Pipeline dredging robot

Abstract

The utility model discloses a pipeline dredging robot which comprises a moving trolley, a driving unit and a dredging unit, the driving unit comprises a main motor, the main motor is arranged on the moving trolley, and the rotating axis of the main motor is arranged along a first axis; the dredging unit comprises a plurality of dredging claws and a first expansion device, the dredging claws are arranged around the first axis, the first expansion device is in transmission connection with the dredging claws to drive the dredging claws to gather or unfold along the direction perpendicular to the first axis, the main motor is in transmission connection with the first expansion device, and the first expansion device drives the dredging claws to rotate around the first axis. Compared with the prior art, the pipeline dredging robot provided by the utility model is provided with the moving trolley which can walk in a pipeline and reach a blocked part, and then the main motor drives the dredging unit to rotate to cut up sundries blocking the pipeline, so that the pipeline is dredged; when the robot is used for dredging a pipeline, an operator can control the robot outside the pipeline, the working environment is improved, and potential safety hazards are eliminated.

Description

Technical Field

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

[0002] Traditional methods of clearing urban pipe networks rely on manual labor, requiring people to use hand tools to break up or destroy the blockage. When the blockage is deep within the pipe, workers may even need to enter the pipe to perform the work. This method not only results in harsh working conditions for workers but also poses safety hazards. Therefore, there is an urgent need for a robot that can replace manual labor in clearing pipes. Utility Model Content

[0003] The purpose of this utility model is to overcome the above-mentioned technical deficiencies and propose a pipe dredging robot to solve the technical problems of manual pipe dredging in the prior art, which involves harsh working conditions for workers and even safety hazards.

[0004] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0005] This utility model provides a pipe dredging robot, including: a mobile trolley, a drive unit, and a dredging unit. The drive unit includes a main motor, which is mounted on the mobile trolley and its rotation axis is arranged along a first axis. The dredging unit includes multiple dredging claws and a first extension device. The dredging claws are arranged around the first axis, and the first extension device is driven to each of the dredging claws to drive each of the dredging claws to converge or expand along the perpendicular first axis. The main motor is driven to the first extension device, which drives the dredging claws to rotate around the first axis.

[0006] In some embodiments, the unblocking unit further includes a first housing, the first housing including a first mounting plate and a first side plate, the first side plate being fixedly connected to the first mounting plate to form a first mounting cavity with one end open, the first expansion device including a first telescopic mechanism, a mounting plate and a first connecting rod, the first telescopic mechanism being disposed in the first mounting cavity and fixedly connected to the first mounting plate, the telescopic end of the first telescopic mechanism extending out of the opening and being throttle-connected to the mounting plate to drive the mounting plate to move along a first axis, the first connecting rod corresponding one-to-one with the unblocking claw, one end of the first connecting rod being rotatably connected to the mounting plate, and the other end being rotatably connected to the middle of the unblocking claw; one end of the unblocking claw is also rotatably connected to the first side plate.

[0007] In some embodiments, the first telescopic mechanism includes a first extension motor and a first lead screw. The first extension motor is fixedly connected to the first mounting plate, and the first lead screw is arranged along a first axis. The first extension motor is drivenly connected to the first lead screw to drive the first lead screw to rotate about its own axis. The first mounting plate is annular and has an internal thread that mates with the first lead screw. The first mounting plate is sleeved on the first lead screw and mates with the first lead screw.

[0008] In some embodiments, the drive unit further includes a mounting base and a main drive shaft, the main motor is fixed on the mounting base, the axis of the main drive shaft is arranged along a first axis, and the main motor is connected to the unblocking unit via the main drive shaft.

[0009] In some embodiments, the drive unit further includes a second mounting plate, and the end of the main drive shaft away from the main motor is fixedly connected to the second mounting plate; the pipe dredging robot further includes an orientation adjustment unit, the orientation adjustment unit is connected to the first mounting plate and the second mounting plate, and the orientation adjustment unit can drive the dredging unit to rotate around a second direction and / or a third direction, both of which are perpendicular to the first axis.

