Small and medium-sized pipeline dredging robot

Abstract

The application discloses a small and medium-sized pipeline dredging robot which comprises a silt cleaning module, a supporting module, a variable speed and driving module, a crawling module and a prewarning and variable diameter module. The components in the application are installed in a modular manner, are convenient to disassemble and replace, and can be applied to various changes of pipelines, straight pipelines, curved pipelines and variable diameter pipelines.

Description

Technical Field

[0001] This invention relates to the field of dredging devices for urban pipelines, and more particularly to pipeline robots suitable for autonomous dredging operations in small and medium-sized urban pipelines. Background Technology

[0002] Accumulation of silt, blockages, or deformation in small and medium-sized urban pipelines can lead to a series of negative effects. Therefore, regular maintenance of these pipelines is crucial. Currently, cleaning of urban small and medium-sized pipelines typically employs high-pressure water jetting, winch traction dredging, and a combination of mechanical and manual methods.

[0003] For high-pressure water jetting, the impact of the high-pressure water jet may damage old, fragile or wear-resistant pipes, or even cause them to rupture. The winch traction dredging and the combination of mechanical and manual operation methods are only suitable for medium-sized pipes, and are not suitable for small household pipes with a diameter of less than 200mm.

[0004] Furthermore, current pipeline cleaning robots on the market have several problems. First, these robots are only suitable for cleaning medium to large-sized pipelines, and not for small household pipelines. Second, when passing through bends, they may experience motion interference due to the lack of a speed difference between the front and rear wheels, which will significantly reduce the robot's transmission efficiency and increase wear on the transmission spokes during movement, thereby reducing its service life. In addition, current pipeline robots are difficult to achieve autonomous early warning and adjustment during operation, and their important working parts are not completely enclosed, making them unsuitable for handling complex small household pipeline cleaning tasks. Summary of the Invention

[0005] Based on this, the purpose of this invention is to propose a small-to-medium-sized pipeline dredging robot. Each component is installed in a modular fashion, which facilitates disassembly and replacement. It can also be adapted to various pipeline variations, such as straight pipelines, curved pipelines, and pipelines with varying diameters.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a small and medium-sized pipeline dredging robot, comprising a sludge cleaning module, a support module, a speed change and drive module, a crawling module, and an early warning and diameter change module;

[0007] The sludge cleaning module includes a front baffle, a sludge dredging cutter, a first worm gear assembly, a right-angle transmission speed change device, and a DC motor; the DC motor is connected to the right-angle transmission speed change device via a coupling.

[0008] The right-angle transmission speed change device includes a first bevel gear and a second bevel gear; the first bevel gear and the second bevel gear mesh perpendicularly; the first bevel gear is connected to a first worm gear device through a support shaft; the second bevel gear is connected to the output shaft of a DC motor through a coupling.

[0009] In the first worm gear device, the first worm is connected to the support shaft by casting, and the first worm gear is connected to the dredging cutter by bearing; the front baffle is located above the dredging cutter by the support shaft, and the front baffle is connected to the housing of the right angle transmission speed change device by a hole;

[0010] The support module includes a wheel hub, a tire, a support plate, and a support arm; the upper and lower sides of the support arm are respectively fixed with support plates by bolts.

[0011] The upper end of the support arm is equipped with a first rotating shaft, which is connected to the wheel hub via a bearing; the tire is mounted on the wheel hub and located on the outside of the support plate.

[0012] Support plates are bolted to both sides of the lower end of the support arm. A second rotating shaft is installed at the lower end of the support arm. The second rotating shaft and the support plate are connected by bearings. L-shaped mounting plates are fixed to both sides of the support plate. The L-shaped mounting plates are fixed to the upper end cover by screws. An active gas spring is installed on one side of the support arm. The other end of the active gas spring is installed on the housing of the DC motor.

