A device for cleaning urban sewer pipes

Abstract

This invention relates to a cleaning device for urban sewage pipes. The device mainly consists of a blockage collection module, an adaptive travel module, and a pipe wall cleaning module. The adaptive travel module allows for adaptive adjustment to different pipe diameters, ensuring stable entry into the pipe. Once inside the pipe, the blockage collection module combines an eight-claw mechanical claw mechanism with a toothed crusher, using a blower for negative pressure collection to break up and store the blockage. After the blockage is collected, the device continues to move forward while the pipe wall cleaning module integrates high-pressure water jet and rotating brush cleaning to clean the pipe wall. This invention is suitable for comprehensive cleaning operations of urban sewage pipes, completing adaptive travel, blockage breaking and collection, and pipe wall cleaning in one operation, reducing manual intervention, labor intensity, and improving pipe cleaning efficiency and quality.

Description

Technical Field

[0001] This invention relates to the field of pipeline cleaning equipment technology, and is applicable to the cleaning of urban sewage pipelines. It is a mechanical device for cleaning urban sewage pipelines that can adapt to different pipe diameters and integrates the breaking and collection of blockages with the cleaning of pipe walls. Background Technology

[0002] Urban sewage pipes are a crucial component of urban infrastructure. Regularly cleaning sediment and blockages within these pipes is essential for maintaining normal urban operations, preventing urban flooding, and ensuring the hygiene of residents' living environment. Currently, urban sewage pipe cleaning primarily relies on two methods: manual cleaning and pipe cleaning robots. Manual cleaning involves workers entering the pipes and using simple tools. However, the pipe environment is complex, with uncertainties such as oxygen deficiency and toxic gases, posing challenges to worker safety. Furthermore, the efficiency of manual cleaning is limited, and its ability to handle large, hard blockages is relatively limited. Existing pipe cleaning robot technology is mainly divided into two categories: mechanical unblocking and pipe wall cleaning. Mechanical unblocking robots use a sludge-removing mechanism to break up blockages, but the broken fragments remain inside the pipe; their function is primarily focused on unblocking. Pipe wall cleaning robots use a variable-pitch mechanism to adapt to different pipe diameters and clean the pipe walls, but they are ineffective for completely blocked sections, and the cleaned waste remains inside the pipe and is naturally discharged by water flow. Overall, existing pipe cleaning equipment tends to focus on single-function implementation, with room for improvement in functional integration. Manual cleaning methods also have room for improvement in terms of safety and operational efficiency. Therefore, exploring a pipe cleaning technology solution that can adapt to different pipe diameters and combines the functions of blockage breaking and collection with pipe wall cleaning is of positive significance for improving the operation and maintenance level of urban sewage pipes and ensuring the safe operation of urban drainage systems. Summary of the Invention

