Pipeline dredging robot and pipeline dredging system
By integrating the electrical control unit and hydraulic pipeline components into a waterproof housing, the problem of low mobility and dredging efficiency caused by an excessive number of hydraulic pipes is solved, enabling the pipeline dredging robot to perform efficient dredging operations.
Patent Information
- Application Number
- CN202611304946.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-08-26
- Publication Date
- 2026-11-03
AI Technical Summary
Existing pipeline dredging robots suffer from reduced mobility and dredging efficiency due to the excessive number of hydraulic hoses.
The system adopts an integrated waterproof housing for the electrical control unit and hydraulic piping assembly, reducing the number of external hydraulic pipes. The connection between the hydraulic piping and the dredging execution unit is controlled by a solenoid valve assembly, simplifying the connection and improving mobility and dredging efficiency.
This effectively reduces the number of hydraulic pipes, improves the structural integrity and dredging efficiency of the pipeline dredging robot, and ensures mobility and dredging effectiveness.
Smart Images
Figure CN123024736A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of pipeline dredging technology, and in particular to a pipeline dredging robot and a pipeline dredging system. Background Technology
[0002] Pipeline dredging robots are devices that can move within pipelines and perform dredging operations during their movement. Existing pipeline dredging robots require multiple integrated actuators to be connected to a hydraulic station on the ground via hydraulic pipes. Each actuator specifically requires two hydraulic pipes to be connected to the hydraulic station.
[0003] The above setup results in an excessive number of hydraulic pipes, which affects the mobility of the pipeline dredging robot in the pipeline and may even cause the pipeline dredging robot to be unable to move, thus affecting the efficiency and effectiveness of the dredging operation.
[0004] Therefore, there is an urgent need for a pipeline dredging robot and pipeline dredging system to solve the above problems. Summary of the Invention
[0005] According to one aspect of the present invention, the objective is to provide a pipeline dredging robot that can effectively reduce the number of external hydraulic pipes, improve the overall structure and the flexibility of pipeline movement, and ensure the efficiency and effectiveness of dredging operations.
[0006] To achieve this objective, the present invention adopts the following technical solution: Pipeline dredging robots, including: The dredging unit is capable of performing movement and suction actions within the pipeline; The electronic control unit includes a waterproof housing and a solenoid valve assembly. The waterproof housing is integrated into the dredging execution unit, and the solenoid valve assembly is disposed within the waterproof housing. The waterproof housing also integrates a hydraulic pipeline assembly, which is connected to a hydraulic power station on the ground and to the solenoid valve assembly. The dredging execution unit is connected to the solenoid valve assembly. The solenoid valve assembly can control the connection and disconnection between the hydraulic pipeline assembly and the dredging execution unit. When the hydraulic pipeline assembly is connected to the dredging execution unit, it can provide power to the dredging execution unit.
[0007] As a preferred embodiment of the pipeline dredging robot provided by the present invention, the hydraulic pipeline assembly includes a pressure channel and a return oil channel. The pressure channel is integrally formed in the waterproof housing, and the return oil channel is integrally formed in the waterproof housing.
[0008] As a preferred embodiment of the pipeline dredging robot provided by the present invention, the waterproof housing is provided with an oil inlet and an oil return port. The oil inlet is connected to the pressure channel, and the oil return port is connected to the oil return channel. The oil supply pipe of the hydraulic power station is detachably connected to the oil inlet, and the oil return pipe of the hydraulic power station is detachably connected to the oil return port.
[0009] As a preferred embodiment of the pipeline dredging robot provided by the present invention, the electrical control unit further includes a control module, which is disposed in the waterproof housing and electrically connected to the solenoid valve assembly, and is capable of controlling the on / off state of the solenoid valve assembly.
[0010] As a preferred embodiment of the pipeline dredging robot provided by the present invention, the electrical control unit further includes a connector module, which is disposed on the waterproof housing and connected to the control module. A cable is detachably connected to the connector module and is configured to be connected to a ground workstation.
[0011] As a preferred embodiment of the pipeline dredging robot provided by the present invention, the pipeline dredging robot further includes a connecting pipe assembly, which is connected between the dredging execution unit and the solenoid valve assembly, and is configured to allow hydraulic oil to flow between the dredging execution unit and the hydraulic pipeline assembly when the solenoid valve assembly is opened.
