Pipeline dredging robot and dredging method

Abstract

The present application relates to the field of pipeline cleaning, and discloses a pipeline dredging robot and a dredging method, wherein the pipeline dredging robot comprises a chain releasing device, a dredging mechanism, and a gap is formed between the chain and the pipe opening of the chain pipe; the dredging mechanism comprises a connecting seat, a first rotary drive and a drill cylinder, the connecting seat is arranged on the chain, the first rotary drive is connected to the connecting seat, the first rotary drive is drivingly connected to the drill cylinder, the first rotary drive can drive the drill cylinder to rotate, the end face of the drill cylinder away from the first rotary drive is a working face, the working face is provided with a drilling group, the drilling group comprises a plurality of drill bits arranged on the working face, and the plurality of drill bits are inclinedly arranged from the center of the working face to the edge of the working face towards the direction close to the first rotary drive, the drill cylinder is sent into the pipeline by the chain, the chain is used as a swing arm, and the drill bit is swung around the inner wall of the pipeline to realize drilling and cleaning of the sludge lumps.

Description

Technical Field

[0001] This invention relates to the field of pipeline cleaning, and discloses a pipeline dredging robot and a dredging method. Background Technology

[0002] Over time, underground drainage pipes accumulate silt and clumps inside. Traditionally, cleaning this silt involved workers entering the pipes, a labor-intensive process. With technological advancements, electric drills are now commonly used to clean the pipe walls. These drills can be mounted on a frame and placed in a manhole, using an extension rod to reach deeper into the pipe. However, this method requires workers to enter the manhole, and the drill travels along an axis, potentially scratching the pipe wall when encountering bends. Alternatively, robots can move along the pipe's inner wall, guiding the drill around it to remove blockages. Another method involves mounting the drill on a retractable chain or robotic arm, which then guides it into the pipe, again requiring the drill to move around the inner wall to clear blockages.

[0003] Therefore, it is evident that currently, controlling electric drills manually involves high labor intensity and results in low-quality pipe cleaning. While automated equipment typically requires a rotating mechanism to drive the drill around the pipe's axis, and the drill must be kept close to the pipe's inner wall to ensure sufficient drilling force against sludge deposits. This results in a complex structure, higher cost, and the drill's movement requires a high degree of coaxiality with the pipe. For pipes with bending or deformation, the drill can easily damage the inner wall during drilling. Therefore, there is an urgent need for a simpler pipe cleaning robot capable of drilling and cleaning the inner wall of pipes. Summary of the Invention

[0004] The purpose of this invention is to provide a pipeline dredging robot and dredging method to solve one or more technical problems existing in the prior art, and at least provide a beneficial option or create conditions.

[0005] According to a first aspect of the present invention, a pipeline dredging robot includes: a chain release device, including a chain tube and a chain that can be released or retracted from the chain tube, wherein a gap is formed between the chain and the opening of the chain tube, allowing the chain to move in a horizontal and vertical direction; and a dredging mechanism, including a connecting seat, a first rotary drive, and a drill barrel, wherein the connecting seat is disposed on the chain, the first rotary drive is connected to the connecting seat, the first rotary drive is drively connected to the drill barrel, the first rotary drive can drive the drill barrel to rotate, the end face of the drill barrel away from the first rotary drive is a working surface, the working surface is provided with a drilling assembly, the drilling assembly includes a plurality of drill bits disposed on the working surface, the plurality of drill bits being arranged obliquely from the center of the working surface to the edge of the working surface toward the direction close to the first rotary drive.

