Pipe network pump station desilting robot of double-channel suction pump structure

Abstract

The pipe network pump station desilting robot of the double-flow-channel suction pump structure comprises a robot shell body, a mounting support is fixedly mounted at the bottom of the robot shell body, a variable-frequency speed regulator is fixedly mounted on the outer side of the mounting support, crawler wheels are arranged on the inner side of the variable-frequency speed regulator, and the crawler wheels are fixedly mounted on the outer side of the mounting support. A double-flow-channel suction pump assembly is arranged on the outer side of the robot shell body, and a self-adaptive adjusting assembly is arranged on the outer side of the robot shell body. According to the pipe network pump station dredging robot of the double-flow-channel suction pump structure, by arranging the double-flow-channel suction pump assembly, a strong negative pressure suction environment can be formed, the sludge adhesion amount can be reduced, efficiency reduction caused by reduction of the cross section of the flow channel is avoided, the negative pressure strength of the main suction flow channel is supplemented, the air suction phenomenon is avoided, the self-adaptive adjusting assembly is arranged, and a pressure sensor monitors the main suction flow channel in real time; closed-loop control of blocking early warning, active intervention and risk elimination is achieved, a visual monitoring assembly is arranged, the equipment fault maintenance frequency is reduced, and the operation efficiency is improved.

Description

Technical Field

[0001] This invention relates to the technical field of underwater dredging equipment, and in particular to a pipeline pumping station dredging robot with a dual-channel suction pump structure. Background Technology

[0002] As a core infrastructure of urban drainage systems, pipeline pumping stations play a crucial role in the entire urban drainage network. However, due to long-term continuous operation, a large amount of high-concentration silt and various debris inevitably accumulates inside the pumping stations. Silt and debris not only occupy the effective space of the pumping stations but also seriously affect their normal operation. If they are not thoroughly cleaned in time, the accumulation of silt and debris will lead to a significant decrease in the drainage capacity of the pumping stations, which will then cause pipe blockage problems. Furthermore, long-term accumulation may also cause serious damage to the equipment of the pumping stations and even lead to the paralysis of the entire drainage system, posing a great threat to the safe operation of the city. Therefore, a pipeline pumping station sludge removal robot with a dual-channel suction pump structure is particularly needed.

[0003] Chinese Patent CN115748859A, published on March 7, 2023, discloses an anti-sludge dredging robot. This robot can hover stably underwater to perform dredging operations in soft silt and undisturbed soil conditions, and can dive to the bottom for dredging. It can also nimbly enter narrow spaces such as dock pile groups. However, in this anti-sludge dredging robot, the suction inlet of the single-channel suction pump is fixed to the channel cross-section. Once clumps of silt enter, they easily adhere to the inner wall of the channel, gradually reducing the flow area and causing negative pressure during suction. As the flow path descends, lumpy debris easily gets stuck in narrow sections of the flow channel. The single-channel design lacks interception or breaking capabilities, relying solely on filter screens for filtration. This necessitates stopping the suction pump for cleaning, resulting in extremely poor continuous operation capability. The pump can only respond passively after it stops, further exacerbating downtime and equipment wear. The inability to create effective negative pressure leads to long-term sludge accumulation in these areas, expanding cleaning dead zones. Faults such as pump blockage and track damage require manual on-site handling, increasing the workload of operators and interrupting the workflow, further driving up labor costs and extending the work cycle. Summary of the Invention

[0004] The purpose of this invention is to provide a pipeline pumping station dredging robot with a dual-channel suction pump structure to solve the problems mentioned in the background art regarding existing anti-sludge dredging robots. In use, the suction inlet and channel cross-section of the single-channel suction pump are fixed. After clumps of sludge enter, they easily adhere to the inner wall of the channel, gradually reducing the flow area and causing a drop in suction negative pressure. Lumpy debris easily gets stuck in narrow sections of the channel. The single-channel design lacks interception or breaking functions, relying solely on filter screens, requiring the suction pump to be stopped for cleaning. Its continuous operation capability is extremely poor, only able to respond passively after the pump stops, further exacerbating work interruption time and equipment wear. It cannot form effective negative pressure, leading to long-term sludge accumulation in these areas, expanding cleaning dead zones. Pump blockages, track damage, and other malfunctions require manual on-site handling, increasing the labor intensity of operators, interrupting the work process, and further increasing labor costs and work cycles.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a pipeline pumping station dredging robot with a dual-channel suction pump structure, comprising a robot shell body, a power compartment inside the robot shell body, a control compartment inside the robot shell body, a sludge storage compartment inside the robot shell body, a mounting bracket fixedly installed at the bottom of the robot shell body, a variable frequency speed controller fixedly installed on the outer side of the mounting bracket, a track wheel inside the variable frequency speed controller, a rotatable track mounted on the outer side of the track wheel, a dual-channel suction pump assembly on the outer side of the robot shell body, an adaptive adjustment assembly on the outer side of the robot shell body, the dual-channel suction pump assembly including a suction pump body, the suction pump body being disposed on the outer side of the robot shell body, a main suction channel being connected through the outer side of the suction pump body, an auxiliary drainage channel being connected through the bottom of the suction pump body, a sludge conveying pipe being connected through the outer side of the suction pump body, and a spare flow pipe being connected through the outer side of the suction pump body.