[0012] As a preferred embodiment of the pipeline dredging robot provided by the present invention, the dredging execution unit includes a walking device and a dredging device. The dredging device is mounted on the walking device and is capable of sucking up dirt from the pipeline. The walking device can drive the dredging device to move in the pipeline. The solenoid valve assembly includes a walking solenoid valve and a dredging solenoid valve. The walking solenoid valve and the dredging solenoid valve are respectively connected to the hydraulic pipeline assembly. The hydraulic pipeline assembly is selectively connected to the walking device through the walking solenoid valve, and the hydraulic pipeline assembly is selectively connected to the dredging device through the dredging solenoid valve.
[0013] As a preferred embodiment of the pipeline dredging robot provided by the present invention, the pipeline dredging robot further includes a lifting device, which is disposed on the walking device, and the dredging device is connected to the lifting device. The lifting device is capable of adjusting the height of the suction inlet of the dredging device. The solenoid valve assembly further includes a lifting solenoid valve, which is connected to the hydraulic pipeline assembly. The hydraulic pipeline assembly is selectively connected to the lifting device through the lifting solenoid valve; and / or, The pipeline dredging robot also includes a winch device, which is located at the suction inlet of the dredging device and can rotate to break up sludge; the solenoid valve assembly also includes a winch solenoid valve, which is connected to the hydraulic pipeline assembly, and the hydraulic pipeline assembly is selectively connected to the winch device through the winch solenoid valve.
[0014] As a preferred embodiment of the pipeline dredging robot provided by the present invention, the pipeline dredging robot further includes a pressurized water flushing device, which is disposed at the suction inlet of the dredging device and configured to spray pressurized water to flush the pipeline; the solenoid valve assembly further includes a flushing solenoid valve, which is connected to the hydraulic pipeline assembly, and the hydraulic pipeline assembly is selectively connected to the pressurized water flushing device through the flushing solenoid valve.
[0015] According to another aspect of the present invention, an object is to provide a pipeline dredging system, the pipeline dredging system comprising a hydraulic power station, an electro-hydraulic cable reel, a ground workstation, a cable, an oil supply pipe, an oil return pipe, and a pipeline dredging robot as described in any of the above embodiments, wherein the cable, the oil supply pipe, and the oil return pipe are wound around the electro-hydraulic cable reel, the oil supply pipe and the oil return pipe are respectively connected between the hydraulic power station and the hydraulic pipeline assembly, and the cable is connected to the ground workstation and to the electrical control unit.
[0016] The beneficial effects of this invention are: The pipeline dredging robot provided by this invention includes a dredging execution unit and an electrical control unit. The dredging execution unit is capable of performing movement and suction actions within the pipeline. Through this dredging execution unit, the pipeline dredging robot can move within the pipeline and perform dredging functions during the movement.
[0017] The electronic control unit includes a waterproof housing and a solenoid valve assembly. The waterproof housing is integrated into the dredging execution unit, and the solenoid valve assembly is housed within the waterproof housing. The waterproof housing also integrates a hydraulic pipeline assembly, which connects to a hydraulic power station on the ground and is connected to the solenoid valve assembly. The dredging execution unit is connected to the solenoid valve assembly, which controls the on / off connection between the hydraulic pipeline assembly and the dredging execution unit. When the hydraulic pipeline assembly is connected to the dredging execution unit, it provides power to the unit. This hydraulic pipeline assembly serves as a transfer mechanism, connecting the ground-based hydraulic power station and the dredging execution unit. This simplifies the connection between the hydraulic power station and the dredging execution unit, effectively reducing the number of external hydraulic pipes and improving the flexibility of the pipeline dredging robot's movement within the pipeline. The integration of the hydraulic pipeline assembly into the waterproof housing further enhances the overall structural integrity of the pipeline dredging robot. The solenoid valve assembly enables flexible control of the on / off connection between the dredging execution unit and the hydraulic pipeline assembly, ensuring efficient and effective dredging operations. Attached Figure Description
[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.
