Pipeline dredging robot

Abstract

The utility model discloses a pipeline dredging robot which comprises a first shell and a second shell, walking wheels are arranged on the lower portions of the two sides of the first shell, reversing wheels are arranged on the lower portions of the two sides of the second shell, and a first magnetic coupler is arranged in a first sleeve at one end of the second shell. The first magnetic coupler is connected with a transmission shaft of the second motor and the output main shaft, one end of the output main shaft is connected with the cleaning piece, and a controller is arranged in the first shell. The pipeline dredging robot is simple in structure and convenient to use, adapts to various complex working environments, the use range of the pipeline dredging robot is widened, the pipeline dredging robot can work underwater, blockages in a pipeline can be crushed, attachments on the inner wall of the pipeline can be scraped and washed away, waste can be flushed out of the pipeline, and the pipeline dredging robot is diversified in function and high in practicability. And the utilization rate of the pipeline dredging robot is improved.

Description

Technical Field

[0001] This utility model belongs to the field of pipeline dredging technology, and in particular relates to a pipeline dredging robot. Background Technology

[0002] During the use of pipelines, due to the lack of maintenance, a large amount of impurities usually accumulate on the inner wall of the pipeline after a period of time, causing blockages. Current pipeline unblocking devices have a limited range of applications and relatively simple functions, making them unsuitable for unblocking pipelines in complex environments. Summary of the Invention

[0003] To address the above problems, this utility model provides a pipe dredging robot.

[0004] This invention is implemented as follows: A pipe-dredging robot includes a first housing and a second housing fixedly connected together. A first motor is housed within the first housing and is protected by the first housing. A second motor is housed within the second housing and is protected by the second housing. Walking wheels are symmetrically arranged on the lower parts of both sides of the first housing. The first motor is connected to the wheel axle of the walking wheels, providing power for the movement of the walking wheels. A third housing is symmetrically fixedly arranged on the upper parts of both sides of the second housing opposite to the first housing. A third motor is housed within the third housing and is protected by the third housing. A reversing wheel is arranged below the third housing, and the third motor is connected to the wheel axle of the reversing wheel, providing power for the steering of the reversing wheel.

[0005] A first sleeve is fixedly installed at the midpoint of the second housing opposite to the first housing. An end sleeve is fixedly installed at the end of the first sleeve. A first magnetic coupler is installed inside the first sleeve. The first sleeve and the end sleeve limit and protect the first magnetic coupler. The first magnetic coupler connects the drive shaft of the second motor and the output shaft. One end of the output shaft passes tightly through the center hole at one end of the end sleeve and connects to the cleaning component. The second motor controls the rotation of the output shaft through the first magnetic coupler. This prevents the output shaft from breaking if the second motor directly drives the output shaft to rotate, as the output shaft might become jammed. This protects the output shaft.

[0006] A first solenoid valve and a second solenoid valve are symmetrically arranged at the middle positions of both sides of the second housing. A main water inlet pipe is provided at the upper end of the first housing, which connects to both the first and second branch water pipes. Water flows along the main water inlet pipe into the first and second branch water pipes. The first solenoid valve is located on the first branch water pipe to control its operation, and the second solenoid valve is located on the second branch water pipe to control its operation. The other end of the first branch water pipe is located at the middle position of one end of the first housing, and the other end of the second branch water pipe... The robot is positioned above the first sleeve. Adjustable nozzles are connected to the ends of both the first and second branch pipes. When the robot moves forward, the second solenoid valve is activated, allowing water from the main inlet pipe to flow along the second branch pipe to the adjustable nozzles, flushing away blockages. When the robot moves backward, the first solenoid valve is activated, allowing water from the main inlet pipe to flow along the first branch pipe to the adjustable nozzles, flushing away accumulated sediment and impurities in the rear pipes. As the robot moves, it flushes out the accumulated sediment and impurities from the pipes.

[0007] A controller is installed inside the first housing. A conduit is fixedly installed at the upper end of the first housing to protect the cable. One end of the cable inside the conduit is electrically connected to the controller. The first motor, the second motor, the third motor, the first solenoid valve, and the second solenoid valve are electrically connected to the controller. The controller controls the operation of the first motor, the second motor, the third motor, the first solenoid valve, and the second solenoid valve. Power is supplied and data is transmitted through the cable.

[0008] Preferably, a fourth housing and a fifth housing are provided at the upper end of the first housing. A fourth motor is housed within the fourth housing, which protects the fourth motor. A second magnetic coupler is housed within the fifth housing, which limits and protects the second magnetic coupler. A lead screw is horizontally mounted at the upper end of the second housing, corresponding to the position of the second magnetic coupler. A first nut is fixedly mounted at the upper end of the second housing, with one end of the lead screw positioned within it. This limits the position of one end of the lead screw while ensuring its normal rotation. The second magnetic coupler connects both the drive shaft of the fourth motor and the lead screw. The fourth motor drives the lead screw to rotate via the second magnetic coupler. This design prevents the lead screw from breaking if the fourth motor directly drives the lead screw and the sixth housing connected to the lead screw is jammed at its maximum position, thus protecting the lead screw. A sixth housing is located above the second housing, housing the fifth motor. The sixth housing controls the rotation of the fifth motor. For protection, a waterproof camera is installed on the top of the sixth housing. The camera observes the situation inside the pipe and transmits the observation results to the controller and a display screen outside the pipe, allowing operators to control the pipe-clearing robot in real time. The drive shaft of the fifth motor is connected to the waterproof camera, allowing the camera to be turned as needed. When the pipe-clearing robot moves forward, the fifth motor turns the waterproof camera forward; when the robot moves backward, the fifth motor turns the camera backward. Connecting rods are horizontally and symmetrically fixed at both ends of the sixth housing. A second nut is fixed to the end of one of the connecting rods, through which a lead screw passes. The sixth housing is reliably connected to the lead screw via the connecting rod and the second nut. As the lead screw rotates, the second nut drives the sixth housing to move horizontally via the connecting rod. The fourth motor, the fifth motor, the waterproof camera, and the controller are electrically connected, allowing the controller to control the operation of the fourth motor, the fifth motor, and the waterproof camera.

