Urban sewage pipe network desilting robot and method thereof

Abstract

The present invention relates to the technical field of attachments for dredging equipment, and in particular to a city sewage pipe network dredging robot and method thereof, comprising a twisting device, an adjusting device, a first driving device, a second driving device, a rotating mechanism, a scraping device, and a collecting device; the first driving device and the second driving device are sequentially arranged according to the direction of travel of the dredging robot; the rotating mechanism is arranged on the top surface of the first driving device; the scraping device is arranged on the top of the rotating mechanism; the twisting 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 of the second driving device. The present invention provides a city sewage pipe network dredging robot and method thereof, which can be driven by tracks to perform adjustable scraping and collection in a pipe corridor, thereby improving the cleaning efficiency of the equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of attachments for dredging equipment, and in particular to a dredging robot for a city sewage pipe network and a method thereof. Background Art

[0002] Urban utility corridors, also known as underground integrated pipeline corridors or common trenches, are large underground passages built to centrally house municipal pipelines for electricity, communications, water supply, drainage, heating, gas, and other services. Over time, dust, dirt, and other debris can accumulate inside these corridors. If not promptly cleaned, these can affect the normal operation of the pipelines and even cause blockages. Sediment can also pose a fire hazard or other accident risk. Regular cleaning can mitigate these risks. Therefore, cleaning and desilting are crucial to maintaining the functionality of urban utility corridors.

[0003] The most common underground pipe gallery cleaning equipment currently available is the cleaning rod. The cleaning rod is a device used to clean underground pipe galleries in daily life and has been widely used in the field of urban environmental protection.

[0004] When using the existing cleaning rod, it is first placed in the underground pipe gallery that needs to be cleaned, and it is made to slide at high speed by high-pressure inflation. During the sliding process, the dirt in the underground pipe gallery is collected by the cleaning net connected to it; it is found in the use of the existing cleaning rod that the cleaning rod is mostly used for liquid and gas pipe gallery cleaning, and when cleaning the pipe gallery with solid objects, blockage and delay will occur, resulting in low cleaning efficiency, and thus low working efficiency of the equipment. Summary of the Invention

[0005] In response to the defects of the existing technology, the present invention provides a city sewage pipe network dredging robot and method thereof, which can be driven by a crawler to perform adjustable scraping and collection in the pipe gallery, thereby improving the cleaning efficiency of the equipment.

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

[0007] The present invention provides a city sewage pipe network desilting robot, comprising 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);

[0008] 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).

[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 supporting rod (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 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);

[0011] The fixed plate (401) is provided with a sliding block (405) on a side opposite to the positioning plate (402) so as to be slidable up and down. The sliding block (405) slides up and down relative to the fixed plate (401) under the drive of the third electric push rod (404);

[0012] The top of the slider (405) is provided with the machine hole (412), 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 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;

[0013] 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 side of the positioning plate (402) relative 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);

[0014] 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;

[0015] 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.

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

[0017] 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 lock buckle (408) in a horizontal rotation direction via a vertical axis;

[0018] The rear end of the lock buckle (408) and the front end of the flap (409) are connected to each other in a horizontal rotation via a vertical axis;

[0019] 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;

[0020] The rear end of the rotating rod (410) is connected to the top of the supporting rod (414) in a horizontal rotation 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 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;

[0023] The rear end of the first connecting buckle (302A) is connected to the front end of the connecting plate (301) in a vertical rotational 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 rotational 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 rotational direction;

[0024] The first electric push rod (303) is provided on the upper portion 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);

[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 connected to the bottom of the second connecting buckle (302B) in a vertical rotation 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 rotation 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 belt (505), a working chamber (506) and a belt groove (507);

[0027] 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 and lower directions are provided between the two rotating shafts (504) on each side, and each auxiliary wheel (502) is rotatably connected to the placement plate (501);

[0028] The auxiliary wheel (502) and the rotating shaft (504) on each side are both provided with the belt groove (507); the crawler belt (505) on each side respectively 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.

[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 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), a second capstan seat (615), a mounting plate (616) and an axle seat (617);

[0030] The mounting plate (616) is fixed on 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 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 engaged 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 mounted on the top of the turntable (603) in a symmetrical manner on both sides; two adjusting blocks (606) are provided, each of the adjusting blocks (606) is provided with the guide groove (612), each of the guide rails (605) passes through the corresponding guide groove (612) and is slidably connected to 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 to the corresponding adjusting block (606), and drives 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 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.

