Intelligent dredging robot system for urban drainage pipe network
By designing the main control frame, side movement unit, and central support, and combining the mechanical crushing and high-pressure water flow of the central and tail spiral dredging shafts, the adaptability of the dredging robot in narrow inspection wells and pipes of different diameters has been solved, achieving efficient and reliable dredging operations.
Patent Information
- Application Number
- CN202610037527.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-13
- Publication Date
- 2026-03-03
AI Technical Summary
Existing dredging robots are limited by their diameter and cannot pass through narrow vertical inspection wells. They are also prone to getting stuck by stones, causing them to get stuck and overload their power, making them unable to effectively clean the sludge at the bottom of the pipes.
A combined structure of main control frame and side moving unit was designed. The overall width was reduced to accommodate narrow inspection wells, and the main control frame was supported by a central support to lift and lower, achieving compatibility with pipes of different diameters and obstacle crossing. Combined with the mechanical crushing and high-pressure water flow of the central spiral dredging shaft and the tail spiral dredging shaft, adaptive dredging was achieved.
This improves the reliability and versatility of the dredging robot in complex pipeline environments, increases dredging efficiency, reduces the labor intensity of operators, and avoids malfunctions caused by blockage and overload.
Smart Images
Figure CN121593539A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of dredging equipment technology, and in particular to an intelligent dredging robot system for urban drainage pipe networks. Background Technology
[0002] Dredging robots are used for tasks such as siltation detection, dredging, and pipeline inspection in urban underground drainage networks. Compared with manual dredging, robots further reduce construction risks and eliminate safety risks for personnel.
[0003] The dredging robot passes through the vertical inspection well of the drainage pipe. Due to the limited diameter of the robot, it is difficult to hoist and place it. There is a certain gap between the robot and the bottom of the pipe, which can easily lead to silt residue at the bottom of the pipe. Stones can easily get stuck in the gap at the bottom of the robot, causing malfunctions such as movement jamming and power overload. Summary of the Invention
[0004] This invention provides an intelligent dredging robot system for urban drainage pipe networks. By bringing the main control frame and side moving units closer together, the overall width is reduced, making it suitable for placement operations in narrow vertical drainage inspection wells. At the same time, it improves compatibility with drainage pipes of different diameters. The central support supports the lifting and lowering of the main control frame to overcome obstacles such as stones, avoiding situations where stones get stuck at the bottom of the main control frame, resulting in high movement resistance, and improving the reliability of operations in complex pipe network environments.
[0005] This invention provides an intelligent dredging robot system for urban drainage pipe networks, specifically including a main control frame, a central support, side movement units, and a central spiral dredging shaft. The main control frame is hinged to the central support at both the front and rear. Side movement units are slidably connected to both sides of the main control frame. Central spiral dredging shafts are located on both sides of the front of the main control frame. A front baffle is fixedly connected to the front of the main control frame, and an upper sensing and control unit is fixedly connected to the upper part of the front baffle. The upper sensing and control unit integrates a high-definition waterproof camera and controller for monitoring the internal environment of the pipe network and controlling equipment movements. The controller of the upper sensing and control unit is connected to a dredging pump, a central electric telescopic cylinder, a lower electric telescopic cylinder, a tracked walking mechanism, and an electric drive motor. The system is electrically connected to achieve coordinated control of various components. The upper sensing and control unit integrates AI recognition algorithms, which can automatically identify the type of siltation and pipeline defects, and adjust dredging parameters such as rotation speed, pressure, and travel speed in real time to achieve adaptive operation and intelligent operation. Compared with manual control, the dredging qualification rate is significantly reduced, and the labor intensity of operators is greatly reduced. The top of the main control frame is fixedly equipped with a silt pump, the middle electric telescopic cylinder and the lower electric telescopic cylinder are fixedly connected in the middle of the main control frame, the middle moving slide is horizontally connected in the middle of the main control frame, and the lower part of the front baffle is fixedly connected with a silt suction pipe. The inlet end of the silt suction pipe is equipped with an anti-clogging filter screen. The silt pump generates negative pressure through the silt suction pipe to suck out the slurry silt.
[0006] Furthermore, the suction pipe and the sludge pump are connected, the telescopic rod of the central electric telescopic cylinder is fixedly connected to the central moving slide, the central electric telescopic cylinder supports the horizontal movement of the central moving slide, and the central moving slide drives the side moving unit to move closer to the main control frame through the side connecting rod, so that the overall width of the robot is compressed.