[0006] This technical solution has at least the following beneficial effects: When it is necessary to dredge the inside of the pipeline, the chain in the chain release device is released from the chain tube. The chain drives the drill barrel to the position inside the pipeline where dredging is needed. Then, the first rotation drive works, driving the drill barrel to rotate. When the drill barrel rotates, the entire dredging mechanism moves along the inner wall of the pipeline. The whole mechanism is in a state of circumferential swing around the inner wall of the pipeline, with the position where the chain is released from the chain tube as the swing center and the part of the chain that is released from the chain tube as the swing arm. The gap formed between the chain tube at the end position and the chain ensures that the chain has sufficient freedom of movement at the position where the chain tube is released. During this process, multiple drill bits arranged at an angle on the working surface of the drill barrel can drill and dredge the blockages on the inner wall of the pipeline. The centrifugal force generated when the drill bit moves circumferentially along the inner wall of the pipe provides sufficient pressure when drilling through sludge clumps. Even if the drill bit bounces when it collides with a large sludge clump, it will land at a certain position on the inner wall of the pipe and then move around the inner wall again. In this way, the drill barrel is fed into the pipe by a chain, and the chain acts as a swing arm to swing the drill bit around the inner wall of the pipe to achieve drilling and cleaning of sludge clumps. Unlike the traditional sludge cleaning method that drives the drill bit to rotate around the blockage on the inner wall of the pipe for center-positioned drilling, this invention proposes a more ingenious driving method, which makes the overall structure simple, helps to control the overall equipment production cost, and can achieve a good sludge cleaning effect on the inner wall of the pipe, especially applicable to bent and deformed pipes.

[0007] According to some embodiments of the present invention, an extension block is provided on the side wall of the drill barrel near the working surface, and multiple extension blocks are respectively provided at the positions of multiple drilling groups, and multiple drill bits are respectively connected to the side of the multiple extension blocks near the working surface.

[0008] According to some embodiments of the present invention, a guide rib is provided on the outer side of the drill barrel, and the guide rib extends spirally around the axis of the drill barrel.

[0009] According to some embodiments of the present invention, there are two epitaxial blocks and two guide ribs. The two guide ribs extend to the side of the two epitaxial blocks away from the working surface, and push-pull concave angles are formed between the two epitaxial blocks and the two guide ribs.

[0010] According to some embodiments of the present invention, the dredging mechanism further includes a fixed seat connected between the chain and the connecting seat, and a second rotary drive connected to the fixed seat. The second rotary drive is driven by a swing arm, which can drive the swing arm to swing back and forth. The swing arm is connected to the connecting seat, and the connecting seat is slidably connected to the fixed seat about the rotation axis of the swing arm.

[0011] According to some embodiments of the present invention, the present invention further includes a winding device having a winding shaft capable of winding and unwinding, the winding shaft having a pull rope wound around it, and a rope threading rod connected to the end of the swing arm near the connecting seat, one end of the pull rope being connected to the rope threading rod.

[0012] According to some embodiments of the present invention, the drill barrel has a cavity inside, and a plurality of water spray holes are arranged circumferentially on the outer side of the end of the drill barrel near the working face. The plurality of water spray holes are respectively connected to the cavity. A water supply connector is provided at the end of the drill barrel away from the working face, and the water supply connector is connected to the cavity.

[0013] According to some embodiments of the present invention, the water supply connector includes a water supply ring rotatably sealed to the end face of the drill barrel, the water supply ring being connected to the fixed end of the first rotary drive, a water inlet cavity being formed between the water supply ring and the end face of the drill barrel, the end face of the drill barrel being provided with a communicating hole connecting the water inlet cavity and the cavity, and the water supply ring being provided with a water inlet interface connecting the water inlet cavity.

[0014] According to some embodiments of the present invention, the present invention further includes a regulating valve, wherein the fixed base is provided with a distance sensor, a plurality of the distance sensors are arranged around the chain, and the regulating valve is configured to adjust the water supply pressure to the plurality of spray holes according to the detection distance of the plurality of distance sensors.

[0015] According to a second aspect of the present invention, a dredging method using the aforementioned pipeline dredging robot includes:

[0016] The chain is released from the chain tube into the pipe that needs to be dredged, so that the drill barrel reaches into the pipe;

[0017] The first rotary drive drives the drill barrel to rotate, and the multiple drill bits drill through the blockage on the inner wall of the pipe, causing the drill barrel to move on the inner wall of the pipe.

