Urban sewage pipe network dredging robot and method thereof

Abstract

The invention relates to the technical field of desilting equipment accessory devices, in particular to an urban sewage pipe network desilting robot and a method thereof.The urban sewage pipe network desilting robot comprises a twisting device, an adjusting device, a first driving device, a second driving device, a rotating mechanism, a rubbing device and a collecting device; the first driving device and the second driving device are sequentially arranged in the advancing direction of the dredging robot; the rotating mechanism is arranged on the top surface of the first driving device; the rubbing device is arranged at the top of the rotating mechanism; the torsion device and the adjusting device are arranged between the first driving device and the second driving device; and the collecting device is arranged at the rear part of the second driving device. According to the urban sewage pipe network desilting robot and the method thereof, the robot can be driven by the crawler belt to conduct adjustable rubbing and collecting in a pipe gallery, and therefore the cleaning efficiency of equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of auxiliary devices for dredging equipment, and particularly to a sewage pipe network dredging robot for cities and its method. Background Art

[0002] An urban utility tunnel, also known as an underground utility tunnel or a common trench, is a large underground passage built for the centralized laying of municipal pipelines such as electricity, communication, water supply, drainage, heat, and gas. Over time, dust, dirt, and other debris may accumulate inside the utility tunnel. If not cleaned in time, it will affect the normal operation of the pipelines, and even cause blockages. The sediment may become a hidden danger for fires or other accidents. Regular cleaning can reduce these risks. Therefore, cleaning and dredging are crucial for maintaining the functions of urban utility tunnels.

[0003] The most common existing underground utility tunnel cleaning equipment is a cleaning rod, which is a device used to clean underground utility tunnels during daily life and has been widely used in the field of urban environmental protection.

[0004] When the existing cleaning rod is in use, it is first placed in the underground utility tunnel to be cleaned, and high-pressure inflation is used to make it slide at high speed. During the sliding process, the dirt in the underground utility tunnel is collected through the cleaning net connected to it. It has been found in the use of the existing cleaning rod that most cleaning rods are for cleaning liquid and gaseous utility tunnels. When cleaning solid-object utility tunnels, blockages and slowness will occur, resulting in low cleaning efficiency, and thus the working efficiency of the equipment is low. Summary of the Invention

[0005] Aiming at the defects existing in the prior art, the present invention provides a sewage pipe network dredging robot for cities and its method, which can be driven by crawlers to perform adjustable scraping and collection in the utility tunnel, thereby improving the cleaning efficiency of the equipment.

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

[0007] The present invention provides a sewage pipe network dredging robot for cities, including a torsion device (300), an adjusting device (400), a first driving device (500A), a second driving device (500B), a rotating mechanism (600), a scraping device (700), and a collecting device (800);

[0008] The first driving device (500A) and the second driving device (500B) are arranged in sequence along the traveling direction of the dredging robot; the rotating mechanism (600) is arranged on the top surface of the first driving device (500A); the scraping device (700) is arranged on the top of the rotating mechanism (600); the torsion device (300) and the adjusting device (400) are arranged between the first driving device (500A) and the second driving device (500B); the collecting device (800) is arranged at the rear of the second driving device (500B).

[0009] Preferably, the adjusting device (400) includes a fixing plate (401), a positioning plate (402), a first motor (403), a third electric push rod (404), a slider (405), a steering head (406), a third mounting seat (411), a machine hole (412), a support rod member (414) and a single-joint rod unit; the torsion device (300) includes a connecting shaft (306) and a double-joint rod unit;

[0010] The fixing plate (401) is fixedly installed at the rear end of the first driving device (500A), and the positioning plate (402) is fixedly installed at the front end of the second driving device (500B);

[0011] On one side of the fixing plate (401) relative to the positioning plate (402), the slider (405) is slidably installed up and down, and the slider (405) slides up and down relative to the fixing plate (401) under the drive of the third electric push rod (404);

[0012] A machine hole (412) is opened at the top of the slider (405), the first motor (403) is assembled at the top of the slider (405), and the output end of the first motor (403) passes through the machine hole (412) and is fixedly connected to the front end of the steering head (406) in the horizontal direction; the first motor (403) drives the steering head (406) to swing left and right;

[0013] The third mounting seat (411) is fixedly installed at the side of the slider (405) and below the steering head (406); the support rod member (414) is installed on one side of the positioning plate (402) relative to the fixing plate (401); the front end of the double-joint rod unit passes through the third mounting seat (411) and is rotatably connected to the slider (405) in the horizontal direction, and the rear end of the double-joint rod unit is rotatably connected to the bottom of the support rod member (414) in the horizontal direction;

[0014] In the rear horizontal hole of the steering head (406), the vertical connecting shaft (306) is rotatably installed, and the bottom of the connecting shaft (306) is rotatably connected to the front end of the double-joint rod unit in the horizontal direction;

[0015] The front end of the single-joint rod unit is rotatably connected to the top of the connecting shaft (306) in the horizontal direction; the rear end of the single-joint rod unit is rotatably connected to the top of the support rod member (414) in the horizontal direction.

[0016] Preferably, the single-joint rod unit includes a positioning rod (407), a lock (408), a flap (409), a rotating rod (410), and a fourth mounting seat (413);

[0017] The front end of the positioning rod (407) is rotatably connected to the top of the connecting shaft (306) in the horizontal direction; the rear end of the positioning rod (407) is rotatably connected to the front end of the lock (408) in the horizontal direction through a vertical shaft;

[0018] The rear end of the lock (408) is rotatably connected to the front end of the flap (409) in the horizontal direction through a vertical shaft;

[0019] The fourth mounting seat (413) is provided at the front end of the rotating rod (410); the rear end of the flap (409) passes through the fourth mounting seat (413) and is rotatably connected to the front end of the rotating rod (410) in the pitching direction;

[0020] The rear end of the rotating rod (410) is rotatably connected to the top of the support rod member (414) in the horizontal direction.

[0021] Preferably, the double-joint rod unit includes a connecting plate (301), a first connecting buckle (302A), a second connecting buckle (302B), a first electric push rod (303), a connecting rod (304), a second electric push rod (305), a first mounting seat (307), a second mounting seat (308), a first joint (309A), and a second joint (309B);

[0022] The front end of the first connecting buckle (302A) passes through the third mounting seat (411) and is rotatably connected to the slider (405) in the horizontal direction; the top surface of the first connecting buckle (302A) is rotatably connected to the bottom end of the connecting shaft (306) in the horizontal direction;

[0023] The rear end of the first connecting buckle (302A) is rotatably connected to the front end of the connecting plate (301) in the vertical direction through the first mounting seat (307); the rear end of the connecting plate (301) is rotatably connected to the front end of the second connecting buckle (302B) in the vertical direction through the first mounting seat (307); the rear end of the second connecting buckle (302B) is rotatably connected to the bottom of the support rod member (414) in the horizontal direction.

