Intelligent mechanical arm for urban pipeline dredging robot

Abstract

The invention relates to the technical field of pipeline desilting, in particular to an intelligent mechanical arm for an urban pipeline desilting robot, which comprises a movable ring, a protective plate is arranged on the outer side of the movable ring, reciprocating screw rods rotating on the movable ring are arranged on the two sides of a rotating shaft, and guide pipes sleeve the outer sides of the reciprocating screw rods. A reciprocating screw rod is arranged on the rotating disc, a piston which moves along the reciprocating screw rod when the reciprocating screw rod rotates is arranged on the reciprocating screw rod, one end of the guide pipe communicates with a connecting pipe, and one end of the connecting pipe communicates with a storage tank located on the outer side of one end of the rotating shaft. When a water source is in contact with the inclined plate, the water source is sputtered to the periphery of the front end due to the inclined effect of the inclined plate, so that the periphery of the front end of the pipeline can be uniformly covered with the digestion liquid through the sputtering effect of the inclined plate, and cleaning dead angles are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline dredging, and particularly to an intelligent robotic arm for urban pipeline dredging robots. Background Art

[0002] The urban underground pipeline system is an important part of urban infrastructure, undertaking important functions such as drainage and sewage discharge. However, over time, various impurities such as sediment, oil stains, and garbage will accumulate in the pipeline. These impurities will cause pipeline blockages, poor drainage, and even urban waterlogging, affecting the normal operation of the city and the quality of life of residents. Therefore, regular dredging of urban pipelines is a key measure to ensure the normal operation of the urban pipeline system.

[0003] When traditional equipment dredges the inside of the pipeline, a large amount of impurities often accumulate at the bottom of the pipeline, making it difficult to clean. As a result, when the robotic arm rotates and moves to the bottom inside the pipeline, it is difficult to clean completely due to the large amount of accumulated impurities, and it will also increase the load on the equipment. Summary of the Invention

[0004] When the rotating disk rotates to make the empty slot B and the spray gun A in the same plane, the water source will contact the inclined plate inside the empty slot B. Then, when the water source contacts the inclined plate, due to the inclined action of the inclined plate, the water source will be sputtered around the front end. Furthermore, through the sputtering action of the inclined plate, the digestion liquid can be evenly covered around the front end of the pipeline, avoiding cleaning dead corners.

[0005] To achieve the above object, the present invention provides the following technical solution: An intelligent robotic arm for an urban pipeline dredging robot, including a movable ring, a protective plate is arranged on the outside of the movable ring, and a rotating shaft is arranged at the center inside the movable ring; On both sides of the rotating shaft, there are reciprocating lead screws that rotate on the movable ring. A guide tube is sleeved outside the reciprocating lead screw. A piston that moves along the reciprocating lead screw when the reciprocating lead screw rotates is arranged on the reciprocating lead screw. One end of the guide tube is communicated with a connecting tube. One end of the connecting tube is communicated with a storage tank located outside one end of the rotating shaft. One side of the storage tank is communicated with a communicating tube for liquid output. A spray gun A for high-pressure water spraying is installed on one side of the storage tank. One end of the communicating tube is connected to the spray gun A and conveys liquid to its inside; One end of the rotating shaft is connected to a rotating disk. An empty slot A and an empty slot B are opened inside the rotating disk. A plurality of cleaning plates are movably connected to the outer periphery of the rotating disk. A water inlet pipe B and a water inlet pipe C are installed on the cleaning plate. A gear C that controls its internal passage is installed on the water inlet pipe C. One end of the water inlet pipe C and the spray gun B are commonly connected to the same external pipeline. A rack is arranged on one side of the gear C; Inside the empty slot B, an inclined plate with an arc surface is installed, and the arc surface of the inclined plate is located on one side of the spray port of the spray gun A.

[0006] Preferably, a bearing is connected to the outside of the movable ring, the protective plate is sleeved on the outside of the bearing, the rotating shaft penetrates through the movable ring and extends to the outside, and a connecting groove is opened at one end of the rotating shaft.