[0007] Furthermore, a central support rod is rotatably connected to the middle of the central support bracket, the tail end of the central support rod is rotatably connected to the middle section of the tail connecting frame, the tail end of the tail connecting frame is slidably connected to the slide groove of the central moving push rod, and a side support spring is fixedly connected to the front end of the tail connecting frame. The side support spring pulls the tail connecting frame to reset, so that the central support bracket remains suspended.
[0008] Furthermore, the first end of the tail connecting frame is horizontally slidably connected to the middle of the main control frame, the tail end of the side support spring is fixedly connected to the main control frame, the telescopic rod of the lower electric telescopic cylinder is fixedly connected to the middle moving push rod, and the sliding grooves at both ends of the middle moving push rod serve as movement redundancy. When the middle moving push rod pushes the tail connecting frame on one side to move, the redundant design of the sliding grooves ensures that the position of the tail connecting frame on the other side remains unchanged, thereby realizing the differentiated support action of the two middle supports controlled by one lower electric telescopic cylinder, reducing the number of drive components, and the middle supports support the lifting and lowering of the main control frame to complete the obstacle crossing.
[0009] Furthermore, a tracked walking mechanism is fixedly connected to the outer side of the side moving unit, and a side connecting rod is rotatably connected to the middle of the side moving unit through a pin.
[0010] Furthermore, the tail end of the side connecting rod and the central moving slide are rotatably connected by a pin. When the central electric telescopic cylinder extends and pushes the central moving slide to move, the side moving unit moves away from the main control frame to adapt to drainage pipes of different diameters.
[0011] Furthermore, the outer side of the middle spiral sludge removal shaft is provided with a helical array of flushing nozzles at the intervals of the helical teeth. The head end of the middle spiral sludge removal shaft is fixedly connected to the main shaft of the reducer of the electric drive mechanism. The electric drive mechanism consists of a motor and a reducer. The head end of the middle spiral sludge removal shaft is rotatably connected to the first connecting pipe. The first connecting pipe is connected to the water supply pump through a pipeline. The flushing nozzles disperse the crushed sludge into a slurry. The head end of the middle spiral sludge removal shaft is provided with a first connecting hole and a guide plate in a ring array. The tail end of the middle spiral sludge removal shaft is axially slidably connected to a tail spiral sludge removal shaft through a spline. The middle spiral sludge removal shaft is provided with a groove on the mating surface of the tail spiral sludge removal shaft as a waterway connecting flushing nozzle. The helical teeth of the middle spiral sludge removal shaft and the tail spiral sludge removal shaft mechanically crush the sludge on the inner wall of the pipe.
[0012] Furthermore, the electric drive mechanism and the front baffle are fixedly connected. The first connecting hole and the guide plate are both located inside the first connecting pipe. The guide plate at the first end of the middle spiral sludge removal shaft rotates synchronously with the shaft to form a guiding effect, accelerating the high-pressure water flow from the first connecting pipe into the middle spiral sludge removal shaft, thereby increasing the water pressure inside the middle spiral sludge removal shaft and ensuring the stable spray pressure of the flushing nozzle. The middle spiral sludge removal shaft and the tail spiral sludge removal shaft are connected to each other. The outer side of the tail spiral sludge removal shaft is provided with a spiral array of flushing nozzles at the intervals of the spiral teeth. The first end of the tail spiral sludge removal shaft and the side moving unit are circumferentially connected. When the side moving unit moves to adapt to different pipe diameters, the side moving unit drives the tail spiral sludge removal shaft to extend and retract synchronously.
[0013] This invention provides an intelligent dredging robot system for urban drainage pipe networks, which has the following beneficial effects: By bringing the main control frame and the side moving unit closer together, the overall width is reduced, making it suitable for placing narrow vertical drainage inspection wells. At the same time, it improves compatibility with drainage pipes of different diameters and adapts to dredging of different pipe diameters. When the side moving unit expands away from the main control frame, the tail spiral dredging shaft moves synchronously with the side moving unit, realizing the synchronous expansion of the dredging width, adapting to drainage pipes of different diameters, improving dredging efficiency, and greatly enhancing the equipment's versatility and engineering applicability.