[0009] Preferably, a stop bar is horizontally arranged at the upper end of the second housing, and a stop block is symmetrically fixedly arranged at the upper end of the second housing. The two ends of the stop bar are fixedly connected to the stop blocks to ensure the stability and reliability of the stop bar position. The sixth housing is located between the lead screw and the stop bar, and the end of another connecting rod is located below the stop bar to limit the connecting rod, thereby limiting the position of the sixth housing and ensuring that the sixth housing moves smoothly horizontally under the action of the lead screw.

[0010] Preferably, the walking wheel is formed by a fixed connection of multiple gear discs with gradually decreasing diameters and densely packed teeth on the outer edge. A bracket is fixedly installed inside the walking wheel, and one end of the bracket is fixedly connected to the wheel axle to ensure a reliable connection between the walking wheel and the wheel axle. The design of the walking wheel can ensure that the pipe dredging robot can move in complex pipe environments without slipping.

[0011] Preferably, the reversing wheel is composed of two semi-circular contours, and multiple connecting plates are evenly fixed on the contours, which not only improves the strength of the reversing wheel, but also facilitates reversing.

[0012] Preferably, a first bearing sleeve is fixedly mounted on the end sleeve, and the output shaft passes through the central hole of the first bearing sleeve, making the end sleeve and the first bearing sleeve an integral unit. Multiple discs with gradually decreasing diameters are mounted on the output shaft and connected to screws, thereby limiting the position of the cutting heads. This allows multiple cutting heads to simultaneously break up blockages in the pipe as the pipe-clearing robot moves forward. Multiple through holes are evenly distributed on the discs, with corresponding positions between adjacent discs. Screws are mounted through corresponding through holes on two adjacent discs, and a cutting head is fixedly mounted at one end of each screw. As the output shaft rotates, the cutting head breaks up the blockages in the pipe. In the crushing process, the end of the cutting head near the screw abuts against the disc, limiting the position of the cutting head. Locking nuts are tightly fitted on the screws on both sides of the disc to ensure a reliable connection between the screws and the disc, thereby ensuring the stable and reliable position of the cutting head. Multiple first connecting rods are evenly fixedly arranged on the outer edge of the first bearing sleeve, and the first connecting rods are fixedly connected to the disc with the largest diameter. A second bearing sleeve is fitted on the end of the output shaft, and multiple second connecting rods are evenly fixedly arranged on the outer edge of the second bearing sleeve. The second connecting rods are fixedly connected to the disc with the smallest diameter, ensuring a reliable connection between the disc structure and the output shaft, thereby causing the disc to drive the cutting head to rotate along the output shaft.

[0013] Preferably, a third bearing sleeve is fixedly installed on the end sleeve, and the output shaft passes through the central hole of the third bearing sleeve, making the end sleeve and the third bearing sleeve an integral unit. Multiple third connecting rods are evenly fixedly installed on the outer edge of the third bearing sleeve. The end of each third connecting rod has a threaded hole. A cleaning rod is installed on one side of each third connecting rod. One end of the cleaning rod is threadedly connected to the third connecting rod, which is convenient for disassembly and assembly and has a reliable connection. A cleaning brush head is fixedly installed on the other end of the cleaning rod. The cleaning brush head is made of steel wire. When the output shaft drives the third connecting rod to rotate through the third bearing sleeve, the cleaning brush head scrapes the deposits on the inner wall of the pipe, thereby cleaning the inner wall of the pipe.

[0014] Preferably, a second sleeve is fixedly installed on the end sleeve, and a water inlet branch pipe is fixedly installed on the side wall of the second sleeve. The water inlet branch pipe is connected to the second water distribution pipe. Water in the second water distribution pipe enters the second sleeve for storage along the water inlet branch pipe. A sleeve body is tightly fitted on the other end of the second sleeve. One end of the output shaft is set in the sleeve body. The output shaft and the sleeve body are fixedly connected together by bolts to ensure a reliable connection between the output shaft and the sleeve body, so that the sleeve body rotates with the rotation of the output shaft. Multiple water outlet pipes are evenly fixed on the outer wall of the sleeve body. A nozzle is installed at the end of the water outlet pipe. When the sleeve body rotates with the rotation of the output shaft, water in the second sleeve and the sleeve body flows along the water outlet pipe to the nozzle and is sprayed out to rinse the adhering substances on the inner wall of the pipe, ensuring the cleaning effect on the inner wall of the pipe.

[0015] Preferably, O-rings are provided at the connection between the second sleeve and the end sleeve, and at the connection between the sleeve body and the second sleeve, to prevent water leakage.

[0016] Preferably, the first shell, second shell, third shell, fourth shell, fifth shell and sixth shell are sealed stainless steel shells, which respectively protect the first motor, second motor, third motor, fourth motor, second magnetic coupler and fifth motor, which not only improves the strength of the pipe cleaning robot, but also expands the application range of the pipe cleaning robot, enabling the pipe cleaning robot to operate underwater.