[0034] Preferably, the scratching device (700) includes a third motor (701), an adjusting shaft (702), an arc-shaped rod (703), a rotating knob (704), an umbrella-shaped head (705), an adjusting knob (706), a positioning hole (707), a through slot (708), a rotating hole (709), an arc-shaped slot (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); 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 the vertical direction;

[0036] 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);

[0037] The arc-shaped groove (710) is provided on each of 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).

[0038] Preferably, the collecting device (800) comprises a fixed block (801), an arc-shaped collecting box (802) and a third winding seat (803);

[0039] The fixed block (801) is fixedly mounted on the rear of the second driving device (500B); the third capstan (803) is provided on the fixed block (801); 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.

[0040] The present invention also provides a desilting method for a city sewage pipe network desilting robot, comprising the following steps:

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

[0042] S2: During the rolling operation of the dredging robot, the twisting device (300) is activated to perform horizontal and vertical displacement, so that the dredging robot and the corresponding pipeline are adaptively supported. During this process, the adjustment device is activated to perform lifting and lowering, so as to assist in adjusting the dredging robot;

[0043] 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;

[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 silt cleaning robot, the scraped dirt is collected by the collecting device (800).

[0046] Preferably, S1 is specifically:

[0047] The driving motor (503) is installed by placing the plate (501). When the 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 (505). The crawler (505) is driven to roll by the rotating shaft (504), thereby driving the dredging robot to move. During this process, the crawler (505) is auxiliary supported by the auxiliary wheel (502);

[0048] S2 specifically includes: when the first driving device (500A) and the second driving device (500B) drive the dredging robot to roll in the pipeline corridor, as the pipeline slope and bending position change, the twisting device (300) and the adjusting device (400) perform adaptive changes to fit the pipeline slope and bending position, so that the dredging robot moves forward stably;

[0049] 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 the head higher and the tail lower, thereby realizing the dredging robot to adjust the pitch angle;

[0050] While the dredging robot is adjusting its 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.

[0051] S3 and S4 are specifically:

[0052] 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 completing S2, 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 by the pull rod (607) connected thereto, so that the output end of the scraping device (700) remains in a parallel state;

[0053] 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 rotated to fix it. The arc-shaped rod (703) is pulled to extend on the umbrella-shaped head (705), and the adjustment knob (706) is rotated to fix it. The third motor (701) is started to drive the umbrella-shaped head (705) to rotate, and the dirt at different angles and positions is scraped, thereby scraping the dirt at different positions;

[0054] S5 is specifically:

[0055] After the dirt falls, it is collected by using an arc-shaped collection box (802), and the dry and wet separation is carried out in conjunction with the leakage holes on the arc-shaped collection box (802).

[0056] Compared with the prior art, the present invention has the following beneficial effects:

[0057] (1) This equipment starts the scraping device, adjusts the scraping according to the shape and inner diameter of the pipe gallery, cooperates with the tail collection device to collect in real time, and improves the cleaning efficiency of the equipment by cleaning and collecting in parallel, thereby improving the working efficiency of the equipment;

[0058] (2) During the driving process, the equipment is adjusted horizontally and vertically by starting the torsion device. During this process, the position and angle of the boxes placed in front and behind the equipment are adjusted in conjunction with the driving adjustment device, so that the equipment can fit the pipeline corridors with different lines and curvatures, thereby improving the adjustment performance of the equipment;

[0059] (3) During the operation of the equipment, the rotating mechanism is started to adjust the angle and position to improve the adaptability of the equipment to scratches. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a schematic diagram of the overall structure of the present invention;

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

[0062] Figure 3 is a first perspective view of the twisting device and the adjusting device of the present invention;

[0063] Figure 4 is a second perspective view of the twisting device and the adjusting device of the present invention;

[0064] Figure 5 It is a schematic diagram of the connection structure between the mounting plate and the shaft seat of the present invention;

[0065] Figure 6 is a first perspective view of the rotating mechanism and the scratching device of the present invention;

[0066] Figure 7 It is a second stereoscopic view of the rotating mechanism and the scratching device of the present invention.