[0013] The speed change and drive module includes an upper end cover, a lower end cover, a first housing, a stepper motor, a pulley, and several drive devices; the upper end cover, the lower end cover, and the first housing form a sealed space, the stepper motor is mounted on the lower end cover, and the pulley is mounted on the output shaft of the stepper motor;

[0014] The driving device includes a first conical cylinder, a second conical cylinder, a driven gear, a first slider, a first slide rail, and a drive shaft. The first slide rail is installed between the upper end cover and the lower end cover, and the first slider cooperates with the first slide rail. The first conical cylinder is installed on one side of the first slide rail, and the second conical cylinder is installed on the other side. The installation directions of the first and second conical cylinders are opposite, that is, the bottom of the first conical cylinder is installed on the upper end cover, and the top is installed on the lower end cover; the bottom of the second conical cylinder is installed on the lower end cover, and the top is installed on the upper end cover. The first and second conical cylinders have the same structure. A first drive shaft is installed at the center of the first conical cylinder, and the first drive shaft is connected to the first conical cylinder via a top screw. A second drive shaft is installed at the center of the second conical cylinder, and the second drive shaft is connected to the second conical cylinder via a top screw. The driven gear is fixed on the first drive shaft through a bearing and a bearing cover, and the driven gear is located on the upper end cover.

[0015] The belt on the pulley engages with the driven gear, and the stepper motor drives the pulley to rotate. Through the belt, the driven gear is rotated, thus achieving synchronous rotation of the first drive shaft and the first conical cylinder.

[0016] Two horizontal shafts are installed on one side of the first slider, and a circular belt can pass through between the horizontal shafts. A bearing assembly is installed on the horizontal shafts; the bearing assembly includes several bearings and washers; the circular belt is wound around the first and second conical cylinders; when the first slider moves along the first slide rail, it can change the relative position of the circular belt on the first and second conical cylinders to realize the speed change function.

[0017] The upper part of the first slider has a mounting groove with a U-shaped retaining angle. The U-shaped retaining angle is engaged with one end of the drive shaft, and the other end of the drive shaft passes through the lower end cover and is connected to the slide rail linkage mechanism.

[0018] The sliding linkage mechanism includes a connecting block and a sliding groove; one side of the sliding groove is fixed on the support plate of the crawling module, and the other side of the sliding groove has an elliptical groove. One end of the connecting block moves in the elliptical groove, and the other end is fixed to the drive shaft.

[0019] The crawling module has a driving synchronous pulley and a driven synchronous pulley installed inside the support module, and a transmission belt is installed between the driving synchronous pulley and the driven synchronous pulley; the first transmission shaft at the upper end of the support arm is connected to the driven synchronous pulley through a bearing, and the second transmission shaft at the lower end of the support arm is connected to the driving synchronous pulley through a bearing; a second worm gear device is installed on one side of the crawling module.

[0020] The second worm gear device includes a second worm and a second worm wheel; the second worm is engaged with the second drive shaft inside the second conical cylinder via a bearing, and the second worm wheel is engaged with the second transmission shaft in the crawling module via a bearing;

[0021] The warning and diameter change module includes a steering module and a passive gas spring; the passive gas spring is installed on one side of the crawling module.

[0022] The steering module includes a base plate, a middle plate, an upper cover plate, a steering motor, and a crank-slider assembly. The upper cover plate is fixed to the lower end cover by a first support column. The base plate is fixed to the lower end cover by several second support columns. The middle plate is fixed to the base plate by several third support columns. The crank-slider assembly is fixed to the base plate and located below the middle plate. The steering motor is mounted on the middle plate, and the output shaft of the steering motor passes through the middle plate and engages with the crank-slider assembly.

[0023] A crank-slider device includes a crank, a second slider, a second slide rail, and a drive arm; the crank is engaged with the output shaft of a steering motor; the crank and the second slider are connected through the drive arm, the second slider moves along the second slide rail, and a passive gas spring is installed on one side of the second slider.

[0024] Furthermore, the dredging cutter includes a first cutter and a second cutter, and the lengths of the first cutter and the second cutter are not the same.

[0025] Furthermore, one end of the drive shaft has a square groove that engages with the U-shaped locking angle on the first slider. When the first slider moves along the first slide rail, it can simultaneously drive the drive shaft to move.

[0026] Furthermore, the support arm of the support module has several mounting holes on both sides, and one end of the active gas spring is fixed by selecting a suitable mounting hole according to the pipe diameter.

[0027] Furthermore, the support arm of the crawling module has several mounting holes on both sides, and one end of the passive gas spring is fixed by selecting a suitable mounting hole according to the pipe diameter.