[0007] Preferably, the gear A is located on one side of the movable ring, two groups of gears B are meshed and connected on both sides of the gear A, the two groups of gears B are movably connected with the movable ring, a reciprocating lead screw is connected to one end of the gear B, a guide tube is movably connected to the outside of the reciprocating lead screw, a bearing seat is connected to the outside of the reciprocating lead screw, and a piston is fixedly connected to the outside of the bearing seat.

[0008] Preferably, one end of the guide tube is fixedly connected with a connecting tube, the other end of the connecting tube is connected to the inside of the storage tank, a communicating tube is connected to the outside of the storage tank, and the other end of the communicating tube is connected to the spray gun A.

[0009] Preferably, a fixed buckle is fixedly connected to the outside of the spray gun A, the fixed buckle is connected to the outside of the storage tank, a water inlet pipe A is connected to one end of the spray gun A, and the other end of the water inlet pipe A penetrates through the movable ring and extends to the outside to be connected to a water supply device.

[0010] Preferably, the inside of the empty slot A is a plane, a guide groove is opened inside the empty slot B, a support seat is connected to the lower end of the inclined plate, one end of the support seat is located inside the guide groove, and a through hole is opened at the end of the support seat located inside the guide groove, and a plug pin is installed inside the through hole.

[0011] Preferably, a plurality of fixing holes are opened on one side of the empty slot B, the plurality of fixing holes penetrate through the rotating disc and extend to the inside of the guide groove, and the outer diameter of the plug pin matches the inner diameter of the fixing hole.

[0012] Preferably, a plurality of support rods are fixedly connected to the inside of the rotating disc, one end of the plurality of support rods is a sphere, and the support rods are connected to the cleaning plate through the spheres.

[0013] Preferably, a connecting rod is arranged on the outside of the water inlet pipe B, the connecting rod penetrates through the water inlet pipe B and extends to the inside to be connected to a valve, a gear C is fixedly connected to one end of the water inlet pipe B, a rack is meshed with the gear C, the rack is connected to the movable ring, and two groups of racks are arranged on both sides of the movable ring. Nozzles are connected to one ends of the water inlet pipe B and the water inlet pipe C, and the nozzles are fixedly connected to the cleaning plate.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. When the present invention is in use, the water supply equipment will transport water through the water inlet pipe A, and the water source will be sprayed toward the front end through the spray gun A. When the water source is sprayed toward the front end, the digestion liquid entering the spray gun A will be driven to spray outwards synchronously, so that the digestion liquid is transported to the front end of the pipeline in advance, thereby pre-digesting the impurities deposited inside the pipeline, thereby making the structure of the deposited impurities loose, reducing their hardness and viscosity, making it easier for the subsequent dredging action of the robot arm to remove the impurities, and pre-softening or decomposing some stubborn impurities that originally required repeated operation of the robot arm to remove, so that the robot arm can complete the dredging with fewer actions, speeding up the dredging process. At the same time, when the impurities are digested in advance, the robot arm does not need to remove the impurities by strong scraping or impact during the dredging process, thereby reducing the wear and impact on the inner wall of the pipeline, helping to protect the structural integrity of the urban pipeline and extending the service life of the pipeline.

[0015] 2. In the present invention, when the rotating disk rotates to place the empty slot B and the spray gun A in the same plane, the water source will contact the oblique plate inside the empty slot B. When the water source contacts the oblique plate, the oblique effect of the oblique plate will splash the water source around the front end. The splashing effect of the oblique plate can evenly cover the digestion liquid around the front end of the pipeline to avoid cleaning dead corners. At the same time, combined with the above-mentioned linear spraying, the sputtering method can spread the liquid to various parts of the inner wall of the pipeline, including the top, bottom and sides, effectively expanding the scope of action of the cleaning liquid and ensuring that the entire pipeline cross section can be cleaned.