[0018] This technical solution has at least the following beneficial effects: When using the aforementioned pipeline dredging robot to dredge the inside of a pipeline, the chain in the chain-releasing device is released from the chain tube. The chain drives the drill cylinder to the location inside the pipeline that needs dredging. Then, the first rotation drive operates, causing the drill cylinder to rotate. When the drill cylinder rotates, the entire dredging mechanism moves along the inner wall of the pipeline. The overall motion is centered on the position where the chain is released from the chain tube, with the part of the chain that is released from the chain tube acting as the swing arm, oscillating around the inner wall of the pipeline. This allows the drill cylinder to move along the inner wall of the pipeline. During this process, multiple drill bits arranged at an angle on the working surface of the drill cylinder can drill and dredge the blockages on the inner wall of the pipeline. The movement of the drill cylinder along the inner wall of the pipeline is achieved by... The centrifugal force generated provides sufficient pressure for the drill bit to drill through sludge clumps. Even if the drill bit bounces when it collides with a large sludge clump, it will land at a certain position on the inner wall of the pipe and then move around the inner wall again. The drill barrel is fed into the pipe by a chain, and the chain acts as a swing arm to swing the drill bit around the inner wall of the pipe to drill and clean the sludge clumps. Unlike the traditional sludge cleaning method that drives the drill bit to rotate around the blockage on the inner wall of the pipe for center-positioned drilling, this invention proposes a more ingenious driving method, which makes the overall structure simple, helps to control the overall equipment production cost, and can achieve a good sludge cleaning effect on the inner wall of the pipe, especially applicable to bent and deformed pipes.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly explained below. Obviously, the described drawings are only a part of the embodiments of the present invention, and not all of them. Those skilled in the art can obtain other design schemes and drawings based on these drawings without creative effort.

[0021] Figure 1 This is a front view of the pipeline dredging robot of the present invention.

[0022] Figure 2 This is a first perspective view of the dredging mechanism of the present invention.

[0023] Figure 3 This is a second perspective view of the dredging mechanism of the present invention.

[0024] In the attached diagram: 110-Chain tube, 120-Chain, 200-Dredging mechanism, 210-Connecting seat, 220-First rotary drive, 230-Drill barrel, 231-Working face, 232-Water spray hole, 240-Drill bit, 250-Extension block, 260-Guide rib, 261-Pushing concave angle, 271-Fixed seat, 272-Second rotary drive, 273-Swing arm, 274-Rope threading rod, 280-Water supply ring, 281-Water inlet interface, 300-Rewinding device, 310-Pull rope, 400-Distance sensor. Detailed Implementation

[0025] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. 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.

[0026] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0027] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0028] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0029] In the description of this application, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0030] In the description of this application, the use of terms such as "one embodiment," "some embodiments," "an example," "some instances," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0031] Reference Figures 1 to 3 According to a first aspect of the present invention, a pipeline dredging robot includes a chain-releasing device and a dredging mechanism 200. The chain-releasing device includes a chain tube 110 and a chain 120. The chain 120 passes through the chain tube 110 and can be released from or retracted from the chain tube 110. A gap is formed between the chain 120 and the opening of the chain tube 110, allowing the chain 120 to move horizontally and vertically. The dredging mechanism 200 includes a connecting seat 210, a first rotary drive 220, and a drill barrel 230. The connecting seat 210 is disposed on the chain 120, and the first rotary drive 220 is connected to the connecting seat 210. The first rotary drive 220 transmits... The drill barrel 230 is dynamically connected, and the first rotary drive 220 can drive the drill barrel 230 to rotate. The end face of the drill barrel 230 away from the first rotary drive 220 is the working surface 231. The working surface 231 is provided with a drilling assembly, which includes a plurality of drill bits 240 disposed on the working surface 231. The plurality of drill bits 240 are arranged at an inclination from the center of the working surface 231 to the edge of the working surface 231 toward the first rotary drive 220. In practical applications, the first rotary drive 220 can be a drive source such as a motor or a rotary cylinder. The working surface 231 can be a conical surface, which allows the plurality of drill bits 240 to be arranged at an inclination on the working surface 231.