[0006] Preferably, the adaptive adjustment component includes a pressure sensor, which is disposed on the outside of the robot's outer shell. An adaptive connecting roller is disposed on the outside of the pressure sensor. A dredging cutter is rotatably mounted on the outside of the adaptive connecting roller. A control transmission pipe is connected through the outside of the adaptive connecting roller. An adjustment actuator is disposed on the outside of the dredging cutter.

[0007] Preferably, the visualization monitoring component includes a high-definition camera, which is installed on the outside of the robot's outer shell. A searchlight is fixedly installed on the top of the high-definition camera. A constant force reel is provided on the outside of the robot's outer shell. A monitor is provided on the outside of the constant force reel. A traction rope body is provided on the outside of the monitor.

[0008] Preferably, the track wheels and the surrounding track are provided in two identical sets, and the two sets of track wheels and the surrounding track are symmetrically distributed about the vertical center line of the mounting bracket.

[0009] Preferably, the surrounding track has a ring structure and is located on the outside of the track wheel, fitting tightly together.

[0010] Preferably, the pump body is provided with a dual impeller drive unit, which includes a main impeller and an auxiliary impeller.

[0011] Preferably, the main suction channel is arranged along the axis of the robot's outer shell, the inlet of the main suction channel is a large-diameter, funnel-shaped structure, and the sludge conveying pipe is equipped with a flow sensor.

[0012] Preferably, the auxiliary drainage channels are symmetrically distributed on both sides of the main suction channel, the inlet end of the auxiliary drainage channel is provided with a rotating crushing tooth assembly, and the outlet end of the auxiliary drainage channel is connected to the middle of the main suction channel.

[0013] Preferably, the regulating actuator is electrically connected to the flow channel switching valve, the high-pressure water pump, and the suction pump motor. The control transmission pipe is located inside the control compartment and includes a PLC controller, a wireless communication module, and a data storage unit.