[0017] The beneficial effects of this utility model are: it adapts to a variety of complex working environments, expands the application range of the pipe dredging robot, and enables the pipe dredging robot to operate underwater. It can not only break up blockages in pipes, but also scrape and wash the attachments on the inner wall of the pipes, and flush waste out of the pipes. It has multiple functions and improves the utilization rate of the pipe dredging robot. Attached Figure Description

[0018] Figure 1 This is a side view of the structure of this utility model;

[0019] Figure 2 This is a top view of the structure of this utility model;

[0020] Figure 3 This is a schematic diagram of the connection structure between the output shaft and the cleaning component in Embodiment 1 of this utility model;

[0021] Figure 4 This is a schematic diagram of the disk structure;

[0022] Figure 5 This is a schematic diagram of the cutting head structure;

[0023] Figure 6This is a schematic diagram of the connection structure between the output shaft and the cleaning component 2 in Embodiment 2 of this utility model;

[0024] Figure 7 This is a schematic diagram of the connection structure between the third connecting rod and the cleaning rod.

[0025] Figure 8 This is a schematic diagram of the connection structure between the output shaft and the cleaning component three in Embodiment 3 of this utility model;

[0026] In the diagram: 1. First housing; 2. Second housing; 3. Traveling wheel; 4. Third housing; 5. Reversing wheel; 6. First sleeve; 7. End sleeve; 8. First magnetic coupler; 9. Output shaft; 10. First solenoid valve; 11. Second solenoid valve; 12. Main water inlet pipe; 13. First branch water pipe; 14. Second branch water pipe; 15. Adjustable nozzle; 16. Conduit; 17. Fourth housing; 18. Fifth housing; 19. Lead screw; 20. First nut; 21. Sixth housing; 22. Waterproof camera; 23. Connecting rod; 24. 25. Nut; 26. Stop bar; 27. Stop block; 28. Gear disc; 29. ​​Bracket; 20. Connecting plate; 31. First bearing sleeve; 32. Disc; 33. Through hole; 34. Screw; 35. Cutting head; 36. Locking nut; 37. First connecting rod; 38. Second bearing sleeve; 39. Second connecting rod; 40. Third bearing sleeve; 41. Third connecting rod; 42. Cleaning rod; 43. Cleaning brush head; 44. Second sleeve; 45. Water inlet branch pipe; 46. Sleeve body; 47. Water outlet pipe; 48. Nozzle; 49. O-ring seal. Detailed Implementation

[0027] To better understand the technical solution of this utility model, the following description, in conjunction with the accompanying drawings, further illustrates this utility model.

[0028] Example 1

[0029] like Figure 1-5The illustrated pipe-clearing robot includes a first housing 1 and a second housing 2 fixedly connected together. A first motor is installed inside the first housing 1 and is protected by the first housing 1. A second motor is installed inside the second housing 2 and is protected by the second housing 2. Walking wheels 3 are symmetrically arranged on the lower parts of both sides of the first housing 1. Each walking wheel 3 is fixedly connected by multiple gear discs 27 with gradually decreasing diameters and densely packed teeth on the outer edge. A bracket 28 is fixedly installed inside each walking wheel 3. One end of the bracket 28 is fixedly connected to the wheel axle to ensure a reliable connection between the walking wheel 3 and the wheel axle. The design of the walking wheels 3 ensures that the pipe-clearing robot can move in complex pipe environments without slipping. The first motor is connected to the wheel axle of the walking wheel 3, and the first motor provides power for the movement of the walking wheel 3. The second housing 2 is symmetrically fixed on the upper part of both sides away from the first housing 1. The third housing 4 is equipped with a third motor and is protected by the third housing 4. The reversing wheel 5 is arranged below the third housing 4. The reversing wheel 5 is composed of two semi-circular contours. Multiple connecting plates 29 are evenly fixed on the contours, which not only improves the strength of the reversing wheel 5, but also facilitates reversing.The third motor is connected to the wheel axle of the reversing wheel 5, and provides power for the steering of the reversing wheel 5. A first sleeve 6 is fixedly installed at the middle of the second housing 2 away from the first housing 1. An end sleeve 7 is fixedly installed at the end of the first sleeve 6. A first magnetic coupler 8 is installed inside the first sleeve 6. The first sleeve 6 and the end sleeve 7 limit and protect the first magnetic coupler 8. The first magnetic coupler 8 is simultaneously connected to the drive shaft of the second motor and the output shaft 9. One end of the output shaft 9 tightly passes through the center hole at one end of the end sleeve 7 and is connected to the cleaning component. The second motor controls the rotation of the output shaft 9 through the first magnetic coupler 8 to prevent leakage. When the second motor directly drives the output shaft 9 to rotate, the output shaft 9 may break due to jamming, causing the second motor to continue rotating. Therefore, the output shaft 9 is protected. A first solenoid valve 10 and a second solenoid valve 11 are symmetrically arranged at the middle positions on both sides of the second housing 2. A main water inlet pipe 12 is provided at the upper end of the first housing 1, which connects to both the first branch pipe 13 and the second branch pipe 14. Water flows along the main water inlet pipe 12 into the first branch pipe 13 and the second branch pipe 14. The first solenoid valve 10 is located on the first branch pipe 13 to control its operation. The second solenoid valve 11 is located on... The operation of the second water distribution pipe 14 is controlled. The other end of the first water distribution pipe 13 is located at the middle of one end of the first housing 1, and the other end of the second water distribution pipe 14 is located above the first sleeve 6. Adjustable nozzles 15 are connected to the ends of both the first water distribution pipe 13 and the second water distribution pipe 14. When the pipe cleaning robot moves forward, the second solenoid valve 11 is activated, and the water in the main water inlet pipe 12 flows along the second water distribution pipe 14 to the adjustable nozzle 15 to spray water and flush the blockage in front. When the pipe cleaning robot moves backward, the first solenoid valve 10 is activated, and the water in the main water inlet pipe 12 flows along the first water distribution pipe 13 to the adjustable nozzle. At 15 locations, water is sprayed to flush away the accumulated sediment and impurities in the rear pipes. As the pipe cleaning robot moves, the accumulated sediment and impurities in the pipes are flushed out. A controller is installed inside the first housing 1. A conduit 16 is fixedly installed at the upper end of the first housing 1 to protect the cables. One end of the cable in the conduit 16 is electrically connected to the controller. The first motor, the second motor, the third motor, the first solenoid valve 10, and the second solenoid valve 11 are electrically connected to the controller. The controller controls the operation of the first motor, the second motor, the third motor, the first solenoid valve 10, and the second solenoid valve 11. Power is supplied and data is transmitted through the cables.

