Self-propelled sewer cleaning device and method

Abstract

The application relates to a self-feeding type sewer cleaning device and method, which comprises a cleaning cutter head assembly, a rotating assembly connected with the cleaning cutter head assembly at the end for driving the rotating assembly to rotate, a moving positioning ring group sleeved on the outer periphery of the rotating assembly and connected with the rotating assembly and slidably matched with the inner wall of the sewer, an inflation air bag sleeve group sleeved on the outer periphery of the rotating assembly and used for extruding the inner wall of the sewer to fix the rotating assembly after inflation, and a corrugated air bag pipe group sleeved on the outer periphery of the rotating assembly and used for driving the moving positioning ring group and the inflation air bag sleeve group to move axially along the inner wall of the sewer. The rotating assembly drives the cleaning cutter head assembly which can be radially unfolded to rotate and scrape and clean the inner wall of the sewer for 360 degrees. Meanwhile, the inflation air bag sleeve group and the corrugated air bag pipe group are alternately inflated and deflated, intermittent movement of the device in the sewer is realized, and the sewer can be non-destructively cleaned.

Description

Technical Field

[0001] This invention relates to the field of tunnel drainage pipe cleaning equipment technology, specifically to a self-propelled drainage pipe cleaning device and method. Background Technology

[0002] As a crucial component of infrastructure such as tunnels and municipal underground pipe networks, the smooth operation of drainage pipes directly impacts structural safety, flood control, and environmental sanitation. Tunnel drainage pipes, which continuously transport leaking water containing impurities such as silt, grease, mineral deposits, and biofilms, are highly susceptible to siltation, scaling, and even complete blockage on their inner walls, severely affecting drainage efficiency. Failure to clean them promptly can lead to a series of problems, including increased water pressure behind the tunnel lining, structural leakage, water accumulation in the track bed, and even operational safety issues.

[0003] Currently, conventional techniques for cleaning drainage pipes mainly include manual cleaning or drainage pipe robots. Manual cleaning is time-consuming, labor-intensive, and has poor safety performance. Drainage pipe robots are used for cleaning, but these devices are often complex in structure, expensive, and their drive mechanisms, such as wheeled or tracked vehicles, are prone to slipping, spinning aimlessly, or getting stuck in pipes with thick silt deposits, gravel, or debris, making them unable to move forward. Their mobility is limited and their adaptability is poor. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention aims to provide a self-propelled drainage pipe cleaning device and method. The present invention utilizes the alternating inflation and deflation of an inflatable airbag sleeve and a corrugated airbag tube to achieve intermittent movement along the axial direction of the drainage pipe, which is adaptable and does not require a complex mechanical structure, thus having low cost.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A self-cleaning drain pipe cleaning device, comprising: Cleaning head assembly for rotating contact with the inner wall of the drain pipe; A rotating component, the end of which is connected to the cleaning head assembly and is used to drive the cleaning head assembly to rotate; A movable positioning ring assembly is sleeved on the outer periphery of the rotating component and connected to it, and the outer periphery slides against the inner wall of the drainage pipe; An inflatable airbag sleeve is fitted around the outer periphery of the rotating component and spaced apart from the movable positioning ring group. After inflating, it squeezes the inner wall of the drainage pipe to fix the rotating component. A corrugated airbag tube assembly is sleeved on the outer periphery of the rotating component and is located between and connected to the movable positioning ring assembly and the inflatable airbag sleeve assembly, for telescopically driving the movable positioning ring assembly and the inflatable airbag sleeve assembly to move axially along the inner wall of the drainage pipe. An air source is connected to the corrugated airbag tube assembly and the inflatable airbag sleeve assembly for inflating and deflating both.