[0028] Furthermore, there are three holes on the crank, each with a drive arm installed, and the other end of the drive arm is installed on the second slider; one end of the passive gas spring is installed on the second slider, and the other end is installed on the support arm of the crawling module.

[0029] Furthermore, the support module, crawling module, and drive device are all in three sets.

[0030] This invention adopts modular design for each component, which facilitates disassembly and replacement, and can be applied to various pipe variations, such as straight pipes, curved pipes and pipes with varying diameters, especially suitable for small and medium-sized pipes with a diameter of 200mm.

[0031] The invention consists of a set of sludge cleaning modules and three sets of support modules installed on the upper end cover to form a front-end sludge cleaning device. The rear-end robot power structure consists of three sets of speed change and drive modules, three sets of crawling modules, a slide rail linkage device, and three sets of steering modules installed on the lower end cover.

[0032] For simple, small-diameter pipes, the first hole of the support arm on the crawling module is used to connect with the passive gas spring to accommodate the limitations of the small pipe's inner diameter. Based on the actual pipe diameter, the appropriate mounting hole position on the support arm is selected to connect with the passive gas spring. Similarly, for installing an active gas spring on the support module, the appropriate mounting hole position on the support arm is selected to connect with the active gas spring based on the actual pipe diameter.

[0033] The tires mounted on the support module on the upper end cover should fit tightly against the pipe wall and provide necessary support for its front end; meanwhile, the sludge cleaning module at its front end is powered by a DC motor.

[0034] The DC motor transmits power to its shaft, and then through a coupling, it transmits the power to a right-angle transmission gearbox. Within the gearbox, the power is redirected 90 degrees via a first bevel gear and a second bevel gear. The power is then transmitted through a continuous transmission to a first worm gear mechanism, where it is redirected again to a vertical direction. Finally, the power is transmitted to the dredging cutter to perform the dredging work of the miniature dredging pipeline robot.

[0035] The overall drive of this invention relies on a speed change and drive module. A stepper motor within this module serves as the power source, transmitting power to its shaft. The power at the shaft end is transmitted via a key connection to a double-sided pulley located at the shaft end. The pulley rotates, further transmitting power to the belt. The belt is connected in parallel with three driven gears, thus transmitting power from the belt to the three driven gears. Taking one driven gear as an example, its rotation causes power to be transmitted to the first drive shaft of the first conical cylinder, causing the first conical cylinder to begin rotating. The circular belt on the first conical cylinder begins rotating. The circular belt adheres tightly to the first and second conical cylinders, transmitting power to the second conical cylinder. The rotation of the second conical cylinder drives the second drive shaft to rotate, subsequently transmitting power to the second worm gear mechanism. The second rotating shaft at the lower end of the crawling module drives the active synchronous pulley to rotate. A transmission belt is installed between the active and driven synchronous pulleys, thereby driving the rotation of the hub and tires on the crawling module, thus completing the overall drive of the dredging pipeline robot.

[0036] In this invention, speed change is achieved through the combination of a crank-slider mechanism and a passive gas spring in the steering module. The inward retraction of the crank-slider mechanism changes the angle of the drive arm, thereby altering the crank-slide mechanism. The outward expansion of the passive gas spring (and its warning function) prevents the drive arm from falling due to insufficient adhesion. The inward retraction of the crank-slider mechanism changes the angle of the drive arm, causing the crawling module to rotate. This rotation of the crawling module causes the connecting rod device on its lower support plate to rotate, displacing the drive shaft on the crawler. This displacement of the first slider causes the position of the circular belt on the first slider to change in the first and second conical cylinders, thus changing the belt's rotational speed. For example, if the belt moves away from the dredging device in the first and second conical cylinders, its rotational speed decreases, thereby changing the rotational speed of the second conical cylinder. This change in the rotational speed of the second conical cylinder sequentially changes the rotational speed of the second worm gear, which in turn changes the speed of the active synchronous pulley, the hub, and the tire, ultimately achieving speed change.

[0037] If the pipe surface is uneven, meaning the contact area between the pipe wall and the tire is small or the coefficient of adhesion changes, the support module may not be able to provide sufficient support force, thus preventing drive. In this case, a passive gas spring on the crawling module is used to implement a warning mechanism. The passive gas spring can automatically adapt to changes in load through internal valves or air pressure differences, thereby increasing the support force between the support module and the pipe contact surface, further ensuring that the invention can maintain its driving capability even when the pipe surface is uneven.