[0014] Preferably, the combination of the high-definition camera and the searchlight is a floating monitoring unit. The floating monitoring unit is connected to the robot's outer shell body by two traction ropes. The traction ropes are wrapped around the outside of the constant force reel, which is located on the top of the robot's outer shell body.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The dual-channel suction pump structure of the present invention is a pipeline pumping station dredging robot. By setting up a dual-channel suction pump assembly, a strong negative pressure suction environment can be formed. At the same time, the inner wall of the channel is coated with a polytetrafluoroethylene anti-stick coating, which can reduce the amount of sludge adhering and avoid the efficiency reduction caused by the reduction of the channel cross-section. The auxiliary drainage channels are symmetrically distributed on both sides of the main suction channel. The auxiliary impeller can form an auxiliary negative pressure, which on the one hand gathers the corner dispersed sludge into the suction range of the main suction channel, and on the other hand supplements the negative pressure intensity of the main suction channel to avoid the phenomenon of suction cavitation. The single-channel robot is improved, and the cleaning time of the same working area can be shortened by nearly half. The spare flow pipe added to the outside of the suction pump body can quickly switch when the main suction channel or the auxiliary drainage channel fails, ensuring that the dredging operation is not interrupted, further improving the stability and efficiency of equipment operation, and effectively covering the right-angle blind area that is difficult to reach by traditional single-channel systems. 2. The pipeline pumping station dredging robot of the present invention, with its dual-channel suction pump structure, can efficiently crush clumps of sludge and cut fibrous debris by setting an adaptive adjustment component and an auxiliary dredging channel inlet integrated with a rotating crushing tooth component. The high-pressure jet nozzle embedded in the channel can simultaneously flush the inner wall of the channel and the crushed sludge debris, avoiding the accumulation of debris residue. It can improve the interception rate of large pieces or fibrous debris entering the main suction channel, reducing the causes of blockage from the source. The pressure sensor monitors the pressure of the main suction channel inlet, the auxiliary dredging channel inlet, and the suction pump outlet in real time. When the pressure of the main suction channel inlet is low, the adjustment actuator can automatically increase the pressure of the high-pressure water pump, increase the speed of the crushing tooth, and open the channel switching valve to enhance the flushing capacity of the auxiliary dredging channel. It realizes closed-loop control of blockage warning, active intervention and risk elimination, and improves the continuity of operation. 3. The dual-channel suction pump structure of the present invention, a pipeline pumping station dredging robot, features a visual monitoring component. Two sets of tracked wheels and a surrounding track at the bottom of the robot, combined with a variable frequency drive, enable forward, backward, in-situ turning, and hill climbing. Anti-slip protrusions prevent slipping on wet surfaces, adapting to diverse terrains within the pumping station. The integrated fault self-diagnosis module of the control system monitors the operating current and temperature of the suction pump motor, track drive motor, and high-pressure water pump in real time. When parameters exceed thresholds, it automatically alarms and reduces the power of the corresponding components to prevent equipment damage. Redundant designs such as the dual impeller drive unit and spare flow pipe reduce the frequency of equipment failures and maintenance, significantly decreasing manual intervention. The sludge storage chamber inside the robot's main body, along with a top vent valve and a bottom discharge valve, allows for automatic return to the discharge point to unload sludge without requiring shutdown and disassembly, further reducing manual intervention and improving operational efficiency. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the cooperative structure between the adaptive connecting roller and the dredging cutter of the present invention; Figure 3 This is a schematic diagram of the interaction between the variable frequency speed controller and the surrounding track of the present invention; Figure 4 This is a schematic diagram of the interaction between the regulating actuator and the control transmission tube of the present invention; Figure 5 This is a schematic diagram of the structure in which the pressure sensor and the adaptive connecting roller of the present invention cooperate. Figure 6 This is a schematic diagram of the interaction between the sludge storage chamber and the track wheel of the present invention; Figure 7 This is a schematic diagram of the interaction between the monitor and the traction rope body of the present invention; Figure 8 This is a schematic diagram of the structure of the suction pump body and the backup flow pipe of the present invention.

[0017] In the diagram: 1. Robot shell; 2. Power compartment; 3. Control compartment; 4. Sludge storage compartment; 5. Mounting bracket; 6. Variable frequency drive; 7. Track wheels; 8. Circular track; 9. Dual-channel suction pump assembly; 901. Suction pump body; 902. Main suction channel; 903. Auxiliary dredging channel; 904. Sludge conveying pipe; 905. Backup flow pipe; 10. Adaptive adjustment assembly; 1001. Pressure sensor; 1002. Adaptive connecting roller; 1003. Dredging cutter; 1004. Control transmission pipe; 1005. Adjustment actuator; 11. Visual monitoring assembly; 1101. High-definition camera; 1102. Searchlight; 1103. Constant force reel; 1104. Monitor; 1105. Traction rope body. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0019] Example Please see Figure 1-8This invention provides a technical solution: a pipeline pumping station dredging robot with a dual-channel suction pump structure, comprising a robot shell body 1, a power compartment 2, a control compartment 3, and a sludge storage compartment 4 inside the robot shell body 1. A mounting bracket 5 is fixedly installed at the bottom of the robot shell body 1, a frequency converter 6 is fixedly installed on the outside of the mounting bracket 5, a track wheel 7 is arranged inside the frequency converter 6, and a surrounding track 8 is rotatably mounted on the outside of the track wheel 7. A dual-channel suction pump assembly 9 is arranged on the outside of the robot shell body 1, and an adaptive adjustment assembly 10 is arranged on the outside of the robot shell body 1. The dual-channel suction pump assembly 9 includes a suction pump body 901, which is located on the outside of the robot shell body 1. A main suction channel 902 is connected through the outside of the suction pump body 901, and an auxiliary drainage channel 903 is connected through the bottom of the suction pump body 901. A sludge conveying pipe 904 is connected to the outer side of the pump body 901, and a spare flow pipe 905 is connected to the outer side of the pump body 901. By setting up a dual-channel pump assembly 9, a strong negative pressure suction environment can be formed. At the same time, the inner wall of the channel is coated with a polytetrafluoroethylene anti-stick coating, which can reduce the amount of sludge adhering and avoid the efficiency reduction caused by the reduction of the channel cross-section. The auxiliary drainage channel 903 is symmetrically distributed on both sides of the main suction channel 902. The auxiliary impeller can form an auxiliary negative pressure, which on the one hand gathers the corner dispersed sludge into the suction range of the main suction channel 902, and on the other hand supplements the negative pressure intensity of the main suction channel 902 to avoid the phenomenon of suction cavitation. With the single-channel robot lifting, the cleaning time of the same working area can be shortened by nearly half. The spare flow pipe 905 added to the outer side of the pump body 901 can be quickly switched in case of sudden failure of the main suction channel 902 or the auxiliary drainage channel 903, ensuring that the sludge cleaning operation is not interrupted, further improving the stability and efficiency of equipment operation, and effectively covering right-angle blind areas that are difficult to reach by traditional single channels.