[0024] The upper part of the connecting plate (301) is provided with the first electric push rod (303); the front output end of the first electric push rod (303) is rotatably connected to the rear end of the connecting rod (304) in the vertical direction through the first joint (309A); the front end of the connecting rod (304) is rotatably connected to the connecting shaft (306) in the vertical direction through the second joint (309B).

[0025] The second electric push rod (305) is arranged below the second connecting buckle (302B); the rear end of the second electric push rod (305) is rotatably connected to the bottom of the second connecting buckle (302B) in the vertical direction through the second mounting seat (308); the front output end of the second electric push rod (305) is rotatably connected to the bottom of the connecting plate (301) in the vertical direction through another second mounting seat (308).

[0026] Preferably, the first driving device (500A) and the second driving device (500B) have the same structure, and both include a placement plate (501), auxiliary wheels (502), a driving motor (503), a rotating shaft (504), a crawler (505), a working cavity (506) and a grooved belt (507).

[0027] The placement plate (501) is provided with the working cavity (506); on the left and right sides of the working cavity (506), two driving motors (503) in the front-rear direction are arranged on each side; the output ends of the two driving motors (503) on each side are respectively installed with the rotating shaft (504); between the two rotating shafts (504) on each side, two auxiliary wheels (502) in the up-down direction are arranged, and each auxiliary wheel (502) is rotatably connected to the placement plate (501).

[0028] The grooved belt (507) is arranged on each auxiliary wheel (502) and the rotating shaft (504) on each side; the crawler (505) on each side respectively passes through the grooved belt (507) on the corresponding side and is fixedly sleeved with the auxiliary wheel (502) and the rotating shaft (504) on the corresponding side.

[0029] Preferably, the rotating mechanism (600) includes a second motor (601), a driving gear (602), a turntable (603), a fourth electric push rod (604), a guide rail (605), an adjusting block (606), a pull rod (607), an elbow (608), a support arm (609), a positioning head (610), a rack (611), a guide groove (612), a first hinge seat (613), a clamping groove (614), a second hinge seat (615), a mounting plate (616), and a shaft seat (617);

[0030] The mounting plate (616) is fixed to the top of the first driving device (500A); the shaft seat (617) is provided on the top of the mounting plate (616); the driving gear (602) is rotatably installed inside the shaft seat (617), and the driving gear (602) rotates under the drive of the second motor (601); the rack (611) is fixedly installed on the bottom surface of the turntable (603), the turntable (603) passes through the shaft seat (617) and the mounting plate (616) and is rotatably connected, and the rack (611) meshes with the driving gear (602); under the drive of the second motor (601), the turntable (603) is driven to rotate horizontally;

[0031] The guide rails (605) are fixedly installed symmetrically left and right at the top end of the turntable (603); there are two adjusting blocks (606), each adjusting block (606) is provided with the guide groove (612), each guide rail (605) passes through the corresponding guide groove (612) and is slidably connected to the corresponding adjusting block (606), each adjusting block (606) is provided with the fourth electric push rod (604), and the output end of the fourth electric push rod (604) is connected to the corresponding adjusting block (606) to drive the adjusting block (606) to slide along the guide rail (605);

[0032] The elbow (608) is installed between the two adjusting blocks (606), and both ends of the elbow (608) are rotatably connected to the adjusting blocks (606);

[0033] The first hinge base (613) is provided on the turntable (603), and the bottom end of the support arm (609) passes through the first hinge base (613) and is rotatably connected to the turntable (603); the support arm (609) is provided with the card slot (614); the output end of the elbow (608) passes through the card slot (614) and is rotatably connected to the support arm (609); the second hinge base (615) is provided at the top of the support arm (609), and the positioning head (610) passes through the second hinge base (615) and is rotatably connected to the support arm (609); both ends of the two groups of tie rods (607) are respectively rotatably connected to the positioning head (610) and the elbow (608).

[0034] Preferably, the rubbing device (700) includes a third motor (701), an adjusting shaft (702), an arc-shaped rod (703), a turning knob (704), an umbrella-shaped head (705), an adjusting knob (706), a positioning hole (707), a through groove (708), a turning hole (709), an arc-shaped groove (710), and an adjusting hole (711);

[0035] The third motor (701) is assembled on the top of the positioning head (610); the positioning head (610) is provided with the positioning hole (707), and the output end of the third motor (701) passes through the positioning hole (707) and is fixed to one end of the adjusting shaft (702); the third motor (701) drives the adjusting shaft (702) to rotate in the vertical direction;

[0036] The adjusting shaft (702) is provided with the through groove (708), the umbrella-shaped head (705) passes through the through groove (708) and is slidably connected to the adjusting shaft (702), the turning hole (709) is provided in a matching manner on the through groove (708), and the turning knob (704) passes through the turning hole (709) and is threadedly connected to the through groove (708);

[0037] The left and right sides of the umbrella-shaped head (705) are respectively provided with the arc-shaped grooves (710), the arc-shaped rod (703) passes through the corresponding arc-shaped grooves (710) and is slidably connected to one side of the umbrella-shaped head (705), the adjusting hole (711) is provided in a matching manner on the arc-shaped groove (710), and the adjusting knob (706) passes through the corresponding adjusting hole (711) and is threadedly connected to the corresponding arc-shaped groove (710).

[0038] Preferably, the collecting device (800) includes a fixing block (801), an arc-shaped collecting box (802), and a third hinge base (803);

[0039] The fixing block (801) is fixedly installed at the rear of the second driving device (500B); the third hinge seat (803) is arranged on the fixing block (801), and the arc-shaped collection box (802) passes through the third hinge seat (803) and is rotatably connected to the fixing block (801); the collection inlet of the arc-shaped collection box (802) faces forward.