[0038] If the pipe surface is curved, a steering module can be used to handle this situation. When the pipe surface is curved, the steering motor generates power and transmits the power to its own output shaft. The rotation of the output shaft drives the crank-slider mechanism, causing the second slider to move along the second slide rail. This, in turn, drives the passive gas spring and the crawling module to produce relative displacement. The three support arms of the crawling module are raised (expanded outward) or lowered (retracted inward), thereby creating a height difference between the front and rear of the three crawling modules, thus achieving steering to cope with the curvature of the pipe surface.

[0039] This invention addresses the challenges of dredging complex pipelines with varying inner diameters by employing an early warning and diameter-changing module. When the pipeline's inner diameter changes, the passive gas spring module in the lower end cap direction automatically adapts to the load change via internal valves or pressure differentials. Simultaneously, the active gas spring also adjusts along with the passive gas spring to accommodate pipeline areas with varying inner diameters.

[0040] This invention can also be used in conjunction with a pipeline inspection module, replacing the dredging and cleaning module with an inspection module. The method includes the following steps:

[0041] S1. Remove the sludge cleaning module and clean the sludge at the front of the robot;

[0042] S2. Start the stepper motor and steering motor to perform functional debugging on the robot and ensure that it is in good operating condition;

[0043] S3. Replace the original sludge cleaning module with a pipeline inspection module, which consists of a variety of inspection devices including cameras and lighting.

[0044] S4. Perform a comprehensive inspection of the pipeline. After the inspection is completed, retrieve the robot and immediately clean it thoroughly with clean water. After drying, store it properly. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the structure of the present invention;

[0046] Figure 2 This is a schematic diagram of the sludge cleaning module in this invention;

[0047] Figure 3 This is a schematic diagram of the invention from another angle;

[0048] Figure 4 This is a schematic diagram of the speed change and drive module in this invention;

[0049] Figure 5 This is a schematic diagram of the speed change and drive module from another angle in this invention;

[0050] Figure 6 This is a schematic diagram of the steering module in this invention;

[0051] Figure 7 This is a schematic diagram of the crank-slider device in this invention;

[0052] Figure 8 This is a top view of the speed change and drive module in this invention;

[0053] Figure 9 This is a schematic diagram of the crawling module in this invention. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0055] Figures 1 to 9 As shown, the small and medium-sized pipeline dredging robot includes a sludge cleaning module 1, a support module 2, a speed change and drive module 3, a crawling module 8, and an early warning and diameter change module.

[0056] The silt cleaning module 1 includes a front baffle 11, a silt cleaning cutter 12, a first worm gear device 13, a right-angle transmission speed change device 14, and a DC motor 15; the DC motor 15 is connected to the right-angle transmission speed change device 14 through a coupling 16.

[0057] The right-angle transmission speed change device 14 includes a first bevel gear 141 and a second bevel gear 142; the first bevel gear 141 and the second bevel gear 142 mesh perpendicularly; the first bevel gear 141 is cast to the worm 131 in the first worm gear device 13 via a support shaft 143; the second bevel gear 142 is connected to the output shaft of the DC motor 15 via a coupling 16;

[0058] The first worm gear 132 is connected to the dredging cutter 12 via a bearing; the front baffle 11 is located above the dredging cutter 12 via a support shaft 143, and the front baffle 11 is connected to the housing of the right-angle transmission gearbox via a hole. The dredging cutter 12 includes a first cutter 121 and a second cutter 122, and the lengths of the first cutter and the second cutter are different.

[0059] The support module 2 includes a wheel hub 21 and a tire 22, a support plate 24 and a support arm 23; the support plate 24 is fixed to the upper and lower sides of the support arm 23 by bolts.

[0060] The upper end of the support arm 23 is equipped with a first rotating shaft, which is connected to the wheel hub 21 through a bearing. The tire 22 is installed on the wheel hub 21 by bolts and is located on the outer side of the upper end of the support plate 24.