[0020] Furthermore, the adaptive adjustment component 10 includes a pressure sensor 1001, which is located on the outside of the robot's outer shell 1. An adaptive connecting roller 1002 is located on the outside of the pressure sensor 1001, and a sludge-removing reamer 1003 is rotatably mounted on the outside of the adaptive connecting roller 1002. A control transmission pipe 1004 is connected through the outside of the adaptive connecting roller 1002, and an adjustment actuator 1005 is located on the outside of the sludge-removing reamer 1003. By setting up the adaptive adjustment component 10, the rotary crushing tooth assembly integrated at the inlet of the auxiliary drainage channel 903 can efficiently crush clumped sludge and cut fibrous debris. The high-pressure jet nozzles embedded inside the flow channel can simultaneously flush the inner wall of the flow channel and the crushed sludge and debris, preventing the accumulation of debris. This can improve the interception rate of large pieces or fibrous debris entering the main suction flow channel 902, reducing the causes of blockage from the source. The pressure sensor 1001 monitors the pressure at the inlet of the main suction flow channel 902, the inlet of the auxiliary drainage channel 903, and the outlet of the suction pump in real time. When the inlet pressure of the main suction flow channel 902 is low, the regulating actuator 1005 can automatically increase the pressure of the high-pressure water pump, increase the speed of the crushing teeth, and open the flow channel switching valve to enhance the flushing capacity of the auxiliary drainage channel 903. This achieves closed-loop control of blockage warning, active intervention, and risk elimination, improving the continuity of operation.

[0021] Furthermore, the visualization monitoring component 11 includes a high-definition camera 1101, which is mounted on the outside of the robot's main body 1. A searchlight 1102 is fixedly mounted on the top of the high-definition camera 1101. A constant force reel 1103 is set on the outside of the robot's main body 1, and a monitor 1104 is set on the outside of the constant force reel 1103. A traction rope body 1105 is set on the outside of the monitor 1104. By setting up the visualization monitoring component 11, the two sets of track wheels 7 and the surrounding track 8 installed at the bottom of the robot, together with the variable frequency speed controller 6, can realize forward movement, backward movement, turning on the spot, and climbing. Anti-slip protrusion design. It can avoid slipping on wet and slippery ground, adapt to various terrains within the pumping station, and the integrated fault self-diagnosis module of the control system can monitor the operating current and temperature of the suction pump motor, track drive motor, and high-pressure water pump in real time. When the parameters exceed the threshold, it will automatically alarm and reduce the power of the corresponding components to avoid equipment damage. At the same time, the redundant design of the dual impeller drive unit and the backup flow pipe 905 reduces the frequency of equipment failure and maintenance, and the frequency of manual intervention is greatly reduced. The sludge temporary storage chamber 4 inside the robot shell 1, together with the top vent valve and the bottom sludge discharge valve, can automatically return to the sludge discharge point to unload the sludge without stopping the machine for disassembly, further reducing manual intervention and improving operation efficiency.

[0022] Furthermore, two identical sets of track wheels 7 and surrounding tracks 8 are provided, and the two sets of track wheels 7 and surrounding tracks 8 are symmetrically distributed about the vertical center line of the mounting bracket 5. By setting track wheels 7 and surrounding tracks 8, the robot can be effectively prevented from getting stuck or tilting when traveling on soft silt ground, adapting to the common silt-covered scenarios in pipeline pumping stations. The two sets of tracks are driven by independent variable frequency speed controllers 6, and can achieve flexible steering through differential speed control. When the left track decelerates and the right track moves at a constant speed, the robot can turn to the left. When one track rotates in the opposite direction, it can turn on the spot, easily navigating narrow spaces such as gaps between pipes and under equipment bases in pumping stations. This solves the problems of large turning radius and poor spatial adaptability of traditional asymmetric tracked robots, further improving the operational flexibility of the equipment in complex pumping station environments.