[0010] In some embodiments, the second direction is perpendicular to the third direction; the orientation adjustment unit includes a first servo, a second servo, a first mounting base, a second mounting base, and a universal joint; the second mounting plate is arranged at a distance from the first mounting plate; the main motor is drivenly connected to the second mounting plate; the first servo is fixedly mounted on the first mounting plate with its rotation axis arranged along the second direction; the second servo is fixedly mounted on the second mounting plate with its rotation axis arranged along the third direction; the first mounting base is fixedly connected to the first mounting plate and has a first mounting hole facing the second direction; the second mounting base is fixedly connected to the second mounting plate and has a second mounting hole facing the third direction; the universal joint passes through both the first mounting hole and the second mounting hole and is rotatably connected to the first mounting base and the second mounting base respectively; the first servo is drivenly connected to the universal joint to drive the universal joint to rotate around the second direction; the second servo is drivenly connected to the universal joint to drive the universal joint to rotate around the third direction.

[0011] In some embodiments, a repair unit is further included, which includes a second housing, a plurality of repairers, and a second extension device. The second housing is sleeved on the main drive shaft and fixedly connected to the main drive shaft. The repairers and the second extension device are both disposed on the outer surface of the second housing. The repairers are arranged around a first axis. The second extension device is connected to the repairers in a one-to-one correspondence to drive each repairer to converge or expand along the vertical first axis.

[0012] In some embodiments, the repairer includes a repair roller, a connector, a second connecting rod, and a connecting seat. The axis of the repair roller is arranged along a first axis. The connector is connected to the repair roller. The connecting seat is fixedly disposed on the outer surface of the second housing. The two ends of the second connecting rod are rotatably connected to the connector and the connecting seat, respectively. The second extension device includes a plurality of third servos. The third servos are also fixedly disposed on the outer surface of the second housing. The third servos are also connected to the second connecting rod in a one-to-one correspondence to drive the second connecting rod to rotate around the connecting seat.

[0013] In some embodiments, a height adjustment unit is further included. The height adjustment unit includes a height adjustment device, which includes a first fixed seat, a second fixed seat, a triangular connector, a third connecting rod, a control rod, and a fixing nut. The first fixed seat and the second fixed seat are both fixed on the mobile trolley. The first angle of the triangular connector is rotatably connected to the first fixed seat, the second angle is rotatably connected to one end of the third connecting rod, and the third angle is connected to the mounting base. The other end of the third connecting rod is rotatably connected to the control rod. The second fixed seat has a through hole, and the control rod passes through the through hole. The control rod has an external thread corresponding to the fixing nut. The fixing nut engages with the control rod and abuts against the second fixed seat.

[0014] In some embodiments, the height adjustment unit further includes an angle correction device disposed at the third corner of the triangular connector and connected to the mounting base to drive the mounting base to pitch rotation.

[0015] Compared with the prior art, the pipe dredging robot provided by this utility model has a mobile trolley that can walk inside the pipe and reach the blockage. Then, the main motor drives the dredging unit to rotate, cutting up the debris blocking the pipe and clearing the blockage. When using this robot to dredge pipes, the operator can control it from outside the pipe, which improves the working environment and eliminates safety hazards. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the pipe dredging robot provided in this embodiment of the utility model;

[0017] Figure 2 yes Figure 1 A schematic diagram of the structure of the drive unit;

[0018] Figure 3 yes Figure 1 Schematic diagram of the structure of the central dredging unit;

[0019] Figure 4 yes Figure 1A schematic diagram of the orientation adjustment unit;

[0020] Figure 5 It is an exploded view of the adjustment unit;

[0021] Figure 6 yes Figure 1 Schematic diagram of the repair unit structure;

[0022] Figure 7 This is a side view of the internal structure of the repair unit;

[0023] Figure 8 yes Figure 1 A schematic diagram of the height adjustment unit. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0025] To address the technical problem of requiring manual pipe clearing, this invention provides a pipe clearing robot that can replace manual labor in clearing blockages in pipes.

[0026] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a pipe dredging robot in one embodiment of the present invention. The pipe dredging robot includes a mobile trolley 1, a drive unit 2, and a dredging unit 3.

[0027] The mobile trolley 1 can carry other units and move within the pipeline to reach the blocked area.

[0028] The drive unit 2 includes a main motor 21, which is mounted on the mobile trolley 1 and its rotation axis is arranged along a first axis. In this embodiment, the first axis is the length direction of the mobile trolley 1, and the mobile trolley 1 moves forward along the first axis.