[0014] The middle support supports the rear of the main control frame to rise, while the central spiral sludge-clearing shaft at the front of the main control frame is pressed down to further conform to the bottom of the pipeline, increasing the pressure on the sludge at the bottom of the pipeline and increasing the sludge breaking speed. The middle support supports the front of the main control frame to rise, and the central spiral sludge-clearing shaft is raised to the top of the thick sludge. A top-down layered breaking mode is adopted to avoid overload shutdown caused by the sludge-clearing shaft being buried by thick sludge. At the same time, the middle support supports the lifting and lowering of the main control frame to overcome obstacles such as rocks, avoiding the situation where rocks get stuck at the bottom of the main control frame, which would cause high movement resistance, thus improving the reliability of operation in complex pipeline environments.
[0015] The middle and tail spiral sludge removal shafts break down the sludge into a slurry through the water output from the flushing nozzles, further accelerating the sludge breaking and dredging speed. The water output from the flushing nozzles can also wash away attached debris on the outside of the middle and tail spiral sludge removal shafts, preventing the reduction in breaking efficiency caused by debris entanglement or sludge accumulation. The guide plate rotates with the middle spiral sludge removal shaft, accelerating the water flow into the middle spiral sludge removal shaft, further increasing the water pressure inside the middle spiral sludge removal shaft, reducing the water pressure difference between the middle and tail spiral sludge removal shafts, and avoiding the problem of weak spraying from the far-end flushing nozzles due to uneven water pressure. Attached Figure Description
[0016] To more clearly illustrate the technical solution of the present invention, the accompanying drawings will be briefly described below.
[0017] The accompanying drawings described below are only related to some embodiments of the invention and are not intended to limit the invention.
[0018] In the attached diagram: Figure 1 A schematic diagram of the overall structure of this application is shown; Figure 2 A schematic diagram of the structure of the upper sensing and control unit of this application is shown; Figure 3 A schematic diagram of the movable carriage structure of this application is shown; Figure 4 A schematic diagram of the side-moving unit structure of this application is shown; Figure 5 A schematic diagram of the system flow of this application is shown; Figure 6 A schematic diagram of the support structure in this application is shown; Figure 7 A schematic diagram of the spiral dredging shaft structure of this application is shown; Figure 8 A structural schematic diagram of the cross-section of the first connecting pipe of this application is shown; Figure 9 A schematic diagram of the main control frame of this application in a bottom view is shown.
[0019] Figure label: 1. Main control frame; 101. Front guard; 102. Upper sensing and control unit; 103. Sludge pump; 104. Middle electric telescopic cylinder; 105. Lower electric telescopic cylinder; 106. Middle moving slide; 107. Suction pipe; 2. Middle support frame; 201. Middle support rod; 202. Tail connecting frame; 203. Middle moving push rod; 204. Side support spring; 3. Side moving unit; 301. Tracked traveling mechanism; 302. Side connecting rod; 4. Middle spiral sludge removal shaft; 401. Flushing nozzle; 402. Electric drive mechanism; 403. First connecting pipe; 404. First connecting hole; 405. Guide plate; 406. Tail spiral sludge removal shaft. Detailed Implementation
[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.
[0021] Example 1: Please refer to... Figures 1 to 9 : This invention proposes an intelligent dredging robot system for urban drainage pipe networks, comprising a main control frame 1, a middle support 2, a side movement unit 3, and a middle spiral dredging shaft 4. A front baffle 101 is fixedly connected to the front of the main control frame 1, and an upper sensing and control unit 102 is fixedly connected to the upper part of the front baffle 101. The upper sensing and control unit 102 integrates a high-definition waterproof camera and controller for monitoring the internal environment of the pipe network and controlling equipment movements. The controller of the upper sensing and control unit 102 is connected to the dredging pump 103, the middle electric telescopic cylinder 104, and the lower electric telescopic cylinder 15. 