Self-adaptive dredging mechanical device applied to water conservancy pipeline

Abstract

The invention relates to the technical field of water conservancy pipeline desilting, in particular to a self-adaptive desilting mechanical device applied to a water conservancy pipeline, which comprises a desilting main body, a supporting arm, a cleaning assembly, an adjusting assembly, a driving assembly and a guide assembly. A conical guide part is arranged at the front end of the dredging body, the attaching assembly is installed at the end of the supporting arm, the cleaning assembly comprises a rotary cutter head, a mud suction nozzle and a mud suction pump, the adjusting assembly dynamically adjusts the supporting arm through a hydraulic cylinder, and the guide assembly achieves accurate positioning through a multi-connecting-rod hinge system and a tilt angle sensor array. By means of intelligent control and optimized structural design, the system can dynamically adapt to complex pipeline environments with different pipe diameters, the desilting efficiency is remarkably improved, the residual silt area is reduced, energy consumption and manual intervention are reduced, and meanwhile the risk of secondary pollution to the environment is reduced.

Description

Technical Field

[0001] This application relates to the field of water conservancy pipeline dredging technology, specifically, to an adaptive dredging mechanical device for water conservancy pipelines. Background Technology

[0002] Water conservancy pipeline dredging equipment is an important tool for removing silt from pipelines. Its main objectives are to improve dredging efficiency, reduce manual intervention, and reduce the risk of secondary pollution to the environment.

[0003] However, current dredging equipment faces significant technical challenges in practical applications. For example, fixed dredging arms have limitations in adapting to sudden changes in pipe diameter (such as transitioning from DN300 to DN500), resulting in residual sludge areas reaching up to 25%, still requiring manual intervention for cleaning. Furthermore, in terms of sludge hardness response, existing technologies lack real-time resistance sensing capabilities. When faced with alternating distributions of soft and hard deposits, motor overload or idling frequently occurs, increasing energy consumption by 30% and resulting in unsatisfactory dredging effects. Summary of the Invention

[0004] The purpose of this invention is to provide an adaptive dredging mechanical device for water conservancy pipelines. This device solves the problems of poor adaptability and large residual sludge area of ​​the fixed dredging arm in the prior art when the pipe diameter changes suddenly by optimizing the structural design and introducing intelligent control methods. At the same time, it overcomes the technical defects of traditional equipment that lack real-time resistance sensing ability in the process of cleaning soft and hard sediments, resulting in high energy consumption and low efficiency.

[0005] To achieve the above objectives, the present invention provides an adaptive dredging mechanical device for use in water conservancy pipelines, comprising: The main body of the dredging device is a hollow structure with a conical guide at the front end; At least one support arm is evenly distributed on the outer side wall of the dredging body, and each support arm is equipped with a fitting component at its end. The cleaning assembly includes a rotary cutter head, a suction nozzle, a suction pump, and a sludge storage bin. The rotary cutter head is located at the front end of the dredging body and is driven by a first drive unit. The suction nozzle is connected to the suction pump through a pipe, and the suction pump is connected to the sludge storage bin through a pipe. The sludge storage bin is provided with a sewage discharge pipe that penetrates the dredging body. The adjustment assembly includes a hydraulic cylinder fixed inside the dredging body, a plurality of first adjustment rods penetrating the dredging body, and a plurality of first ball joints. The hydraulic cylinder is provided with a drive plate. One end of the first adjustment rod is provided on the drive plate, and the other end is connected to the first ball joint. The first ball joint is hinged to the root of the support arm. The drive assembly includes multiple second adjusting rods and multiple second ball joints that pass through the dredging body. One end of the second adjusting rod is disposed on the drive disc, and the other end is connected to the second ball joint. The other end of the second ball joint is connected to a second drive unit, and a drive wheel is connected to the output shaft of the second drive unit. The guide assembly, located at the rear end of the dredging body, includes a guide rod, a guide wheel, and a dredging brush head.