[0023] Furthermore, the surrounding track 8 has a ring structure and fits tightly to the outside of the track wheel 7. By setting the surrounding track 8 to a ring structure, the derailment failure caused by the loose fit of traditional non-ring tracks is avoided, significantly improving walking stability. From the perspective of power transmission efficiency, the tight fit can reduce the sliding friction loss between the track and the track wheel 7, thus improving power transmission efficiency. Under the same motor power, the robot's walking speed can be increased, while reducing motor energy consumption and extending the battery life in the power compartment 2. In addition, the continuous closed-loop structure of the ring track can ensure uniform stress on the track surface, avoiding track cracking caused by local stress concentration. Combined with the rubber-metal composite material used in the track, the service life is extended, reducing equipment maintenance costs.

[0024] Furthermore, the pump body 901 is internally equipped with a dual-impeller drive unit, which includes a main impeller and an auxiliary impeller. By setting up a dual-impeller drive unit including a main impeller and an auxiliary impeller, the high-flow sludge suction needs can be met. On the one hand, it pulls the sludge scattered in the corners of the pumping station to the suction range of the main suction channel 902, solving the problem of insufficient negative pressure coverage of a single impeller. On the other hand, through the boosting effect of the auxiliary impeller, the flow speed of the sludge in the main suction channel 902 is accelerated, preventing the sludge from accumulating at the junction of the main and auxiliary channels. The dual-impeller drive unit supports independent start and stop. When only a small area needs to be cleaned, the auxiliary impeller can be started alone to reduce energy consumption. When encountering high-concentration sludge, both impellers start simultaneously to ensure sludge removal efficiency and achieve energy-saving effects that can be adjusted as needed.

[0025] Furthermore, the main suction channel 902 is arranged along the axis of the robot's outer shell 1. The inlet of the main suction channel 902 is a large-diameter, trumpet-shaped structure. The sludge conveying pipe 904 is equipped with a flow sensor. By setting the inlet of the main suction channel 902 to a large-diameter, the resistance of sludge entering the channel can be reduced, and sludge agglomeration caused by sudden changes in local flow velocity can be avoided. The trumpet-shaped structure can make the negative pressure spread evenly at the inlet, forming a wide range of negative pressure zone, which can simultaneously suck up a larger area of ​​sludge, reduce the number of times the robot moves and adjusts, and improve work efficiency. In addition, the flow sensor on the sludge conveying pipe 904 can monitor the sludge removal volume in real time. When the flow rate is low, the sensor transmits the signal to the PLC controller in the control compartment 3, which automatically increases the speed of the main impeller or starts the auxiliary impeller to ensure stable sludge removal volume, avoid cavitation, and further optimize the continuity of operation.

[0026] Furthermore, auxiliary drainage channels 903 are symmetrically distributed on both sides of the main suction channel 902. The inlet end of the auxiliary drainage channel 903 is equipped with a rotating crushing tooth assembly, and the outlet end of the auxiliary drainage channel 903 is connected to the middle of the main suction channel 902. By setting up the auxiliary drainage channel 903, a fan-shaped suction area is formed, which increases the coverage area compared with the single channel design. It can effectively clean the right-angle corners and pipe interface recesses of the pipeline pumping station, and solve the problem of dead corners in sludge removal. At the same time, the outlet end of the auxiliary drainage channel 903 is connected to the middle of the main suction channel 902, so that the pre-treated sludge can be directly discharged into the main suction channel 902, avoiding secondary accumulation and ensuring smooth flow.

[0027] Furthermore, the regulating actuator 1005 is electrically connected to the flow channel switching valve, the high-pressure water pump, and the suction pump motor. The control transmission pipe 1004 is located inside the control compartment 3. The control transmission pipe 1004 includes a PLC controller, a wireless communication module, and a data storage unit. By setting up the regulating actuator 1005, the flow channel switching valve, the high-pressure water pump, and the suction pump motor, the flow channel is flushed by the high-pressure nozzle in the auxiliary dredging channel 903, increasing the rotation speed of the rotating crushing teeth and enhancing the crushing capacity of debris. The opening of the flow channel switching valve is increased, increasing the sludge conveying capacity of the auxiliary dredging channel 903. This allows for proactive intervention before blockage occurs, preventing the suction pump from stopping and increasing continuous operation time. In addition, the wireless communication module in the control transmission pipe 1004 can transmit data such as pressure and flow rate to the ground control platform in real time. The data storage unit can store operation data, facilitating fault tracing and efficiency analysis, further improving the intelligence level of the equipment.