[0032] As described above, when it is necessary to dredge the inside of the pipeline, the chain 120 in the chain release device is released from the chain tube 110. The chain 120 drives the drill barrel 230 to reach the position in the pipeline that needs dredging. Then, the first rotation drive 220 works, driving the drill barrel 230 to rotate. When the drill barrel 230 rotates, the entire dredging mechanism 200 moves along the inner wall of the pipeline. The whole mechanism is in a state of circumferential swing around the inner wall of the pipeline, with the position where the chain 120 is released from the chain tube 110 as the swing center and the part of the chain 120 that is released from the chain tube 110 as the swing arm. The gap formed between the chain tube 110 at the end position and the chain 120 ensures that the chain 120 has sufficient freedom of movement at the position where it is released from the chain tube 110. During this process, the multiple drill bits 240 arranged at an angle on the working surface 231 of the drill barrel 230 can remove the blockages on the inner wall of the pipeline. The drilling and dredging method utilizes the centrifugal force generated when the drill barrel 230 moves circumferentially along the inner wall of the pipe. This provides sufficient pressure for the drill bit 240 to drill through the sludge clumps. Even if the drill bit 240 bounces when it collides with a large sludge clump, it will land at a certain position on the inner wall of the pipe and then move around the inner wall again. The drill barrel 230 is fed into the pipe via the chain 120, and the chain 120 acts as a swing arm to swing the drill bit 240 around the inner wall of the pipe to drill and clean the sludge clumps. Unlike the traditional dredging method that drives the drill bit 240 to rotate around the blockage on the inner wall of the pipe for centered drilling, this invention proposes a more ingenious driving method, which simplifies the overall structure, helps control the overall equipment production cost, and achieves a good dredging effect on the inner wall of the pipe, especially for bent and deformed pipes.

[0033] Naturally, the chain release device contains a motor capable of retracting and extending the chain 120. When the chain 120 retracts, it can drive the sludge removal mechanism 200 to retract within the pipe. When it is necessary to move the sludge removal mechanism 200 further into the pipe, the chain 120 can generate a pushing force on the sludge removal mechanism 200. Therefore, in order to enable the chain 120 to generate tension during retraction and thrust during release, the chain 120 includes an inner chain and an outer chain. The outer chain is connected to the inner chain via a pin and is located outside the inner chain. A unidirectional bending chain 120 is formed. The outer chain is provided with a tensioning mechanism for locking the chain 120 to restrict bending. When the chain 120 extends, the tensioning mechanism locks the chain 120, so that the chain 120 is restricted from bending and becomes rigid. In this way, the chain 120 is connected to the connecting seat 210. Further embodiments of the chain 120 are disclosed in patents with application numbers 2018201163137 and 2022235926674, and will not be described in detail here.

[0034] As the drum moves along the inner wall of the pipe, the axis of the drum forms an angle with the inner wall of the pipe due to the constraint of the chain 120. This allows the drill bit 240 on the working surface 231 of the drum to abut against the inner wall of the pipe. To ensure that the drill bit 240 can approach the inner wall of the pipe for drilling and cleaning, in this embodiment, an extension block 250 is provided on the side wall of the drill barrel 230 near the working surface 231. Multiple extension blocks 250 are provided corresponding to the positions of multiple drilling groups, and multiple drill bits 240 are connected to the side of each extension block 250 near the working surface 231. The extension blocks 250 provide a connection fulcrum for the installation of the drill bit 240 on the side wall of the drill barrel 230. When the drill barrel 230 approaches the inner wall of the pipe, the drill bit 240 on the protruding extension block 250 ensures contact with the inner wall of the pipe, thereby drilling and cleaning the sludge deposits adhering to the inner wall of the pipe.

[0035] To facilitate the removal of drilled sludge clumps, in this embodiment, a guide rib 260 is provided on the outer side of the drill barrel 230. The guide rib 260 extends spirally around the axis of the drill barrel 230. The guide rib 260 extends spirally on the outer side of the drill barrel 230 and forms a spiral guide groove. When the drill barrel 230 rotates, the drill bit 240 drills and cleans the sludge clumps. At this time, some of the cleaned sludge clumps enter the guide groove and are thrown backward by the guide groove, thereby facilitating cleaning and recycling, reducing the splashing of cleaned sludge clumps into the feed direction of the chain 120, and improving the cleaning efficiency of the inner wall of the pipeline.

[0036] In the above embodiments, there are multiple drilling groups, such as three or four. In this embodiment, there are two drilling groups, and correspondingly, there are two extension blocks 250 and two guide ribs 260. The two guide ribs 260 extend to the side of the two extension blocks 250 away from the working surface 231, and push-pull concave angles 261 are formed between the two extension blocks 250 and the two guide ribs 260. The two extension blocks 250 can provide connection fulcrums for the extended ends of the two guide ribs 260, improving the structural stability of the guide ribs 260 on the outside of the drill barrel 230. At this time, the connection position of the extension blocks 250 and the guide ribs 260 is cleverly used to form a pushing concave angle 261. When the drill bit 240 drills and clears the blockage on the inner wall of the pipe, some of the cleaned sludge clumps move along the outer wall of the drill barrel 230. At this time, the pushing concave angle 261 pushes this part of the sludge clumps into the guide groove, thereby improving the efficiency of throwing the sludge clumps backward.