[0006] Furthermore, the rotating assembly includes a shaft cylinder, a drive shaft, a drive flexible shaft, and a motor. The drive shaft is slidably sleeved inside the shaft cylinder, with one end extending out of the shaft cylinder connected to the cleaning cutter head assembly, and the other end extending out of the shaft cylinder hinged to one end of the drive flexible shaft. The other end of the drive flexible shaft is connected to the motor. The movable positioning ring assembly, the corrugated airbag tube assembly, and the inflatable airbag sleeve assembly are sequentially sleeved on the outer periphery of the shaft cylinder.

[0007] Furthermore, the movable positioning ring assembly includes an annular positioning ring and universal balls. The annular positioning ring is sleeved on the outer circumference of the shaft cylinder, and the universal balls are arranged in an annular array and slidably nested on the outer circumference of the annular positioning ring. One end of the corrugated airbag tube assembly is connected to the annular positioning ring.

[0008] Furthermore, the inflatable airbag assembly includes an airbag ring and a support tube. The support tube is slidably sleeved on the outer periphery of the shaft cylinder, and the airbag ring is sleeved on the outer periphery of the support tube and connected to it. The support tube is connected to the corrugated airbag tube assembly, and the airbag ring is connected to the air source for inflation and deflation to radially expand and contract to contact or detach from the inner wall of the drainage pipe.

[0009] Furthermore, the corrugated airbag tube assembly includes a corrugated airbag ring sleeve, which is sleeved on the outer periphery of the shaft cylinder and connected at one end to the movable positioning ring assembly and at the other end to the inflatable airbag sleeve assembly. The corrugated airbag ring sleeve is connected to the air source and is used for inflation and deflation, axial extension and retraction, pushing and pulling the movable positioning ring assembly and the inflatable airbag sleeve assembly to move.

[0010] Furthermore, the cleaning head assembly includes a fixed plate, a swing arm, and a cutter head. One end of the fixed plate is connected to the end of the drive shaft. Several swing arms are circumferentially distributed, and one end of each swing arm is hinged to the other end of the fixed plate. The other end of each swing arm is hinged to the cutter head.

[0011] Furthermore, the cleaning blade assembly also includes magnetic blocks, a plurality of which are circumferentially distributed at the other end of the fixing plate for attracting one end of the corresponding swing arm.

[0012] Furthermore, a retaining ring is fitted around the outer periphery of the shaft cylinder, and the retaining ring is located on one side of the inflatable airbag sleeve assembly and is spaced apart from the corrugated airbag tube assembly.

[0013] Furthermore, a flexible hose is connected to the other end of the shaft, and the flexible hose is sleeved on the outer circumference of the transmission flexible shaft.

[0014] The present invention also provides a self-priming drainage pipe cleaning method, which utilizes the aforementioned self-priming drainage pipe cleaning device. The method includes the following steps: Step S1: Insert the cleaning device into the opening of the drainage pipe to be cleaned, so that the cleaning blade assembly faces the inside of the drainage pipe, and make the outer periphery of the moving positioning ring group slide in contact with the inner wall of the drainage pipe. Step S2: Start the rotating assembly to drive the cleaning blade assembly to rotate and open to contact the inner wall of the drainage pipe; Step S3: Control the air source to inflate the inflatable airbag assembly to expand it and squeeze the inner wall of the drainage pipe, thus fixing the rotating component in its current position inside the drainage pipe. Step S4: Control the air source to inflate the corrugated airbag tube assembly so that it extends toward one end of the moving positioning ring assembly, thereby pushing the moving positioning ring assembly to drive the rotating component and the cleaning cutter head assembly to move forward a distance along the inner wall of the drainage pipe. Step S5: Control the air source to deflate the inflatable airbag assembly so that it contracts and detaches from the inner wall of the drainage pipe. Step S6: Control the air source to deflate the corrugated airbag tube assembly so that it contracts toward one end of the inflatable airbag sleeve assembly, thereby pulling the inflatable airbag sleeve assembly forward a certain distance axially. Step S7: Repeat steps S3-S6, with the cleaning device advancing intermittently to clean the inner wall of the drain pipe.