[0016] 3. When approaching the bottom of the pipeline, the present invention will make two groups of spray guns B work at the same time, and then only one group of spray guns will work in the initial stage, which can more accurately clean the upper part and the side of the inner wall of the pipeline, avoiding wasting water when a large area of ​​flushing is not needed, and can also more carefully handle the attachments on the pipeline wall. At the same time, according to the characteristics that there are usually more impurities and thicker accumulation at the bottom of the pipeline, the impact force generated by the simultaneous spraying of the two groups of spray guns is greater, which can more effectively loosen and flush the heavy impurities deposited at the bottom of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 The second schematic diagram of the overall structure of the present invention; Figure 3 The third schematic diagram of the overall structure of the present invention; Figure 4 It is a partial structural diagram of the present invention; Figure 5 This is one of the partial structural cross-sectional views of the present invention; Figure 6 The second is a partial structural cross-sectional view of the present invention; Figure 7 The first sectional view of the present invention; Figure 8 The second sectional view of the present invention; Figure 9 The sectional view of the inclined plate of the present invention; Figure 10 The enlarged view of the structure at position A of the present invention.

[0018] In the figure: 1. movable ring; 2. bearing; 3. protective plate; 4. rotating shaft; 5. connecting groove; 6. gear A; 7. gear B; 8. reciprocating lead screw; 9. guide tube; 10. piston; 11. connecting tube; 12. storage tank; 13. communicating tube; 14. spray gun A; 15. water inlet pipe A; 16. rotating disc; 17. empty groove A; 18. empty groove B; 19. cleaning plate; 20. support rod; 21. water inlet pipe B; 22. water inlet pipe C; 23. connecting rod; 24. gear C; 25. rack; 26. inclined plate; 27. support seat; 28. fixing hole; 29. bolt. Detailed implementation manners

[0019] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the 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 shall fall within the scope of protection of the present invention.

[0020] Please refer to Figure 1-10 , the present invention provides an intelligent robotic arm for urban pipeline dredging robots, including a movable ring 1, a protective plate 3 is arranged outside the movable ring 1, and a rotating shaft 4 is arranged at the center inside the movable ring 1; On both sides of the rotating shaft 4, there are reciprocating lead screws 8 that rotate on the movable ring 1. A guide tube 9 is sleeved outside the reciprocating lead screw 8. A piston 10 that moves along the reciprocating lead screw 8 when the reciprocating lead screw 8 rotates is arranged on the reciprocating lead screw 8. One end of the guide tube 9 communicates with a connecting tube 11. One end of the connecting tube 11 communicates with a storage tank 12 located outside one end of the rotating shaft 4. One side of the storage tank 12 communicates with a communicating tube 13 for liquid discharge. A spray gun A 14 for high-pressure water spraying is installed on one side of the storage tank 12. One end of the communicating tube 13 is connected to the spray gun A 14 and conveys liquid to its interior; One end of the rotating shaft 4 is connected to a rotating disk 16. An empty slot A17 and an empty slot B18 are formed inside the rotating disk 16. A plurality of cleaning plates 19 are movably connected to the outer periphery of the rotating disk 16. A water inlet pipe B21 and a water inlet pipe C22 are installed on the cleaning plate 19. A gear C24 for controlling its internal passage is installed on the water inlet pipe C22. One ends of the water inlet pipe C22 and the water inlet pipe B21 are commonly connected to the same external pipeline. A rack 25 is arranged on one side of the gear C24; An inclined plate 26 with an arc surface is installed inside the empty slot B18. The arc surface of the inclined plate 26 is located on one side of the spray port of the spray gun A14.

[0021] In an optional embodiment, a bearing 2 is connected to the outside of the movable ring 1. The protective plate 3 is sleeved on the outside of the bearing 2. The rotating shaft 4 penetrates through the movable ring 1 and extends to the outside. A connecting groove 5 is formed at one end of the rotating shaft 4. When in use, the whole device is placed inside the pipeline, and then the driving component is connected to the connecting groove 5, so as to drive the rotating shaft 4 to rotate. When the rotating shaft 4 rotates, it will not drive the movable ring 1 to rotate.

[0022] In an optional embodiment, the gear A6 is located on one side of the movable ring 1. Two groups of gears B7 are meshed and connected to both sides of the gear A6. The two groups of gears B7 are movably connected to the movable ring 1. One end of the gear B7 is connected to a reciprocating lead screw 8. A guide tube 9 is movably connected to the outside of the reciprocating lead screw 8. A bearing seat is connected to the outside of the reciprocating lead screw 8. A piston 10 is fixedly connected to the outside of the bearing seat. When the rotating shaft 4 rotates, it will synchronously drive the gear A6 to rotate. When the gear A6 rotates, it will synchronously drive the two groups of gears B7 to rotate. When the gear B7 rotates, it will drive the reciprocating lead screw 8 to rotate. Therefore, when the reciprocating lead screw 8 rotates, it will drive the piston 10 to reciprocate inside the guide tube 9. When the piston 10 reciprocates, it will continuously convey air pressure to the rear end of the guide tube 9.