[0067] In the accompanying 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 base; 308, second mounting base; 309A, first joint; 309B, second joint;

[0069] 400, adjustment 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;

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

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

[0072] 700, scratching device; 701, third motor; 702, adjustment shaft; 703, arc-shaped rod; 704, rotary knob; 705, umbrella-shaped head; 706, adjustment knob; 707, positioning hole; 708, through-slot; 709, rotary hole; 710, arc-shaped slot; 711, adjustment hole;

[0073] 800, collecting device; 801, fixing block; 802, arc-shaped collecting box; 803, third winch seat. DETAILED DESCRIPTION

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

[0075] See Figures 1 to 7 The present invention provides a city sewage pipe network desilting robot, comprising 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;

[0076] Combine Figure 1 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 scratching 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; 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) Twisting device 300 and adjusting device 400:

[0079] Combine Figure 3 and Figure 4 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 414 and a single-joint rod unit; the torsion device 300 includes a connecting shaft 306 and a double-joint rod unit;

[0080] 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;

[0081] A sliding block 405 is installed on the side of the fixed plate 401 relative to the positioning plate 402 and can slide up and down. The sliding block 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 defined at the top of the slider 405. The first motor 403 is mounted on the top of the slider 405. The output end of the first motor 403 passes through the machine hole 412 and is fixedly connected to the front end of the horizontal steering head 406. The first motor 403 drives the steering head 406 to swing left and right.

[0083] A third mounting seat 411 is fixedly mounted on the side of the slider 405 and below the steering head 406. A support rod 414 is mounted on the side of the positioning plate 402 opposite to the fixed plate 401. The front end of the double-jointed rod unit passes through the third mounting seat 411 and is horizontally rotatably connected to the slider 405. The rear end of the double-jointed rod unit is horizontally rotatably connected to the bottom of the support rod 414.

[0084] A vertical connecting shaft 306 is rotatably mounted in the rear 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;

[0085] 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.

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

[0087] The front end of the positioning rod 407 is connected to the top of the connecting shaft 306 in a horizontal rotation; the rear end of the positioning rod 407 is connected to the front end of the lock buckle 408 in a horizontal rotation via a vertical axis;

[0088] The rear end of the lock 408 and the front end of the flap 409 are connected to each other in a horizontal direction through a vertical axis;

[0089] A 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 connected to the front end of the rotating rod 410 for pitch rotation;

[0090] The rear end of the rotating rod 410 is horizontally rotatably connected to the top of the supporting rod 414 .

[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 base 307, a second mounting base 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 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.

[0093] The rear end of the first connecting buckle 302A is vertically rotatably connected to the front end of the connecting plate 301 via the first mounting base 307; the rear end of the connecting plate 301 is vertically rotatably connected to the front end of the second connecting buckle 302B via the first mounting base 307; the rear end of the second connecting buckle 302B is horizontally rotatably connected to the bottom of the support rod 414.

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

[0095] A 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 a 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.

[0096] (2) Driving device:

[0097] Combine Figure 2 The first drive device 500A and the second drive device 500B have the same structure, and both include a placement plate 501, an auxiliary wheel 502, a drive motor 503, a rotating shaft 504, a crawler 505, a working chamber 506 and a belt groove 507;

[0098] The placement plate 501 is provided with a working chamber 506; two forward and backward drive motors 503 are provided on the left and right sides of the working chamber 506; a rotating shaft 504 is installed at the output end of each of the two drive motors 503 on each side; two vertical auxiliary wheels 502 are provided between the two rotating shafts 504 on each side, and each auxiliary wheel 502 is rotatably connected to the placement plate 501;

[0099] The auxiliary wheel 502 and the rotating shaft 504 on each side are provided with a belt groove 507 ; the crawler track 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.

[0100] (3) Rotating mechanism 600:

[0101] Combine 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 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 a shaft seat 617;

[0102] A mounting plate 616 is fixed to the top of the first drive device 500A; a shaft seat 617 is provided on the top of the mounting plate 616; a drive gear 602 is rotatably mounted within the shaft seat 617, and the drive gear 602 rotates under the drive of the second motor 601; a rack 611 is fixed to the bottom surface of the turntable 603, which passes through the shaft seat 617 and is rotatably connected to the mounting plate 616, and the rack 611 is meshed with the drive gear 602; the turntable 603 is driven by the second motor 601 to rotate horizontally;

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

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

[0105] A first capstan 613 is provided 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; a slot 614 is provided on the support arm 609; the output end of the elbow 608 passes through the slot 614 and is rotatably connected to the support arm 609; a second capstan 615 is provided 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 sets of pull rods 607 are rotatably connected to the positioning head 610 and the elbow 608 respectively.