[0030] The upper end of the first housing 1 is provided with a fourth housing 17 and a fifth housing 18. The fourth housing 17 houses a fourth motor and protects it. The fifth housing 18 houses a second magnetic coupler and limits and protects it. A lead screw 19 is horizontally arranged at the upper end of the second housing 2, corresponding to the position of the second magnetic coupler. A first nut 20 is fixedly arranged at the upper end of the second housing 2, with one end of the lead screw 19 disposed within the first nut 20, thus positioning one end of the lead screw 19. The placement of the magnetic coupling ensures the normal rotation of the lead screw 19. The second magnetic coupler connects both the drive shaft of the fourth motor and the lead screw 19. The fourth motor drives the lead screw 19 through the second magnetic coupler, preventing the lead screw 19 from breaking if the sixth housing 21 connected to the lead screw 19 is jammed when it reaches its maximum position, thus protecting the lead screw 19. A sixth housing 21 is located above the second housing 2, and a fifth motor is housed within the sixth housing 21. The fifth motor is controlled by the sixth housing 21. For protection, a waterproof camera 22 is installed on the top of the sixth housing 21. The waterproof camera 22 observes the situation inside the pipe and transmits the observation results to the controller and a display screen outside the pipe, allowing operators to control the pipe-clearing robot in real time based on the observations. The drive shaft of the fifth motor is connected to the waterproof camera 22, facilitating the turning of the waterproof camera 22 as needed. When the pipe-clearing robot moves forward, the fifth motor turns the waterproof camera 22 forward; when the pipe-clearing robot moves backward, the fifth motor turns the waterproof camera 22 backward. 2. Turning to the rear, the sixth housing 21 is horizontally and symmetrically fixed with connecting rods 23 at both ends. A second nut 24 is fixed at the end of one of the connecting rods 23. The lead screw 19 passes through the second nut 24. The sixth housing 21 is reliably connected to the lead screw 19 through the connecting rods 23 and the second nut 24. As the lead screw 19 rotates, the second nut 24 drives the sixth housing 21 to move horizontally through the connecting rods 23. The fourth motor, the fifth motor, and the waterproof camera 22 are electrically connected to the controller. The controller controls the operation of the fourth motor, the fifth motor, and the waterproof camera 22. A stop bar 25 is horizontally arranged on the upper end of the second housing 2, and a stop block 26 is symmetrically fixed on the upper end of the second housing 2. The two ends of the stop bar 25 are fixedly connected to the stop block 26 to ensure the stability and reliability of the position of the stop bar 25. The sixth housing 21 is located between the lead screw 19 and the stop bar 25. The end of another connecting rod 23 is located below the stop bar 25, which limits the connecting rod 23 and thus limits the position of the sixth housing 21, ensuring that the sixth housing 21 moves smoothly horizontally under the action of the lead screw 19.

[0031] A first bearing sleeve 30 is fixedly mounted on the end sleeve 7. The output shaft 9 passes through the central hole of the first bearing sleeve 30, making the end sleeve 7 and the first bearing sleeve 30 a single unit. Multiple discs 31 with gradually decreasing diameters are mounted on the output shaft 9, connected to screws 33, thereby limiting the position of the cutting heads 34. This allows multiple cutting heads 34 to simultaneously break up blockages in the pipe as the pipe cleaning robot moves forward. Multiple through holes 32 are evenly distributed on each disc 31, with corresponding positions between adjacent discs 31. Screws 33 are mounted through corresponding through holes 32 on two adjacent discs 31. A cutting head 34 is fixedly mounted at one end of each screw 33. As the output shaft 9 rotates, the cutting head 34 breaks up the blockages in the pipe. The cutting head 34 is positioned so that one end near the screw 33 abuts against the disk 31, thus defining the position of the cutting head 34. Locking nuts 35 are tightly fitted onto the screws 33 on both sides of the disk 31 to ensure a reliable connection between the screws 33 and the disk 31, thereby ensuring the stable and reliable position of the cutting head 34. Multiple first connecting rods 36 are evenly fixedly arranged on the outer edge of the first bearing sleeve 30. The first connecting rods 36 are fixedly connected to the disk 31 with the largest diameter. A second bearing sleeve 37 is fitted onto the end of the output shaft 9. Multiple second connecting rods 38 are evenly fixedly arranged on the outer edge of the second bearing sleeve 37. The second connecting rods 38 are fixedly connected to the disk 31 with the smallest diameter, ensuring a reliable connection between the structure of the disk 31 and the output shaft 9, thereby allowing the disk 31 to drive the cutting head 34 to rotate along the output shaft 9.