[0023] In an optional embodiment, one end of the guide tube 9 is fixedly connected to a connecting pipe 11. The other end of the connecting pipe 11 is connected to the inside of the storage tank 12. A communicating pipe 13 is connected to the outside of the storage tank 12. The other end of the communicating pipe 13 is connected to the spray gun A14. As described above, the air pressure will enter the inside of the connecting pipe 11. The connecting pipe 11 will convey the air pressure to the inside of the storage tank 12. A digestion solution is stored inside the storage tank 12. When the air pressure enters the inside of the storage tank 12, it will squeeze the digestion solution inside the storage tank 12 into the inside of the communicating pipe 13. The communicating pipe 13 will convey the digestion solution to the inside of the spray gun A14.

[0024] In an alternative embodiment, a fixing buckle is fixedly connected to the outside of the spray gun A14. The fixing buckle is connected to the outside of the storage tank 12. One end of the spray gun A14 is connected to a water inlet pipe A15. The other end of the water inlet pipe A15 passes through the movable ring 1 and extends to the outside to be connected to a water supply device. When in use, the water supply device will transport water through the water inlet pipe A15. The water will be sprayed forward through the spray gun A14. When the water is sprayed forward, the digestion liquid entering the inside of the spray gun A14 will be driven to be sprayed outward synchronously, so that the digestion liquid is transported to the front end of the pipeline in advance, thereby pre-digesting the impurities deposited inside the pipeline, making the structure of the deposited impurities loose, reducing its hardness and viscosity, making it easier for the subsequent dredging action of the robotic arm to remove the impurities, pre-softening or decomposing some stubborn impurities that originally required repeated operations of the robotic arm to remove, enabling the robotic arm to complete dredging with fewer action times, accelerating the dredging process. At the same time, when the impurities are pre-digested, the robotic arm does not need to remove the impurities by means of strong scraping or impact during the dredging process, thereby reducing the wear and impact on the inner wall of the pipeline, helping to protect the structural integrity of the urban pipeline and extending the service life of the pipeline.

[0025] In an alternative embodiment, the inside of the empty slot A17 is flat. A guiding slot is provided inside the empty slot B18. The lower end of the inclined plate 26 is connected to a support seat 27. One end of the support seat 27 is located inside the guiding slot, and a through hole is provided at the end of the support seat 27 located inside the guiding slot. A plug pin 29 is installed inside the through hole. When the rotating shaft 4 rotates, the rotating disk 16 will be driven to rotate synchronously. When the rotating disk 16 rotates the empty slot A17 to be in the same plane as the spray gun A14, the digestion liquid sprayed by the spray gun A14 will be sprayed straight forward into the pipeline for decomposing the silt deposited at the bottom of the pipeline. When the rotating disk 16 rotates to make the empty slot B18 in the same plane as the spray gun A14, the digestion liquid will contact the inclined plate 26 inside the empty slot B18. Then, when the digestion liquid contacts the inclined plate 26, due to the inclined action of the inclined plate 26, the digestion liquid will be sputtered around the front end. Through the sputtering action of the inclined plate 26, the digestion liquid can cover the upper wall and the side wall at the front end of the pipeline, and can decompose the silt impurities on the upper wall and the side wall at the front end of the pipeline, avoiding the occurrence of cleaning dead corners. At the same time, combined with the above-mentioned linear spraying, this sputtering method can spread the liquid to all parts of the inner wall of the pipeline, including the top, bottom and sides, effectively expanding the action range of the cleaning liquid and ensuring that the entire pipeline cross-section can be cleaned. Since most of the silt impurities will be deposited at the bottom of the pipeline and a small part will adhere to the upper wall and the side wall of the pipeline, through the above, a part of the digestion liquid can be sprayed specifically towards the bottom of the pipeline to digest the silt impurities deposited inside the pipeline, and the other part of the digestion liquid is splashed onto the upper wall and the side wall of the pipeline in a splashing manner, reasonably distributing the usage amount of the digestion liquid, saving resources while digesting the silt impurities.

