be realized through the four connecting rods and the spring provided. For example, when the inner diameter of the sewage pipe is small, the crawler wheel is squeezed by the pipe wall, and then it will rotate to the left to change the diameter of the circle formed between the three crawler wheels, so as to achieve the effect of self-adaptively closing the inner diameter.

[0017] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are as follows:

[0018] 1. When the robot in the present invention cleans the sewage pipeline, the whole process is automated and does not require manual operation;

[0019] 2. In the present invention, by setting the telescopic frame and crawler wheels, the robot can adapt to sewage pipelines with different pipe diameters, and has strong applicability. By setting the drill bit and scraper, hard blocks on the inner wall of the pipeline and stones in the pipeline can be cleaned. By setting the first pipeline, the second pipeline, the negative pressure device, the water tank and the nozzle, the oil stains in the sewage pipeline can be cleaned. In addition, by setting the rotatable box cover, the first pipeline, the second pipeline and the negative pressure device can all rotate with the rotation of the scraper, preventing the occurrence of movement interference.

[0020] 3. In the present invention, during the rotation of the water bag, it can intermittently contact the extrusion convex block, thereby realizing the intermittent liquid discharge of the nozzle. Compared with continuous liquid discharge, it will not cause excessive waste of cleaning liquid;

[0021] 4. In the present invention, through the four connecting rods and springs provided, the adaptive adjustment of the crawler wheels can be realized. For example, when the inner diameter of the sewage pipeline is small, the crawler wheels are squeezed by the pipe wall and will then rotate to the left to change the diameter of the circle formed between the three crawler wheels, thereby achieving the effect of adaptively closing the inner diameter. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be described by way of examples with reference to the accompanying drawings, wherein:

[0023] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0024] Figure 2 is a three-dimensional structural schematic diagram of the water tank and the motor of the present invention;

[0025] Figure 3 is a three-dimensional structural schematic diagram of the scraper of the present invention;

[0026] Figure 4 is a three-dimensional structural schematic diagram of the water bag of the present invention;

[0027] Among them: 1 - main body, 2 - crawler wheel, 3 - first connecting rod, 4 - second connecting rod, 5 - third connecting rod, 6 - spring, 7 - fourth connecting rod, 8 - water tank, 9 - box cover, 10 - baffle, 11 - water bag, 12 - second pipe body, 13 - scraper, 14 - scraping head block, 15 - drill bit, 16 - output shaft, 17 - motor, 18 - extrusion convex block, 19 - nozzle, 20 - first pipe body. DETAILED DESCRIPTION OF THE INVENTION

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0030] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0031] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0032] In the present invention, unless otherwise clearly defined and limited, the first feature being “on” or “under” the second feature may include the first and second features being in direct contact, or may also include the first and second features not being in direct contact but being in contact through additional features therebetween. Moreover, the first feature being “above”, “over”, and “on top of” the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being “under”, “below”, and “beneath” the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0033] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0034] Example 1