[0029] The unblocking unit 3 includes multiple unblocking claws 31 and a first expansion device 32. The unblocking claws 31 are arranged around a first axis. The first expansion device 32 is driven by each unblocking claw 31 to drive each unblocking claw 31 to converge or expand along the radial direction (hereinafter referred to as radial) of a circle centered on the first axis, perpendicular to the first axis. The main motor 21 is driven by the first expansion device 32, which drives the unblocking claws 31 to rotate around the first axis. The surface of the unblocking claws 31 has a serrated structure, which, driven by the main motor 21, can cut up debris blocking the pipe. The first expansion device 32 can also expand the unblocking claws 31, increasing the diameter of the unblocking hole.

[0030] As is readily understood, in some embodiments, the mobile vehicle 1 possesses the necessary structures for movement, including a body, wheels, a power unit, a steering mechanism, and a power supply device. The wheel surfaces are treaded to prevent slipping inside the wet pipe. Furthermore, the outer surfaces of the wheels are beveled to adapt to the arc-shaped inner wall of the pipe, increasing the contact area with the pipe wall. The power unit is a suitable type of motor and a transmission mechanism, with the motor driving the wheels to rotate via the transmission mechanism. The power supply device can be a battery or a power cable, supplying power to all electrical equipment on the robot. The operator can remotely control the movement of the mobile vehicle 1 via remote control or wired control. Preferably, the mobile vehicle 1 is also equipped with a camera and lighting equipment so that the operator can clearly see the state inside the pipe, facilitating better control of the robot. The mobile vehicle 1 is a mature device in the art, and the connection methods and working principles of its internal components are well known to those skilled in the art, and therefore will not be described in detail.

[0031] Please see Figure 2 , Figure 2 yes Figure 1 A schematic diagram of the drive unit. In some embodiments, the drive unit 2 further includes a mounting base 22 and a main drive shaft 23. The main motor 21 is fixed on the mounting base 22 and connected to the mobile trolley 1 through the mounting base 22. The main motor 21 can be powered by the power supply device of the mobile trolley 1. The axis of the main drive shaft 23 is arranged along the first axis, and the main motor 21 is connected to the unblocking unit 3 via the main drive shaft 23.

[0032] In some embodiments, the drive unit 2 further includes a second mounting plate 24, and the end of the main drive shaft 23 away from the main motor 21 is fixedly connected to the second mounting plate 24, and is connected to the unblocking unit 3 through the second mounting plate 24.

[0033] Please see Figure 1 and Figure 3 , Figure 3 yes Figure 1 A schematic diagram of the structure of the unblocking unit 3. In some embodiments, the unblocking unit 3 further includes a first housing 33, the first housing 33 including a first mounting plate 331 and a first side plate 332, the first side plate 332 being in... Figure 3The middle section is hidden. The first side plate 332 is fixedly connected to the first mounting plate 331 to form a first mounting cavity with one end open. The first extension device 32 includes a first telescopic mechanism 321, a mounting plate 322, and a first connecting rod 323. The first telescopic mechanism 321 is disposed in the first mounting cavity and fixedly connected to the first mounting plate 331. The telescopic end of the first telescopic mechanism 321 extends out of the opening and is drivenly connected to the mounting plate 322 to drive the mounting plate 322 to move along the first axis. The first connecting rod 323 corresponds one-to-one with the unclogging claw 31. One end of the first connecting rod 323 is rotatably connected to the mounting plate 322, and the other end is rotatably connected to the middle of the unclogging claw 31. One end of the unclogging claw 31 is also rotatably connected to the first side plate 332.

[0034] When the first telescopic mechanism 321 drives the mounting plate 322 to move along the first axis, the mounting plate 322 drives the unblocking claw 31 to rotate around the connecting shaft between the unblocking claw 31 and the first side plate 332 via the first connecting rod 323, thereby realizing the opening and closing action of the unblocking claw 31. The main motor 21 is connected to the first mounting plate 331 via the main drive shaft 23, driving the unblocking unit 3 to rotate as a whole, thereby realizing the unblocking action.

[0035] Based on the above embodiments, the first telescopic mechanism 321 can adopt a lead screw and ball bearing structure, including a first extension motor and a first lead screw. The first extension motor is fixedly connected to the first mounting plate 331, and the first lead screw is arranged along a first axis. The first extension motor is driven by the first lead screw to drive the first lead screw to rotate around its own axis. The first mounting plate 322 is annular and has an internal thread that mates with the first lead screw. The first mounting plate 322 is fitted onto the first lead screw and mates with it. By rotating the first extension motor clockwise or counterclockwise, the first mounting plate 322 is driven to move forward or backward along the first lead screw. In other embodiments, the first telescopic mechanism 321 can also adopt other structural forms, such as a gear and rack mechanism, as long as it can achieve the telescopic action.