[0019] Figure 1 This is a schematic diagram of the structure of the pipeline dredging robot provided in this embodiment of the invention. Figure 1 ; Figure 2 This is a partial structural schematic diagram of the pipeline dredging robot provided in an embodiment of the present invention; Figure 3 This is a partial schematic diagram of the electronic control unit provided in an embodiment of the present invention; Figure 4 This is a schematic diagram showing the connection between the solenoid valve assembly and the dredging execution unit provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the pipeline dredging robot provided in this embodiment of the invention. Figure 2 ; Figure 6 yes Figure 5 A magnified view of the structure marked A in the middle.
[0020] In the picture: 1. Cable; 2. Hydraulic power unit; 21. Oil supply pipe; 22. Oil return pipe; 100. Electrical control unit; 110. Waterproof housing; 120. Solenoid valve assembly; 121. Travel solenoid valve; 122. Dredging solenoid valve; 123. Lifting solenoid valve; 124. Winch solenoid valve; 130. Hydraulic pipeline assembly; 131. Pressure channel; 132. Return oil channel; 133. Oil inlet port; 134. Oil return port; 140. Control module; 150. Connector module; 160. Clip; 200. Walking device; 210. First track mechanism; 220. Second track mechanism; 300. Dredging equipment; 400. Lifting device; 500. Winch device; 600. Pressurized water flushing device; 700. Connecting pipe assembly. Detailed Implementation
[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.
[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0023] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.
[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0025] In the description of this invention, it should be noted that the terms "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, or the orientation or positional relationship commonly used when the product of this invention is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.
[0026] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "connect," and "fix" 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. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.
[0027] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0028] In this embodiment, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this invention, the character " / " generally indicates that the preceding and following associated objects have an "or" relationship.
[0029] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.
[0030] Figure 1 This diagram illustrates the structure of the pipeline dredging robot provided in an embodiment of the present invention. Figure 1. Reference Figure 1 , Figure 2 This diagram shows a partial structural schematic of the pipeline dredging robot provided in an embodiment of the present invention. Figure 3 This diagram shows a partial schematic of the electronic control unit provided in an embodiment of the present invention. Figure 4 This diagram illustrates the connection between the solenoid valve assembly and the dredging execution unit provided in an embodiment of the present invention. (Refer to...) Figures 1-4 This embodiment provides a pipeline dredging robot and a pipeline dredging system. The pipeline dredging system includes a hydraulic power station 2, an electro-hydraulic cable reel, a ground workstation, a cable 1, an oil supply pipe 21, an oil return pipe 22, and the pipeline dredging robot provided in this embodiment.
[0031] Specifically, the cable 1, the oil supply pipe 21, and the oil return pipe 22 are wound around the electro-hydraulic cable reel. The oil supply pipe 21 and the oil return pipe 22 are respectively connected between the hydraulic power station 2 and the pipeline dredging robot. The hydraulic power station 2 provides hydraulic power to the pipeline dredging robot. The cable 1 is connected to the ground workstation and the pipeline dredging robot. The cable 1 enables electrical connection between the ground workstation and the pipeline dredging robot, facilitating signal transmission and power supply to the pipeline dredging robot.
[0032] The pipeline dredging robot provided in this embodiment includes a dredging execution unit and an electrical control unit 100. The dredging execution unit is capable of performing movement and suction actions in the pipeline to realize the dredging process of the pipeline dredging robot.
[0033] Reference Figure 2 and Figure 3The electronic control unit 100 includes a waterproof housing 110 and a solenoid valve assembly 120. The waterproof housing 110 is integrated into the dredging execution unit, and the solenoid valve assembly 120 is disposed within the waterproof housing 110. The waterproof housing 110 integrates a hydraulic pipeline assembly 130, which is connected to the hydraulic power station 2 on the ground via the oil supply pipe 21 and the oil return pipe 22, and is also connected to the solenoid valve assembly 120. The dredging execution unit is connected to the solenoid valve assembly 120, which controls the connection between the hydraulic pipeline assembly 130 and the dredging execution unit. When the hydraulic pipeline assembly 130 is connected to the dredging execution unit, it provides power to the dredging execution unit. The hydraulic pipeline assembly 130 serves as a transfer mechanism, enabling the connection between the hydraulic power station 2 on the ground and the dredging execution unit. The above configuration simplifies the connection between the hydraulic power station 2 and the dredging execution unit, effectively reducing the number of external hydraulic pipes and improving the flexibility of the pipeline dredging robot in moving through the pipeline. The integration of the hydraulic pipeline assembly 130 into the waterproof housing 110 further enhances the overall structural integrity of the pipeline dredging robot. The solenoid valve assembly 120 enables flexible control of the on / off states of the dredging execution unit and the hydraulic pipeline assembly 130, ensuring efficient and effective dredging operations.