[0006] In an embodiment of the present invention, the bonding component includes an elastic pad and a pressure sensor embedded within the elastic pad. The pressure sensor is connected to a controller inside the dredging body via a shielded wire. The surface of the elastic pad is provided with anti-slip texture. The elastic pad is made of a flexible material, and its thickness is adjusted according to the length of the support arm to ensure a tight fit against the inner wall of the pipe under different pipe diameter conditions. The pressure sensor is used to monitor the contact pressure between the support arm and the inner wall of the pipe in real time and transmits the data to the controller. The controller adjusts the extension and retraction of the hydraulic cylinder according to the pressure changes, thereby realizing the dynamic adjustment of the support arm.

[0007] In embodiments of the present invention, the first and second ball joints include an inner ball head, an outer ball cup, and a locking nut. The inner ball head is fixedly connected to the root of the support arm or the second drive unit, and the outer ball cup is fixedly connected to the end of the first or second adjusting rod. A lubricating layer is provided between the inner ball head and the outer ball cup, and the locking nut is threaded to the end of the outer ball cup. The lubricating layer is made of a high-temperature resistant and wear-resistant composite material, which can effectively reduce the friction between the inner ball head and the outer ball cup and extend its service life. The design of the locking nut ensures that the ball joint remains stable during operation and prevents loosening due to vibration.

[0008] In an embodiment of the invention, a plurality of spirally distributed blades are arranged on the outer wall of the rotating cutterhead. The blades are fixed to the outer wall of the rotating cutterhead by bolts. A filter screen is provided at the inlet of the suction nozzle, and the filter screen is fixed to the inlet of the suction nozzle by clips. The spiral distribution of the blades can form a cutting vortex, improving the efficiency of breaking up hardened deposits. The filter screen is designed to prevent large particles of impurities from entering the suction pump, protecting the equipment from damage.

[0009] In embodiments of the present invention, the guiding assembly further includes a multi-link hinge system, an angle sensor array, a closed-loop controller, and a hydraulic drive unit. The sludge-removing brush head is connected to the end link of the multi-link hinge system. The angle sensor array is embedded in the circumferential edge of the sludge-removing brush head. The hydraulic drive unit is connected to the middle link of the multi-link hinge system via a push rod. The design of the multi-link hinge system allows the sludge-removing brush head to flexibly adjust its angle in complex pipeline environments, adapting to pipeline inner walls with different curvatures. The angle sensor array monitors the attitude changes of the sludge-removing brush head in real time and feeds the data back to the closed-loop controller. The closed-loop controller adjusts the push rod stroke of the hydraulic drive unit according to the attitude information, thereby achieving precise positioning of the sludge-removing brush head.

[0010] In an embodiment of the invention, each hinge point of the multi-link hinge system is equipped with an angle encoder. The angle encoder is connected to the closed-loop controller via a shielded wire. The tilt sensor array consists of a ring array of four MEMS tilt sensors embedded in the circumferential edge of the sludge removal brush head, with a sensor spacing of 90 degrees. The design of the angle encoder allows for accurate recording of the motion state of the multi-link hinge system, facilitating real-time adjustments by the closed-loop controller. The high sensitivity of the MEMS tilt sensor ensures accurate attitude monitoring.

[0011] In an embodiment of the invention, the piston rod of the miniature hydraulic component of the hydraulic drive unit is rigidly connected to the drive point of the central connecting rod via a push rod. The proportional flow valve receives CAN bus commands from the closed-loop controller to control the extension and retraction stroke of the hydraulic drive unit from 0 to 30 mm. The design of the proportional flow valve enables the hydraulic drive unit to respond faster and control with higher precision, meeting the dynamic adjustment requirements under complex working conditions.

[0012] In an embodiment of the invention, the outer wall of the drive wheel is provided with anti-slip texture. The anti-slip texture design increases the friction between the drive wheel and the inner wall of the pipe, ensuring good grip performance of the equipment during operation and preventing slippage.