[0036] Please see again Figure 1 and Figure 4 , Figure 4 yes Figure 1A schematic diagram of the orientation adjustment unit 4 is shown. In some embodiments, the pipe cleaning robot further includes an orientation adjustment unit 4, which connects a first mounting plate 331 and a second mounting plate 24. The second mounting plate 24 is arranged at a distance from the first mounting plate 331. The orientation adjustment unit 4 can drive the cleaning unit 3 to rotate around a second direction and / or a third direction. Both the second and third directions are perpendicular to the first axis, meaning they are both radial to the first axis, and the second direction is different from the third direction. The orientation adjustment unit 4 enables the cleaning unit 3 to not only face the first axis but also to face a hemisphere centered on the first axis, expanding the working range of the cleaning unit 3 and allowing it to excavate larger holes.

[0037] Please see Figure 5 , Figure 5 This is an exploded view of the orientation adjustment unit 4. In this embodiment, the second direction is perpendicular to the third direction. The orientation adjustment unit 4 includes a first servo 41, a second servo 42, a first mounting base 43, a second mounting base 44, and a cross-shaped connector 45. The first servo 41 is fixed to the first mounting plate 331 and located on the side away from the unclogging claw 31. The rotation axis of the first servo 41 is arranged along the second direction. The second servo 42 is fixed to the second mounting plate 24 and located on the side away from the main motor 21. The rotation axis of the second servo 42 is arranged along the third direction. The first mounting base 43 is fixedly connected to the first mounting plate 331 and has a first mounting hole facing the second direction. The second mounting base 44 is fixedly connected to the second mounting plate 24 and has a second mounting hole facing the third direction. The cross-shaped connector 45 has a cross-shaped structure, passes through both the first and second mounting holes, and is rotatably connected to the first mounting base 43 and the second mounting base 44, respectively. The first servo motor 41 is partially connected to the ten-element 45 through the first mounting hole to drive the ten-element 45 to rotate around the second direction, and the second servo motor 42 is partially connected to the ten-element 45 through the second mounting hole to drive the ten-element 45 to rotate around the third direction.

[0038] When the first servo motor 41 is working, the cross-shaped element 45 is kept stationary by the second mounting base 44, and the first servo motor 41, together with the first mounting plate 331 and the entire unblocking unit 3, rotates around the second direction. When the second servo motor 42 is working, it drives the cross-shaped element 45, together with the first mounting base 43 and the entire unblocking unit 3, to rotate around the third direction. The first servo motor 41 and the second servo motor 42 work together to enable the unblocking unit 3 to face any position on the hemisphere.

[0039] In a preferred embodiment, there are two first servo motors 41, arranged opposite each other, and connected to the two ends of the cross-shaped element 45 on the same axis. There are also two second servo motors 42, also arranged opposite each other, and connected to the two ends of the cross-shaped element 45 on another axis. The two first servo motors 41 or the two second servo motors 42 work together to make the unblocking unit 3 rotate more stably.

[0040] Please see Figure 1 , Figure 6 ,and Figure 7 , Figure 6 yes Figure 1 Schematic diagram of the repair unit structure; Figure 7 This is a side view of the internal structure of the repair unit.

[0041] In some embodiments, the pipe dredging robot further includes a repair unit 5, which includes a second housing 51, a plurality of repairers 52, and a second extension device 53. The second housing 51 is sleeved on the main drive shaft 23 and fixedly connected to the main drive shaft 23. Specifically, one end of the second housing 51 is fixedly connected to the second mounting plate 24, and the other end is connected to the mounting base 22 via a bearing.

[0042] Both the repair device 52 and the second extension device 53 are disposed on the outer surface of the second housing 51. The multiple repair devices 52 are arranged around the first axis, that is, circumferentially along the first axis. The second extension device 53 is connected to the repair device 52 in a one-to-one correspondence to drive each repair device 52 to converge or expand radially along the first axis.

[0043] In some embodiments, the repairer 52 includes a repair roller 521, a connector 522, a second connecting rod 523, and a connecting seat 524. The axis of the repair roller 521 is arranged along a first axis, and the connector 522 is connected to the repair roller 521. Specifically, the repair roller 521 has a central shaft and a roller brush sleeved outside the central shaft, the roller brush being rotatable relative to the central shaft, and the connector 522 being connected to the central shaft. The connecting seat 524 is fixedly disposed on the outer surface of the second housing 51, and both ends of the second connecting rod 523 are rotatably connected to the connector 522 and the connecting seat 524, respectively.