[0034] Specifically, continue to refer to Figure 3 The hydraulic piping assembly 130 includes a pressure channel 131 and a return oil channel 132. The pressure channel 131 and the return oil channel 132 are integrally formed in the bottom structure of the waterproof housing 110.
[0035] To be more specific, Figure 5 This diagram illustrates the structure of the pipeline dredging robot provided in an embodiment of the present invention. Figure 2 , refer to Figure 3 and Figure 5 The waterproof housing 110 is provided with an oil inlet port 133 and an oil return port 134. The oil inlet port 133 is connected to the pressure channel 131, and the oil return port 134 is connected to the oil return channel 132. The oil supply pipe 21 is detachably connected to the oil inlet port 133, and the oil return pipe 22 of the hydraulic power station 2 is detachably connected to the oil return port 134. The ends of the oil supply pipe 21 and the ends of the oil return pipe 22 of the hydraulic power station 2 are respectively provided with quick-connect plugs. The oil inlet port 133 and the oil return port 134 are interfaces that are compatible with the quick-connect plugs, and the quick-connect plugs can be quickly connected to the interfaces by plugging them in.
[0036] More specifically, continue to refer to Figure 2The electronic control unit 100 also includes a control module 140. The control module 140 is housed within the waterproof housing 110, electrically connected to the solenoid valve assembly 120, and capable of controlling the on / off state of the solenoid valve assembly 120. The control module 140 can communicate with a ground workstation, specifically a PLC controller as used in the prior art. The control module 140 can transmit data to the ground workstation and also control the solenoid valve assembly 120, etc.
[0037] More specifically, the electronic control unit 100 also includes a connector module 150. The connector module 150 is disposed on the waterproof housing 110 and connected to the control module 140. The cable 1 is detachably connected to the connector module 150 and is configured to connect to a ground workstation.
[0038] Continue to refer to Figure 1 , Figure 2 and Figure 5 The dredging unit includes a traveling device 200 and a dredging device 300. The dredging device 300 includes a suction pipe and a suction pump, which are interconnected. The suction pipe is mounted on the traveling device 200 via a mounting bracket. The suction pump can suction debris from the pipe through the suction pipe, and the traveling device 200 can move the dredging device 300 within the pipe. Specifically, the suction pump uses hydraulic oil as its power source to perform the suction action.
[0039] Specifically, the walking device 200 includes a first track mechanism 210 and a second track mechanism 220. The first track mechanism 210 and the second track mechanism 220 are parallel to each other and spaced apart in the width direction of the dredging device 300, and can operate simultaneously to drive the dredging device 300 to move.
[0040] More specifically, the pipeline dredging robot also includes a lifting device 400. The lifting device 400 is mounted on the walking device 200, specifically located between the first track mechanism 210 and the second track mechanism 220. The suction pipe of the dredging device 300 is connected to the lifting device 400, and the lifting device 400 can adjust the height of the suction inlet of the suction pipe to adapt to various dredging operation needs. In this embodiment, the lifting device 400 can specifically be a hydraulic telescopic device, which is existing technology, and its structure and principle will not be described in detail here.
[0041] More specifically, the pipeline dredging robot also includes a winch device 500. The winch device 500 is located at the suction inlet of the suction pipe of the dredging device 300, and can rotate to break up the sludge, making it easier for the sludge to be sucked up by the suction pipe and improving the dredging effect.
[0042] More specifically, the pipeline dredging robot also includes a pressurized water flushing device 600. The pressurized water flushing device 600 is located at the suction inlet of the dredging device 300 and is configured to spray pressurized water to flush the pipeline.