[0013] Through the above technical solutions, the tapered guide section at the front end of the dredging body adopts a streamlined design to reduce resistance when moving within the pipeline. The support arm achieves dynamic extension and retraction through the coordinated action of a hydraulic cylinder and a first adjusting rod, adapting to pipeline environments with different diameters. Pressure sensors in the contact assembly monitor the contact pressure between the support arm and the inner wall of the pipeline in real time, and combined with the controller's intelligent algorithm, ensure that the support arm always maintains optimal contact. The spiral blades on the rotating cutter head, in conjunction with the suction nozzle and suction pump, can efficiently remove alternating soft and hard deposits within the pipeline, reducing residual sludge areas. The multi-link hinge system and tilt sensor array in the guiding assembly achieve precise positioning of the dredging brush head, further improving the dredging effect. The introduction of a hydraulic drive unit and a proportional flow valve makes the equipment's dynamic adjustment more flexible, significantly enhancing its ability to adapt to complex pipeline environments. The anti-slip textured design on the outer wall of the drive wheel ensures the stability of the equipment during operation.

[0014] In summary, by optimizing the structural design and introducing intelligent control methods, this invention solves the technical defects existing in the prior art, significantly improves dredging efficiency, reduces manual intervention, and lowers the risk of secondary pollution to the environment.

[0015] It should be understood that both the foregoing general description and the following detailed description are for illustrative purposes and do not necessarily limit the scope of this disclosure. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate the subject matter of this disclosure. Furthermore, the specification and drawings serve to explain the principles of this disclosure. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the specific embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation of this application.

[0017] Figure 1 This is a schematic diagram of the first overall structure of the present invention; Figure 2 This is a schematic diagram of the second overall structure of the present invention; Figure 3 This is a schematic diagram of the first overall cross-sectional structure of the present invention; Figure 4 This is a schematic diagram of the second overall cross-sectional structure of the present invention; Icons: 1. Dredging body; 2. Support arm; 3. Fitting assembly; 4. Rotary cutter head; 5. Suction nozzle; 6. Suction pump; 7. Sludge storage bin; 8. Hydraulic cylinder; 9. First adjusting rod; 10. First ball joint; 11. Second adjusting rod; 12. Second ball joint; 13. Drive wheel; 14. Guide rod; 15. Guide wheel; 16. Dredging brush head; 17. Elastic pad; 18. Pressure sensor; 19. Blade; 20. Filter screen; 21. Multi-link hinge system; 22. Tilt sensor array; 23. Hydraulic drive unit. Detailed Implementation

[0018] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0019] This invention provides an adaptive dredging mechanical device for water conservancy pipelines, the structure of which is as follows: Figures 1 to 4 As shown, the system includes a dredging body 1, support arms 2, a cleaning assembly, an adjusting assembly, a driving assembly, and a guiding assembly. The dredging body 1 has a hollow structure with a tapered guide at the front end, employing a streamlined design to reduce resistance during movement within the pipe. The support arms 2 are evenly distributed on the outer wall of the dredging body 1, and each support arm 2 has an attachment assembly 3 installed at its end. The specific structure of the attachment assembly 3 is shown below. Figure 3 and Figure 4 As shown, the system includes an elastic pad 17 and a pressure sensor 18 embedded within the elastic pad 17. The pressure sensor 18 is connected to a controller inside the dredging body 1 via a shielded wire. The elastic pad 17 is made of flexible material with anti-slip texture on its surface. Its thickness is adjusted according to the length of the support arm 2 to ensure a tight fit against the inner wall of the pipe under different pipe diameter conditions. The pressure sensor 18 monitors the contact pressure between the support arm 2 and the inner wall of the pipe in real time and transmits the data to the controller. The controller adjusts the extension and retraction of the hydraulic cylinder 8 according to the pressure changes, thereby achieving dynamic adjustment of the support arm 2.