[0044] The second extension device 53 includes a plurality of third servo motors 531, which are also fixedly mounted on the outer surface of the second housing 51. The third servo motors 531 are also connected one-to-one with the second connecting rods 523 to drive the second connecting rods 523 to rotate around the connecting seat 524, thereby causing the repair rollers 521 to open or close.

[0045] In a preferred embodiment, the second extension device 53 further includes a connecting ring 532 and a plurality of fourth connecting rods 533. The connecting ring 532 is movably sleeved on the main drive shaft 23, and the fourth connecting rods 533 correspond one-to-one with the second connecting rods 523, with both ends of the fourth connecting rods 533 rotatably connected to the middle portions of the connecting ring 532 and the second connecting rods 523, respectively. A strip-shaped groove is formed on the second housing 51 along the first axis for the fourth connecting rods 533 to pass through. When the repair roller 521 is extended, the fourth connecting rods 533 can provide a certain degree of support.

[0046] In a preferred embodiment, the repair unit 5 may also have a support structure consisting of a support ring 54 and a support rod 55. The connecting ring 54 is movably sleeved on the main drive shaft 23, and the support rod 55 is fixedly connected to the inner wall of the connecting ring 54 and the second housing 51 to support the second housing 51.

[0047] The repair roller 521 is dipped in repair material. When damage is found in the pipe wall, the repair roller 521 is opened until it is in contact with the pipe wall. Then the main motor 21 drives the repair roller 521 to rotate, brushing the repair material onto the damaged area to repair it.

[0048] Please see Figure 1 and Figure 8 , Figure 8 yes Figure 1 A schematic diagram of the height adjustment unit. In some embodiments, the pipe cleaning robot further includes a height adjustment unit 6, which includes a height adjustment device 61. The height adjustment device 61 includes a first fixed base 611, a second fixed base 612, a triangular connector 613, a third connecting rod 614, a control rod 615, and a fixing nut 616. The first fixed base 611 and the second fixed base 612 are both fixed on the moving trolley 1. The first corner of the triangular connector 613 is rotatably connected to the first fixed base 611, the second corner is rotatably connected to one end of the third connecting rod 614, and the third corner is connected to the mounting base 22. The other end of the third connecting rod 614 is rotatably connected to the control rod 615. The second fixed base 612 has a through hole, through which the control rod 615 passes. The control rod 615 has an external thread corresponding to the fixing nut 616. The fixing nut 616 is located on the side of the second fixed base 612 away from the first fixed base 611. The fixing nut 616 engages with the control rod 615 and abuts against the second fixed base 612. The rotational connections in the height adjustment device 61 are all rotating around the width of the moving trolley 1, and the third link 614 and the control lever 615 are both arranged along the first axis.

[0049] The fixing nut 616 can adjust the length of the control lever 615 on the side of the second fixing seat 612 closest to the first fixing seat 611. When the control lever 615 is close to the first fixing seat 611, it can push the second corner of the triangular connector 613 upward through the third connecting rod 614, and the third corner of the triangular connector 613 will drive the mounting seat 22 downward, thereby lowering the height of the unblocking unit 3. Conversely, when the control lever 615 is away from the first fixing seat 611, the height of the unblocking unit 3 can be raised. The operator can adjust the control lever 615 and the fixing nut 616 before entering the pipe according to the size of the pipe to be unblocked, so that the height of the unblocking unit 3 is at the center of the pipe.

[0050] In some embodiments, the height adjustment unit 6 further includes an angle correction device 62, which is disposed at the third corner of the triangular connector 613 and is connected to the mounting base 22 to drive the mounting base 22 to pitch. The angle correction device 62 is a suitable type of motor or servo motor, which drives the mounting base 22 to pitch, so that the orientation of the unblocking unit 3 is corrected back to the first axis.

[0051] In a preferred embodiment, there are two sets of both the height adjustment device 61 and the angle correction device 62, which are symmetrically arranged on both sides of the mounting base 22 and connected to the mounting base 22, so that the mounting base 22 is subjected to more balanced forces.

[0052] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A pipe dredging robot, characterized in that, include: Mobile cart; A drive unit, including a main motor, is mounted on the mobile trolley and its rotation axis is arranged along a first axis; The unblocking unit includes multiple unblocking claws and a first extension device. The unblocking claws are arranged around a first axis. The first extension device is driven to each of the unblocking claws to drive the unblocking claws to converge or expand along the vertical first axis. The main motor is driven to the first extension device and drives the unblocking claws to rotate around the first axis via the first extension device.