[0043] Continue to refer to Figure 1 , Figure 2 and Figure 5 The pipeline dredging robot also includes a connecting pipe assembly 700. This connecting pipe assembly 700 connects the dredging execution unit and the solenoid valve assembly 120, and is configured to supply hydraulic oil between the dredging execution unit and the hydraulic pipeline assembly 130 when the solenoid valve assembly 120 is open. The connecting pipe assembly 700 includes multiple pressure connecting pipes and multiple return connecting pipes, with one pressure connecting pipe and one return connecting pipe forming a group, connected to one of the following in the dredging execution unit: the walking device 200, the dredging device 300, the lifting device 400, the winch device 500, or the pressurized water flushing device 600. The pressure connecting pipes and the return connecting pipes can be selected from existing technologies such as flexible rubber hoses.
[0044] Figure 6 Show Figure 5 A magnified view of the structure marked A in the middle. (Refer to...) Figure 6 The waterproof housing 110 has a buckle 160 integrated on its side. The buckle 160 has a through space inside, through which both the pressure connection pipe and the return oil connection pipe can pass. There are multiple buckles 160, which can integrate the pressure connection pipe and the return oil connection pipe so that they can extend along the external structure of the pipeline dredging robot, reduce the external size of the connection pipe assembly 700, and improve the mobility and structural integrity of the pipeline dredging robot.
[0045] Continue to refer to Figure 4 The solenoid valve assembly 120 includes a travel solenoid valve 121 and a sludge removal solenoid valve 122. The travel solenoid valve 121 and the sludge removal solenoid valve 122 are respectively connected to the hydraulic pipeline assembly 130. The hydraulic pipeline assembly 130 is selectively connected to the traveling device 200 via the travel solenoid valve 121. The hydraulic pipeline assembly 130 is selectively connected to the suction pump of the sludge removal device 300 via the sludge removal solenoid valve 122. In this embodiment, there are two travel solenoid valves 121, which are respectively connected to the first track mechanism 210 and the second track mechanism 220. It should be noted that the two travel solenoid valves 121 operate synchronously, achieving synchronous operation of the first track mechanism 210 and the second track mechanism 220. Both the first track mechanism 210 and the second track mechanism 220 are hydraulically driven.
[0046] Specifically, the solenoid valve assembly 120 also includes a lifting solenoid valve 123, which is connected to the hydraulic pipeline assembly 130. The hydraulic pipeline assembly 130 is selectively connected to the lifting device 400 through the lifting solenoid valve 123.
[0047] More specifically, the solenoid valve assembly 120 also includes a winch solenoid valve 124, which is connected to the hydraulic pipeline assembly 130. The hydraulic pipeline assembly 130 is selectively connected to the winch device 500 through the winch solenoid valve 124.
[0048] More specifically, the solenoid valve assembly 120 also includes a flushing solenoid valve, which is connected to the hydraulic line assembly 130, and the hydraulic line assembly 130 is selectively connected to the pressurized water flushing device 600 through the flushing solenoid valve.
[0049] It should be noted that the aforementioned walking solenoid valve 121, sludge removal solenoid valve 122, lifting solenoid valve 123, winch solenoid valve 124, and flushing solenoid valve operate separately. Furthermore, the aforementioned walking solenoid valve 121, sludge removal solenoid valve 122, lifting solenoid valve 123, winch solenoid valve 124, and flushing solenoid valve can all be selected from existing solenoid valves. Their structure and principle will not be described in detail in this embodiment.
[0050] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.
[0051] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.
Claims
1. A pipeline dredging robot, characterized in that, include: The dredging unit is capable of performing movement and suction actions within the pipeline; The electronic control unit (100) includes a waterproof housing (110) and a solenoid valve assembly (120). The waterproof housing (110) is integrated into the dredging execution unit. The solenoid valve assembly (120) is disposed in the waterproof housing (110). The waterproof housing (110) is integrated with a hydraulic pipeline assembly (130). The hydraulic pipeline assembly (130) is connected to a hydraulic power station (2) on the ground and connected to the solenoid valve assembly (120). The dredging execution unit is connected to the solenoid valve assembly (120). The solenoid valve assembly (120) can control the connection and disconnection between the hydraulic pipeline assembly (130) and the dredging execution unit. When the hydraulic pipeline assembly (130) is connected to the dredging execution unit, it can provide power to the dredging execution unit.