[0032] Example 2

[0033] like Figure 1 , 2As shown in Figures 6 and 7, a pipe dredging robot includes a first housing 1 and a second housing 2 fixedly connected together. A first motor is installed inside the first housing 1 and is protected by the first housing 1. A second motor is installed inside the second housing 2 and is protected by the second housing 2. Walking wheels 3 are symmetrically arranged on the lower part of both sides of the first housing 1. The walking wheels 3 are fixedly connected by multiple gear discs 27 with gradually decreasing diameters and densely distributed teeth on the outer edge. A bracket 28 is fixedly installed inside the walking wheels 3. One end of the bracket 28 is fixedly connected to the wheel axle to ensure a reliable connection between the walking wheels 3 and the wheel axle. The design of the walking wheels 3 can ensure that the pipe dredging robot can move in complex pipe environments without slipping. The first motor is connected to the wheel axle of the walking wheel 3, and the first motor provides power for the movement of the walking wheel 3. The second housing 2 is symmetrically fixed on the upper part of both sides away from the first housing 1. The third housing 4 is equipped with a third motor and is protected by the third housing 4. The reversing wheel 5 is arranged below the third housing 4. The reversing wheel 5 is composed of two semi-circular contours. Multiple connecting plates 29 are evenly fixed on the contours, which not only improves the strength of the reversing wheel 5, but also facilitates reversing.The third motor is connected to the wheel axle of the reversing wheel 5, and provides power for the steering of the reversing wheel 5. A first sleeve 6 is fixedly installed at the middle of the second housing 2 away from the first housing 1. An end sleeve 7 is fixedly installed at the end of the first sleeve 6. A first magnetic coupler 8 is installed inside the first sleeve 6. The first sleeve 6 and the end sleeve 7 limit and protect the first magnetic coupler 8. The first magnetic coupler 8 is simultaneously connected to the drive shaft of the second motor and the output shaft 9. One end of the output shaft 9 tightly passes through the center hole at one end of the end sleeve 7 and is connected to the cleaning component. The second motor controls the rotation of the output shaft 9 through the first magnetic coupler 8 to prevent leakage. When the second motor directly drives the output shaft 9 to rotate, the output shaft 9 may break due to jamming, causing the second motor to continue rotating. Therefore, the output shaft 9 is protected. A first solenoid valve 10 and a second solenoid valve 11 are symmetrically arranged at the middle positions on both sides of the second housing 2. A main water inlet pipe 12 is provided at the upper end of the first housing 1, which connects to both the first branch pipe 13 and the second branch pipe 14. Water flows along the main water inlet pipe 12 into the first branch pipe 13 and the second branch pipe 14. The first solenoid valve 10 is located on the first branch pipe 13 to control its operation. The second solenoid valve 11 is located on... The operation of the second water distribution pipe 14 is controlled. The other end of the first water distribution pipe 13 is located at the middle of one end of the first housing 1, and the other end of the second water distribution pipe 14 is located above the first sleeve 6. Adjustable nozzles 15 are connected to the ends of both the first water distribution pipe 13 and the second water distribution pipe 14. When the pipe cleaning robot moves forward, the second solenoid valve 11 is activated, and the water in the main water inlet pipe 12 flows along the second water distribution pipe 14 to the adjustable nozzle 15 to spray water and flush the blockage in front. When the pipe cleaning robot moves backward, the first solenoid valve 10 is activated, and the water in the main water inlet pipe 12 flows along the first water distribution pipe 13 to the adjustable nozzle. At 15 locations, water is sprayed to flush away the accumulated sediment and impurities in the rear pipes. As the pipe cleaning robot moves, the accumulated sediment and impurities in the pipes are flushed out. A controller is installed inside the first housing 1. A conduit 16 is fixedly installed at the upper end of the first housing 1 to protect the cables. One end of the cable in the conduit 16 is electrically connected to the controller. The first motor, the second motor, the third motor, the first solenoid valve 10, and the second solenoid valve 11 are electrically connected to the controller. The controller controls the operation of the first motor, the second motor, the third motor, the first solenoid valve 10, and the second solenoid valve 11. Power is supplied and data is transmitted through the cables.

[0034] The upper end of the first housing 1 is provided with a fourth housing 17 and a fifth housing 18. The fourth housing 17 houses a fourth motor and protects it. The fifth housing 18 houses a second magnetic coupler and limits and protects it. A lead screw 19 is horizontally arranged at the upper end of the second housing 2, corresponding to the position of the second magnetic coupler. A first nut 20 is fixedly arranged at the upper end of the second housing 2, with one end of the lead screw 19 disposed within the first nut 20, thus positioning one end of the lead screw 19. The placement of the magnetic coupling ensures the normal rotation of the lead screw 19. The second magnetic coupler connects both the drive shaft of the fourth motor and the lead screw 19. The fourth motor drives the lead screw 19 through the second magnetic coupler, preventing the lead screw 19 from breaking if the sixth housing 21 connected to the lead screw 19 is jammed when it reaches its maximum position, thus protecting the lead screw 19. A sixth housing 21 is located above the second housing 2, and a fifth motor is housed within the sixth housing 21. The fifth motor is controlled by the sixth housing 21. For protection, a waterproof camera 22 is installed on the top of the sixth housing 21. The waterproof camera 22 observes the situation inside the pipe and transmits the observation results to the controller and a display screen outside the pipe, allowing operators to control the pipe-clearing robot in real time based on the observations. The drive shaft of the fifth motor is connected to the waterproof camera 22, facilitating the turning of the waterproof camera 22 as needed. When the pipe-clearing robot moves forward, the fifth motor turns the waterproof camera 22 forward; when the pipe-clearing robot moves backward, the fifth motor turns the waterproof camera 22 backward. 2. Turning to the rear, the sixth housing 21 is horizontally and symmetrically fixed with connecting rods 23 at both ends. A second nut 24 is fixed at the end of one of the connecting rods 23. The lead screw 19 passes through the second nut 24. The sixth housing 21 is reliably connected to the lead screw 19 through the connecting rods 23 and the second nut 24. As the lead screw 19 rotates, the second nut 24 drives the sixth housing 21 to move horizontally through the connecting rods 23. The fourth motor, the fifth motor, and the waterproof camera 22 are electrically connected to the controller. The controller controls the operation of the fourth motor, the fifth motor, and the waterproof camera 22. A stop bar 25 is horizontally arranged on the upper end of the second housing 2, and a stop block 26 is symmetrically fixed on the upper end of the second housing 2. The two ends of the stop bar 25 are fixedly connected to the stop block 26 to ensure the stability and reliability of the position of the stop bar 25. The sixth housing 21 is located between the lead screw 19 and the stop bar 25. The end of another connecting rod 23 is located below the stop bar 25, which limits the connecting rod 23 and thus limits the position of the sixth housing 21, ensuring that the sixth housing 21 moves smoothly horizontally under the action of the lead screw 19.