[0040] The present invention also provides a dredging method for the dredging robot of the urban sewage pipe network described above, including the following steps:

[0041] S1: During the process of dredging the pipe gallery, the first driving device (500A) and the second driving device (500B) are simultaneously started to drive the dredging robot to roll along the pipe gallery route in the pipe gallery;

[0042] S2: During the rolling operation of the dredging robot, the torsion device (300) is started to perform horizontal and vertical displacements, so that the dredging robot and the corresponding pipeline are adaptively supported. During this process, the lifting is carried out by cooperating with the start of the adjusting device to assist in adjusting the dredging robot;

[0043] S3: During the rolling operation of the dredging robot, the sliding scraping device (700) is used to extend and retract it to adaptively adjust to the inner wall radian of different pipelines;

[0044] S4: During the rolling operation of the dredging robot, the rotating mechanism (600) is started to drive the output end of the scraping device (700) to perform parallel angle adjustment and height adjustment to scrape the dirt;

[0045] S5: During the rolling operation of the dredging robot, the scraping dirt is collected by the collection device (800).

[0046] Preferably, S1 is specifically:

[0047] The driving motor (503) is installed through the placing plate (501). During the process of displacement required, the driving motor (503) is started to rotate, which drives the rotating shaft (504) connected thereto to rotate. A crawler wheel is adopted between the rotating shaft (504) and the crawler belt (505), and the crawler belt (505) is driven to roll by the rotating shaft (504), thereby driving the dredging robot to displace. During this process, the crawler belt (505) is assisted and supported by the auxiliary wheel (502);

[0048] Specifically, S2 is as follows: During the process of the dredging robot rolling and running in the pipe gallery driven by the first driving device (500A) and the second driving device (500B), as the pipeline gradient and bending position change, the torsion device (300) and the adjustment device (400) adaptively change to fit the pipeline gradient and bending position, enabling the dredging robot to move forward stably;

[0049] Specifically, the first connection buckle (302A) and the second connection buckle (302B) that are rotationally connected to the connecting plate (301) in the vertical direction rotate in the vertical direction, thereby driving the dredging robot to adjust the pitching angle. Moreover, the first electric push rod (303) and the second electric push rod (305) respectively push and pull the first connection buckle (302A) and the second connection buckle (302B) connected to them, enabling the two sets of first connection buckles (302A) and second connection buckles (302B) with different lengths to rotate in parallel under the compensation of the connecting rod (304). After rotation, the first connection buckle (302A) is higher than the second connection buckle (302B), forming a gradient form with the head higher than the tail, realizing the adjustment of the pitching angle of the dredging robot;

[0050] While the dredging robot is adjusting the pitching angle, the third electric push rod (404) is started to drive the slider (405) to slide on the fixed plate (401) for longitudinal compensation. During this process, the first motor (403) can be started to drive the steering head (406) connected to it to rotate, and the steering head (406) drives the first connection buckle (302A) and the second connection buckle (302B) to rotate in the horizontal direction, thereby cooperating with the lock buckle (408) to torsion the dredging robot as a whole. During this process, the flap (409) and the rotating rod (410) are in a laterally rotationally connected relationship for compensating lateral rotation;

[0051] Specifically, S3 and S4 are as follows:

[0052] The second motor (601) is driven to rotate the driving gear (602) connected to it. Through the meshing relationship between the driving gear (602) and the rack (611) on the turntable (603), the turntable (603) is driven to rotate; after S2 is completed, the fourth electric push rod (604) is started to drive the adjustment block (606) to slide on the guide rail (605), thereby driving the angle of the elbow (608) to change. By pushing or pulling the support arm (609) through the elbow (608), the angle of the support arm (609) is adjusted. After the support arm (609) is lifted or lowered, the elbow (608) rotates accordingly, and the positioning head (610) is driven to rotate through the connecting rod (607) connected to it, so that the output end of the scraping device (700) remains in a parallel state;

[0053] During the process of the device scraping, adjust according to the inner diameter of the pipeline. Slide the umbrella-shaped head (705) on the adjustment shaft (702), and cooperate with turning the knob (704) for fixation. Pull the arc-shaped rod (703) to make it extend on the umbrella-shaped head (705), and turn the adjustment knob (706) for fixation. Start the third motor (701) to drive the umbrella-shaped head (705) to rotate, and scrape the dirt at different angles and positions, so as to scrape the dirt at different positions;

[0054] S5 specifically is:

[0055] After the dirt falls off, collect it by using the arc-shaped collection box (802), and cooperate with the leakage holes on the arc-shaped collection box (802) to separate the dry and wet.

[0056] Compared with the prior art, the beneficial effects of the present invention are:

[0057] (1) By starting the scraping device, this device adjusts the scraping according to the shape and inner diameter of the pipe gallery, and cooperates with the tail collection device for real-time collection. Through the way of cleaning and collecting simultaneously, the cleaning efficiency of the device is improved, and thus the working efficiency of the device is improved;

[0058] (2) During the driving process of the device, start the torsion device for horizontal and vertical adjustment. During this process, cooperate with the driving and adjusting device to adjust the position and angle of the front and rear placement boxes of the device, so that the device fits the pipe galleries with different lines and curvatures, and the adjustment performance of the device is improved;

[0059] (3) During the operation process of the device, start the rotating mechanism for angle and position adjustment, so as to improve the adaptability of the device for scraping. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 is the overall structural schematic diagram of the present invention;

[0061] Figure 2 is the structural schematic diagram of the driving device of the present invention;

[0062] Figure 3 is the first three-dimensional view of the torsion device and the adjusting device of the present invention;

[0063] Figure 4 is the second three-dimensional view of the torsion device and the adjusting device of the present invention;

[0064] Figure 5 is the connection structural schematic diagram of the mounting plate and the shaft seat of the present invention;

[0065] Figure 6 is the first three-dimensional view of the rotating mechanism and the scraping device of the present invention;

[0066] Figure 7 It is the second three-dimensional view of the rotating mechanism and the rubbing device of the present invention.