[0106] (4) Scratching device 700:

[0107] Combine Figure 5 、 Figure 6 and Figure 7 The scratching device 700 includes a third motor 701, an adjusting shaft 702, an arc-shaped rod 703, a knob 704, an umbrella-shaped head 705, an adjusting knob 706, a positioning hole 707, a through slot 708, a rotating hole 709, an arc-shaped slot 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 adjustment shaft 702; the third motor 701 drives the adjustment shaft 702 to rotate in the vertical direction;

[0109] The adjusting shaft 702 is provided with a through slot 708, 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 a rotating hole 709, the rotating knob 704 passes through the rotating hole 709 and is threadedly connected to the through slot 708;

[0110] An arc groove 710 is provided on each side of the umbrella-shaped head 705. The arc rod 703 passes through the corresponding arc groove 710 and is slidably connected to one side of the umbrella-shaped head 705. An adjustment hole 711 is provided on the arc groove 710. The adjustment knob 706 passes through the corresponding adjustment hole 711 and is threadedly connected to the corresponding arc groove 710.

[0111] (V) Collection device 800:

[0112] Combine Figure 1 , the collecting device 800 includes a fixed block 801, an arc-shaped collecting box 802 and a third winding seat 803;

[0113] A fixing block 801 is fixedly installed at the rear of the second driving device 500B; a third capstan 803 is provided on the fixing block 801, and an arc-shaped collecting box 802 passes through the third capstan 803 and is rotatably connected to the fixing block 801; the collecting inlet of the arc-shaped collecting box 802 faces forward.

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

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

[0116] S1 is specifically:

[0117] The driving motor 503 is installed by placing the plate 501. When the displacement is required, the driving motor 503 is started to rotate, so that the rotating shaft 504 connected thereto is driven to rotate. A high-friction crawler wheel such as a toothed wheel is used 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 move. In this process, the crawler 505 is auxiliary supported by the auxiliary wheel 502.

[0118] S2: During the rolling operation of the dredging robot, the twisting device 300 is activated to perform horizontal and vertical displacement, i.e., transverse and longitudinal displacement, so that the dredging robot and the corresponding pipeline are adaptively supported, allowing the equipment to move stably. During this process, the adjustment device is activated to perform lifting and lowering to assist in adjusting the dredging robot.

[0119] S2 specifically involves: as the first drive device 500A and the second drive device 500B drive the dredging robot to roll in the pipeline corridor, as the pipeline slope and bend position change, the torsion device 300 and the adjustment device 400 adaptively change to fit the pipeline slope and bend position, allowing the dredging robot to move forward stably;

[0120] 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, that is, rotate longitudinally, 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 with different lengths rotate in parallel under the compensation of the connecting rod 304, thereby driving the first connecting buckle 302A and the second connecting buckle 302B to be stably adjusted. After rotation, the first connecting buckle 302A is higher than the second connecting buckle 302B, forming a gradient form with the head higher and the tail lower, thereby realizing the dredging robot to adjust the pitch angle;

[0121] While the dredging robot is adjusting its pitch 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 thereto to rotate, and the steering head 406 drives the first connecting buckle 302A and the second connecting buckle 302B to rotate horizontally, 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 to compensate for lateral rotation;

[0122] 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;

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

[0124] S3 and S4 are specifically:

[0125] 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 completing S2, 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 elbow 608 pushes or pulls the support arm 609 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 scratching device 700 remains parallel;

[0126] During the scraping process, the device is adjusted according to the inner diameter of the pipeline, by sliding the umbrella-shaped head 705 to slide on the adjustment shaft 702, and rotating the knob 704 to fix it. By pulling the arc-shaped rod 703 to extend it on the umbrella-shaped head 705, the adjustment knob 706 is rotated to fix it, and the third motor 701 is started to drive the umbrella-shaped head 705 to rotate, scraping the dirt at different angles and positions, thereby scraping the dirt at different positions;

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

[0128] S5 is specifically:

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

[0130] The present invention provides a city sewage pipe network desilting robot and method thereof, which has the following advantages:

[0131] (1) This equipment starts the scraping device, adjusts the scraping according to the shape and inner diameter of the pipe gallery, cooperates with the tail collection device to collect in real time, and improves the cleaning efficiency of the equipment by cleaning and collecting in parallel, thereby improving the working efficiency of the equipment;

[0132] (2) During the driving process, the equipment is adjusted horizontally and vertically by starting the torsion device. During this process, the position and angle of the boxes placed in front and behind the equipment are adjusted in conjunction with the driving adjustment device, so that the equipment can fit the pipeline corridors with different lines and curvatures, thereby improving the adjustment performance of the equipment;

[0133] (3) During the operation of the equipment, the rotating mechanism is started to adjust the angle and position to improve the adaptability of the equipment to scratches.