[0026] In an alternative embodiment, a plurality of fixing holes 28 are formed on one side of the empty slot B18. The plurality of fixing holes 28 penetrate through the rotating disk 16 and extend into the guiding slot. The outer diameter of the bolt 29 matches the inner diameter of the fixing hole 28. Before the staff places the device into the pipeline, the height of the inclined plate 26 is controlled by moving the support base 27 inside the guiding slot. After the adjustment is completed, the bolt 29 is inserted into the fixing hole 28 and connected to the through hole at one end of the support base 27 for fixation. Thus, the sputtering angle can be adjusted, enabling the staff to adjust the inclined plate 26 according to the actual situation inside the pipeline, so that the sputtering angle fits the inside of the pipeline more closely, thereby improving the digestion efficiency of the impurities adhering to the inner wall of the pipeline during pipeline cleaning.

[0027] In an alternative embodiment, a plurality of support rods 20 are fixedly connected inside the rotating disk 16. One end of each of the plurality of support rods 20 is a sphere, and the support rods 20 are connected to the cleaning plate 19 through the spheres. The cleaning plate 19 can be flipped back and forth. When entering the pipeline, the cleaning plate 19 will automatically flip to fit the inner wall of the pipeline. And during use, only the water inlet pipe C22 will continuously spray water.

[0028] In an alternative embodiment, a connecting rod 23 is provided outside the water inlet pipe C22. The connecting rod 23 penetrates through the water inlet pipe C22 and extends to the inside to be connected to the valve. One end of the water inlet pipe C22 is fixedly connected to a gear C24. A rack 25 meshes with the gear C24. The rack 25 is connected to the movable ring 1. Two sets of the rack 25 are provided on both sides of the movable ring 1. Spray nozzles are connected to one end of both the water inlet pipe B21 and the water inlet pipe C22, and the spray nozzles are fixedly connected to the cleaning plate 19. When the rotating disk 16 rotates, it will drive the cleaning plate 19 to move synchronously. Thus, as the cleaning plate 19 rotates, when approaching the bottom of the pipeline, the gear C24 will contact the rack 25, and the water inlet pipe B21 and the water inlet pipe C22 are not connected to the cleaning plate 19. The water inlet pipe B21 and the water inlet pipe C22 are only located outside the cleaning plate 19, and the connections between the water inlet pipe B21 and the water inlet pipe C22 and the spray nozzles are flexible hoses. Therefore, when the cleaning plate 19 moves, the positions of the water inlet pipe B21 and the water inlet pipe C22 will not change, so that the gear C24 is always within the trajectory of the rack 25. After the gear C24 contacts the rack 25, the gear C24 will rotate. When the gear C24 rotates, it will drive the connecting rod 23 to rotate synchronously, and then open the valve inside the water inlet pipe C22, so that the water inlet pipe B21 and the water inlet pipe C22 work simultaneously. Thus, only one set of spray nozzles works in the initial stage, which can more precisely clean the upper part and the side of the inner wall of the pipeline, avoid wasting water when large-area flushing is not required, and can also more carefully process the attachments on the pipeline wall. At the same time, according to the characteristics that there are usually more impurities and thicker accumulations at the bottom of the pipeline, the impact force generated by the simultaneous spraying of the two spray guns is greater, which can more effectively loosen and flush the heavy impurities deposited at the bottom of the pipeline. When the cleaning plate 19 rotates to the rising position, the gear C24 will contact another set of the rack 25, and then close the valve inside the water inlet pipe C22. And when the equipment moves, the protective plate 3 will be outside the outer connecting water pipe to prevent the outer connecting water pipe from being damaged due to friction with the pipe wall.