[0067] Labels in the attached drawings:

[0068] 300, torsion device; 301, connecting plate; 302A, first connecting buckle; 302B, second connecting buckle; 303, first electric push rod; 304, connecting rod; 305, second electric push rod; 306, connecting shaft; 307, first mounting seat; 308, second mounting seat; 309A, first joint; 309B, second joint;

[0069] 400, adjusting device; 401, fixing plate; 402, positioning plate; 403, first motor; 404, third electric push rod; 405, slider; 406, steering head; 407, positioning rod; 408, lock; 409, flap; 410, rotating rod; 411, third mounting seat; 412, machine hole; 413, fourth mounting seat; 414, support rod member;

[0070] 500A, first driving device; 500B, second driving device; 501, placing plate; 502, auxiliary wheel; 503, driving motor; 504, rotating shaft; 505, crawler; 506, working chamber; 507, groove;

[0071] 600, rotating mechanism; 601, second motor; 602, driving gear; 603, turntable; 604, fourth electric push rod; 605, guide rail; 606, adjusting block; 607, pull rod; 608, elbow; 609, support arm; 610, positioning head; 611, rack; 612, guide groove; 613, first hinge seat; 614, clamping groove; 615, second hinge seat; 616, mounting plate; 617, shaft seat;

[0072] 700, rubbing device; 701, third motor; 702, adjusting shaft; 703, arc rod; 704, turning knob; 705, umbrella-shaped head; 706, adjusting knob; 707, positioning hole; 708, through groove; 709, turning hole; 710, arc groove; 711, adjusting hole;

[0073] 800, collecting device; 801, fixing block; 802, arc collecting box; 803, third hinge seat. Detailed implementation manners

[0074] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention clearer, the present invention will be further described in detail below with reference to the attached drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0075] Refer toFigures 1 to 7 , the present invention provides a dredging robot for urban sewage pipelines, which includes a torsion device 300, an adjusting device 400, a first driving device 500A, a second driving device 500B, a rotating mechanism 600, a scraping device 700, and a collecting device 800;

[0076] Combined with Figure 1 , in the advancing direction of the dredging robot, the first driving device 500A and the second driving device 500B are arranged in sequence; the rotating mechanism 600 is arranged on the top surface of the first driving device 500A; the scraping device 700 is arranged on the top of the rotating mechanism 600; the torsion device 300 and the adjusting device 400 are arranged between the first driving device 500A and the second driving device 500B; the collecting device 800 is arranged at the rear of the second driving device 500B.

[0077] The following is a detailed introduction to each part:

[0078] (1) Torsion device 300 and adjusting device 400:

[0079] Combined with Figure 3 and Figure 4 , the adjusting device 400 includes a fixed plate 401, a positioning plate 402, a first motor 403, a third electric push rod 404, a slider 405, a steering head 406, a third mounting seat 411, a machine hole 412, a support rod member 414, and a single-joint rod unit; the torsion device 300 includes a connecting shaft 306 and a double-joint rod unit;

[0080] The fixed plate 401 is fixedly installed at the rear end of the first driving device 500A, and the positioning plate 402 is fixedly installed at the front end of the second driving device 500B;

[0081] On one side of the fixed plate 401 relative to the positioning plate 402, the slider 405 is slidably installed, and the slider 405 slides up and down relative to the fixed plate 401 under the drive of the third electric push rod 404;

[0082] A machine hole 412 is opened at the top of the slider 405, the first motor 403 is assembled on the top of the slider 405, and the output end of the first motor 403 passes through the machine hole 412 and is fixedly connected to the front end of the steering head 406 in the horizontal direction; the first motor 403 drives the steering head 406 to swing in the left and right directions;

[0083] On the side of the slider 405 and below the steering head 406, the third mounting seat 411 is fixedly installed; on one side of the positioning plate 402 relative to the fixed plate 401, the support rod member 414 is installed; the front end of the double-joint rod unit passes through the third mounting seat 411 and is rotatably connected to the slider 405 in the horizontal direction, and the rear end of the double-joint rod unit is rotatably connected to the bottom of the support rod member 414 in the horizontal direction;

[0084] In the horizontal hole at the rear end of the steering head 406, a connecting shaft 306 in the vertical direction is rotatably installed, and the bottom of the connecting shaft 306 is rotatably connected to the front end of the double-joint rod unit in the horizontal direction;

[0085] The front end of the single-joint rod unit is rotatably connected to the top of the connecting shaft 306 in the horizontal direction; the rear end of the single-joint rod unit is rotatably connected to the top of the support rod member 414 in the horizontal direction.

[0086] As a specific implementation, the single-joint rod unit of the adjusting device 400 includes a positioning rod 407, a locking buckle 408, a flap 409, a rotating rod 410, and a fourth mounting seat 413;

[0087] The front end of the positioning rod 407 is rotatably connected to the top of the connecting shaft 306 in the horizontal direction; the rear end of the positioning rod 407 is rotatably connected to the front end of the locking buckle 408 in the horizontal direction through a vertical shaft;

[0088] The rear end of the locking buckle 408 is rotatably connected to the front end of the flap 409 in the horizontal direction through a vertical shaft;

[0089] The front end of the rotating rod 410 is provided with a fourth mounting seat 413; the rear end of the flap 409 passes through the fourth mounting seat 413 and is rotatably connected to the front end of the rotating rod 410 in the pitching direction;

[0090] The rear end of the rotating rod 410 is rotatably connected to the top of the support rod member 414 in the horizontal direction.

[0091] As a specific implementation, the double-joint rod unit of the torsion device 300 includes a connecting plate 301, a first connecting buckle 302A, a second connecting buckle 302B, a first electric push rod 303, a connecting rod 304, a second electric push rod 305, a first mounting seat 307, a second mounting seat 308, a first joint 309A, and a second joint 309B;

[0092] The front end of the first connecting buckle 302A passes through the third mounting seat 411 and is rotatably connected to the slider 405 in the horizontal direction; the top surface of the first connecting buckle 302A is rotatably connected to the bottom end of the connecting shaft 306 in the horizontal direction;

[0093] The rear end of the first connecting buckle 302A is rotatably connected to the front end of the connecting plate 301 in the vertical direction through the first mounting seat 307; the rear end of the connecting plate 301 is rotatably connected to the front end of the second connecting buckle 302B in the vertical direction through the first mounting seat 307; the rear end of the second connecting buckle 302B is rotatably connected to the bottom of the support rod member 414 in the horizontal direction;

[0094] The upper part of the connecting plate 301 is provided with a first electric push rod 303; the front output end of the first electric push rod 303 is vertically rotatably connected to the rear end of the connecting rod 304 through a first joint 309A; the front end of the connecting rod 304 is vertically rotatably connected to the connecting shaft 306 through a second joint 309B;

[0095] Below the second connecting buckle 302B is provided with a second electric push rod 305; the rear end of the second electric push rod 305 is vertically rotatably connected to the bottom of the second connecting buckle 302B through a second mounting seat 308; the front output end of the second electric push rod 305 is vertically rotatably connected to the bottom of the connecting plate 301 through another second mounting seat 308.