[0015] Because the present invention adopts the above technical solution, it has the following advantages and effects: The present invention discloses a self-propelled drainage pipe cleaning device and method, which drives a radially expandable cleaning blade assembly to perform 360-degree rotating scraping and cleaning of the inner wall of the drainage pipe through a rotating component, ensuring a thorough cleaning. At the same time, by utilizing the alternating inflation and deflation of the inflatable airbag sleeve assembly and the corrugated airbag tube assembly, the device achieves intermittent autonomous stepping movement within the drainage pipe. It has high passability, strong adaptability, and requires no external traction, making it particularly suitable for long-distance cleaning of large-diameter drainage pipes. Attached Figure Description

[0016] Figure 1 This is a reference diagram showing the usage state of the device of the present invention.

[0017] Figure 2 This is a schematic diagram of the cleaning head assembly of the present invention in its unfolded state.

[0018] The attached diagram is labeled as follows: 1-Drainage pipe, 2-Shaft cylinder, 3-Bearing, 4-Drive shaft, 5-Snap ring, 6-Airbag ring sleeve, 7-Belled airbag ring sleeve, 8-Support pipe, 9-Retaining ring, 10-Annular positioning ring, 11-Connecting lug, 12-Universal ball, 13-Locking nut, 14-Fixing plate, 15-Magnetic block, 16-Swing rod, 17-Cutter head, 18-Hose, 19-Drive flexible shaft, 20-Motor. Detailed Implementation

[0019] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative of the essential spirit of the technical solution of the present invention.

[0020] like Figures 1-2 As shown. This invention provides a self-propelled drainage pipe cleaning device, comprising a cleaning head assembly, a rotating assembly, a movable positioning ring assembly, an inflatable airbag sleeve assembly, a corrugated airbag tube assembly, and an air source. The cleaning head assembly, when rotating, unfolds under centrifugal force to contact and clean the inner wall of the drainage pipe 1. One end of the rotating assembly is connected to the cleaning head assembly, and the rotating assembly drives the cleaning head assembly to rotate around the inner wall of the drainage pipe 1. The movable positioning ring assembly, the corrugated airbag tube assembly, and the inflatable airbag sleeve assembly are sequentially sleeved on the outer periphery of the rotating assembly. The inner periphery of the movable positioning ring assembly is connected to the rotating assembly, and the outer periphery of the movable positioning ring assembly slides against the inner wall of the drainage pipe 1 to facilitate axial movement along the inner wall of the drainage pipe 1. An inflatable airbag sleeve is fitted around the rotating component, spaced apart from the movable positioning rings. After inflating, the inflatable airbag sleeve compresses the inner wall of the drainage pipe 1 to fix the rotating component. Both ends of the corrugated airbag tube assembly are connected to the movable positioning rings and the inflatable airbag sleeve assembly, respectively. The corrugated airbag tube assembly is used to extend and retract, driving the movable positioning rings and the corrugated airbag tube assembly to move axially along the inner wall of the drainage pipe 1, so that the rotating component drives the cleaning head assembly to move and clean the inner wall of the drainage pipe 1. An air source is connected to the corrugated airbag tube assembly and the inflatable airbag sleeve assembly for inflating and deflating them.

[0021] Furthermore, the rotating assembly includes a shaft cylinder 2, a drive shaft 4, a drive flexible shaft 19, and a motor 20. The drive shaft 4 is slidably sleeved inside the shaft cylinder 2, with one end extending out of the shaft cylinder 2 connected to the cleaning cutter head assembly, and the other end extending out of the shaft cylinder 2 hinged to one end of the drive flexible shaft 19. The other end of the drive flexible shaft 19 is connected to the motor 20. The movable positioning ring assembly, the corrugated airbag tube assembly, and the inflatable airbag sleeve assembly are sequentially sleeved on the outer periphery of the shaft cylinder 2.