[0003] The purpose of this invention is to provide an integrated work platform that combines blockage crushing and collection with pipe wall cleaning functions, enabling single-operation movement, unblocking, collection, and cleaning. Using the device provided by this invention, blocked urban sewage pipes are cleaned and unblocked through the methods provided by this invention, including grabbing, grinding, dehydration, collection, and high-pressure washing. This device reduces worker involvement, lowers labor intensity, and improves pipe cleaning efficiency and quality. This invention is achieved through the following technical solutions. (Technical Solution) Based on the integrated needs of pipeline dredging and cleaning functions, this invention adopts a modular design concept for system architecture planning. By decomposing the equipment functions into independent and reusable functional units, a hierarchical and standardized modular body is formed to improve the system's maintainability, scalability, and environmental adaptability. The invention consists of a blockage collection module (1), a rigid connector (2), an adaptive walking module (3), a universal joint connector (4), and a pipe wall cleaning module (5). The blockage removal and collection module (1) consists of a claw support ring (1-1), a claw support arm (1-2), a wall-breaking cover (1-3), a crushing gear (1-4), a mechanical claw (1-5), a storage bin (1-6), a metal filter screen (1-7), a fan motor (1-8), fan blades (1-9), and a fan mounting base (1-10). The blockage removal and collection module (1) is installed in front of the adaptive walking module (3) via a rigid connector (2) and is fixedly connected to the adaptive walking module (3) via the rigid connector (2). It is used to clamp, crush, collect, and store blockages in the pipeline. It includes an eight-claw mechanical claw, a gear crushing mechanism, a storage bin, and a fan. When there is blockage in the pipeline, the claw support ring (1-1) moves to adjust the opening diameter of the mechanical claw to the most suitable state, and the mechanical claw embeds into the blockage. The movement of the claw support ring (1-1) allows the mechanical claw to... The claw tightens, and the crushing roller (1-4) fits against the surface of the blockage in the clamping state. At this time, the crushing roller (1-4) rotates at high speed to crush the blockage and collect it into the storage chamber (1-6). At the same time, the fan blades (1-9) rotate at high speed to provide negative pressure conditions for the storage chamber (1-6), sucking the crushed blockage debris into the storage chamber (1-6). A metal filter screen (1-7) is installed at the bottom of the storage chamber (1-6) to block solid debris from passing through and allow water to drain, thereby achieving solid-liquid separation and reducing the load on the device. The rigid connector (2) is used to connect the blockage clearing and collection module (1) and the adaptive walking module (3). Since the adaptive walking module (3) provides the driving power, the rigid connection between the blockage clearing and collection module (1) and the adaptive walking module (3) can effectively control the direction of travel of the entire device. The adaptive walking module (3) is used to travel inside the pipeline and provide a mobile platform for other modules. It mainly consists of a traveling wheel (3-1), an outer extension arm (3-2), a traveling arm (3-3), an arm connecting rod (3-4), a small straight bevel gear (3-5), a large straight bevel gear (3-6), a motor mounting base (3-7), a motor sleeve (3-8), a motor (3-9), a support shaft (3-10), a connecting plate (3-11), a ball screw (3-12), a small triangular support plate (3-13), a small straight bevel gear (3-14), a large triangular support plate (3-15), and a large straight bevel gear (3-16). The module adopts a six-wheel symmetrical structure and a screw and nut adjustment mechanism. The six wheel legs are evenly distributed circumferentially and form a 120° angle, forming a front and rear double triangular support structure, which is used to form stable support on the inner wall of the pipeline. Powered by a motor (3-9), the ball screw (3-12) is driven to rotate through the meshing of a spur pinion (3-14) and a spur gear (3-16). The nut on the ball screw (3-12) drives the connecting plate (3-11) to move axially. The connecting plate (3-11) drives a multi-stage linkage arm consisting of an outer extension arm (3-2) and a traveling arm (3-3) via an arm linkage (3-4), causing the six traveling wheels (3-1) to expand or contract radially synchronously, achieving adaptive adjustment within a certain pipe diameter range. At least two of the traveling wheels (3-1) are active drive wheels with built-in motors, providing the propulsion for the