[0037] In practical applications, the drill barrel 230 rotates at a relatively low speed, which better protects the inner wall of the pipe. However, during operation, the drill bit 240 is prone to getting stuck in the silt and forming clumps. To ensure operational reliability, in this embodiment, the sludge removal mechanism 200 further includes a fixed base 271 connected between the chain 120 and the connecting seat 210, and a second rotary drive 272 connected to the fixed base 271. The second rotary drive 272 is connected to a swing arm 273, which can drive the swing arm 273 to swing back and forth. The swing arm 273 is connected to the connecting seat 210, and the connecting seat 210 is slidably connected to the fixed base 271 around the rotation axis of the swing arm 273. In practical applications, the second rotary drive 272 can be driven by a motor or hydraulic motor or other drive source. During operation, when the drill bit 240 gets stuck in silt clumps, the second rotary drive 272 drives the swing arm 273 to swing in the direction of the pipeline axis, causing the drill bit 240 to dislodge the silt clumps. Then, the second rotary drive 272 drives the swing arm 273 to swing in the opposite direction, causing the drill barrel 230 to return to the correct position and start rotating again. This can effectively improve the reliability of the whole machine operation and effectively reduce the occurrence of jamming, shutdown and other phenomena during operation.

[0038] The present invention also includes a winding device 300, which has a winding shaft capable of winding and unwinding. A pull rope 310 is wound around the winding shaft. A rope threading rod 274 is connected to the end of the swing arm 273 near the connecting seat 210. One end of the pull rope 310 is connected to the rope threading rod 274. In practical applications, the winding device 300 has a winding motor that can drive the winding shaft to rotate. The winding motor drives the winding shaft to rotate in both directions, thereby realizing the winding or unwinding of the pull rope 310. When placing the drill barrel 230 into the pipeline, it needs to be lowered vertically to the end of the pipeline with the pull rope 310 in an unwinding state. Then, the orientation of the drill barrel 230 is adjusted so that it is laid flat to enter the pipeline. During the process of adjusting the drill barrel 230 from vertical to flat, the pull rope 310 can be wound up to rotate the fixed seat 271 around the end of the chain 120, thereby assisting in sending the drill barrel 230 into the pipeline. When the drill bit 240 gets stuck in the silt block, the second rotation drive 272 first drives the swing arm 273 to swing in the direction of the pipeline axis, and then the pull rope 310 is wound up. The tension of the pull rope 310 on the rope rod 274 causes the connecting seat 210 to have a tendency to rotate in the direction of the pipeline axis, thereby assisting in pulling the drill bit 240 out of the silt block.

[0039] To better control the distance between the drill barrel 230 and the inner wall of the pipe, in this embodiment, a cavity is provided inside the drill barrel 230. Multiple water spray holes 232 are circumferentially arranged on the outer side of the end of the drill barrel 230 near the working face 231, and these water spray holes 232 are interconnected with the cavity. A water supply connector is provided on the end of the drill barrel 230 away from the working face 231, and the water supply connector is interconnected with the cavity. During operation, the drill bit 240 can be used to drill and clean the inner wall of the pipe. At this time, the water supply connector is connected to an external water source, supplying water to the cavity and spraying water outwards from the multiple water spray holes 232 on the outer side of the drill barrel 230. The water flow impacting the inner wall of the pipe creates a buffering effect. In practical applications, the drilling pressure of the drill bit 240 when approaching the inner wall of the pipe can be adjusted by controlling the water pressure. Furthermore, the water flow can also be used to flush the inner wall of the pipe, improving the cleaning effect.