[0029] Working principle: When in use, the whole equipment is placed inside the pipeline, and then the driving component is connected to the connecting groove 5, so as to drive the rotating shaft 4 to rotate. When the rotating shaft 4 rotates, it will drive the gear A6 to rotate synchronously. When the gear A6 rotates, it will drive the two sets of gears B7 to rotate synchronously. When the gear B7 rotates, it will drive the reciprocating lead screw 8 to rotate. Thus, when the reciprocating lead screw 8 rotates, it will drive the piston 10 to reciprocate inside the guide pipe 9. When the piston 10 reciprocates, it will continuously deliver air pressure to the rear end of the guide pipe 9. The air pressure will enter the connecting pipe 11. The connecting pipe 11 will deliver the air pressure to the inside of the storage tank 12. The storage tank 12 stores a digestion solution. When the air pressure enters the storage tank 12, it will squeeze the digestion solution inside the storage tank 12 into the communicating pipe 13. The communicating pipe 13 will deliver the digestion solution to the spray gun A14 inside; During use, the water supply device conveys water source through the water inlet pipe A15, and the water source is sprayed forward through the spray gun A14. When the water source is sprayed forward, the digestion liquid entering the interior of the spray gun A14 will be driven to be sprayed outward synchronously, so that the digestion liquid is conveyed to the front end of the pipeline in advance, thereby pre-digesting the impurities deposited inside the pipeline; When the rotating shaft 4 rotates, it will drive the rotating disk 16 to rotate synchronously. When the rotating disk 16 rotates the empty slot A17 to be in the same plane as the spray gun A14, the water source sprayed by the spray gun A14 will be sprayed straight forward. When the rotating disk 16 rotates to make the empty slot B18 in the same plane as the spray gun A14, the water source will contact the inclined plate 26 inside the empty slot B18. Then, when the water source contacts the inclined plate 26, due to the inclined action of the inclined plate 26, the water source will be sputtered around the front end. Thus, through the sputtering action of the inclined plate 26, the digestion liquid can be evenly covered around the front end of the pipeline; Before the staff places the device into the pipeline, the height of the inclined plate 26 is controlled by moving the support seat 27 inside the guiding groove. After the adjustment is completed, the pin 29 is inserted into the fixing hole 28 and connected to the through hole at one end of the support seat 27 for fixation. Thus, the sputtering angle can be adjusted, enabling the staff to adjust the inclined plate 26 according to the actual situation inside the pipeline, so that the sputtering angle fits the inside of the pipeline better; When entering the pipeline, the cleaning plate 19 will automatically flip to fit the inner wall of the pipeline. During use, only the water inlet pipe C22 continuously sprays water. When the rotating disk 16 rotates, it will drive the cleaning plate 19 to move synchronously. Thus, as the cleaning plate 19 rotates, when approaching the bottom of the pipeline, the gear C24 will contact the rack 25. After the gear C24 contacts the rack 25, the gear C24 will rotate. When the gear C24 rotates, it will drive the connecting rod 23 to rotate synchronously. When the gear C24 rotates, it will drive the connecting rod 23 to rotate synchronously, thereby opening the valve inside the water inlet pipe C22, so that the water inlet pipe B21 and the water inlet pipe C22 work simultaneously. When the cleaning plate 19 rotates to the rising position, the gear C24 will contact another set of racks 25, thereby closing the valve inside the water inlet pipe C22.

[0030] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent mechanical arm for an urban pipeline desilting robot, comprising a movable ring (1), characterized in that: A protective plate (3) is arranged on the outside of the movable ring (1), and a rotating shaft (4) is arranged at the center of the inside of the movable ring (1); A reciprocating screw (8) rotating on a movable ring (1) is arranged on both sides of the rotating shaft (4); a guide tube (9) is sleeved on the outer side of the reciprocating screw (8); a piston (10) is arranged on the reciprocating screw (8) and moves along the reciprocating screw (8) when the reciprocating screw (8) rotates; one end of the guide tube (9) is connected to a connecting tube (11); one end of the connecting tube (11) is connected to a storage tank (12) located outside one end of the rotating shaft (4); one side of the storage tank (12) is connected to a connecting tube (13) for discharging liquid; a spray gun A (14) for high-pressure water spraying is installed on one side of the storage tank (12); one end of the connecting tube (13) is connected to the spray gun A (14) and transports liquid to the inside thereof; One end of the rotating shaft (4) is connected to a rotating disk (16), an empty slot A (17) and an empty slot B (18) are provided inside the rotating disk (16), a plurality of cleaning plates (19) are movably connected to the outer periphery of the rotating disk (16), a water inlet pipe B (21) and a water inlet pipe C (22) are installed on the cleaning plates (19), wherein a gear C (24) for controlling the internal passage of the water inlet pipe C (22) is installed on the water inlet pipe C (22), and one end of the water inlet pipe C (22) and the water inlet pipe B (21) are mutually connected to the same external pipe, and a rack (25) is provided on one side of the gear C (24); An inclined plate (26) having an arc surface is installed inside the hollow groove B (18), wherein the arc surface of the inclined plate (26) is located on one side of the injection port of the spray gun A (14).