device's movement. The universal joint connector (4) is used to connect the adaptive walking module (3) and the pipe wall cleaning module (5). Since the adaptive walking module (3) provides the driving power, the pipe wall cleaning module (5) and the adaptive walking module (3) are connected flexibly so that the pipe wall cleaning module can deflect relative to the front module at the pipe bend to adapt to the change of pipe direction. The pipe wall cleaning module (5) is installed behind the adaptive walking module (3) and connected to the adaptive walking module (3) through a universal joint connector (4). It is used to clean the inner wall of the pipe and includes a high-pressure water tank and a roller brush mechanism. It is mainly composed of a spring (5-1), a brush roller cover (5-2), a central shaft (5-3), a brush roller (5-4), a brush roller shaft (5-5), a roller main support shaft (5-6), a main support rod (5-7), a high-pressure water tank (5-8), a support arm (5-9), a secondary support rod (5-10), and a roller secondary support shaft (5-11). The high-pressure water pump in the high-pressure water tank (5-8) is started to pressurize the cleaning medium and deliver it to multiple nozzles in the high-pressure water tank (5-8) to spray high-pressure water onto the inner wall of the pipe to soften the dirt on the pipe wall. At the same time, the spring (5-1) provides pre-tension to the brush roller (5-4) so ​​that the bristles maintain a constant contact pressure with the pipe wall. The brush roller (5-4) can rotate freely around the brush roller shaft (5-5). The main support shaft (5-6) and the secondary support shaft (5-11) of the roller rotate around the central shaft (5-3), driving the main support rod (5-7), support arm (5-9), secondary support rod (5-10), and brush roller shaft (5-5) to rotate. The bristles mechanically scrub the softened dirt, improving the cleaning effect. The brush roller cover (5-2) is threaded. When the brush roller (5-4) needs to be replaced or cleaned, the brush roller cover (5-2) can be unscrewed to replace the brush roller (5-4). The roller brush mechanism is fixedly arranged relative to the high-pressure nozzle, so that the high-pressure nozzle is located in front of the roller brush mechanism in the direction of travel of the device, so as to realize the cleaning sequence of first spraying and rinsing, and then mechanically scrubbing. (Technical effect) Compared with the prior art, the present invention has the following beneficial effects: (1) Avoid secondary blockage: By adopting the combination structure of "eight-claw mechanical claw clamping + toothed crushing + negative pressure collection", the blockage is crushed and simultaneously sucked into the storage chamber to achieve solid-liquid separation. The crushed blockage fragments are effectively removed from the pipeline and will not be moved with the water flow and accumulate again in other parts of the pipeline, thus solving the technical problem of secondary blockage caused by the residue after the existing equipment is crushed. (2) Improve pipe diameter adaptability: Through the "screw drive mechanism + multi-stage linkage arm" diameter changing mechanism, combined with the elastic buffer mechanism, the six wheel legs can achieve continuous adaptive adjustment in different pipe diameter ranges. At the same time, it has the ability to passively float and overcome obstacles, which greatly improves the success rate of the device in changing pipe sections and pipelines containing obstacles. (3) Improved cleaning effect: By integrating the "high pressure water jet + rotary brushing" composite cleaning module, the operation sequence of first spraying and rinsing to soften the dirt and then mechanically brushing to remove it can effectively remove dirt of different properties such as oil stains, mud and biofilm, and the cleaning effect is better than that of a single cleaning method. (4) Improved work efficiency: The present invention can complete multiple functions such as walking, diameter adjustment, blockage breaking, blockage collection, and pipe wall cleaning in a single operation, shortening the operation time compared with existing equipment and significantly improving work efficiency. (5) Ensuring operational safety: This invention enables fully automated pipeline cleaning operations without the need for manual entry into the pipeline, completely eliminating the safety hazards of manual entry into toxic, harmful, or oxygen-deficient pipelines, and has significant social benefits. Attached Figure Description Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 2 This is a schematic diagram of the blockage removal and collection module of the present invention. Figure 3 This is a schematic diagram of the gear surface of the blockage removal and collection