[0096] (II) Driving device:

[0097] Combined with Figure 2 , the structures of the first driving device 500A and the second driving device 500B are the same, and both include a placement plate 501, auxiliary wheels 502, a driving motor 503, a rotating shaft 504, a crawler 505, a working cavity 506 and a grooved belt 507;

[0098] The placement plate 501 is provided with a working cavity 506; on the left and right sides of the working cavity 506, two driving motors 503 in the front-rear direction are respectively arranged; the output ends of the two driving motors 503 on each side are respectively installed with a rotating shaft 504; between the two rotating shafts 504 on each side, two auxiliary wheels 502 in the up-down direction are arranged, and each auxiliary wheel 502 is rotatably connected to the placement plate 501;

[0099] The auxiliary wheels 502 and the rotating shafts 504 on each side are both provided with grooved belts 507; the crawlers 505 on each side respectively pass through the grooved belts 507 on the corresponding side and are fixedly sleeved with the corresponding auxiliary wheels 502 and rotating shafts 504.

[0100] (III) Rotating mechanism 600:

[0101] Combined with Figure 5 、 Figure 6 and Figure 7 , the rotating mechanism 600 includes a second motor 601, a driving gear 602, a turntable 603, a fourth electric push rod 604, a guide rail 605, an adjusting block 606, a pull rod 607, an elbow 608, a support arm 609, a positioning head 610, a rack 611, a guide groove 612, a first hinge seat 613, a clamping groove 614 and a second hinge seat 615, a mounting plate 616 and a shaft seat 617;

[0102] A mounting plate 616 is fixedly installed on the top of the first driving device 500A; a shaft seat 617 is arranged on the top of the mounting plate 616; a driving gear 602 is rotatably installed inside the shaft seat 617, and the driving gear 602 rotates under the drive of the second motor 601; a rack 611 is fixedly installed on the bottom surface of the turntable 603, the turntable 603 passes through the shaft seat 617 and the mounting plate 616 and is rotatably connected, and the rack 611 meshes with the driving gear 602; under the drive of the second motor 601, the turntable 603 is driven to rotate horizontally;

[0103] On the top end of the turntable 603, guide rails 605 are fixedly installed symmetrically on the left and right; there are two adjusting blocks 606, each adjusting block 606 is provided with a guide groove 612, each guide rail 605 passes through the corresponding guide groove 612 and is slidably connected with the corresponding adjusting block 606, and each adjusting block 606 is provided with a fourth electric push rod 604, and the output end of the fourth electric push rod 604 is connected with the corresponding adjusting block 606 to drive the adjusting block 606 to slide along the guide rail 605;

[0104] An elbow 608 is installed between the two adjusting blocks 606, and both ends of the elbow 608 are rotatably connected with the adjusting blocks 606;

[0105] A first hinge seat 613 is arranged on the turntable 603, and the bottom end of the support arm 609 passes through the first hinge seat 613 and the turntable 603 and is rotatably connected; the support arm 609 is provided with a card slot 614; the output end of the elbow 608 passes through the card slot 614 and is rotatably connected with the support arm 609; a second hinge seat 615 is arranged on the top of the support arm 609, and the positioning head 610 passes through the second hinge seat 615 and the support arm 609 and is rotatably connected; both ends of the two groups of pull rods 607 are rotatably connected with the positioning head 610 and the elbow 608 respectively.

[0106] (IV) Scratching device 700:

[0107] Combined with Figure 5 、 Figure 6 and Figure 7 , the scratching device 700 includes a third motor 701, an adjusting shaft 702, an arc rod 703, a rotary knob 704, an umbrella-shaped head 705, an adjusting knob 706, a positioning hole 707, a through groove 708, a rotary hole 709, an arc groove 710 and an adjusting hole 711;

[0108] The third motor 701 is assembled on the top of the positioning head 610; the positioning head 610 is provided with a positioning hole 707, and the output end of the third motor 701 passes through the positioning hole 707 and is fixed to one end of the adjusting shaft 702; the third motor 701 drives the adjusting shaft 702 to rotate in the vertical direction;

[0109] A through slot 708 is provided on the adjusting shaft 702. The umbrella-shaped head 705 passes through the through slot 708 and is slidably connected to the adjusting shaft 702. A rotating hole 709 is provided in a matching manner on the through slot 708. The rotating knob 704 passes through the rotating hole 709 and is threadedly connected to the through slot 708.

[0110] Arc-shaped grooves 710 are provided on both the left and right sides of the umbrella-shaped head 705. The arc-shaped rod 703 passes through the corresponding arc-shaped groove 710 and is slidably connected to one side of the umbrella-shaped head 705. An adjusting hole 711 is provided in a matching manner on the arc-shaped groove 710. The adjusting knob 706 passes through the corresponding adjusting hole 711 and is threadedly connected to the corresponding arc-shaped groove 710.

[0111] (V) Collection device 800:

[0112] Combined with Figure 1 , the collection device 800 includes a fixed block 801, an arc-shaped collection box 802, and a third hinge seat 803;

[0113] The rear part of the second driving device 500B is fixedly installed with the fixed block 801; a third hinge seat 803 is provided on the fixed block 801. The arc-shaped collection box 802 passes through the third hinge seat 803 and is rotatably connected to the fixed block 801; the collection inlet of the arc-shaped collection box 802 faces forward.

[0114] The present invention also provides a dredging method for an urban sewage pipe network dredging robot, including the following steps:

[0115] S1: During the process of dredging the pipe gallery, the first driving device 500A and the second driving device 500B are simultaneously started to drive the dredging robot to roll along the pipe gallery route in the pipe gallery;

[0116] S1 is specifically:

[0117] The driving motor 503 is installed through the placement plate 501. During the process of displacement required, the driving motor 503 is started to rotate, so that the rotating shaft 504 connected thereto rotates. A toothed groove wheel or other track wheel with a high friction such as a track wheel is adopted between the rotating shaft 504 and the crawler 505. The crawler 505 is driven to roll by the rotating shaft 504, thereby driving the dredging robot to displace. During this process, the auxiliary wheel 502 is used to assist in supporting the crawler 505;

[0118] S2: During the rolling operation of the dredging robot, the horizontal and vertical displacements, that is, the horizontal and vertical displacements, are carried out by starting the torsion device 300, so that the dredging robot and the corresponding pipeline are adaptively supported, enabling the equipment to stably displace. During this process, the lifting is carried out in cooperation with starting the adjusting device to assist in adjusting the dredging robot;