[0020] The cleaning assembly includes a rotary cutter head 4, a suction nozzle 5, a suction pump 6, and a sludge storage bin 7. The rotary cutter head 4 is located at the front end of the dredging body 1 and is driven by a first drive unit. The output shaft of the first drive unit is connected to the rotary cutter head 4. The suction nozzle 5 is connected to the suction pump 6 via a pipe, and the suction pump 6 is connected to the sludge storage bin 7 via a pipe. The sludge storage bin 7 is equipped with a sewage discharge pipe that penetrates the dredging body 1. The structure of the rotary cutter head 4 is as follows: Figure 1 and Figure 2As shown, multiple spirally distributed blades 19 are arranged on the outer wall of the rotating cutterhead 4. The blades 19 are fixed to the outer wall of the rotating cutterhead 4 by bolts. A filter screen 20 is provided at the inlet of the suction nozzle 5, and the filter screen 20 is fixed to the inlet of the suction nozzle 5 by clips. The spiral distribution of the blades 19 can form a cutting vortex to improve the crushing efficiency of hardened deposits. The design of the filter screen 20 prevents large particles of impurities from entering the suction pump 6 and protects the equipment from damage.

[0021] The adjustment assembly includes a hydraulic cylinder 8 fixed inside the dredging body 1, a first adjusting rod 9 penetrating the dredging body 1, and a first ball joint 10. The hydraulic cylinder 8 is equipped with a drive disc. One end of the first adjusting rod 9 is located on the drive disc, and the other end is connected to the first ball joint 10. The first ball joint 10 is hinged to the root of the support arm 2. The first ball joint 10 includes an inner ball head, an outer ball cup, and a locking nut. The inner ball head is fixedly connected to the root of the support arm 2, and the outer ball cup is fixedly connected to the end of the first adjusting rod 9. A lubricating layer is provided between the inner ball head and the outer ball cup. The locking nut is threaded to the end of the outer ball cup. The lubricating layer is made of a high-temperature resistant and wear-resistant composite material, which effectively reduces the friction between the inner ball head and the outer ball cup, extending its service life. The locking nut design ensures the ball joint remains stable during operation, preventing loosening due to vibration.

[0022] The drive assembly includes two second adjusting rods 11 and two second ball joints 12 that penetrate the dredging body 1. One end of each second adjusting rod 11 is mounted on the drive disc, and the other end is connected to the second ball joint 12. The other end of each second ball joint 12 is connected to a second drive unit, and a drive wheel 13 is connected to the output shaft of the second drive unit. The outer wall of the drive wheel 13 is provided with anti-slip texture. The anti-slip texture design increases the friction between the drive wheel 13 and the inner wall of the pipe, ensuring good grip during operation and preventing slippage.

[0023] The guide component is located at the rear end of the dredging main body 1, and its structure is as follows: Figure 1 and Figure 2As shown, the system includes a guide rod 14, a guide wheel 15, and a sludge-removing brush head 16. The guiding assembly also includes a multi-link hinge system 21, an angle sensor array 22, a closed-loop controller, and a hydraulic drive unit 23. The sludge-removing brush head 16 is connected to the end link of the multi-link hinge system 21. The angle sensor array 22 is embedded in the circumferential edge of the sludge-removing brush head 16. The hydraulic drive unit 23 is connected to the middle link of the multi-link hinge system 21 via a push rod. The design of the multi-link hinge system 21 allows the sludge-removing brush head 16 to flexibly adjust its angle to adapt to pipe walls with different curvatures in complex pipeline environments. The angle sensor array 22 monitors the attitude changes of the sludge-removing brush head 16 in real time and feeds the data back to the closed-loop controller. The closed-loop controller adjusts the push rod stroke of the hydraulic drive unit 23 based on the attitude information to achieve precise positioning of the sludge-removing brush head 16. Each hinge point of the multi-link hinge system 21 is equipped with an angle encoder, which is connected to the closed-loop controller via shielded wires. The tilt sensor array 22 consists of a ring array of four MEMS tilt sensors embedded in the circumferential edge of the sludge removal brush head 16, with a sensor spacing of 90 degrees. The design of the angle encoders allows the motion state of the multi-link hinge system 21 to be accurately recorded, facilitating real-time adjustments by the closed-loop controller. The high sensitivity of the MEMS tilt sensors ensures the accuracy of attitude monitoring.