module of the present invention. Figure 4 This is a schematic diagram of the fan drainage surface of the blockage clearing and collection module of the present invention. Figure 5 This is a schematic diagram of the rigid connector of the present invention. Figure 6 This is a schematic diagram of the adaptive walking module structure of the present invention. Figure 7 This is a schematic diagram of the adaptive walking module protective cover of the present invention. Figure 8 This is a schematic diagram of the universal joint connector of the present invention. Figure 9 This is a schematic diagram of the pipe wall cleaning module structure of the present invention. Figure 10 This is an isometric view of the pipe wall cleaning module of the present invention. Figure 11 This is a top view of the pipe wall cleaning module of the present invention. Figure 12 This is a schematic diagram of the disassembly of the pipe wall cleaning module roller of the present invention. The components include: 1. Blockage removal and collection module; 2. Rigid connector; 3. Adaptive walking module; 4. Universal joint connector; 5. Pipe wall cleaning module; 1-1. Claw support ring; 1-2. Claw support arm; 1-3. Wall breaking cover; 1-4. Crushing gear; 1-5. Mechanical claw; 1-6. Storage bin; 1-7. Metal filter screen; 1-8. Fan motor; 1-9. Fan blades; 1-10. Fan mounting base; 3-1. Traveling wheel; 3-2. Outer extension arm; 3-3. Traveling arm; 3-4. Arm connecting rod; 3-5. Small straight bevel gear; 3-6. Large straight bevel gear; 3-7. 3-8. Motor mounting bracket; 3-9. Motor; 3-10. Support shaft; 3-11. Connecting plate; 3-12. Ball screw; 3-13. Small triangular support plate; 3-14. Spur gear; 3-15. Large triangular support plate; 3-16. Large spur gear; 5-1. Spring; 5-2. Brush roller cover; 5-3. Central shaft; 5-4. Brush roller; 5-5. Brush roller shaft; 5-6. Main support shaft of the roller; 5-7. Main support rod; 5-8. High-pressure water tank; 5-9. Support arm; 5-10. Secondary support rod; 5-11. Secondary support shaft of the roller. Detailed Implementation The structure and operation of the present invention will be further described below with reference to the accompanying drawings. However, this is not intended to limit the scope of protection of the present invention. Appendix Figure 1 The diagram shows the overall structure of an urban sewage pipe cleaning device, which includes a blockage collection module (1), an adaptive walking module (3), and a pipe wall cleaning module (5). The adaptive walking module (3) is fixedly connected to the blockage collection module (1) via a rigid connector (2), and is movably connected to the pipe wall cleaning module (5) via a universal joint connector (4). The specific structure of the blockage clearing and collection module (1) is shown in the attached figure. Figure 2 Appendix Figure 3 Appendix Figure 4As shown. It includes a claw support ring (1-1), a claw support arm (1-2), a wall-breaking cover (1-3), crushing rollers (1-4), a mechanical claw (1-5), a storage bin (1-6), a metal filter (1-7), a fan motor (1-8), fan blades (1-9), and a fan mounting base (1-10). During operation, the claw support ring (1-1) drives the mechanical claw (1-5) to open through the claw support arm (1-2) to a size appropriate to the inner diameter of the pipe, clamping the blockage. The mechanical claw (1-5) tightens, causing the blockage to come into contact with the crushing rollers (1-4), and the crushing rollers (1-4) rotate at high speed to crush the blockage. At the same time, the fan motor (1-8) drives the fan blades (1-9) to rotate at high speed, creating a negative pressure inside the storage bin (1-6), and the crushed debris is sucked into the storage bin (1-6). The metal filter (1-7) installed at the bottom of the storage compartment (1-6) allows moisture to drain, reducing the load on the device. The specific structure of the adaptive walking module (3) is shown in the attached figure. Figure 6 Appendix Figure 7 As shown, it includes a traveling wheel (3-1), an outer extension arm (3-2), a traveling arm (3-3), an arm connecting rod (3-4), a small spur bevel gear (3-5), a large spur bevel gear (3-6), a motor mounting base (3-7), a motor sleeve (3-8), a motor (3-9), a support shaft (3-10), a connecting plate (3-11), a ball screw (3-12), a small triangular support plate (3-13), a spur pinion (3-14), a large triangular support plate (3-15), and a spur gear (3-16). This module adopts a six-wheel symmetrical structure, powered by the motor (3-9). Through the meshing of the spur pinion (3-14) and the spur gear (3-16), the ball screw (3-12) is driven to rotate. The nut on the ball screw (3-12) drives the connecting plate (3-11) to move axially. The connecting plate (3-11) drives a multi-stage linkage arm consisting of an outer extension arm (3-2) and a traveling