[0028] Furthermore, the combination of the high-definition camera 1101 and the searchlight 1102 forms a floating monitoring unit. This unit is connected to the robot's main body 1 by two traction ropes 1105. The traction ropes 1105 are wrapped around the outside of the constant force reel 1103, which is located on top of the robot's main body 1. By incorporating the high-definition camera 1101 and the searchlight 1102, the distribution of silt in blind spots and the operation of the suction pump can be clearly captured, improving the blind spot recognition rate. The searchlight 1102 eliminates shadows during shooting, further enhancing image clarity. Through this floating monitoring unit, operators can remotely and accurately locate silt in blind spots, control the robot to adjust its posture, and achieve visualized and precise dredging, solving the problem of incomplete dredging in existing technologies.

[0029] Working principle: First, the operator places the robot's outer shell 1 horizontally on the work platform, and then installs the internal functional compartments in sequence. The power compartment 2 houses the battery pack and motor drive module, the control compartment 3 embeds a PLC controller, wireless communication module, and data storage unit, and the sludge storage compartment 4 has a vent valve on the top and a sludge discharge valve on the bottom to ensure that the sealing performance of each compartment meets the standards and prevents sewage from seeping in during operation. A bracket 5 is fixedly installed at the bottom of the robot's outer shell 1, and two sets of track wheels 7 are connected to the mounting bracket 5 through bearings. The outer side is fitted with a track 8, and a frequency converter 6 is fixed to the outside of the mounting bracket 5. The frequency converter 6 is electrically connected to the drive motor in the power compartment 2 through wires. The dual-channel suction pump assembly 9 is installed, and the suction pump body 901 is fixed to it with bolts. At the front end of the robot's main body 1, the main suction channel 902 is installed along the robot's axis. Auxiliary drainage channels 903 are symmetrically welded to both sides of the main suction channel 902. A rotating crushing tooth assembly is installed at the inlet of the auxiliary drainage channel 903, with a high-pressure jet nozzle embedded inside. Finally, one end of the sludge conveying pipe 904 is connected to the outlet of the suction pump body 901, and the other end extends to the sludge temporary storage chamber 4. Two ends of the spare flow pipe 905 are connected to the suction pump body 901 and the sludge conveying pipe 904, respectively. An adaptive adjustment component 10 and a visual monitoring component 11 are installed. Pressure sensors 1001 are fixed at the inlet of the main suction channel 902, the inlet of the auxiliary drainage channel 903, and the outlet of the suction pump body 901, respectively. One end of the adaptive connecting roller 1002 is rotatably connected to the sludge shovel 1003. The other end is connected to the control cabin 3 via the control transmission pipe 1004. The high-definition camera 1101 and the searchlight 1102 are integrated and fixed as a floating monitoring unit, which is connected to the constant force reel 1103 on the top of the robot shell 1 via two traction ropes 1105. The monitor 1104 is installed on the outside of the constant force reel 1103. The power cabin 2 is powered on, and commands are sent through the ground control platform to check whether the walking drive component can move forward, backward, turn in place, and climb slopes. The variable frequency speed controller 6 is adjusted to verify whether the driving speed is stable. The dual impeller drive unit of the suction pump body 901 is started, the main impeller is started separately, and the sludge removal volume is monitored by the flow sensor of the sludge conveying pipe 904. The auxiliary impeller is started separately to observe whether the auxiliary dredging channel 903 can form a stable flow. Under negative pressure, simultaneously start the dual impellers and check for silt accumulation at the junction of the main and auxiliary flow channels to simulate a blockage scenario. When pressure sensor 1001 detects low pressure, actuator 1005 should automatically trigger, increasing the pressure of the high-pressure water pump, increasing the speed of the rotating crusher teeth, and increasing the opening of the flow channel switching valve. Observe whether the clumped silt is broken up and smoothly sucked up. Place the floating monitoring unit in the water, and the constant force reel 1103 automatically adjusts the rope length according to the tension of the traction rope to ensure that the camera is located below the water surface. Start the high-definition camera 1101 and searchlight 1102 to check whether they can clearly capture images of the underwater area and whether the wireless communication module can transmit images and sensor data to the ground platform in real time. Place the debugged robot into the pipeline pump station operating area using hoisting equipment.Open the water valve to allow the robot to slowly descend to the sludge surface, preventing it from sinking into the sludge due to excessive descent speed. Adjust the constant force reel 1103 via the ground control platform to determine the optimal shooting angle of the floating monitoring unit, ensuring coverage of the sludge removal area in front of and to the sides of the robot without blind spots. Simultaneously check the level sensor and discharge valve of the sludge storage tank 4 for proper functioning. After equipment deployment, carry out sludge removal operations according to the process of area division, pretreatment, suction, dynamic adjustment, and unloading. Based on the structure of the pipeline pump station, the work area is divided via the ground control