[0022] Specifically, bearing seats are provided at both ends inside the shaft sleeve 2. Bearings 3 are fitted onto the outer circumference of the drive shaft 4. The drive shaft 4 is slidably fitted onto the inner circumference of the shaft sleeve 2 via the bearings 3 at both ends and is axially limited by a retaining spring 5. One end of the drive shaft 4 extends out of the front end of the shaft sleeve 2 for mounting the cleaning cutter head assembly, and the other end extends out of the tail end of the shaft sleeve 2. The tail end of the shaft sleeve 2 is threaded and fixedly connected to one end of a flexible protective hose 18 by a locking nut 13. The motor 20 is located outside the drainage pipe 1, and its end is fixedly connected to the other end of the hose 18. The output shaft of the motor is connected to a flexible drive shaft 19, which passes through the inside of the hose 18 and is hinged to the tail end of the drive shaft 4. This allows the power of the motor 20 to be transmitted to the drive shaft 4 through the flexible drive shaft 19, while the hose 18 protects the internal flexible drive shaft 19 and adapts to the length changes caused by the bending of the drainage pipe and the movement of the device.

[0023] Furthermore, the cleaning blade assembly includes a fixed plate 14, magnetic blocks 15, swing arms 16, and a blade 17. One end of the fixed plate 14 is connected to the end of the drive shaft 4 and rotates with it. Several swing arms 16 are evenly distributed along the circumference, with one end of each swing arm 16 hinged to the other side of the fixed plate 14 and the other end of each swing arm 16 hinged to the blade 17. Several magnetic blocks 15 are circumferentially distributed on the other side of the fixed plate. The magnetic blocks 15 are located on one side of the swing arms 16 and are used to attract one end of the corresponding swing arms 16.

[0024] Specifically, the boom 16 has an L-shaped structure, with one end hinged to the connecting lug 11, and the other end of the connecting lug 11 vertically connected to the fixing plate 14. In the non-working state, the magnetic block 15 attracts the corresponding boom 16, keeping it in a parallel, retracted state with the cleaning head assembly. When the drive shaft 4 is driven to rotate at high speed by the motor 20, centrifugal force overcomes the magnetic attraction, causing the boom 16 to swing outwards and open, driving the cutter head 17 to extend radially until it contacts the inner wall of the drainage pipe, thereby performing the cleaning operation.

[0025] Furthermore, the movable positioning ring assembly includes an annular positioning ring 10 and universal balls 12. The annular positioning ring 10 is sleeved on the outer circumference of the shaft cylinder 2, and the universal balls 12 are arranged in a ring and slidably nested on the outer circumference of the annular positioning ring 10. One end of the corrugated airbag tube assembly is connected to the annular positioning ring 10.

[0026] Specifically, there is at least one pair of movable positioning ring assemblies, which are arranged at intervals and connected to the movable positioning ring assembly on the side adjacent to the corrugated airbag tube assembly. The movable positioning ring assembly slides against the inner wall of the drainage pipe 1, providing radial support and axial guidance for the movement of the device.

[0027] The annular positioning ring 10 has a ball socket, within which the universal ball 12 rolls freely. During operation, the universal ball 12 contacts the inner wall of the drainage pipe 1, providing radial support while greatly reducing frictional resistance during axial movement of the device, ensuring smooth movement.

[0028] Furthermore, the inflatable airbag assembly is used for temporary fixation when the device moves in a "stepping" manner within the drainage pipe. The inflatable airbag assembly includes an airbag ring 6 and a support tube 8. The support tube 8 is slidably sleeved on the outer periphery of the shaft cylinder 2, and the airbag ring 6 is sleeved on the outer periphery of the support tube 8 and connected to it. One end of the corrugated airbag tube assembly is connected to the support tube 8, and the airbag ring 6 is connected to an air source for inflation and deflation to radially expand and contract to contact or detach from the inner wall of the drainage pipe 1.