[0035] A third bearing sleeve 39 is fixedly installed on the end sleeve 7. The output shaft 9 passes through the central hole of the third bearing sleeve 39, making the end sleeve 7 and the third bearing sleeve 39 a whole. Multiple third connecting rods 40 are evenly fixed on the outer edge of the third bearing sleeve 39. The end of the third connecting rod 40 is provided with a threaded hole. A cleaning rod 41 is provided on one side of the third connecting rod 40. One end of the cleaning rod 41 is threadedly connected to the third connecting rod 40, which is convenient for disassembly and assembly and reliable for connection. A cleaning brush head 42 is fixedly installed on the other end of the cleaning rod 41. The cleaning brush head 42 is made of steel wire. When the output shaft 9 drives the third connecting rod 40 to rotate through the third bearing sleeve 39, the cleaning brush head 42 scrapes the deposits on the inner wall of the pipe, thereby cleaning the inner wall of the pipe.

[0036] Example 3

[0037] like Figure 1 , 2As shown in Figure 8, a pipe dredging robot includes a first housing 1 and a second housing 2 fixedly connected together. A first motor is installed inside the first housing 1 and is protected by the first housing 1. A second motor is installed inside the second housing 2 and is protected by the second housing 2. Walking wheels 3 are symmetrically arranged on the lower part of both sides of the first housing 1. The walking wheels 3 are fixedly connected by multiple gear disks 27 with gradually decreasing diameters and densely distributed teeth on the outer edge. A bracket 28 is fixedly installed inside the walking wheels 3. One end of the bracket 28 is fixedly connected to the wheel axle to ensure a reliable connection between the walking wheels 3 and the wheel axle. The design of the walking wheels 3 can ensure that the pipe dredging robot can move in complex pipe environments without slipping. The first motor is connected to the wheel axle of the walking wheel 3, and the first motor provides power for the movement of the walking wheel 3. The second housing 2 is symmetrically fixed on the upper part of both sides away from the first housing 1. The third housing 4 is equipped with a third motor and is protected by the third housing 4. The reversing wheel 5 is arranged below the third housing 4. The reversing wheel 5 is composed of two semi-circular contours. Multiple connecting plates 29 are evenly fixed on the contours, which not only improves the strength of the reversing wheel 5, but also facilitates reversing.The third motor is connected to the wheel axle of the reversing wheel 5, and provides power for the steering of the reversing wheel 5. A first sleeve 6 is fixedly installed at the middle of the second housing 2 away from the first housing 1. An end sleeve 7 is fixedly installed at the end of the first sleeve 6. A first magnetic coupler 8 is installed inside the first sleeve 6. The first sleeve 6 and the end sleeve 7 limit and protect the first magnetic coupler 8. The first magnetic coupler 8 is simultaneously connected to the drive shaft of the second motor and the output shaft 9. One end of the output shaft 9 tightly passes through the center hole at one end of the end sleeve 7 and is connected to the cleaning component. The second motor controls the rotation of the output shaft 9 through the first magnetic coupler 8 to prevent leakage. When the second motor directly drives the output shaft 9 to rotate, the output shaft 9 may break due to jamming, causing the second motor to continue rotating. Therefore, the output shaft 9 is protected. A first solenoid valve 10 and a second solenoid valve 11 are symmetrically arranged at the middle positions on both sides of the second housing 2. A main water inlet pipe 12 is provided at the upper end of the first housing 1, which connects to both the first branch pipe 13 and the second branch pipe 14. Water flows along the main water inlet pipe 12 into the first branch pipe 13 and the second branch pipe 14. The first solenoid valve 10 is located on the first branch pipe 13 to control its operation. The second solenoid valve 11 is located on... The operation of the second water distribution pipe 14 is controlled. The other end of the first water distribution pipe 13 is located at the middle of one end of the first housing 1, and the other end of the second water distribution pipe 14 is located above the first sleeve 6. Adjustable nozzles 15 are connected to the ends of both the first water distribution pipe 13 and the second water distribution pipe 14. When the pipe cleaning robot moves forward, the second solenoid valve 11 is activated, and the water in the main water inlet pipe 12 flows along the second water distribution pipe 14 to the adjustable nozzle 15 to spray water and flush the blockage in front. When the pipe cleaning robot moves backward, the first solenoid valve 10 is activated, and the water in the main water inlet pipe 12 flows along the first water distribution pipe 13 to the adjustable nozzle. At 15 locations, water is sprayed to flush away the accumulated sediment and impurities in the rear pipes. As the pipe cleaning robot moves, the accumulated sediment and impurities in the pipes are flushed out. A controller is installed inside the first housing 1. A conduit 16 is fixedly installed at the upper end of the first housing 1 to protect the cables. One end of the cable in the conduit 16 is electrically connected to the controller. The first motor, the second motor, the third motor, the first solenoid valve 10, and the second solenoid valve 11 are electrically connected to the controller. The controller controls the operation of the first motor, the second motor, the third motor, the first solenoid valve 10, and the second solenoid valve 11. Power is supplied and data is transmitted through the cables.