2. The pipeline dredging robot according to claim 1, characterized in that, The hydraulic pipeline assembly (130) includes a pressure channel (131) and a return oil channel (132). The pressure channel (131) is integrally formed in the waterproof housing (110), and the return oil channel (132) is integrally formed in the waterproof housing (110).
3. The pipeline dredging robot according to claim 2, characterized in that, The waterproof housing (110) is provided with an oil inlet (133) and an oil return (134). The oil inlet (133) is connected to the pressure channel (131), and the oil return (134) is connected to the oil return channel (132). The oil supply pipe (21) of the hydraulic power station (2) is detachably connected to the oil inlet (133), and the oil return pipe (22) of the hydraulic power station (2) is detachably connected to the oil return (134).
4. The pipeline dredging robot according to claim 1, characterized in that, The electronic control unit (100) also includes a control module (140), which is disposed in the waterproof housing (110) and electrically connected to the solenoid valve assembly (120), and is capable of controlling the on / off state of the solenoid valve assembly (120).
5. The pipeline dredging robot according to claim 4, characterized in that, The electrical control unit (100) also includes a connector module (150), which is disposed on the waterproof housing (110) and connected to the control module (140). A cable (1) is detachably connected to the connector module (150) and is configured to be connected to a ground workstation.
6. The pipeline dredging robot according to claim 1, characterized in that, The pipeline dredging robot also includes a connecting pipe assembly (700) connected between the dredging execution unit and the solenoid valve assembly (120), and configured to supply hydraulic oil between the dredging execution unit and the hydraulic pipeline assembly (130) when the solenoid valve assembly (120) is open.
7. The pipeline dredging robot according to claim 1, characterized in that, The dredging execution unit includes a walking device (200) and a dredging device (300). The dredging device (300) is mounted on the walking device (200) and can suck up dirt in the pipeline. The walking device (200) can drive the dredging device (300) to move in the pipeline. The solenoid valve assembly (120) includes a walking solenoid valve (121) and a dredging solenoid valve (122). The walking solenoid valve (121) and the dredging solenoid valve (122) are respectively connected to the hydraulic pipeline assembly (130). The hydraulic pipeline assembly (130) is selectively connected to the walking device (200) through the walking solenoid valve (121). The hydraulic pipeline assembly (130) is selectively connected to the dredging device (300) through the dredging solenoid valve (122).
8. The pipeline dredging robot according to claim 7, characterized in that, The pipeline dredging robot also includes a lifting device (400), which is mounted on the walking device (200). The dredging device (300) is connected to the lifting device (400), and the lifting device (400) can adjust the height of the suction inlet of the dredging device (300). The solenoid valve assembly (120) also includes a lifting solenoid valve (123), which is connected to the hydraulic pipeline assembly (130). The hydraulic pipeline assembly (130) is selectively connected to the lifting device (400) through the lifting solenoid valve (123). And / or, The pipeline dredging robot also includes a winch device (500), which is located at the suction inlet of the dredging device (300) and can rotate to break up the sludge; the solenoid valve assembly (120) also includes a winch solenoid valve (124), which is connected to the hydraulic pipeline assembly (130), and the hydraulic pipeline assembly (130) is selectively connected to the winch device (500) through the winch solenoid valve (124).
9. The pipeline dredging robot according to claim 7, characterized in that, The pipeline dredging robot also includes a pressurized water flushing device (600), which is located at the suction inlet of the dredging device (300) and is configured to spray pressurized water to flush the pipeline; the solenoid valve assembly (120) also includes a flushing solenoid valve, which is connected to the hydraulic pipeline assembly (130), and the hydraulic pipeline assembly (130) is selectively connected to the pressurized water flushing device (600) through the flushing solenoid valve.
10. A pipeline dredging system, characterized in that, The system includes a hydraulic power station (2), an electro-hydraulic cable reel, a ground workstation, a cable (1), an oil supply pipe (21), an oil return pipe (22), and a pipeline dredging robot as described in any one of claims 1-9. The cable (1), the oil supply pipe (21), and the oil return pipe (22) are wound around the electro-hydraulic cable reel. The oil supply pipe (21) and the oil return pipe (22) are respectively connected between the hydraulic power station (2) and the hydraulic pipeline assembly (130). The cable (1) is connected to the ground workstation and to the electrical control unit (100).