[0024] The piston rod of the miniature hydraulic component in the hydraulic drive unit 23 is rigidly connected to the drive point of the central connecting rod via a push rod. The proportional flow valve receives CAN bus commands from the closed-loop controller to control the extension and retraction stroke of the hydraulic cylinder 8 from 0 to 30 mm. The design of the proportional flow valve enables the hydraulic drive unit 23 to respond faster and control with higher precision, meeting the dynamic adjustment requirements under complex working conditions. The signal transmission between the proportional flow valve and the closed-loop controller, as well as the working mechanism of the hydraulic cylinder 8, are realized through the CAN bus. The closed-loop controller calculates the required extension and retraction amount of the hydraulic cylinder 8 based on the attitude information fed back by the tilt sensor array 22 and precisely controls the extension and retraction stroke of the hydraulic cylinder 8 through the proportional flow valve.

[0025] In practical applications, the tapered guide section at the front end of the sludge removal body 1 reduces resistance during movement within the pipeline. The support arm 2 dynamically extends and retracts to adapt to pipeline environments with different diameters through the coordinated action of the hydraulic cylinder 8 and the first adjusting rod 9. The pressure sensor 18 in the contact assembly 3 monitors the contact pressure between the support arm 2 and the inner wall of the pipeline in real time, and combined with the controller's intelligent algorithm, ensures that the support arm 2 always maintains optimal contact. The spiral blades 19 on the rotating cutter head 4, in conjunction with the suction nozzle 5 and the suction pump 6, efficiently remove alternating soft and hard deposits within the pipeline, reducing residual sludge areas. The multi-link hinge system 21 and tilt sensor array 22 in the guide assembly enable precise positioning of the sludge removal brush head 16, further improving the sludge removal effect. The introduction of the hydraulic drive unit 23 and the proportional flow valve makes the equipment's dynamic adjustment more flexible and significantly enhances its ability to adapt to complex pipeline environments. The anti-slip textured design on the outer wall of the drive wheel 13 ensures the stability of the equipment during operation.

[0026] To enable those skilled in the art to fully understand and implement this invention, the specific implementation principle of this invention is further explained below in conjunction with a specific application scenario.

[0027] In water conservancy pipeline dredging operations, after the equipment enters the pipeline, it first passes through the streamlined design of the tapered guide section at the front end of the dredging body 1 to reduce resistance during movement within the pipeline and guide the equipment to move smoothly along the pipeline axis. The support arm 2 dynamically extends and retracts through the coordinated action of the hydraulic cylinder 8 and the first adjusting rod 9 to adapt to pipeline environments with different diameters. Specifically, the hydraulic cylinder 8 adjusts the extension and retraction of its piston rod according to the controller's instructions, thereby pushing the first adjusting rod 9 to drive the support arm 2 to expand outward or retract inward. When the elastic pad 17 in the contact assembly 3 contacts the inner wall of the pipeline, the pressure sensor 18 monitors the contact pressure in real time and transmits the data to the controller. The controller analyzes the pressure changes based on a preset algorithm, calculates the optimal contact state of the support arm 2, and precisely controls the extension and retraction stroke of the hydraulic cylinder 8 through a proportional flow valve to ensure that the elastic pad 17 is always tightly attached to the inner wall of the pipeline.