[0119] Specifically, S2 is as follows: During the process of the dredging robot rolling and running in the pipe gallery driven by the first driving device 500A and the second driving device 500B, as the pipeline gradient and bending position change, the torsion device 300 and the adjusting device 400 adaptively change to fit the pipeline gradient and bending position, enabling the dredging robot to move forward stably;

[0120] Specifically, the first connecting buckle 302A and the second connecting buckle 302B, which are rotationally connected to the connecting plate 301 in the vertical direction, rotate in the vertical direction, that is, longitudinally, thereby driving the dredging robot to adjust the pitch angle. Moreover, the first electric push rod 303 and the second electric push rod 305 respectively push and pull the first connecting buckle 302A and the second connecting buckle 302B connected to them, enabling the two groups of first connecting buckles 302A and second connecting buckles 302B with different lengths to rotate in parallel under the compensation of the connecting rod 304. Thus, stable adjustment can be driven between the first connecting buckle 302A and the second connecting buckle 302B. After rotation, the first connecting buckle 302A is higher than the second connecting buckle 302B, forming a gradient form with the head higher than the tail, realizing the pitch angle adjustment of the dredging robot;

[0121] While the dredging robot is adjusting the pitch angle, start the third electric push rod 404 to drive the slider 405 to slide on the fixed plate 401 for longitudinal compensation. During this process, the first motor 403 can be started to drive the steering head 406 connected to it to rotate, and the steering head 406 drives the first connecting buckle 302A and the second connecting buckle 302B to rotate in the horizontal direction. Thus, the whole dredging robot is twisted in cooperation with the lock catch 408. During this process, the flap 409 and the rotating rod 410 are in a transversely rotationally connected relationship for compensating the transverse rotation;

[0122] S3: During the rolling operation of the dredging robot, the sliding and rubbing device 700 is extended and telescoped to adaptively adjust to the inner wall radian of different pipelines;

[0123] S4: During the rolling operation of the dredging robot, start the rotating mechanism 600 to drive the output end of the rubbing device 700 to perform parallel angle adjustment and height adjustment for rubbing the dirt;

[0124] Specifically, S3 and S4 are as follows:

[0125] The second motor 601 drives the connected driving gear 602 to rotate. Due to the meshing relationship between the driving gear 602 and the rack 611 on the turntable 603, the turntable 603 is driven to rotate. After the execution of S2, the fourth electric push rod 604 is started to drive the adjusting block 606 to slide on the guide rail 605, thereby driving the angle of the elbow 608 to change. By pushing or pulling the support arm 609 with the elbow 608, the angle of the support arm 609 is adjusted. After the support arm 609 is lifted or lowered, the elbow 608 rotates accordingly, and the positioning head 610 is driven to rotate by the connected pull rod 607, so that the output end of the scraping device 700 remains in a parallel state;

[0126] During the scraping process of the equipment, it is adjusted according to the inner diameter of the pipeline. The sliding umbrella head 705 is slid on the adjusting shaft 702 and fixed by cooperating with the rotation of the turning knob 704. The arc-shaped rod 703 is pulled to extend on the umbrella head 705 and fixed by rotating the adjusting knob 706. The third motor 701 is started to drive the umbrella head 705 to rotate, and the dirt at different angles and positions is scraped, so as to scrape the dirt at different positions;

[0127] S5: During the rolling operation of the dredging robot, the collecting device 800 collects the scraped dirt.

[0128] S5 is specifically as follows:

[0129] After the dirt falls, it is collected by using the arc-shaped collecting box 802, and the wet and dry separation is carried out in cooperation with the leakage holes on the arc-shaped collecting box 802.

[0130] The present invention provides an urban sewage pipe network dredging robot and its method, which has the following advantages:

[0131] (1) By starting the scraping device, this equipment adjusts the scraping according to the shape and inner diameter of the pipe gallery, and cooperates with the tail collecting device for real-time collection. By means of the parallel cleaning and collection method, the cleaning efficiency of the equipment is improved, and thus the working efficiency of the equipment is improved;

[0132] (2) During the driving process of the equipment, the horizontal and vertical adjustment is carried out by starting the torsion device. During this process, the position and angle of the front and rear placement boxes of the equipment are adjusted in cooperation with the driving and adjusting device, so that the equipment fits the pipe galleries with different lines and curvatures, and the adjustment performance of the equipment is improved;

[0133] (3) During the operation of the equipment, the rotation mechanism is started for angle and position adjustment, so as to improve the adaptability of the equipment for scraping.

[0134] The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0135] In the present invention, the "first", "second", and "third" do not represent specific quantities or orders, but are only used for name distinction.

[0136] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A robot for desilting urban sewage pipe networks, characterized in that: It comprises a twisting device (300), an adjusting device (400), a first driving device (500A), a second driving device (500B), a rotating mechanism (600), a scraping device (700) and a collecting device (800); According to the moving direction of the dredging robot, the first driving device (500A) and the second driving device (500B) are arranged in sequence; the rotating mechanism (600) is arranged on the top surface of the first driving device (500A); the scraping device (700) is arranged on the top of the rotating mechanism (600); the twisting device (300) and the adjusting device (400) are arranged between the first driving device (500A) and the second driving device (500B); and the collecting device (800) is arranged at the rear of the second driving device (500B).

2. The urban sewage pipe network desilting robot according to claim 1, characterized in that: The adjusting device (400) comprises a fixing plate (401), a positioning plate (402), a first motor (403), a third electric push rod (404), a slider (405), a steering head (406), a third mounting seat (411), a machine hole (412), a supporting rod (414) and a single-joint rod unit; the twisting device (300) comprises a connecting shaft (306) and a double-joint rod unit; The fixing plate (401) is fixedly mounted on the rear end of the first driving device (500A), and the positioning plate (402) is fixedly mounted on the front end of the second driving device (500B); The slider (405) is mounted on the fixed plate (401) on a side opposite to the positioning plate (402) so as to be slidable up and down, and the slider (405) slides up and down relative to the fixed plate (401) under the drive of the third electric push rod (404); The machine hole (412) is provided at the top of the slider (405); the first motor (403) is mounted on the top of the slider (405); and the output end of the first motor (403) passes through the machine hole (412) and is connected and fixed to the front end of the steering head (406) in the horizontal direction; the first motor (403) drives the steering head (406) to swing in the left and right directions; The third mounting seat (411) is fixedly mounted on the side of the slider (405) and below the steering head (406); the support rod (414) is mounted on the positioning plate (402) on a side opposite to the fixed plate (401); the front end of the double-joint rod unit passes through the third mounting seat (411) and is horizontally rotatably connected to the slider (405), and the rear end of the double-joint rod unit is horizontally rotatably connected to the bottom of the support rod (414); The connecting shaft (306) in the vertical direction can be rotatably installed in the rear end horizontal hole of the steering head (406), and the bottom of the connecting shaft (306) is horizontally rotatably connected to the front end of the double-joint rod unit; The front end of the single-joint rod unit is connected to the top of the connecting shaft (306) in a horizontal rotation direction; the rear end of the single-joint rod unit is connected to the top of the supporting rod (414) in a horizontal rotation direction.