[0035] As Figures 1-4As shown in the figure, an automated pipeline cleaning robot is disclosed in an embodiment of the present invention, which includes a main body 1. A plurality of telescopic frames are provided on the side wall of the main body 1, and the plurality of telescopic frames are arranged at equal intervals along the circumferential direction of the main body 1. A crawler wheel 2 is provided at one end of each telescopic frame away from the main body 1. A motor 17 is provided at one end of the main body 1. A plurality of brackets are provided on the output shaft 16 of the motor 17, and the plurality of brackets are arranged at equal intervals along the circumferential direction of the output shaft 16. A scraper 13 is provided at one end of each bracket away from the output shaft 16. A drill bit 15 is fixedly connected to the end of the output shaft 16 away from the main body 1. A water tank 8 is provided on the side wall of the motor 17, and the water tank 8 is arranged along the circumferential direction of the motor 17. A box cover 9 rotatably connected to the water tank 8 is provided at one end of the water tank 8 facing the bracket. A first pipe body 20 communicating with the water tank 8 is connected to the box cover 9. A negative pressure device is connected to the end of the first pipe body 20 away from the box cover 9. One end of the negative pressure device communicates with a second pipe body 12, and the other end of the second pipe body 12 communicates with a nozzle 19 provided on the top of the scraper 13. The number of the crawler wheels 2 is three, and the three crawler wheels 2 are arranged at an interval of 120 degrees along the circumferential direction of the main body 1. The crawler wheel 2 is driven by a driving motor. It should be noted that the main body 1 is cylindrical and made of steel. The telescopic frame has a telescopic function, which can enable the device to adapt to sewage pipes with different pipe diameters. The crawler wheel 2 adopts the prior art and is a flexible chain ring driven by a driving wheel and surrounding the driving wheel, idler wheels, guide wheels and supporting wheels. The crawler is composed of crawler plates and crawler pins, etc. The crawler pins connect the crawler plates to form a crawler chain ring. There are holes at both ends of the crawler plate to mesh with the driving wheel, and there are guiding teeth in the middle to correct the crawler. The drill bit 15 is used to break hard stones in the sewage pipe. The water tank 8 is set in a circular shape and wraps around the side wall of the motor 17. The water tank 8 is filled with a cleaning liquid, which is used to clean the oil stains on the pipe wall. In this solution, during specific implementation, the staff first put the robot into the sewage pipe to be cleaned. The diameter of the robot can be adjusted according to the inner diameter of the pipe. Then, the staff remotely control to start the crawler wheel 2 and the motor 17. The crawler wheel 2 drives the robot to move forward in the pipe. The motor 17 drives its output shaft 16 to rotate. After the output shaft 16 rotates, it drives the scraper 13 and the drill bit 15 to rotate. The scraper 13 scrapes off the dirt blocks on the inner wall of the pipe. The drill bit 15 can break the harder stones in the pipe. In addition, during the rotation of the scraper 13, since the second pipe body 12 is connected to the scraper 13, the second pipe body 12 will drive the negative pressure device, the first pipe body 20 and the box cover 9 to rotate together to prevent movement interference. At the same time, the negative pressure device will spray the cleaning liquid in the water tank 8 from the nozzle 19 through negative pressure, and the cleaning liquid can clean the oil stains in the pipe.In summary, in the present invention, by providing a telescopic frame and crawler wheels 2, the robot can adapt to sewage pipes with different pipe diameters, and has strong applicability. By providing a drill bit 15 and a scraper 13, hard lumps on the inner wall of the pipe and stones in the pipe can be cleaned. By providing a first pipe, a second pipe, a negative pressure device, a water tank 8 and a nozzle 19, oil stains in the sewage pipe can be cleaned. In addition, by providing a rotatable box cover 9, the first pipe, the second pipe and the negative pressure device can all rotate with the rotation of the scraper 13, preventing the occurrence of movement interference.

[0036] Embodiment 2

[0037] As Figures 2-4 shown, this embodiment is substantially the same as the above embodiment, except that the negative pressure device includes an elastic water bag 11. One end of the water bag 11 is communicated with a first pipe body 20, and the other end is communicated with a second pipe body 12. An extrusion device for extruding the water bag 11 is provided on the side wall of the motor 17; the extrusion device includes a convex block, the convex block is provided on the side wall of the motor 17, the extrusion convex block 18 is located between the motor 17 and the water bag 11, and the height of the extrusion convex block 18 is greater than the distance between the water bag 11 and the side wall of the motor 17. The cross section of the extrusion convex block 18 is an arc structure. A first one-way valve and a second one-way valve are respectively provided in the first pipe body 20 and the second pipe body 12. It should be noted that the water bag 11 is an elastic water bag 11. After being compressed by an external force, the water bag 11 can return to its initial shape through its own elastic force, that is, when the water bag 11 is compressed, it will emit gas, and when the water bag 11 returns to its initial shape, it will inhale. Therefore, in this solution, by providing an extrusion device to extrude the water bag 11, the effect of intermittent liquid discharge of the nozzle 19 is achieved. The specific principle is as follows: In the initial state, the water bag 11 contacts the extrusion convex block 18, and the water bag 11 is compressed. During the rotation of the output shaft 16, the water bag 11 on the box cover 9 will be driven to rotate together. During the rotation of the water bag 11, it will first separate from the extrusion convex block 18. After the water bag 11 separates from the extrusion convex block 18, it will expand to suck the cleaning liquid in the water tank 8 into the water bag 11 through the first pipe (at this time, the first one-way valve is in the open state and the second one-way valve is in the closed state). When the water bag 11 contacts the extrusion convex block 18 again, the water bag 11 is compressed, and it will transport the cleaning liquid in the water bag 11 to the nozzle 19 through the second pipe (at this time, the first one-way valve is in the closed state and the second one-way valve is in the open state), and it is sprayed by the nozzle 19 to act on the oil stains on the pipe. In summary, in the present invention, the water bag 11 can intermittently contact the extrusion convex block 18 during rotation, thereby realizing the intermittent liquid discharge of the nozzle 19. Compared with continuous liquid discharge, it will not cause excessive waste of cleaning liquid.