[0038] The upper end of the first housing 1 is provided with a fourth housing 17 and a fifth housing 18. The fourth housing 17 houses a fourth motor and protects it. The fifth housing 18 houses a second magnetic coupler and limits and protects it. A lead screw 19 is horizontally arranged at the upper end of the second housing 2, corresponding to the position of the second magnetic coupler. A first nut 20 is fixedly arranged at the upper end of the second housing 2, with one end of the lead screw 19 disposed within the first nut 20, thus positioning one end of the lead screw 19. The placement of the magnetic coupling ensures the normal rotation of the lead screw 19. The second magnetic coupler connects both the drive shaft of the fourth motor and the lead screw 19. The fourth motor drives the lead screw 19 through the second magnetic coupler, preventing the lead screw 19 from breaking if the sixth housing 21 connected to the lead screw 19 is jammed when it reaches its maximum position, thus protecting the lead screw 19. A sixth housing 21 is located above the second housing 2, and a fifth motor is housed within the sixth housing 21. The fifth motor is controlled by the sixth housing 21. For protection, a waterproof camera 22 is installed on the top of the sixth housing 21. The waterproof camera 22 observes the situation inside the pipe and transmits the observation results to the controller and a display screen outside the pipe, allowing operators to control the pipe-clearing robot in real time based on the observations. The drive shaft of the fifth motor is connected to the waterproof camera 22, allowing the camera to be turned as needed. When the pipe-clearing robot moves forward, the fifth motor turns the waterproof camera 22 forward; when the pipe-clearing robot moves backward, the fifth motor turns the waterproof camera 22 backward. 2. Turning to the rear, the sixth housing 21 is horizontally and symmetrically fixed with connecting rods 23 at both ends. A second nut 24 is fixed at the end of one of the connecting rods 23. The lead screw 19 passes through the second nut 24. The sixth housing 21 is reliably connected to the lead screw 19 through the connecting rods 23 and the second nut 24. As the lead screw 19 rotates, the second nut 24 drives the sixth housing 21 to move horizontally through the connecting rods 23. The fourth motor, the fifth motor, and the waterproof camera 22 are electrically connected to the controller. The controller controls the operation of the fourth motor, the fifth motor, and the waterproof camera 22. A stop bar 25 is horizontally arranged on the upper end of the second housing 2, and a stop block 26 is symmetrically fixed on the upper end of the second housing 2. The two ends of the stop bar 25 are fixedly connected to the stop block 26 to ensure the stability and reliability of the position of the stop bar 25. The sixth housing 21 is located between the lead screw 19 and the stop bar 25. The end of another connecting rod 23 is located below the stop bar 25, which limits the connecting rod 23 and thus limits the position of the sixth housing 21, ensuring that the sixth housing 21 moves smoothly horizontally under the action of the lead screw 19.

[0039] A second sleeve 43 is fixedly installed on the end sleeve 7. A water inlet branch pipe 44 is fixedly installed on the side wall of the second sleeve 43. The water inlet branch pipe 44 is connected to the second water distribution pipe 14. Water in the second water distribution pipe 14 enters the second sleeve 43 for storage along the water inlet branch pipe 44. A sleeve body 45 is tightly fitted on the other end of the second sleeve 43. One end of the output shaft 9 is set in the sleeve body 45. The output shaft 9 and the sleeve body 45 are fixedly connected together by bolts to ensure a reliable connection between the output shaft 9 and the sleeve body 45, so that the sleeve body 45 rotates with the rotation of the output shaft 9. Multiple water outlet pipes 46 are evenly fixed on the outer wall of the sleeve body 45. A nozzle 47 is installed at the end of the water outlet pipe 46. When the sleeve body 45 rotates with the rotation of the output shaft 9, the water in the second sleeve 43 and the sleeve body 45 flows along the water outlet pipe 46 to the nozzle 47 and is sprayed out to wash the attachments on the inner wall of the pipe, ensuring the cleaning effect on the inner wall of the pipe. O-rings 48 are provided at the connection between the second sleeve 43 and the end sleeve 7, and at the connection between the sleeve body 45 and the second sleeve 46, to prevent water leakage.

[0040] The first housing 1, the second housing 2, the third housing 4, the fourth housing 17, the fifth housing 18 and the sixth housing 21 are sealed stainless steel housings, which respectively protect the first motor, the second motor, the third motor, the fourth motor, the second magnetic coupler and the fifth motor, which not only improves the strength of the pipe cleaning robot, but also expands the application range of the pipe cleaning robot, enabling the pipe cleaning robot to operate underwater.

[0041] The above description is only a preferred embodiment of the present utility model. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the claims of the present utility model patent application are included in the scope of the present utility model patent application.