[0134] The terms "vertical," "horizontal," "left," "right," and the like are used herein for descriptive purposes only.

[0135] The "first", "second" and "third" in the present invention do not represent specific quantities and orders, but are only used to distinguish names.

[0136] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A city sewage pipe network desilting robot, 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 sequentially arranged; 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); the collecting device (800) is arranged at the rear of the second driving device (500B); 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 (414) and a single-joint rod unit; the torsion device (300) includes 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 fixed plate (401) is provided with a sliding block (405) on a side opposite to the positioning plate (402) so as to be slidable up and down. The sliding block (405) slides up and down relative to the fixed plate (401) under the drive of the third electric push rod (404); The top of the slider (405) is provided with the machine hole (412), 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 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 side of the positioning plate (402) relative 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.

2. The urban sewage pipe network desilting robot according to claim 1, characterized in that: The single-joint rod unit includes a positioning rod (407), a lock 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 lock 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 rotation via 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 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 1, 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 rotational 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 rotational 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 rotational direction; The first electric push rod (303) is provided on the upper portion 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 rotation 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 rotation direction through another second mounting seat (308).

4. 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), auxiliary wheels (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 and lower directions 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 both provided with the belt groove (507); the crawler belt (505) on each side respectively 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.

5. 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), a second capstan seat (615), a mounting plate (616), and a shaft seat (617); The mounting plate (616) is fixed on 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 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 engaged 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 on the top of the turntable (603) in a symmetrical manner on both sides; two adjusting blocks (606) are provided, each of the adjusting blocks (606) is provided with the guide groove (612), each of the guide rails (605) passes through the corresponding guide groove (612) and is slidably connected to 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 to the corresponding adjusting block (606), and drives 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.

6. The urban sewage pipe network desilting robot according to claim 5, characterized in that: The scratching device (700) comprises a third motor (701), an adjusting shaft (702), an arc-shaped rod (703), a rotating knob (704), an umbrella-shaped head (705), an adjusting knob (706), a positioning hole (707), a through slot (708), a rotating hole (709), an arc-shaped slot (710), and an adjusting hole (711); 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); 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 the 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 provided on each of 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).

7. 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 winding seat (803); The fixed block (801) is fixedly mounted on the rear of the second driving device (500B); the third capstan (803) is provided on the fixed block (801); 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.

8. A desilting method for a municipal sewage pipe network using a desilting robot according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1: During the desilting process of the pipeline corridor, the first driving device (500A) and the second driving device (500B) are simultaneously started 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 activated to perform horizontal and vertical displacement, so that the dredging robot and the corresponding pipeline are adaptively supported. During this process, the adjustment device is activated to perform lifting and lowering, 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 silt cleaning robot, the scraped dirt is collected by the collecting device (800).

9. The desilting method of a city sewage pipe network desilting robot according to claim 8, characterized in that: S1 is specifically: The driving motor (503) is installed by placing the plate (501). When the 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 (505). The crawler (505) is driven to roll by the rotating shaft (504), thereby driving the dredging robot to move. During this process, the crawler (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 pipeline corridor, as the pipeline slope and bending position change, the twisting device (300) and the adjusting device (400) perform adaptive changes to fit the pipeline slope and bending position, 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 the head higher and the tail lower, thereby realizing the dredging robot to adjust the pitch angle; While the dredging robot is adjusting its 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 specifically: 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 completing S2, 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 by 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 rotated to fix it. The arc-shaped rod (703) is pulled to extend on the umbrella-shaped head (705), and the adjustment knob (706) is rotated to fix it. The third motor (701) is started to drive the umbrella-shaped head (705) to rotate, and the dirt at different angles and positions is scraped, thereby scraping the dirt at different positions; S5 is specifically: After the dirt falls, it is collected by using an arc-shaped collection box (802), and the dry and wet separation is carried out in conjunction with the leakage holes on the arc-shaped collection box (802).

Images