2. The intelligent mechanical arm for an urban pipeline desilting robot according to claim 1, characterized in that: The outer side of the movable ring (1) is connected to a bearing (2), the protective plate (3) is sleeved on the outer side of the bearing (2), the rotating shaft (4) penetrates the movable ring (1) and extends to the outer side, and a connecting groove (5) is formed at one end of the rotating shaft (4).

3. The intelligent mechanical arm for an urban pipeline desilting robot according to claim 1, characterized in that: The gear A (6) is located on one side of the movable ring (1), and two sets of gears B (7) are meshingly connected on both sides of the gear A (6). The two sets of gears B (7) are movably connected to the movable ring (1), and one end of the gear B (7) is connected to a reciprocating screw (8), and the outer side of the reciprocating screw (8) is movably connected to a guide tube (9), and the outer side of the reciprocating screw (8) is connected to a bearing seat, and the outer side of the bearing seat is fixedly connected to a piston (10).

4. The intelligent mechanical arm for an urban pipeline desilting robot according to claim 1, characterized in that: One end of the guide tube (9) is fixedly connected to a connecting tube (11), the other end of the connecting tube (11) is connected to the inside of a storage tank (12), the outside of the storage tank (12) is connected to a connecting tube (13), the other end of the connecting tube (13) is connected to a spray gun A (14).

5. The intelligent mechanical arm for an urban pipeline desilting robot according to claim 1, characterized in that: The spray gun A (14) is fixedly connected to a fixing buckle on the outside, and the fixing buckle is connected to the outside of the storage tank (12). One end of the spray gun A (14) is connected to a water inlet pipe A (15), and the other end of the water inlet pipe A (15) passes through the movable ring (1) and extends to the outside to be connected to the water supply equipment.

6. The intelligent mechanical arm for an urban pipeline desilting robot according to claim 1, characterized in that: The interior of the empty slot A (17) is a plane, the interior of the empty slot B (18) is provided with a guide slot, the lower end of the inclined plate (26) is connected to a support seat (27), one end of the support seat (27) is located inside the guide slot, and the end of the support seat (27) located inside the guide slot is provided with a through hole, and a latch (29) is installed inside the through hole.

7. The intelligent mechanical arm for an urban pipeline desilting robot according to claim 6, characterized in that: A plurality of fixing holes (28) are formed on one side of the empty slot B (18), and the plurality of fixing holes (28) penetrate the rotating disk (16) and extend into the guide slot. The outer diameter of the latch pin (29) matches the inner diameter of the fixing hole (28).

8. The intelligent mechanical arm for an urban pipeline desilting robot according to claim 1, characterized in that: A plurality of groups of support rods (20) are fixedly connected inside the rotating disk (16), one end of each of the plurality of support rods (20) is a sphere, and the support rods (20) are connected to the cleaning plate (19) via the sphere.

9. The intelligent mechanical arm for an urban pipeline desilting robot according to claim 1, characterized in that: A connecting rod (23) is arranged on the outside of the water inlet pipe C (22), and the connecting rod (23) penetrates the water inlet pipe C (22) and extends to the inside to be connected to the valve. A gear C (24) is fixedly connected to one end of the water inlet pipe C (22), and the rack (25) is meshed with the gear C (24). The rack (25) is connected to the movable ring (1), and two groups of the racks (25) are arranged on both sides of the movable ring (1). A nozzle is connected to one end of the water inlet pipe B (21) and the water inlet pipe C (22), and the nozzle is fixedly connected to the cleaning plate (19).

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