3. The urban sewage pipe network desilting robot according to claim 2, characterized in that: The single-joint rod unit comprises a positioning rod (407), a locking buckle (408), a flap (409), a rotating rod (410) and a fourth mounting seat (413); The front end of the positioning rod (407) is connected to the top of the connecting shaft (306) in a horizontal rotation direction; the rear end of the positioning rod (407) is connected to the front end of the locking buckle (408) in a horizontal rotation direction via a vertical axis; The rear end of the lock buckle (408) and the front end of the flap (409) are connected to each other in a horizontal direction through a vertical axis; The front end of the rotating rod (410) is provided with the fourth mounting seat (413); the rear end of the flap (409) passes through the fourth mounting seat (413) and is connected to the front end of the rotating rod (410) for rotation in the pitch direction; The rear end of the rotating rod (410) is rotatably connected to the top of the supporting rod (414) in a horizontal direction.

4. The urban sewage pipe network desilting robot according to claim 2, characterized in that: The double-joint rod unit comprises a connecting plate (301), a first connecting buckle (302A), a second connecting buckle (302B), a first electric push rod (303), a connecting rod (304), a second electric push rod (305), a first mounting seat (307), a second mounting seat (308), a first joint (309A) and a second joint (309B); The front end of the first connecting buckle (302A) passes through the third mounting seat (411) and is connected to the slider (405) in a horizontal rotation direction; the top surface of the first connecting buckle (302A) is connected to the bottom end of the connecting shaft (306) in a horizontal rotation direction; The rear end of the first connecting buckle (302A) is connected to the front end of the connecting plate (301) in a vertical rotation direction via the first mounting seat (307); the rear end of the connecting plate (301) is connected to the front end of the second connecting buckle (302B) in a vertical rotation direction via the first mounting seat (307); the rear end of the second connecting buckle (302B) is connected to the bottom of the supporting rod (414) in a horizontal rotation direction; The first electric push rod (303) is arranged on the upper part of the connecting plate (301); the front output end of the first electric push rod (303) is connected to the rear end of the connecting rod (304) in a vertical rotation direction via a first joint (309A); ​​the front end of the connecting rod (304) is connected to the connecting shaft (306) in a vertical rotation direction via a second joint (309B); The second electric push rod (305) is arranged below the second connecting buckle (302B); the rear end of the second electric push rod (305) is connected to the bottom of the second connecting buckle (302B) in a vertical direction through the second mounting seat (308); the front output end of the second electric push rod (305) is connected to the bottom of the connecting plate (301) in a vertical direction through another second mounting seat (308).

5. The urban sewage pipe network desilting robot according to claim 1, characterized in that: The first driving device (500A) and the second driving device (500B) have the same structure, and both include a placement plate (501), an auxiliary wheel (502), a driving motor (503), a rotating shaft (504), a crawler belt (505), a working chamber (506) and a belt groove (507); The placement plate (501) is provided with the working chamber (506); two driving motors (503) in the front-rear direction are respectively provided on the left and right sides of the working chamber (506); the output ends of the two driving motors (503) on each side are respectively installed with the rotating shaft (504); two auxiliary wheels (502) in the upper-lower direction are provided between the two rotating shafts (504) on each side, and each auxiliary wheel (502) is rotatably connected to the placement plate (501); The auxiliary wheel (502) and the rotating shaft (504) on each side are provided with the belt groove (507); the crawler belt (505) on each side passes through the belt groove (507) on the corresponding side and is fixedly mounted on the auxiliary wheel (502) and the rotating shaft (504) on the corresponding side.

6. The urban sewage pipe network desilting robot according to claim 1, characterized in that: The rotating mechanism (600) includes a second motor (601), a driving gear (602), a turntable (603), a fourth electric push rod (604), a guide rail (605), an adjustment block (606), a pull rod (607), an elbow (608), a support arm (609), a positioning head (610), a rack (611), a guide groove (612), a first capstan seat (613), a clamping groove (614) and a second capstan seat (615), a mounting plate (616) and an axle seat (617); The mounting plate (616) is fixed on the top of the first driving device (500A); the shaft seat (617) is arranged on the top of the mounting plate (616); the driving gear (602) is rotatably mounted inside the shaft seat (617), and the driving gear (602) rotates under the drive of the second motor (601); the rack (611) is fixedly mounted on the bottom surface of the turntable (603), and the turntable (603) passes through the shaft seat (617) and is rotatably connected to the mounting plate (616), and the rack (611) is meshed with the driving gear (602); under the drive of the second motor (601), the turntable (603) is driven to rotate horizontally; The guide rails (605) are fixedly mounted symmetrically on the top of the turntable (603); two adjusting blocks (606) are provided, each of which is provided with the guide groove (612); each of the guide rails (605) passes through the corresponding guide groove (612) and is slidably connected with the corresponding adjusting block (606); each of the adjusting blocks (606) is provided with the fourth electric push rod (604); the output end of the fourth electric push rod (604) is connected with the corresponding adjusting block (606) to drive the adjusting block (606) to slide along the guide rail (605); The elbow (608) is installed between the two adjusting blocks (606), and both ends of the elbow (608) are rotatably connected to the adjusting blocks (606); The first capstan (613) is arranged on the turntable (603), and the bottom end of the support arm (609) passes through the first capstan (613) and is rotatably connected to the turntable (603); the support arm (609) is provided with the slot (614); the output end of the elbow (608) passes through the slot (614) and is rotatably connected to the support arm (609); the second capstan (615) is arranged on the top of the support arm (609), and the positioning head (610) passes through the second capstan (615) and is rotatably connected to the support arm (609); the two ends of the two groups of pull rods (607) are rotatably connected to the positioning head (610) and the elbow (608) respectively.