[0061] The lower ends of the support arm 23 are fixed to the support plate 24 by bolts. The lower end of the support arm 23 is equipped with a second rotating shaft, which is connected to the support plate 24 by bearings. L-shaped mounting plates 25 are fixed to both sides of the support plate 24. The support module 2 is fixed to the upper cover of the speed change and drive module 3 by the mounting plates 25. Several mounting holes 26 are opened on both sides of the support arm 23. The appropriate mounting hole position is selected according to the diameter of the pipe. One end of the active gas spring 4 is fixed in the mounting hole 26, and the other end of the active gas spring 4 is installed on the housing of the DC motor 15.

[0062] The speed change and drive module 3 includes an upper end cover 31, a lower end cover 32, a first housing 33, a stepper motor 34, a pulley 35, and three drive devices 36. The upper end cover 31, the lower end cover 32, and the first housing 33 form a sealed space. The stepper motor 34 is mounted on the lower end cover, and the pulley 35 is mounted on the output shaft of the stepper motor. Each drive device is connected to a crawling module 8 fixed on the lower end cover.

[0063] The driving device 36 includes a first conical cylinder 361, a second conical cylinder 362, a driven gear 363, a first slider 364, a first slide rail 365, and a first drive shaft 366. The first slide rail 365 is installed between the upper end cover 31 and the lower end cover 32, and the first slider 364 cooperates with the first slide rail 365. The first conical cylinder 361 is installed on one side of the first slide rail 365, and the second conical cylinder 362 is installed on the other side. The installation directions of the first conical cylinder 361 and the second conical cylinder 362 are opposite, that is, the bottom of the first conical cylinder 361 is installed on the upper end cover, and the top is installed on the lower end cover; the bottom of the second conical cylinder is installed on the lower end cover, and the top is installed on the upper end cover. The structure is the same as that of the second conical cylinder. A first drive shaft 366 is installed at the center of the first conical cylinder 361, and the first drive shaft is connected to the first conical cylinder through a top screw. A second drive shaft 370 is installed at the center of the second conical cylinder, and the second drive shaft is connected to the second conical cylinder through a top screw. A driven gear 363 is fixed on the first drive shaft 366 through a bearing and a bearing cover, and the driven gear 363 is located on the upper end cover. The belt 37 on the pulley 35 cooperates with the driven gear 363. The stepper motor 34 drives the pulley 35 to rotate, and through the belt 37, drives the driven gear 363 to rotate, thereby realizing the synchronous rotation of the first drive shaft 366 and the first conical cylinder 361.

[0064] The upper part of the first slider 364 has a mounting groove, and the upper part of the mounting groove has a U-shaped retaining angle 368. A drive shaft 367 is installed at the opening. The drive shaft 367 passes through the lower end cover 32 and is connected to the slide rail connecting rod device 6. One end of the drive shaft 367 has a square groove 369 that engages with the U-shaped retaining angle on the first slider 364. When the first slider 364 moves along the first slide rail 365, it can simultaneously drive the drive shaft 367 to move.

[0065] Two horizontal shafts are installed on one side of the first slider 364, and the circular belt 7 can pass through between the horizontal shafts. A bearing assembly 71 is installed on the horizontal shafts. The bearing assembly includes several bearings and washers, which are installed in sequence to form the bearing assembly. The circular belt 7 is wound around the first conical cylinder 361 and the second conical cylinder 362. When the first slider 364 moves along the first slide rail, it can change the relative position of the circular belt 7 on the first conical cylinder 361 and the second conical cylinder 362 to realize the speed change function.

[0066] The other end of the drive shaft 367 passes through the lower end cover and is connected to the slide rail mechanism 6; the slide rail mechanism 6 includes a connecting block 61 and a slide rail 62; one side of the slide rail 62 is fixed on the support plate 24 of the crawling module 8, and the other side of the slide rail 62 has an elliptical groove. One end of the connecting block 61 moves in the elliptical groove, and the other end is fixed to the drive shaft 367.