[0029] Specifically, the airbag sleeve 6 is a ring-shaped airbag with an airbag tube connected to its rear end, which is connected to an external air source. The air source is controlled by a controller. The front end of the support tube 8 is connected to the rear end of the corrugated airbag tube assembly. The rear end of the support tube 8 has a flange that stops the airbag sleeve 6.

[0030] When air is inflated into the airbag ring 6, it expands radially, and its outer surface presses tightly against the inner wall of the drain pipe 1, creating friction to fix the device inside the drain pipe 1. When air is deflated, the airbag ring 6 contracts, and its outer circumference disengages from the inner wall of the drain pipe 1, allowing the device to move freely.

[0031] Furthermore, a retaining ring 9 is fitted around the outer circumference of the shaft sleeve 2. The retaining ring 9 is located on one side of the inflatable airbag sleeve assembly and is spaced apart from the corrugated airbag tube assembly. The retaining ring 9 is located at the rear end of the support tube 8 and is used to limit the movement of the airbag ring sleeve 6. A limit switch is provided at one end of the retaining ring 9. The limit switch is electrically connected to the controller to control the air supply of the corrugated airbag tube assembly. When the rotating component moves to the point where the retaining ring 9 contacts the airbag ring sleeve 6, the limit switch is triggered.

[0032] Furthermore, the corrugated airbag tube assembly includes a corrugated airbag sleeve 7, which is sleeved on the outer periphery of the shaft cylinder 6 and connected at one end to a movable positioning ring assembly, and at the other end to a support tube 8 of the inflatable airbag assembly. The corrugated airbag sleeve 7 is connected to an air source, and the movable positioning ring assembly and the inflatable airbag assembly can be moved by controlling the air source to inflate and deflate, axially extending and retracting.

[0033] Specifically, the corrugated airbag tube assembly is the power component that enables the device to perform axial telescopic movement. The front end of the corrugated airbag sleeve 7 is sealed to the end face of its adjacent annular positioning ring 10, and the rear end is sealed to the front end face of the support tube 8. Corrugated airbag tubes are also connected to both sides of the corrugated airbag sleeve 7. The corrugated airbag tubes pass through the gap between the airbag sleeve 6 and the support tube 8 and extend to the outside of the drain pipe 1, connecting to the controller and the air source. When air is inflated into the corrugated airbag sleeve 7, it can extend axially, pushing the movable positioning ring assembly, the shaft cylinder 2, and the cleaning cutter head assembly connected to its left end to move forward together. When air is deflated, the corrugated airbag sleeve 7 can pull the support tube 8 and the airbag sleeve 6 to move due to its elastic contraction.

[0034] The present invention also provides a self-priming drainage pipe cleaning method, which, using the self-priming drainage pipe cleaning device of the present invention, includes the following steps: Step S1: Insert the cleaning device into the opening of the drain pipe to be cleaned, so that the cleaning head assembly faces the depth of the drain pipe 1, and the outer periphery of the moving positioning ring assembly slides into contact with the inner wall of the drain pipe 1.

[0035] Specifically, the cleaning blade at the front end of the rotating assembly is inserted into the pipe opening, and the motor 20, controller and air source at the rear end of the rotating assembly are placed outside the drain pipe 1; the universal ball 12 of the moving positioning ring assembly contacts the inner wall of the drain pipe 1, supporting the device on the inner circumference of the drain pipe 1.

[0036] Step S2: Start the rotating component to drive the cleaning head assembly to rotate and open to contact the inner wall of the drain pipe 1.

[0037] Specifically, the motor 20 that starts the rotating assembly drives the blade 17 of the cleaning blade assembly to rotate at high speed through the transmission flexible shaft 19 and the transmission shaft 4. Under the action of centrifugal force, the swing arm 16 extends outward, so that the blade 17 contacts the inner wall of the drainage pipe 1 and rotates to clean the inner wall of the drainage pipe 1.