05. The tracked walking mechanism 301 and the electric drive mechanism 402 are electrically connected to achieve coordinated control of various components. The upper sensing and control unit 102 integrates AI recognition algorithms, which can automatically identify the type of siltation and pipeline defects, and adjust siltation parameters such as rotation speed, pressure, and walking speed in real time to achieve adaptive operation and intelligent operation. Compared with manual control, the siltation qualification rate is significantly reduced, and the labor intensity of operators is greatly reduced. The silt pump 103 is fixedly installed on the top of the main control frame 1, and the middle electric telescopic cylinder 104 and the lower electric telescopic cylinder are fixedly connected in the middle of the main control frame 1. The main control frame 1 has a horizontally sliding central sliding carriage 106 connected to the middle of cylinder 105. A suction pipe 107 is fixedly connected to the lower part of the front baffle 101. An anti-clogging filter screen is installed at the inlet end of the suction pipe 107. The sludge pump 103 generates negative pressure through the suction pipe 107 to draw out the slurry and sludge. The main control frame 1 has central supports 2 hinged at both the front and rear. A central support rod 201 is rotatably connected to the middle of the central support rod 201. The tail end of the central support rod 201 is rotatably connected to the middle section of the tail connecting frame 202. The tail end of the tail connecting frame 202 is connected to the central sliding push rod 203. The trough sliding connection has a side support spring 204 fixedly connected to the first end of the tail connecting frame 202. The side support spring 204 pulls the tail connecting frame 202 to reset, so that the middle support 2 remains suspended. The tail end of the side connecting rod 302 and the middle moving slide 106 are rotatably connected by a pin. When the middle electric telescopic cylinder 104 extends and pushes the middle moving slide 106 to move, the side moving unit 3 moves away from the main control frame 1. It can adapt to drainage pipes of different diameters, so that a single unit can cover the dredging needs of multiple specifications of pipe networks, greatly improving the versatility and engineering applicability of the equipment. Side moving units 3 are slidably connected to both sides of the main control frame 1. A tracked walking mechanism 301 is fixedly connected to the outer side of each side moving unit 3. A side connecting rod 302 is rotatably connected to the middle of each side moving unit 3 via a pin. A central spiral dredging shaft 4 is provided on both sides of the front of the main control frame 1. Flushing nozzles 401 are spirally arrayed at intervals between spiral teeth on the outer side of the central spiral dredging shaft 4. The head end of the central spiral dredging shaft 4 is fixedly connected to the reducer spindle of the electric drive mechanism 402. The electric drive mechanism 402 consists of a motor and a reducer. The first connecting pipe 403 is rotatably connected to the first connecting pipe 403, which is connected to the water supply pump through a pipeline. The flushing nozzle 401 breaks up the crushed silt into a slurry. The first end of the middle spiral sludge removal shaft 4 is provided with a first connecting hole 404 and a guide plate 405 in an annular array. The tail end of the middle spiral sludge removal shaft 4 is axially slidably connected to the tail spiral sludge removal shaft 406 through a spline. The middle spiral sludge removal shaft 4 has a groove on the mating surface of the tail spiral sludge removal shaft 406 as a waterway connecting flushing nozzle 401. The spiral teeth of the middle spiral sludge removal shaft 4 and the tail spiral sludge removal shaft 406 mechanically crush the silt on the inner wall of the pipeline.
[0022] In this embodiment, the suction pipe 107 and the sludge pump 103 are connected, the telescopic rod of the central electric telescopic cylinder 104 and the central moving slide 106 are fixedly connected, the central electric telescopic cylinder 104 supports the horizontal movement of the central moving slide 106, and the central moving slide 106 drives the side moving unit 3 to move closer to the main control frame 1 through the side connecting rod 302, so that the overall width of the robot is compressed to fit the narrow space of the urban vertical drainage inspection well.
[0023] In this embodiment, the first end of the tail connecting frame 202 is horizontally slidably connected to the middle of the main control frame 1, the tail end of the side support spring 204 is fixedly connected to the main control frame 1, the telescopic rod of the lower electric telescopic cylinder 105 is fixedly connected to the middle moving push rod 203, and the sliding grooves at both ends of the middle moving push rod 203 serve as movement redundancy. When the middle moving push rod 203 pushes the tail connecting frame 202 on one side to move, the middle moving push rod 203, due to the redundant design of the sliding groove, keeps the position of the tail connecting frame 202 on the other side unchanged, realizing that one lower electric telescopic cylinder 105 controls the differentiated support action of the two middle supports 2, reducing the number of driving components, and the middle supports 2 support the main control frame 1 to lift and lower, complete the obstacle crossing, and avoid malfunctions such as walking jamming and power overload caused by bottom jamming.