[0067] The crawling module 8 has an active synchronous pulley 81 and a driven synchronous pulley 82 installed inside the support module 2, and a transmission belt 83 is installed between the active and driven synchronous pulleys; the first transmission shaft at the upper end of the support arm 23 is connected to the driven synchronous pulley through a bearing, and the second transmission shaft at the lower end of the support arm 23 is connected to the active synchronous pulley through a bearing; a second worm gear device 63 is installed on one side of the crawling module 8;

[0068] The second worm gear device 63 includes a second worm 631 and a second worm wheel 632; the second worm 631 is engaged with the second drive shaft 370 inside the second conical cylinder through a bearing, and the second worm wheel 632 is engaged with the second transmission shaft in the crawling module 8 through a bearing.

[0069] The warning and diameter change module includes a steering module 5 and a passive gas spring 9, which is installed on one side of the crawling module 8.

[0070] The steering module 5 includes a base plate 51, a middle plate 52, an upper cover plate 53, a steering motor 54, and a crank-slider device 56. The upper cover plate 53 is fixed to the lower end cover 32 by a first support 57. The base plate 51 is fixed to the lower end cover by several second support columns. The middle plate is fixed to the base plate 51 by several third support columns. The crank-slider device 56 is fixed to the base plate 51 and located below the middle plate 52. The steering motor 54 is mounted on the middle plate 52, and the output shaft of the steering motor 54 passes through the middle plate and cooperates with the crank-slider device 56.

[0071] The crank-slider device 56 includes a crank 561, a second slider 562, a second slide rail 563, and a drive arm 564. The crank 561 is coupled to the output shaft of the steering motor 54. One end of the drive arm 564 is bolted to the crank 561, and the other end is connected to the second slider 562. The second slider 562 moves along the second slide rail 563. A passive gas spring 9 is installed on one side of the second slider 562. The crank has three holes, each of which is fitted with a drive arm 564. The other end of the drive arm 564 is mounted on the second slider 562. One end of the passive gas spring is mounted on the second slider 562, and the other end is mounted on the support arm 23 of the crawling module.