[0038] Step S3: The controller controls the air source to inflate the airbag ring 6 of the inflatable airbag assembly, so that the airbag ring 6 expands radially and squeezes and presses against the inner wall of the drain pipe 1, fixing the rotating component in the current position inside the drain pipe 1.

[0039] In step S4, the air source is controlled by the controller to inflate the corrugated airbag sleeve 7 of the corrugated airbag tube assembly, so that the corrugated airbag sleeve 7 extends axially toward one end of the movable positioning ring assembly, thereby pushing the movable positioning ring assembly to drive the rotating component and the cleaning cutter assembly to move forward axially along the inner wall of the drainage pipe 1 a predetermined distance. When it moves to the stop ring 9 to stop the airbag sleeve 6, the limit switch is triggered to stop. During this process, the cutter head 17 continues to rotate to clean the inner wall of the drainage pipe 1.

[0040] Step S5: The controller controls the air source to deflate the airbag ring 6 of the inflatable airbag assembly, causing the airbag ring 6 to contract radially and detach from the inner wall of the drain pipe 1.

[0041] In step S6, one end of the motor 20 at the tail end of the rotating assembly is fixed. At this time, the air source is controlled by the controller to release the air from the corrugated airbag sleeve 7 of the corrugated airbag tube assembly. The corrugated airbag sleeve 7 contracts axially toward one end of the inflatable airbag assembly, so as to pull the support tube 8 of the inflatable airbag assembly and drive the airbag sleeve 6 to move forward axially by a certain distance (the same as the predetermined distance).

[0042] Step S7, repeat steps S3-S6, and perform the operation in a cyclical manner. The cleaning device moves forward in an intermittent stepping manner to clean the inner wall of the drainage pipe 1.

Claims

1. A self-priming drainage pipe cleaning device, characterized in that, include: Clean the blade assembly for rotating contact with the inner wall of the drain pipe (1); A rotating component, the end of which is connected to the cleaning head assembly, and is used to drive the cleaning head assembly to rotate; The movable positioning ring is sleeved on the outer periphery of the rotating component and connected to it, and the outer periphery slides against the inner wall of the drainage pipe (1); An inflatable airbag sleeve is fitted around the outer periphery of the rotating component and spaced apart from the movable positioning ring group. After inflating, it squeezes the inner wall of the drainage pipe (1) to fix the rotating component. A corrugated airbag tube assembly is sleeved on the outer periphery of the rotating component and is located between and connected to the movable positioning ring assembly and the inflatable airbag sleeve assembly. It is used to extend and retract to drive the movable positioning ring assembly and the inflatable airbag sleeve assembly to move axially along the inner wall of the drainage pipe (1). An air source is connected to the corrugated airbag tube assembly and the inflatable airbag sleeve assembly for inflating and deflating both.

2. The self-priming drainage pipe cleaning device according to claim 1, characterized in that, The rotating assembly includes a shaft cylinder (2), a drive shaft (4), a drive flexible shaft (19), and a motor (20). The drive shaft (4) is slidably sleeved inside the shaft cylinder (2). One end of the drive shaft (4) extends out of the shaft cylinder (2) and is connected to the cleaning head assembly. The other end of the drive shaft (2) extends out of the shaft cylinder (2) and is hinged to one end of the drive flexible shaft (19). The other end of the drive flexible shaft (19) is connected to the motor (20). The movable positioning ring assembly, the corrugated airbag tube assembly, and the inflatable airbag sleeve assembly are sequentially sleeved on the outer periphery of the shaft cylinder (2).

3. The self-priming drainage pipe cleaning device according to claim 1 or 2, characterized in that, The movable positioning ring assembly includes an annular positioning ring (10) and a universal ball (12). The annular positioning ring (10) is sleeved on the outer periphery of the shaft cylinder (2). The universal ball (12) is arranged in an annular array and slidably nested on the outer periphery of the annular positioning ring (10). One end of the corrugated airbag tube assembly is connected to the annular positioning ring (10).