arm (3-3) via an arm linkage (3-4), causing the six traveling wheels (3-1) to expand or contract radially synchronously, achieving adaptive adjustment within a certain pipe diameter range. At least two of the traveling wheels (3-1) are active drive wheels with built-in motors, providing the traveling power for the device. The specific structure of the pipe wall cleaning module (5) is shown in the attached figure. Figure 9 Appendix Figure 10 Appendix Figure 11 Appendix Figure 12As shown. It includes a spring (5-1), a brush roller cover (5-2), a central shaft (5-3), a brush roller (5-4), a brush roller shaft (5-5), a main support shaft for the roller (5-6), a main support rod (5-7), a high-pressure water tank (5-8), a support arm (5-9), a secondary support rod (5-10), and a secondary support shaft for the roller (5-11). During operation, the high-pressure water pump in the high-pressure water tank (5-8) starts, pressurizes the cleaning medium, and delivers it to multiple nozzles in the high-pressure water tank (5-8), spraying high-pressure water onto the inner wall of the pipe to soften the dirt on the pipe wall. At the same time, the spring (5-1) provides preload force to the brush roller (5-4), so that the bristles maintain a constant contact pressure with the pipe wall. The brush roller (5-4) can rotate freely around the brush roller shaft (5-5). The main support shaft (5-6) and the secondary support shaft (5-11) of the roller rotate around the central shaft (5-3), driving the main support rod (5-7), support arm (5-9), secondary support rod (5-10), and brush roller shaft (5-5) to rotate. The bristles mechanically scrub the softened dirt, improving the cleaning effect. The brush roller cover (5-2) has threads. When it is necessary to replace or clean the brush roller (5-4), the brush roller cover (5-2) can be unscrewed to replace the brush roller (5-4). The above-mentioned device shall be used to clean urban sewage pipes in the following manner: In the first step, the device is started. The motor (3-9) of the adaptive walking module (3) drives the ball screw (3-12) to adaptively adjust the opening of the six traveling wheels (3-1) according to the inner diameter of the pipe, so that the device forms a stable support on the inner wall of the pipe. At the same time, the drive wheel in the traveling wheel (3-1) is driven by the motor through two straight bevel gears, driving the entire device to move in the pipe. In the second step, when the device moves in front of the blockage, the blockage cleaning and collection module (1) is activated. The claw support ring (1-1) moves, driving the mechanical claw (1-5) to open and embed into the blockage, and then tighten to clamp the blockage. In the third step, the crushing roller (1-4) rotates at high speed under the drive of the motor to crush the clamped blockage. At the same time, as the blockage is gradually crushed and collected, the mechanical claw (1-5) tightens continuously to keep the blockage in contact with the crushing roller (1-4). In the fourth step, synchronized with the crushing process, the blower motor (1-8) drives the blower blades (1-9) to rotate at high speed, creating a negative pressure inside the storage chamber (1-6). The crushed blockage debris is drawn into the storage chamber (1-6) with the airflow, the liquid passes through the metal filter (1-7) and is discharged through the blower exhaust port, while the solid debris is trapped inside the storage chamber (1-6). Fifth step: After the blockage is cleared, the device continues to move forward. At this time, the pipe wall cleaning module (5) starts to work. The high-pressure water tank (5-8) sprays high-pressure water to pre-flush and soften the pipe wall. Step 6: While the high-pressure rinsing is in progress, the main support shaft (5-6) and the secondary support shaft (5-11) of the drum rotate around the central shaft (5-3), which drives the main support rod (5-7), support arm (5-9), secondary support rod (5-10), and brush drum shaft (5-5) to rotate. The brush drum (5-4) rotates freely to scrub the pipe wall and completely remove the softened dirt. Step 7: Repeat steps 2 to 6 above until the cleaning of the entire pipe section is completed. When the device needs to turn, the universal joint connector (4) connected between the adaptive travel module (3) and the pipe wall cleaning module (5) allows the rear module to deflect relative to the front module to adapt to changes in pipe direction. The above description is only for illustrating the present invention, but the scope of protection of the present invention is not limited thereto. All equivalent transformations, simple substitutions and other changes made on the basis of the technical solution of the present invention are covered within the scope of protection of the present invention.