[0038] As Figure 2As shown, in this embodiment, a baffle 10 is fixedly connected to the top of the water bag 11, and the baffle 10 is fixedly connected to the box cover 9. It should be noted that the provided baffle 10 is used to limit the top of the water bag 11, so that the squeezing effect of the water bag 11 by the extrusion bump 18 is better.

[0039] As Figure 3 shown, in this embodiment, several scraping blocks 14 are provided on the top of the scraper 13, and the top of the scraping blocks 14 is higher than the top of the spray head 19. It should be noted that the scraping blocks 14 are made of iron blocks, so that the scraping effect of the tube plate on hard blocks is better.

[0040] Embodiment 3

[0041] As Figure 1 shown, this embodiment is substantially the same as the above embodiment. The difference is that, in this embodiment, the telescopic frame includes a first connecting rod 3 and a second connecting rod 4. One end of the first connecting rod 3 is hinged to the crawler wheel 2, and the other end is hinged to the main body 1. One end of the second connecting rod 4 is hinged to the crawler wheel 2, and the other end is hinged to the main body 1. The middle of the second connecting rod 4 is connected to a third connecting rod 5. One end of the third connecting rod 5 away from the second connecting rod 4 is connected to a spring 6. One end of the spring 6 away from the third connecting rod 5 is connected to a fourth connecting rod 7. One end of the fourth connecting rod 7 away from the spring 6 is hinged to the main body 1. It should be noted that the four connecting rods and the spring 6 provided can achieve the adaptive adjustment of the crawler wheel 2. For example, when the inner diameter of the sewage pipe is small, the crawler wheel 2 is squeezed by the pipe wall and will then rotate to the left to change the diameter of the circle formed between the three crawler wheels 2, so as to achieve the effect of adaptively closing the inner diameter.

[0042] The working principle of the present invention is:

[0043] First, the staff places this robot into the sewage pipeline to be cleaned. The diameter of the robot can be adjusted according to the inner diameter of the pipeline. For example, when the inner diameter of the sewage pipeline is small, the crawler wheels 2 are squeezed by the pipe wall and will then rotate to the left to change the diameter of the circle formed among the three crawler wheels 2, thus achieving the effect of adaptively closing the inner diameter. After that, the staff remotely starts the crawler wheels 2 and the motor 17. The crawler wheels 2 drive the robot to move forward in the pipeline, and the motor 17 drives its output shaft 16 to rotate. After the output shaft 16 rotates, it drives the scraper 13 and the drill bit 15 to rotate. The scraper 13 scrapes the dirt blocks on the inner wall of the pipeline, and the drill bit 15 can break the relatively hard stones in the pipeline. In addition, during the rotation of the scraper 13, since the second pipe body 12 is connected to the scraper 13, the second pipe body 12 will drive the negative pressure device, the first pipe body 20 and the box cover 9 to rotate together to prevent movement interference. At the same time, the negative pressure device sprays the cleaning liquid in the water tank 8 from the nozzle 19 through negative pressure, and the cleaning liquid can clean the oil stains in the pipeline. The water outlet principle of the negative pressure device is as follows:

[0044] In the initial state, the water bag 11 is in contact with the extrusion convex block 18, and the water bag 11 is compressed. During the rotation of the output shaft 16, it will drive the water bag 11 on the box cover 9 to rotate together. During the rotation of the water bag 11, it will first separate from the extrusion convex block 18. After the water bag 11 separates from the extrusion convex block 18, it will expand to suck the cleaning liquid in the water tank 8 into the water bag 11 through the first pipeline (at this time, the first one-way valve is in the open state and the second one-way valve is in the closed state). When the water bag 11 comes into contact with the extrusion convex block 18 again, the water bag 11 is compressed, and it will transport the cleaning liquid in the water bag 11 to the nozzle 19 through the second pipeline (at this time, the first one-way valve is in the closed state and the second one-way valve is in the open state), and it is sprayed by the nozzle 19 to act on the oil stains on the pipeline.