platform. The central area is primarily suctioned by the main suction channel 902, while corner blind spots are cleaned by the auxiliary drainage channel 903 in conjunction with robot posture adjustments, ensuring sludge coverage. Activate the walking drive component, and the robot proceeds according to... The robot moves towards the central area along a preset path, simultaneously activating the dual-channel suction pump assembly 9. The main suction channel 902 creates a strong negative pressure through a large-diameter, funnel-shaped inlet, drawing high-concentration sludge into the channel. The PTFE anti-stick coating on the inner wall of the channel reduces sludge adhesion and prevents channel cross-section reduction. The rotating crushing tooth assembly in the auxiliary drainage channel 903 breaks up clumps of sludge in corners. High-pressure jet nozzles spray high-pressure water to flush the inner wall of the channel and remove debris. The broken sludge and debris, under the negative pressure of the auxiliary impeller, flow into the main suction channel 902 and together enter the sludge storage chamber 4 through the sludge delivery pipe 904. For blind spots in corners, the robot is controlled to turn in place, orienting the auxiliary drainage channel 903 towards the blind spot. The negative pressure generated by the auxiliary impeller pulls the sludge from the blind spot towards the main suction channel 902. The high-definition camera 1101 of the floating monitoring unit observes the blind spot cleaning situation. If residual sludge is found, the robot position is fine-tuned to ensure that the sludge in the blind spot is completely sucked up. During real-time monitoring and adjustment, the pressure sensor 1001 and flow sensor continuously collect data and transmit it to the control cabin 3. When the inlet pressure of the main suction channel 902 is low, the actuator 1005 automatically increases the pressure of the high-pressure water pump, the speed of the crushing teeth, and the opening of the flow channel switching valve to eliminate the risk of blockage. When the flow rate of the sludge conveying pipe 904 is low, the PLC controller automatically increases the speed of the main impeller to supplement the negative pressure intensity and ensure stable sludge removal. In case of emergency, if the main suction channel 902 cannot be cleared due to extreme debris blockage, the main suction channel 902 is immediately closed and the backup flow pipe 90 is opened. 5. The auxiliary drainage channel 903 independently undertakes the suction task, while simultaneously controlling the robot to move to a debris-free area to prevent the malfunction from escalating. During the break between operations, the main suction channel 902 is manually disassembled to remove debris, restoring the dual-channel operation mode. The liquid level sensor in the sludge storage chamber 4 monitors the sludge volume in real time. Ground operators control the robot to stop the suction operation, activate the walking drive component, and return to the discharge point according to the preset path. Throughout the movement, the floating monitoring unit continues to work to prevent the robot from colliding with pipes or equipment. Upon reaching the discharge point, the discharge valve at the bottom of the sludge storage chamber 4 is opened, and the auxiliary impeller is activated. The sludge is discharged through the negative pressure of the auxiliary drainage channel 903. The discharge valve is then closed, completing the unloading process without disassembling the equipment, achieving unloading without shutting down the machine. After unloading is completed...Check the inner wall of the sludge storage chamber 4 for any residual sludge. If any is found, start the high-pressure water pump and spray high-pressure water into the chamber through the backup flow pipe 905 to ensure cleanliness and prevent sludge from clumping during the next operation. After the sludge removal operation is completed, follow the equipment recovery, cleaning and maintenance, and data processing procedures to finish. Move the robot to the hoisting area at the edge of the pump station, shut down all functional components, and ensure that the sludge storage chamber 4 is empty and the floating monitoring unit has been retrieved. Use hoisting equipment to smoothly lift the robot out of the water, avoiding collisions caused by shaking during hoisting. After hoisting to the work platform, immediately open the vent valves of the power compartment 2 and the control compartment 3 to expel any residual moisture and prevent damage to the circuitry from moisture. For external cleaning, use a high-pressure water gun to wash the robot's outer shell 1, the surrounding tracks 8, and the dual-flow... The suction pump assembly 9 is cleaned to remove surface-attached sludge, with particular attention to cleaning the rotating crushing teeth and high-pressure nozzles of the main suction channel 902 inlet and the auxiliary drainage channel 903, to prevent residual sludge from clumping and affecting subsequent operations. The inspection cover of the sludge storage chamber 4 is opened, and the inner wall anti-stick coating is checked for wear. If severely worn, the PTFE coating needs to be reapplied. The battery pack and motor in the power compartment 2 are inspected, and dust is cleaned from the control compartment 3. The wiring terminals of the PLC controller and wireless communication module are ensured to be secure. The sealing rings of the high-pressure nozzles are replaced to ensure sealing performance and prevent leakage during future operations. All data from this operation is exported from the data storage unit in the control compartment 3. The operation data, image records, and maintenance records are compiled into a report and archived in the database for subsequent equipment maintenance and operational effectiveness tracking.