[0024] In this embodiment, the electric drive mechanism 402 and the front baffle 101 are fixedly connected. The first connecting hole 404 and the guide plate 405 are both located inside the first connecting pipe 403. The guide plate 405 at the head end of the middle spiral sludge removal shaft 4 rotates synchronously with the shaft to form a guiding effect, accelerating the high-pressure water flow from the first connecting pipe 403 into the middle spiral sludge removal shaft 4, thereby increasing the water pressure inside the middle spiral sludge removal shaft 4 and ensuring the stable spray pressure of the flushing nozzle 401. The middle spiral sludge removal shaft 4 and the tail spiral sludge removal shaft 406 are connected to each other. The outer side of the tail spiral sludge removal shaft 406 is provided with a spiral array of flushing nozzles 401 at the interval of the spiral teeth. The head end of the tail spiral sludge removal shaft 406 is circumferentially connected to the side moving unit 3. When the side moving unit 3 moves to adapt to different pipe diameters, the side moving unit 3 drives the tail spiral sludge removal shaft 406 to extend and retract synchronously, so that the working radius of the spiral sludge removal shaft group is adjustable to adapt to the sludge removal needs of different diameter pipe networks.
[0025] In this second embodiment, based on the first embodiment, the flushing nozzles 401 of the middle spiral sludge removal shaft 4 and the tail spiral sludge removal shaft 406 are both tilted toward the head end of the middle spiral sludge removal shaft 4. The water flow sprayed from the flushing nozzles 401 further accelerates the sludge to gather around the suction pipe 107 in the middle, thereby increasing the sludge absorption speed of the suction pipe 107.
[0026] The working principle of this invention is as follows: When cleaning the first drainage pipe, the inspection well of the drainage pipe needs to be located first. Then, the middle electric telescopic cylinder 104 drives the middle moving slide 106 to move horizontally. The middle moving slide 106 drives the side moving unit 3 to move closer to the main control frame 1 through the side connecting rod 302, so that the overall width of the robot is compressed, which can fit the narrow placement space of the vertical drainage inspection well in the city. This solves the problem that the dredging robot cannot be adapted to the placement of narrow-diameter inspection wells due to its fixed body shape. At the same time, the side moving unit 3 can be extended away from the main control frame 1. With the axial telescopic structure of the tail spiral dredging shaft 406 and the middle spiral dredging shaft 4, the width of the dredging operation can be expanded to adapt to drainage pipes of different diameters. This allows a single device to cover the dredging needs of multiple pipe networks, greatly improving the versatility and engineering applicability of the equipment. In areas with abundant silt at the bottom of the pipeline, the rear of the main control frame 1 is raised by the middle support 2, driving the middle spiral sludge removal shaft 4 at the front of the main control frame 1 to press down. This increases the contact pressure between the spiral teeth of the middle spiral sludge removal shaft 4 and the silt, accelerating the breaking speed of hard silt clumps and solving the problem of silt residue at the bottom caused by insufficient contact of the sludge removal shaft. In areas with thicker silt accumulation, the front of the main control frame 1 is raised by the middle support 2, driving the middle spiral sludge removal shaft 4 to the top of the thick silt. A top-down layered breaking mode is adopted to avoid overload shutdown caused by the sludge removal shaft being buried by thick silt. For obstacles such as stones and construction waste in the pipeline, the middle support 2 supports the raising and lowering of the main control frame 1 to complete the obstacle crossing, avoiding malfunctions such as travel jamming and power overload caused by bottom obstruction, and improving the operational reliability in complex pipeline environments. Both the central spiral dredging shaft 4 and the tail spiral dredging shaft 406 have spiral arrayed flushing nozzles 401 arranged between their spiral teeth, forming a coordinated operation link of crushing, flushing, and slurry formation: while the spiral teeth of the central spiral dredging shaft 4 and the tail spiral dredging shaft 406 mechanically crush the silt, the flushing nozzles 401 spray high-pressure water jets to quickly disperse the crushed silt into a fluid slurry, accelerating sludge removal efficiency and improving dredging efficiency; the high-pressure water jets from the flushing nozzles 401 can also simultaneously flush the surfaces of the spiral teeth of the central spiral dredging shaft 4 and the tail spiral dredging shaft 406 in real time, effectively removing attached silt and lint. To prevent debris from tangling or accumulating and reducing crushing efficiency, the maintenance cycle of the spiral shaft is extended. In addition, the guide plate 405 at the head end of the middle spiral sludge removal shaft 4 rotates synchronously with the shaft, forming a guiding effect, accelerating the flow of high-pressure water from the head connecting pipe 403 into the middle spiral sludge removal shaft 4, thus increasing the water pressure inside the middle spiral sludge removal shaft 4. This not only ensures the stable spray pressure of the flushing nozzle 401, but also balances the water pressure difference between the middle spiral sludge removal shaft 4 and the tail spiral sludge removal shaft 406, avoiding the problem of weak spraying of the far-end flushing nozzle 401 of the tail spiral sludge removal shaft 406 due to uneven water pressure, and ensuring consistent flushing effect across the entire sludge removal width.