Claims

1. A small to medium-sized pipeline dredging robot, characterized in that... It includes a sludge cleaning module, a support module, a speed change and drive module, a crawling module, and an early warning and diameter change module; The sludge cleaning module includes a front baffle, a sludge dredging cutter, a first worm gear device, a right-angle transmission speed change device, and a DC motor; the DC motor is connected to the right-angle transmission speed change device via a coupling. The right-angle transmission speed change device includes a first bevel gear and a second bevel gear; the first bevel gear and the second bevel gear mesh perpendicularly; the first bevel gear is connected to a first worm gear device via a support shaft; the second bevel gear is connected to the output shaft of a DC motor via a coupling. The first worm in the first worm gear device is connected to the support shaft by casting, and the first worm gear is connected to the dredging cutter by bearing; the front baffle is located above the dredging cutter by the support shaft, and the front baffle is connected to the housing of the right angle transmission speed change device by a hole. The support module includes a wheel hub and tire, a support plate and a support arm; the upper and lower sides of the support arm are respectively fixed with support plates by bolts. The upper end of the support arm is equipped with a first rotating shaft, which is connected to the wheel hub via a bearing; the tire is mounted on the wheel hub and located on the outside of the support plate. Support plates are bolted to both sides of the lower end of the support arm. A second rotating shaft is installed at the lower end of the support arm. The second rotating shaft and the support plate are connected by bearings. L-shaped mounting plates are fixed to both sides of the support plate. The L-shaped mounting plates are fixed to the upper end cover by screws. An active gas spring is installed on one side of the support arm. The other end of the active gas spring is installed on the housing of the DC motor. The speed change and drive module includes an upper end cover, a lower end cover, a first housing, a stepper motor, a pulley, and several drive devices; the upper end cover, the lower end cover, and the first housing form a sealed space, the stepper motor is mounted on the lower end cover, and the pulley is mounted on the output shaft of the stepper motor; The driving device includes a first conical cylinder, a second conical cylinder, a driven gear, a first slider, a first slide rail, and a transmission shaft. The first slide rail is installed between the upper end cover and the lower end cover, and the first slider cooperates with the first slide rail. The first conical cylinder is installed on one side of the first slide rail, and the second conical cylinder is installed on the other side. The installation directions of the first and second conical cylinders are opposite, that is, the bottom of the first conical cylinder is installed on the upper end cover, and the top is installed on the lower end cover; the bottom of the second conical cylinder is installed on the lower end cover, and the top is installed on the upper end cover. The first conical cylinder and the second conical cylinder have the same structure. A first drive shaft is installed at the center of the first conical cylinder and is connected to the first conical cylinder via a top screw. A second drive shaft is installed at the center of the second conical cylinder and is connected to the second conical cylinder via a top screw. The driven gear is fixed on the first drive shaft by a bearing and a bearing cover, and the driven gear is located on the upper end cover. The belt on the pulley engages with the driven gear, and the stepper motor drives the pulley to rotate. Through the belt, the driven gear is rotated, thus achieving synchronous rotation of the first drive shaft and the first conical cylinder. Two horizontal shafts are installed on one side of the first slider, and a circular belt can pass through between the horizontal shafts. A bearing assembly is installed on the horizontal shafts; the bearing assembly includes several bearings and washers; the circular belt is wound around the first and second conical cylinders; when the first slider moves along the first slide rail, it can change the relative position of the circular belt on the first and second conical cylinders to realize the speed change function. The upper part of the first slider has a mounting groove, and a U-shaped retaining angle is provided on the mounting groove. The U-shaped retaining angle is engaged with one end of the drive shaft, and the other end of the drive shaft passes through the lower end cover and is connected to the slide groove linkage mechanism. The aforementioned sliding linkage mechanism includes a connecting block and a sliding groove; one side of the sliding groove is fixed on the support plate of the crawling module, and the other side of the sliding groove has an elliptical groove. One end of the connecting block moves within the elliptical groove, and the other end is fixed to the drive shaft. The crawling module has an active synchronous pulley and a driven synchronous pulley installed inside the support module, and a transmission belt is installed between the active and driven synchronous pulleys; the first transmission shaft at the upper end of the support arm is connected to the driven synchronous pulley through a bearing, and the second transmission shaft at the lower end of the support arm is connected to the active synchronous pulley through a bearing; a second worm gear device is installed on one side of the crawling module. The second worm gear device includes a second worm and a second worm wheel; the second worm is engaged with the second drive shaft inside the second conical cylinder via a bearing, and the second worm wheel is engaged with the second transmission shaft in the crawling module; The aforementioned warning and diameter-changing module includes a steering module and a passive gas spring; the passive gas spring is installed on one side of the crawling module; The steering module includes a base plate, a middle plate, an upper cover plate, a steering motor, and a crank-slider assembly. The upper cover plate is fixed to the lower end cover by a first support column. The base plate is fixed to the lower end cover by several second support columns. The middle plate is fixed to the base plate by several third support columns. The crank-slider assembly is fixed to the base plate and located below the middle plate. The steering motor is mounted on the middle plate, and the output shaft of the steering motor passes through the middle plate and engages with the crank-slider assembly. The crank-slider device includes a crank, a second slider, a second slide rail, and a drive arm; the crank is engaged with the output shaft of a steering motor; the crank and the second slider are connected through the drive arm, the second slider moves along the second slide rail, and a passive gas spring is installed on one side of the second slider.

2. The small and medium-sized pipeline dredging robot according to claim 1, characterized in that... The dredging cutter includes a first cutter and a second cutter, and the lengths of the first cutter and the second cutter are different.

3. The small and medium-sized pipeline dredging robot according to claim 1, characterized in that... One end of the drive shaft has a square groove that engages with the U-shaped locking angle on the first slider. When the first slider moves along the first slide rail, it can simultaneously drive the drive shaft to move.

4. The small and medium-sized pipeline dredging robot according to claim 1, characterized in that... The support module has several mounting holes on both sides of its support arm. One end of the active gas spring is fixed by selecting a suitable mounting hole according to the pipe diameter.

5. The small and medium-sized pipeline dredging robot according to claim 1, characterized in that... The crawling module has several mounting holes on both sides of its support arm. One end of the passive gas spring is fixed by selecting a suitable mounting hole according to the pipe diameter.

6. The small and medium-sized pipeline dredging robot according to claim 1, characterized in that... The crank has three holes, each with a drive arm installed. The other end of the drive arm is installed on the second slider. One end of the passive gas spring is installed on the second slider, and the other end is installed on the support arm of the crawling module.

7. The small and medium-sized pipeline dredging robot according to claim 1, characterized in that... The support module, crawling module, and drive device are all in three sets.

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