7. The urban sewage pipe network desilting robot according to claim 6, characterized in that: The scratching device (700) comprises a third motor (701), an adjustment shaft (702), an arc-shaped rod (703), a knob (704), an umbrella-shaped head (705), an adjustment knob (706), a positioning hole (707), a through slot (708), a rotation hole (709), an arc-shaped slot (710) and an adjustment hole (711); The third motor (701) is mounted on the top of the positioning head (610); the positioning head (610) is provided with the positioning hole (707), and the output end of the third motor (701) passes through the positioning hole (707) and is fixed to one end of the adjustment shaft (702); the third motor (701) drives the adjustment shaft (702) to rotate in a vertical direction; The through slot (708) is provided on the adjusting shaft (702), the umbrella-shaped head (705) passes through the through slot (708) and is slidably connected to the adjusting shaft (702), the through slot (708) is matched with the rotating hole (709), and the rotating knob (704) passes through the rotating hole (709) and is threadedly connected to the through slot (708); The arc-shaped groove (710) is respectively arranged on the left and right sides of the umbrella-shaped head (705); the arc-shaped rod (703) passes through the corresponding arc-shaped groove (710) and is slidably connected to one side of the umbrella-shaped head (705); the adjustment hole (711) is matched with the arc-shaped groove (710); the adjustment knob (706) passes through the corresponding adjustment hole (711) and is threadedly connected to the corresponding arc-shaped groove (710).

8. The urban sewage pipe network desilting robot according to claim 1, characterized in that: The collecting device (800) comprises a fixed block (801), an arc-shaped collecting box (802) and a third sling seat (803); The fixed block (801) is fixedly installed at the rear of the second driving device (500B); the third capstan (803) is arranged on the fixed block (801), and the arc-shaped collection box (802) passes through the third capstan (803) and is rotatably connected to the fixed block (801); the collection inlet of the arc-shaped collection box (802) faces forward.

9. A desilting method for a city sewage pipe network desilting robot according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1: During the process of desilting the pipeline corridor, the first driving device (500A) and the second driving device (500B) are started simultaneously to drive the desilting robot to roll along the pipeline corridor route in the pipeline corridor; S2: During the rolling operation of the dredging robot, the twisting device (300) is started to move horizontally and vertically, so that the dredging robot and the corresponding pipeline are adaptively supported. During this process, the adjusting device is started to move up and down, so as to assist in adjusting the dredging robot; S3: During the rolling operation of the dredging robot, the sliding scraping device (700) is extended and retracted to adjust and adapt to the curvature of the inner wall of different pipelines; S4: During the rolling operation of the dredging robot, the rotating mechanism (600) is started to drive the output end of the scraping device (700) to perform parallel angle adjustment and height adjustment to scrape the dirt; S5: During the rolling operation of the dredging robot, the scraped dirt is collected by the collecting device (800).

10. A dredging method for a city sewage pipe network dredging robot according to claim 9, characterized in that: S1 is specifically: The driving motor (503) is installed by placing the plate (501). When displacement is required, the driving motor (503) is started to rotate, so that the rotating shaft (504) connected thereto is driven to rotate. Track wheels are used between the rotating shaft (504) and the crawler track (505). The crawler track (505) is driven to roll by the rotating shaft (504), thereby driving the dredging robot to move. In this process, the crawler track (505) is auxiliary supported by the auxiliary wheel (502); S2 specifically includes: when the first driving device (500A) and the second driving device (500B) drive the dredging robot to roll in the pipe gallery, as the slope and bending position of the pipeline change, the twisting device (300) and the adjusting device (400) are adaptively changed to fit the slope and bending position of the pipeline, so that the dredging robot moves forward stably; Specifically, the first connecting buckle (302A) and the second connecting buckle (302B) connected to the connecting plate (301) in a vertical direction rotate in the vertical direction, thereby driving the dredging robot to adjust the pitch angle, and the first electric push rod (303) and the second electric push rod (305) respectively push and pull the first connecting buckle (302A) and the second connecting buckle (302B) connected thereto, so that the two groups of first connecting buckles (302A) and second connecting buckles (302B) of different lengths rotate in parallel under the compensation of the connecting rod (304). After the rotation, the first connecting buckle (302A) is higher than the second connecting buckle (302B), forming a gradient form with a higher head and a lower tail, thereby realizing the dredging robot to adjust the pitch angle; While the dredging robot is adjusting the pitch angle, the third electric push rod (404) is started to drive the slider (405) to slide on the fixed plate (401) to perform longitudinal compensation. During this process, the first motor (403) can be started to drive the steering head (406) connected thereto to rotate, and the steering head (406) drives the first connecting buckle (302A) and the second connecting buckle (302B) to rotate in the horizontal direction, thereby cooperating with the lock buckle (408) to twist the dredging robot as a whole. During this process, the flap (409) and the rotating rod (410) are in a lateral rotation connection relationship, which is used to compensate for lateral rotation; S3 and S4 are as follows: The second motor (601) drives the driving gear (602) connected thereto to rotate, and the meshing relationship between the driving gear (602) and the rack (611) on the turntable (603) drives the turntable (603) to rotate; after S2 is executed, the fourth electric push rod (604) is started to drive the adjustment block (606) to slide on the guide rail (605), thereby driving the angle of the elbow (608) to change, and the support arm (609) is pushed or pulled by the elbow (608) to adjust the angle of the support arm (609). After the support arm (609) is raised or lowered, the elbow (608) rotates accordingly, and the positioning head (610) is driven to rotate through the pull rod (607) connected thereto, so that the output end of the scraping device (700) remains in a parallel state; During the scraping process of the device, the device is adjusted according to the inner diameter of the pipeline, the umbrella-shaped head (705) is slid on the adjustment shaft (702), and the knob (704) is turned to fix it, the arc-shaped rod (703) is pulled to extend on the umbrella-shaped head (705), and the adjustment knob (706) is turned to fix it, and the third motor (701) is started to drive the umbrella-shaped head (705) to rotate, so as to scrape the dirt at different angles and positions, thereby scraping the dirt at different positions; S5 is as follows: After the dirt falls, it is collected by using an arc-shaped collection box (802), and the dry and wet separation is performed in conjunction with the leakage holes on the arc-shaped collection box (802).

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