4. The self-priming drainage pipe cleaning device according to claim 2, characterized in that, The inflatable airbag assembly includes an airbag ring (6) and a support tube (8). The support tube (8) is slidably sleeved on the outer periphery of the shaft cylinder (2). The airbag ring (6) is sleeved on the outer periphery of the support tube (8) and connected to it. The support tube (8) is connected to the corrugated airbag tube assembly. The airbag ring (6) is connected to the air source and is used for inflation and deflation to radially extend and retract to contact or detach from the inner wall of the drainage pipe (1).

5. The self-priming drainage pipe cleaning device according to claim 2, characterized in that, The corrugated airbag tube assembly includes a corrugated airbag sleeve (7), which is sleeved on the outer periphery of the shaft cylinder (2) and connected at one end to the movable positioning ring assembly and at the other end to the inflatable airbag sleeve assembly. The corrugated airbag sleeve (7) is connected to the air source and is used for axial extension and retraction of the movable positioning ring assembly and the inflatable airbag sleeve assembly for inflation and deflation.

6. The self-priming drainage pipe cleaning device according to claim 2, characterized in that, The cleaning head assembly includes a fixed plate (14), a swing arm (16), and a head (17). One end of the fixed plate (14) is connected to the end of the transmission shaft (4). Several swing arms (16) are circumferentially distributed and one end of each swing arm (16) is hinged to the other end of the fixed plate (14). The other end of each swing arm (16) is hinged to the head (17).

7. The self-priming drainage pipe cleaning device according to claim 6, characterized in that, The cleaning blade assembly also includes magnetic blocks (15), and a plurality of magnetic blocks (15) are circumferentially distributed at the other end of the fixing plate (14) for attracting one end of the corresponding swing arm (16).

8. The self-priming drainage pipe cleaning device according to claim 2, characterized in that, A retaining ring (9) is fitted around the outer periphery of the shaft cylinder (2). The retaining ring (9) is located on one side of the inflatable airbag assembly and is spaced apart from the corrugated airbag tube assembly.

9. The self-priming drainage pipe cleaning device according to claim 8, characterized in that, The other end of the shaft (2) is connected to a flexible hose (18), which is sleeved on the outer periphery of the transmission flexible shaft (19).

10. A self-propelled drainage pipe cleaning method, using the self-propelled drainage pipe cleaning device as described in any one of claims 1-9, characterized in that, The method includes the following steps: Step S1: Insert the cleaning device into the opening of the drainage pipe (1) to be cleaned, so that the cleaning head assembly faces the inside of the drainage pipe (1), and make the outer periphery of the moving positioning ring group slide in contact with the inner wall of the drainage pipe (1). Step S2: Start the rotating assembly to drive the cleaning head assembly to rotate and open to contact the inner wall of the drainage pipe (1); Step S3: Control the air source to inflate the inflatable airbag assembly to make it expand and squeeze the inner wall of the drainage pipe (1), and fix the rotating assembly in the current position inside the drainage pipe (1); Step S4: Control the air source to inflate the corrugated airbag tube assembly so that it extends toward one end of the moving positioning ring assembly, thereby pushing the moving positioning ring assembly to drive the rotating component and the cleaning cutter head assembly to move forward a distance along the inner wall of the drainage pipe (1). Step S5: Control the air source to deflate the inflatable airbag assembly so that it contracts and detaches from the inner wall of the drainage pipe (1); Step S6: Control the air source to deflate the corrugated airbag tube assembly so that it contracts toward one end of the inflatable airbag sleeve assembly, thereby pulling the inflatable airbag sleeve assembly forward a certain distance axially. Step S7: Repeat steps S3-S6, and the cleaning device advances intermittently to clean the inner wall of the drainage pipe (1).

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