Claims

1. A pipe dredging robot, comprising a first shell and a second shell fixedly connected together, a first motor is arranged in the first shell, a second motor is arranged in the second shell, walking wheels are symmetrically arranged on the lower part of both sides of the first shell, the first motor is connected with the wheel shaft of the walking wheel, characterized in that, The third shell is symmetrically and fixedly arranged on the upper part of both sides of the second shell away from the first shell, a third motor is arranged in the third shell, a reversing wheel is arranged below the third shell, and the third motor is connected with the wheel shaft of the reversing wheel, A first sleeve is fixedly arranged at the middle position of the end of the second shell away from the first shell, an end sleeve is fixedly arranged at the end of the first sleeve, a first magnetic coupling is arranged in the first sleeve, the first magnetic coupling is connected with the transmission shaft and the output total shaft of the second motor, one end of the output total shaft tightly penetrates the center hole of one end of the end sleeve and is connected with the cleaning piece, First and second electromagnetic valves are symmetrically arranged at the middle positions of both sides of the second shell, a water inlet main pipe is arranged at the upper end of the first shell, the water inlet main pipe is connected with first and second branch water pipes, the first electromagnetic valve is arranged on the first branch water pipe, the second electromagnetic valve is arranged on the second branch water pipe, the other end of the first branch water pipe is located at the middle position of one end of the first shell, the other end of the second branch water pipe is located above the first sleeve, adjustable nozzles are connected with the ends of the first and second branch water pipes, A controller is arranged in the first shell, a wire tube is fixedly arranged at the upper end of the first shell, one end of a cable in the wire tube is electrically connected with the controller, the first, second, third motors, the first and second electromagnetic valves are electrically connected with the controller.

2. A pipe de-clogging robot according to claim 1, characterized in that, A fourth shell and a fifth shell are arranged at the upper end of the first shell, a fourth motor is arranged in the fourth shell, a second magnetic coupling is arranged in the fifth shell, a lead screw is horizontally arranged at the upper end of the second shell, the position of the lead screw corresponds to that of the second magnetic coupling, a first nut is fixedly arranged at the upper end of the second shell, one end of the lead screw is arranged in the first nut, the second magnetic coupling is connected with the transmission shaft of the fourth motor and the lead screw, a sixth shell is arranged above the second shell, a fifth motor is arranged in the sixth shell, a waterproof camera is arranged above the sixth shell, the transmission shaft of the fifth motor is connected with the waterproof camera, two ends of the sixth shell are horizontally and fixedly arranged with connecting rods, one end of one of the connecting rods is fixedly arranged with a second nut, the lead screw penetrates the second nut, the fourth and fifth motors, the waterproof camera and the controller are electrically connected.

3. A pipe de-clogging robot according to claim 2, wherein, A blocking rod is horizontally arranged at the upper end of the second shell, blocking blocks are fixedly arranged at the upper end of the second shell, the two ends of the blocking rod are fixedly connected with the blocking blocks, the sixth shell is located between the lead screw and the blocking rod, and one end of the other connecting rod is located below the blocking rod.

4. A pipe de-clogging robot according to claim 3, wherein, The walking wheel is fixedly connected by a plurality of gear plates with gradually reduced diameters and outer edges densely covered with teeth, a support is fixedly arranged in the walking wheel, and one end of the support is fixedly connected with the wheel shaft.

5. A pipe de-clogging robot according to claim 4, wherein, The reversing wheel is composed of two semicircular profiles, and a plurality of connecting plates are uniformly and fixedly arranged on the profiles.

6. A pipe de-clogging robot according to claim 5, wherein, The first bearing sleeve is fixedly arranged on the end sleeve, the output main shaft passes through the center hole of the first bearing sleeve, a plurality of discs with gradually decreasing diameters are sleeved on the output main shaft, a plurality of through holes are uniformly arranged on each disc, the positions of the through holes of adjacent discs correspond to each other, a screw rod is arranged through the corresponding through holes on two adjacent discs, a cutting head is fixedly arranged on one end of the screw rod, the end of the cutting head close to the screw rod abuts against the disc, lock nuts are tightly sleeved on the screw rods on both sides of the disc, a plurality of first connecting rods are uniformly fixedly arranged on the outer edge of the first bearing sleeve, the first connecting rods are fixedly connected with the disc with the largest diameter, a second bearing sleeve is sleeved on the end of the output main shaft, a plurality of second connecting rods are uniformly fixedly arranged on the outer edge of the second bearing sleeve, and the second connecting rods are fixedly connected with the disc with the smallest diameter.

7. A pipe de-clogging robot according to claim 5, wherein, The third bearing sleeve is fixedly arranged on the end sleeve, the output main shaft passes through the center hole of the third bearing sleeve, a plurality of third connecting rods are uniformly fixedly arranged on the outer edge of the third bearing sleeve, threaded holes are arranged on the ends of the third connecting rods, cleaning rods are arranged on one side of the third connecting rods, one end of each cleaning rod is threadedly connected with the third connecting rod, cleaning brush heads are fixedly arranged on the other ends of the cleaning rods, and the cleaning brush heads are made of steel wires.

8. A pipe de-clogging robot according to claim 5, wherein, The second sleeve is fixedly arranged on the end sleeve, water inlet branch pipes are fixedly arranged on the side walls of the second sleeve, the water inlet branch pipes are communicated with the second water distribution pipes, a sleeve body is tightly sleeved on the other end of the second sleeve, one end of the output main shaft is arranged in the sleeve body, the output main shaft and the sleeve body are fixedly connected through bolts, a plurality of water outlet pipes are uniformly fixedly arranged on the outer wall of the sleeve body, and nozzles are arranged on the ends of the water outlet pipes.

9. A pipe de-clogging robot according to claim 8, wherein, O-shaped sealing rings are arranged at the connections between the second sleeve and the end sleeve and at the connections between the sleeve body and the second sleeve.

10. A pipe de-clogging robot according to any one of claims 6-9, characterized in that, The first shell, the second shell, the third shell, the fourth shell, the fifth shell and the sixth shell are sealed stainless steel shells.

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