[0040] Furthermore, the water supply connector includes a water supply ring 280 that is rotatably and sealingly connected to the end face of the drill barrel 230. For example, a mechanical seal is provided between the water supply ring 280 and the drill barrel 230, so that the water supply ring 280 forms a rotatable connection with the drill barrel 230 and also seals the rotatable connection. The water supply ring 280 is connected to the fixed end of the first rotary drive 220. A water inlet cavity is formed between the water supply ring 280 and the end face of the drill barrel 230. The end face of the drill barrel 230 is provided with a connecting hole that connects the water inlet cavity and the cavity. The water supply ring 280 is provided with a water inlet interface 281 that connects to the water inlet cavity. An external water source is connected to the water inlet interface 281 on the water supply ring 280 to supply water to the water inlet cavity. The water flows through the connecting hole into the cavity inside the drill barrel 230 and finally sprays out from multiple water spray holes 232, thereby supplying water to the rotating drill barrel 230.

[0041] Furthermore, the present invention also includes a regulating valve. The fixed base 271 is provided with a distance sensor 400. Multiple distance sensors 400 are arranged around the chain 120. The regulating valve is configured to adjust the water supply pressure to the multiple water spray holes 232 according to the detection distance of the multiple distance sensors 400. In practical applications, the regulating valve can be installed at any position in the water supply stroke to the multiple water spray holes 232. For example, the regulating valve can be directly installed at the water supply source, or installed at the water inlet 281, or multiple regulating valves can be installed at multiple water spray holes 232 respectively, etc. During operation, a distance threshold can be set. When the distance sensor 400 detects that the distance between the drill barrel 230 and the inner wall of the pipe reaches the distance threshold, the regulating valve can increase the water supply pressure to the multiple water spray holes 232. This increases the pressure of water sprayed outward from the multiple water spray holes 232, thereby increasing the distance between the drill barrel 230 and the inner wall of the pipe. When the distance sensor 400 detects that the distance between the drill barrel 230 and the inner wall of the pipe has not reached the distance threshold, the regulating valve reduces or even decreases the water supply pressure to the multiple water spray holes 232. This reduces the pressure of water sprayed outward from the multiple water spray holes 232, thereby reducing the distance between the drill barrel 230 and the inner wall of the pipe, so that the drill bit 240 can approach the inner wall of the pipe to drill and clear sludge.

[0042] According to a second aspect of the present invention, a dredging method using the aforementioned pipeline dredging robot includes, but is not limited to, the following steps:

[0043] Step S100: Release the chain 120 from the chain tube 110 into the pipe that needs to be dredged, so that the drill barrel 230 reaches the pipe;

[0044] In step S200, the first rotary drive 220 drives the drill barrel 230 to rotate, and the multiple drill bits 240 drill the blockage on the inner wall of the pipe, causing the drill barrel 230 to move on the inner wall of the pipe.

[0045] When using the aforementioned pipeline dredging robot to dredge the inside of a pipeline, the chain 120 in the chain release device is released from the chain tube 110. The chain 120 drives the drill cylinder 230 to the location inside the pipeline that needs dredging. Then, the first rotation drive 220 operates, driving the drill cylinder 230 to rotate. When the drill cylinder 230 rotates, the entire dredging mechanism 200 moves along the inner wall of the pipeline. The overall movement is centered on the position where the chain tube 110 releases the chain 120, with the part of the chain 120 that releases the chain tube 110 acting as the swing arm, swinging circumferentially around the inner wall of the pipeline. This allows the drill cylinder 230 to move along the inner wall of the pipeline. During this process, multiple drill bits 240 arranged at an angle on the working surface 231 of the drill cylinder 230 can drill and dredge the blockages on the inner wall of the pipeline. The centrifugal force generated during circumferential movement provides sufficient pressure for the drill bit 240 to drill through sludge clumps. Even if the drill bit 240 bounces when it collides with a large sludge clump, it will land at a certain position on the inner wall of the pipe and then move around the inner wall again. In this way, the drill cylinder 230 is fed into the pipe via the chain 120, and the chain 120 is used as a swing arm to swing the drill bit 240 around the inner wall of the pipe to achieve drilling and cleaning of sludge clumps. Unlike the traditional sludge cleaning method that drives the drill bit 240 to rotate around the blockage on the inner wall of the pipe for centered drilling, this invention proposes a more ingenious driving method, which makes the overall structure simple, helps to control the overall equipment production cost, and can achieve a good sludge cleaning effect on the inner wall of the pipe, especially applicable to bent and deformed pipes.