[0030] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A pipeline pumping station dredging robot with a dual-channel suction pump structure, comprising a robot shell body (1), characterized in that: The robot shell body (1) is provided with a power compartment (2), a control compartment (3), and a sludge storage compartment (4). A mounting bracket (5) is fixedly installed at the bottom of the robot shell body (1). A variable frequency speed controller (6) is fixedly installed on the outside of the mounting bracket (5). A track wheel (7) is provided on the inside of the variable frequency speed controller (6). A circular track (8) is rotatably installed on the outside of the track wheel (7). A dual-channel suction pump assembly (9) is provided on the outside of the robot shell body (1). An adaptive adjustment assembly (10) is provided on the outside of the robot shell body (1). The dual-channel suction pump assembly (9) includes a suction pump body (901), which is located on the outside of the robot shell body (1). The outside of the suction pump body (901) is connected to a main suction channel (902), the bottom of the suction pump body (901) is connected to an auxiliary drainage channel (903), the outside of the suction pump body (901) is connected to a sludge conveying pipe (904), and the outside of the suction pump body (901) is connected to a spare flow pipe (905).

2. The pipeline pumping station dredging robot with a dual-channel suction pump structure according to claim 1, characterized in that: The adaptive adjustment component (10) includes a pressure sensor (1001), which is located on the outside of the robot housing body (1). An adaptive connecting roller (1002) is located on the outside of the pressure sensor (1001). A dredging reamer (1003) is rotatably mounted on the outside of the adaptive connecting roller (1002). A control transmission pipe (1004) is connected through the outside of the adaptive connecting roller (1002). An adjustment actuator (1005) is located on the outside of the dredging reamer (1003).

3. The pipeline pumping station dredging robot with a dual-channel suction pump structure according to claim 1, characterized in that: The visualization monitoring component (11) includes a high-definition camera (1101), which is installed on the outside of the robot shell body (1). A searchlight (1102) is fixedly installed on the top of the high-definition camera (1101). A constant force reel (1103) is provided on the outside of the robot shell body (1). A monitor (1104) is provided on the outside of the constant force reel (1103). A traction rope body (1105) is provided on the outside of the monitor (1104).

4. The pipeline pumping station dredging robot with a dual-channel suction pump structure according to claim 1, characterized in that: The track wheels (7) and the surrounding track (8) are provided in two identical sets, and the two sets of track wheels (7) and surrounding track (8) are symmetrically distributed about the vertical center line of the mounting bracket (5).

5. The pipeline pumping station dredging robot with a dual-channel suction pump structure according to claim 1, characterized in that: The surrounding track (8) has a ring structure and is located on the outside of the track wheel (7) in close contact.

6. The pipeline pumping station dredging robot with a dual-channel suction pump structure according to claim 1, characterized in that: The pump body (901) is equipped with a dual impeller drive unit, which includes a main impeller and an auxiliary impeller.

7. A pipeline pumping station dredging robot with a dual-channel suction pump structure according to claim 1, characterized in that: The main suction channel (902) is arranged along the axis of the robot shell body (1). The inlet of the main suction channel (902) is a large-diameter trumpet-shaped structure. The sludge conveying pipe (904) is equipped with a flow sensor.

8. The pipeline pumping station dredging robot with a dual-channel suction pump structure according to claim 1, characterized in that: The auxiliary drainage channels (903) are symmetrically distributed on both sides of the main suction channel (902). The inlet end of the auxiliary drainage channel (903) is provided with a rotating crushing tooth assembly, and the outlet end of the auxiliary drainage channel (903) is connected to the middle of the main suction channel (902).

9. A pipeline pumping station dredging robot with a dual-channel suction pump structure according to claim 2, characterized in that: The regulating actuator (1005) is electrically connected to the flow channel switching valve, the high-pressure water pump and the suction pump motor. The control transmission pipe (1004) is located inside the control compartment (3). The control transmission pipe (1004) includes a PLC controller, a wireless communication module and a data storage unit.

10. A pipeline pumping station dredging robot with a dual-channel suction pump structure according to claim 3, characterized in that: The combination of the high-definition camera (1101) and the searchlight (1102) is a floating monitoring unit. The floating monitoring unit is connected to the robot shell body (1) by two traction rope bodies (1105). The traction rope bodies (1105) are wrapped around the outside of the constant force reel (1103), which is located on the top of the robot shell body (1).

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