[0028] When the equipment reaches the sludge deposition area, the rotary cutter head 4 begins to rotate at high speed under the drive of the first drive unit. The spiral design of the blades 19 creates a cutting vortex during rotation, effectively breaking up hardened deposits. Simultaneously, the suction nozzle 5 draws in the broken sludge through the filter screen 20, preventing large particles from entering the suction pump 6 and causing equipment damage. The suction pump 6 transports the sucked-in sludge to the storage bin 7, and finally discharges it from the equipment through the drain pipe. During this process, the controller dynamically adjusts the contact state of the support arm 2 based on data from the pressure sensor 18, ensuring that the rotary cutter head 4 maintains the optimal working distance from the center of the pipe, thereby improving sludge removal efficiency and reducing the residual sludge area.

[0029] The multi-link hinge system 21 in the guide assembly achieves angle adjustment through the push rod action of the hydraulic drive unit 23. An angle sensor array 22 is embedded in the circumferential edge of the sludge cleaning brush head 16, monitoring the attitude changes of the brush head 16 in real time and feeding the data back to the closed-loop controller. The closed-loop controller calculates the required push rod stroke of the hydraulic drive unit 23 based on the attitude information and precisely controls the extension and retraction of the hydraulic cylinder 8 through a proportional flow valve, thereby achieving precise positioning of the sludge cleaning brush head 16. Each hinge point of the multi-link hinge system 21 is equipped with an angle encoder, which records the motion state of the linkage system and transmits the data to the closed-loop controller, facilitating real-time adjustment of the angle of the sludge cleaning brush head 16 to adapt to complex pipeline curvatures.

[0030] The drive wheel 13 in the drive assembly is rotated by the second drive unit. Its outer wall features anti-slip textured patterns, increasing friction with the inner wall of the pipe and ensuring good grip during operation. The coordinated action of the second adjusting rod 11 and the second ball joint 12 allows the drive wheel 13 to dynamically adjust its position according to changes in the inner wall of the pipe, preventing slippage and resulting in unstable operation. Furthermore, the hydraulic drive unit 23 receives CAN bus commands from the closed-loop controller via a proportional flow valve, enabling rapid response to dynamic adjustment needs under complex operating conditions and further enhancing the equipment's adaptability.

[0031] In summary, this invention achieves efficient operation of the adaptive dredging mechanical device in complex pipeline environments through the above steps. The dynamic adjustment of the support arm 2, the efficient crushing of the rotating cutter head 4, the precise positioning of the guide component, and the stable propulsion of the drive component together constitute a complete dredging process, significantly improving dredging efficiency and reducing the need for manual intervention.

[0032] All content not described in detail in this specification is prior art known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited; conventional equipment can be used. Electrical control components not mentioned in this technical solution are not shown in the figures because they are prior art, and will not be described further here.

[0033] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0034] Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this disclosure.

[0035] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure 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, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linkage" 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 between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances.

[0037] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0038] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. An adaptive dredging mechanical device applied to water conservancy pipeline, characterized in that, The utility model relates to a dredging device, including: The dredging main body (1) is hollow structure, and the front end is provided with the conical guide part; At least one support arm (2) is evenly distributed to the outside wall of the dredging main body (1), and the end of each support arm (2) is provided with a fitting assembly (3); The cleaning assembly includes a rotating cutter head (4), a suction nozzle (5), a suction pump (6) and a mud storage bin (7), the rotating cutter head (4) is arranged at the front end of the dredging main body (1) and is driven by a first driving unit, the suction nozzle (5) is communicated with the suction pump (6) through a pipeline, the suction pump (6) is communicated with the mud storage bin (7) through a pipeline, and the mud storage bin (7) is provided with a sewage pipeline penetrating the dredging main body (1); The adjusting assembly includes a hydraulic cylinder (8) fixed in the inside of the dredging main body (1), a plurality of first adjusting rods (9) penetrating the dredging main body (1) and a plurality of first ball hinge joints (10), the hydraulic cylinder (8) is provided with a driving disc, one end of the first adjusting rod (9) is arranged on the driving disc, the other end is connected with the first ball hinge joint (10), and the first ball hinge joint (10) is hinged with the root of the support arm (2); The driving assembly includes a plurality of second adjusting rods (11) penetrating the dredging main body (1) and a plurality of second ball hinge joints (12), one end of the second adjusting rod (11) is arranged on the driving disc, the other end is connected with the second ball hinge joint (12), the other end of the second ball hinge joint (12) is connected with a second driving unit, and the output shaft of the second driving unit is connected with a driving wheel (13); The guide assembly is arranged at the rear end of the dredging main body (1) and includes a guide rod (14), a guide wheel (15) and a dredging brush head (16).