[0046] The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A pipeline dredging robot, characterized in that: include: The chain release device includes a chain tube (110) and a chain (120) that can be released from or retracted from the chain tube (110). A gap is formed between the chain (120) and the opening of the chain tube (110) to allow the chain (120) to move in the horizontal and vertical directions. The dredging mechanism (200) includes a connecting seat (210), a first rotary drive (220), and a drill barrel (230). The connecting seat (210) is disposed on the chain (120). The first rotary drive (220) is connected to the connecting seat (210) and is driven by the drill barrel (230). The first rotary drive (220) can drive the drill barrel (230) to rotate. The end face of the drill barrel (230) away from the first rotary drive (220) is a working face (231). The working face (231) is provided with a drilling assembly, which includes multiple drill bits (240) disposed on the working face (231). The multiple drill bits (240) are generated by a... The center of the working surface (231) and the edge of the working surface (231) are arranged inclined towards the first rotary drive (220). The dredging mechanism (200) also includes a fixed seat (271) connected between the chain (120) and the connecting seat (210) and a second rotary drive (272) connected to the fixed seat (271). The second rotary drive (272) is connected to a swing arm (273). The second rotary drive (272) can drive the swing arm (273) to swing back and forth. The swing arm (273) is connected to the connecting seat (210). The connecting seat (210) is slidably connected to the fixed seat (271) around the rotation axis of the swing arm (273).

2. The pipeline dredging robot according to claim 1, characterized in that: An extension block (250) is provided on the side wall of the drill barrel (230) near the working surface (231). Multiple extension blocks (250) are provided at the positions of multiple drilling groups respectively. Multiple drill bits (240) are connected to the side of the multiple extension blocks (250) near the working surface (231).

3. The pipeline dredging robot according to claim 2, characterized in that: The drill barrel (230) is provided with a guide rib (260) on the outside, and the guide rib (260) extends spirally around the axis of the drill barrel (230).

4. The pipeline dredging robot according to claim 3, characterized in that: There are two of the extended blocks (250) and two of the guide ribs (260). The two guide ribs (260) extend to the side of the two extended blocks (250) away from the working surface (231). The two extended blocks (250) and the two guide ribs (260) respectively form a pusher concave angle (261).

5. A pipeline dredging robot according to claim 1, characterized in that: It also includes a winding device (300) having a winding shaft capable of winding and unwinding, the winding shaft having a pull rope (310) wound around it, the end of the swing arm (273) near the connecting seat (210) being connected to a rope threading rod (274), one end of the pull rope (310) being connected to the rope threading rod (274).

6. The pipeline dredging robot according to claim 1, characterized in that: The drill barrel (230) has a cavity inside. Multiple water spray holes (232) are arranged circumferentially on the outer side of the end of the drill barrel (230) near the working face (231). The multiple water spray holes (232) are respectively connected to the cavity. A water supply connector is provided at the end of the drill barrel (230) away from the working face (231). The water supply connector is connected to the cavity.

7. A pipeline dredging robot according to claim 6, characterized in that: The water supply connector includes a water supply ring (280) that is rotatably and sealingly connected to the end face of the drill barrel (230). The water supply ring (280) is connected to the fixed end of the first rotary drive (220). A water inlet cavity is formed between the water supply ring (280) and the end face of the drill barrel (230). The end face of the drill barrel (230) is provided with a connecting hole that connects the water inlet cavity and the cavity. The water supply ring (280) is provided with a water inlet interface (281) that connects to the water inlet cavity.

8. A pipeline dredging robot according to claim 7, characterized in that: It also includes a regulating valve, wherein the mounting base (271) is provided with a distance sensor (400), and a plurality of distance sensors (400) are arranged around the chain (120), and the regulating valve is configured to adjust the water supply pressure to the plurality of water jets (232) according to the detection distance of the plurality of distance sensors (400).

9. A dredging method, characterized in that: Using the pipeline dredging robot as described in any one of claims 1 to 8, comprising: The chain (120) is released from the chain tube (110) into the pipe that needs to be dredged, so that the drill barrel (230) reaches into the pipe; The first rotary drive (220) drives the drill barrel (230) to rotate, and drills the blockage on the inner wall of the pipe through the multiple drill bits (240), and causes the drill barrel (230) to move on the inner wall of the pipe.

Images