[0045] The circuits, electronic components and modules involved are all prior arts and can be fully implemented by those skilled in the art without further elaboration. The content protected by the present invention does not involve the improvement of software and methods either.

[0046] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other.

[0047] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automated pipeline cleaning robot, characterized in that: It comprises a main body (1), a plurality of telescopic frames are arranged on the side wall of the main body (1), the plurality of telescopic frames are arranged at equal intervals along the circumference of the main body (1), and a crawler wheel (2) is arranged at one end of each telescopic frame away from the main body (1); A motor (17) is provided at one end of the main body (1), a plurality of brackets are provided on an output shaft (16) of the motor (17), the plurality of brackets are arranged at equal intervals along the circumference of the output shaft (16), a scraper (13) is provided at one end of each bracket away from the output shaft (16), and a drill bit (15) is fixedly connected to one end of the output shaft (16) away from the main body (1); A water tank (8) is provided on the side wall of the motor (17), and the water tank (8) is arranged along the circumference of the motor (17). A tank cover (9) rotatably connected to the water tank (8) is provided at one end of the water tank (8) facing the bracket, and a first tube body (20) connected to the water tank (8) is connected to the tank cover (9). An end of the first tube body (20) away from the tank cover (9) is connected to a negative pressure device, and one end of the negative pressure device is connected to a second tube body (12), and the other end of the second tube body (12) is connected to a nozzle (19) arranged on the top of the scraper (13).

2. The automated pipeline cleaning robot according to claim 1, characterized in that: The negative pressure device comprises an elastic water bag (11), one end of the water bag (11) is connected to the first tube (20), and the other end is connected to the second tube (12), and a squeezing device for squeezing the water bag (11) is provided on the side wall of the motor (17).

3. The automatic pipeline cleaning robot according to claim 2, characterized in that: The squeezing device comprises a squeezing protrusion (18), wherein the squeezing protrusion (18) is arranged on the side wall of the motor (17), the squeezing protrusion (18) is located between the motor (17) and the water bag (11), and the height of the squeezing protrusion (18) is greater than the distance between the water bag (11) and the side wall of the motor (17).

4. The automated pipeline cleaning robot according to claim 3, characterized in that: The cross section of the extrusion protrusion (18) is an arc-shaped structure.

5. The automated pipeline cleaning robot according to claim 2, characterized in that: A first one-way valve and a second one-way valve are respectively arranged in the first tube body (20) and the second tube body (12).

6. The automated pipeline cleaning robot according to claim 2, characterized in that: A baffle plate (10) is fixedly connected to the top of the water bag (11), and the baffle plate (10) is fixedly connected to the box cover (9).

7. The automated pipeline cleaning robot according to claim 2, characterized in that: A plurality of scraper blocks (14) are arranged on the top of the scraper (13), and the top of the scraper block (14) is higher than the top of the nozzle (19).

8. The automated pipeline cleaning robot according to claim 1, characterized in that: The telescopic frame comprises a first connecting rod (3) and a second connecting rod (4); one end of the first connecting rod (3) is hinged to the track wheel (2), and the other end is hinged to the main body (1); one end of the second connecting rod (4) is hinged to the track wheel (2), and the other end is hinged to the main body (1); a third connecting rod (5) is connected to the middle of the second connecting rod (4); one end of the third connecting rod (5) away from the second connecting rod (4) is connected to a spring (6); one end of the spring (6) away from the third connecting rod (5) is connected to a fourth connecting rod (7); one end of the fourth connecting rod (7) away from the spring (6) is hinged to the main body (1).

9. The automated pipeline cleaning robot according to claim 1, characterized in that: The number of the track wheels (2) is three, and the three track wheels (2) are arranged at intervals of 120 degrees along the circumference of the main body (1).

10. The automated pipeline cleaning robot according to claim 1, characterized in that: The track wheel (2) is driven by a driving motor.

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