[0027] The following points should be noted in this article: 1. The accompanying drawings of the embodiments disclosed herein only involve structures relevant to the embodiments disclosed herein; other structures may refer to general designs.
[0028] 2. Where there is no conflict, the embodiments of this disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.
[0029] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.
Claims
1. An intelligent dredging robot system for urban drainage pipe networks, including: The main control frame (1), the middle support (2), the side moving unit (3) and the middle spiral sludge removal shaft (4) are characterized in that the middle support (2) is hinged to both the front and rear of the main control frame (1), the side moving unit (3) is slidably connected to both sides of the main control frame (1), the middle spiral sludge removal shaft (4) is provided on both sides of the front part of the main control frame (1), the front part of the main control frame (1) is fixedly connected to the front baffle (101), the upper sensing and control unit (102) is fixedly connected to the upper part of the front baffle (101), the top of the main control frame (1) is fixedly provided with the sludge pump (103), the middle electric telescopic cylinder (104) and the lower electric telescopic cylinder (105) are fixedly connected to the middle part of the main control frame (1), the middle moving slide (106) is horizontally slidably connected to the middle part of the main control frame (1), and the lower part of the front baffle (101) is fixedly connected with the suction pipe (107).
2. The intelligent dredging robot system for urban drainage pipe networks according to claim 1, characterized in that, The suction pipe (107) and the sludge pump (103) are connected by a pipeline, and the telescopic rod of the electric telescopic cylinder (104) and the moving slide (106) are fixedly connected.
3. The intelligent dredging robot system for urban drainage pipe networks according to claim 1, characterized in that, The middle support rod (201) is rotatably connected to the middle part of the middle support rod (2). The tail end of the middle support rod (201) is rotatably connected to the middle section of the tail connecting frame (202). The tail end of the tail connecting frame (202) is slidably connected to the middle moving push rod (203). The front end of the tail connecting frame (202) is fixedly connected to the side support spring (204).
4. The intelligent dredging robot system for urban drainage pipe networks according to claim 3, characterized in that, The first end of the tail connecting frame (202) is slidably connected to the middle of the main control frame (1), the tail end of the side support spring (204) is fixedly connected to the main control frame (1), and the telescopic rod of the lower electric telescopic cylinder (105) and the middle moving push rod (203) are fixedly connected.
5. The intelligent dredging robot system for urban drainage pipe networks according to claim 1, characterized in that, The side moving unit (3) is fixedly connected to the outer side of the track walking mechanism (301), and the side moving unit (3) is rotatably connected to the middle of the side moving unit (3).
6. The intelligent dredging robot system for urban drainage pipe networks according to claim 5, characterized in that, The tail end of the side connecting rod (302) is rotatably connected to the middle moving slide (106). When the middle electric telescopic cylinder (104) extends to push the middle moving slide (106) to move, the side moving unit (3) moves away from the main control frame (1).
7. The intelligent dredging robot system for urban drainage pipe networks according to claim 6, characterized in that, The outer side of the middle spiral sludge removal shaft (4) is provided with flushing nozzles (401). The head end of the middle spiral sludge removal shaft (4) is fixedly connected to the main shaft of the electric drive mechanism (402). The head end of the middle spiral sludge removal shaft (4) is rotatably connected to the head connecting pipe (403). The head end of the middle spiral sludge removal shaft (4) is provided with a head connecting hole (404) and a guide plate (405) in an annular array. The tail end of the middle spiral sludge removal shaft (4) is axially slidably connected to a tail spiral sludge removal shaft (406).
8. The intelligent dredging robot system for urban drainage pipe networks according to claim 7, characterized in that, The electric drive mechanism (402) and the front baffle (101) are fixedly connected. The first connecting hole (404) and the guide plate (405) are both located inside the first connecting pipe (403). The middle spiral sludge removal shaft (4) and the tail spiral sludge removal shaft (406) are connected to each other. The outer side of the tail spiral sludge removal shaft (406) is provided with a flushing nozzle (401) in an array. The head end of the tail spiral sludge removal shaft (406) and the side moving unit (3) are circumferentially connected.