Claims

1. A device for cleaning urban sewage pipes, characterized in that, It includes a blockage removal and collection module (1), an adaptive walking module (3), and a pipe wall cleaning module (5); The adaptive walking module (3) and the blockage cleaning and collection module (1) are fixedly connected by a rigid connector (2), and the adaptive walking module (3) and the pipe wall cleaning module (5) are movably connected by a universal joint connector (4). The blockage removal and collection module (1) consists of a claw support ring (1-1), a claw support arm (1-2), a wall-breaking cover (1-3), a crushing roller (1-4), a mechanical claw (1-5), a storage bin (1-6), a metal filter screen (1-7), a fan motor (1-8), fan blades (1-9), and a fan mounting base (1-10). The rigid connector (2) is used to connect the blockage clearing and collection module (1) and the adaptive walking module (3). Since the adaptive walking module (3) provides the driving power, the rigid connection between the blockage clearing and collection module (1) and the adaptive walking module (3) can effectively control the direction of travel of the entire device. The adaptive walking module (3) is used to travel inside the pipeline and provide a mobile platform for other modules. It is mainly composed of a traveling wheel (3-1), an outer extension arm (3-2), a traveling arm (3-3), an arm connecting rod (3-4), a small straight bevel gear (3-5), a large straight bevel gear (3-6), a motor mounting base (3-7), a motor sleeve (3-8), a motor (3-9), a support shaft (3-10), a connecting plate (3-11), a ball screw (3-12), a small triangular support plate (3-13), a small straight bevel gear (3-14), a large triangular support plate (3-15), and a large straight bevel gear (3-16). The universal joint connector (4) is used to connect the adaptive walking module (3) and the pipe wall cleaning module (5). Since the adaptive walking module (3) provides the driving power, the pipe wall cleaning module (5) and the adaptive walking module (3) are connected flexibly so that the pipe wall cleaning module can deflect relative to the front module at the pipe bend to adapt to the change of pipe direction. The pipe wall cleaning module (5) is installed behind the adaptive walking module (3) and is connected to the adaptive walking module (3) through the universal joint connector (4). It is used to clean the inner wall of the pipe and includes a high-pressure water tank and a roller brush mechanism. It is mainly composed of a spring (5-1), a brush roller cover (5-2), a central shaft (5-3), a brush roller (5-4), a brush roller shaft (5-5), a roller main support shaft (5-6), a main support rod (5-7), a high-pressure water tank (5-8), a support arm (5-9), a secondary support rod (5-10), and a roller secondary support shaft (5-11).

2. A method of using the urban sewage pipe cleaning device as described in claim 1, characterized in that, Follow these steps: In the first step, the device is started. The motor (3-9) of the adaptive walking module (3) drives the ball screw (3-12) to adaptively adjust the opening of the six traveling wheels (3-1) according to the inner diameter of the pipe, so that the device forms a stable support on the inner wall of the pipe. At the same time, the drive wheel in the traveling wheel (3-1) is driven by the motor through two straight bevel gears, driving the entire device to move inward in the pipe. In the second step, when the device moves in front of the blockage, the blockage cleaning and collection module (1) is activated. The claw support ring (1-1) moves, driving the mechanical claw (1-5) to open and embed into the blockage, and then tighten to clamp the blockage. In the third step, the crushing roller (1-4) rotates at high speed under the drive of the motor to crush the clamped blockage. At the same time, as the blockage is gradually crushed and collected, the mechanical claw (1-5) tightens continuously to keep the blockage in contact with the crushing roller (1-4). In the fourth step, synchronized with the crushing process, the blower motor (1-8) drives the blower blades (1-9) to rotate at high speed, creating a negative pressure inside the storage chamber (1-6). The crushed blockage debris is drawn into the storage chamber (1-6) with the airflow, the liquid passes through the metal filter (1-7) and is discharged through the blower exhaust port, while the solid debris is trapped inside the storage chamber (1-6). Fifth step: After the blockage is cleared, the device continues to move forward. At this time, the pipe wall cleaning module (5) starts to work. The high-pressure water tank (5-8) sprays high-pressure water to pre-flush and soften the pipe wall. Step 6: While the high-pressure rinsing is in progress, the main support shaft (5-6) and the secondary support shaft (5-11) of the drum rotate around the central shaft (5-3), which drives the main support rod (5-7), support arm (5-9), secondary support rod (5-10), and brush drum shaft (5-5) to rotate. The brush drum (5-4) rotates freely to scrub the pipe wall and completely remove the softened dirt. Step 7: Repeat steps 2 to 6 above until the cleaning of the entire pipe section is completed. When the device needs to turn, the universal joint connector (4) connected between the adaptive travel module (3) and the pipe wall cleaning module (5) allows the rear module to deflect relative to the front module to adapt to changes in pipe direction.

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