2. The self-adapting dredging mechanical device for water conservancy pipeline according to claim 1, characterized in that, The fitting assembly (3) includes an elastic pad (17) and a pressure sensor (18) embedded in the inside of the elastic pad (17), the pressure sensor (18) is connected with a controller in the inside of the dredging main body (1) through shielded wires, and the surface of the elastic pad (17) is provided with anti-skid lines.

3. The self-adapting dredging mechanical device for water conservancy pipeline according to claim 1, characterized in that, The first ball hinge joint (10) and the second ball hinge joint (12) include an inner ball head, an outer ball bowl and a locking nut, the inner ball head is fixedly connected with the root of the support arm (2) or the second driving unit, the outer ball bowl is fixedly connected with the end of the first adjusting rod (9) or the second adjusting rod (11), a lubricating layer is arranged between the inner ball head and the outer ball bowl, and the locking nut is connected with the end of the outer ball bowl through threads.

4. The self-adapting dredging mechanical device for water conservancy pipeline according to claim 1, characterized in that, A plurality of blades (19) are arranged on the outer side wall of the rotating cutter head (4) in a spiral shape, the blades (19) are fixed on the outer side wall of the rotating cutter head (4) through bolts, a filter screen (20) is arranged at the inlet of the suction nozzle (5), and the filter screen (20) is fixed on the inlet of the suction nozzle (5) through buckles.

5. The self adaptive dredging mechanical device for water pipeline as claimed in claim 1 wherein, The guiding assembly further comprises a multi-link hinge system (21), an array of tilt sensors (22), a closed-loop controller and a hydraulic drive unit (23), the dredging brush head (16) is connected with the end link of the multi-link hinge system (21), the array of tilt sensors (22) is embedded in the circumferential edge of the dredging brush head (16), and the hydraulic drive unit (23) is connected with the middle link of the multi-link hinge system (21) through a push rod.

6. The self-adapting dredging mechanical device for water conservancy pipeline according to claim 5, characterized in that, Each hinge point of the multi-link hinge system (21) is provided with an angle encoder, the angle encoder is connected with the closed-loop controller through a shielded wire, the array of tilt sensors (22) comprises a ring-shaped array of four MEMS tilt sensors, is embedded in the circumferential edge of the dredging brush head (16), and the sensor spacing is 90 degrees.

7. The self adaptive dredging mechanical device for water pipeline as claimed in claim 5 wherein, The piston rod of the micro-hydraulic part of the hydraulic drive unit (23) is rigidly connected with the driving point of the middle link through a push rod, a proportional flow valve receives a CAN bus instruction of the closed-loop controller, and the extension stroke of the hydraulic drive unit (23) is controlled to be 0-30 mm.

8. The self adaptive dredging mechanical device for water pipeline as claimed in claim 1 wherein, The outer side wall of the driving wheel (13) is provided with anti-skid lines.

9. The self-adapting dredging mechanical device for water pipeline according to any one of claims 1 to 8, characterized in that, The front end diameter of the conical guide part of the dredging main body (1) is smaller than the rear end diameter.

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