2. The pipe dredging robot according to claim 1, characterized in that, The unblocking unit further includes a first housing, which includes a first mounting plate and a first side plate. The first side plate is fixedly connected to the first mounting plate to form a first mounting cavity with one end open. The first expansion device includes a first telescopic mechanism, a mounting plate, and a first connecting rod. The first telescopic mechanism is disposed in the first mounting cavity and fixedly connected to the first mounting plate. The telescopic end of the first telescopic mechanism extends out of the opening and is drivenly connected to the mounting plate to drive the mounting plate to move along a first axis. The first connecting rod corresponds one-to-one with the unblocking claw. One end of the first connecting rod is rotatably connected to the mounting plate, and the other end is rotatably connected to the middle of the unblocking claw. One end of the unblocking claw is also rotatably connected to the first side plate.

3. The pipe dredging robot according to claim 2, characterized in that, The first telescopic mechanism includes a first extension motor and a first lead screw. The first extension motor is fixedly connected to the first mounting plate. The first lead screw is arranged along a first axis. The first extension motor is driven by the first lead screw to drive the first lead screw to rotate around its own axis. The mounting plate is annular and has an internal thread that mates with the first lead screw. The mounting plate is sleeved on the first lead screw and mates with the first lead screw.

4. The pipe dredging robot according to claim 2, characterized in that, The drive unit also includes a mounting base and a main drive shaft. The main motor is fixed on the mounting base, and the axis of the main drive shaft is arranged along the first axis. The main motor is connected to the unblocking unit via the main drive shaft.

5. The pipe dredging robot according to claim 4, characterized in that, The drive unit further includes a second mounting plate, and the end of the main drive shaft away from the main motor is fixedly connected to the second mounting plate; the pipe dredging robot further includes an orientation adjustment unit, which is connected to the first mounting plate and the second mounting plate. The orientation adjustment unit can drive the dredging unit to rotate around a second direction and / or a third direction, both of which are perpendicular to the first axis.

6. The pipe dredging robot according to claim 5, characterized in that, The second direction is perpendicular to the third direction; the orientation adjustment unit includes a first servo, a second servo, a first mounting base, a second mounting base, and a ten-element connector. The second mounting plate is arranged at a distance from the first mounting plate, and the main motor is driven by the second mounting plate. The first servo is fixed on the first mounting plate, and its rotation axis is arranged along the second direction. The second servo is fixed on the second mounting plate, and its rotation axis is arranged along the third direction. The first mounting base is fixedly connected to the first mounting plate and has a first mounting hole facing the second direction. The second mounting base is fixedly connected to the second mounting plate and has a second mounting hole facing the third direction. The ten-element connector passes through both the first mounting hole and the second mounting hole and is rotatably connected to the first mounting base and the second mounting base, respectively. The first servo is driven by the ten-element connector to drive the ten-element connector to rotate around the second direction, and the second servo is driven by the ten-element connector to drive the ten-element connector to rotate around the third direction.

7. The pipe dredging robot according to claim 4, characterized in that, It also includes a repair unit, which includes a second housing, a plurality of repairers and a second extension device. The second housing is sleeved on the main drive shaft and fixedly connected to the main drive shaft. The repairers and the second extension device are both disposed on the outer surface of the second housing. The repairers are arranged around a first axis. The second extension device is connected to the repairers one by one to drive each repairer to converge or expand along the vertical first axis.

8. The pipe dredging robot according to claim 7, characterized in that, The repairer includes a repair roller, a connector, a second connecting rod, and a connecting seat. The axis of the repair roller is arranged along a first axis. The connector is connected to the repair roller. The connecting seat is fixedly disposed on the outer surface of the second housing. The two ends of the second connecting rod are rotatably connected to the connector and the connecting seat, respectively. The second extension device includes a plurality of third servo motors. The third servo motors are also fixedly disposed on the outer surface of the second housing. The third servo motors are also connected to the second connecting rods one by one to drive the second connecting rods to rotate around the connecting seat.

9. The pipe dredging robot according to claim 4, characterized in that, It also includes a height adjustment unit, which includes a height adjustment device. The height adjustment device includes a first fixed seat, a second fixed seat, a triangular connector, a third connecting rod, a control rod, and a fixing nut. The first fixed seat and the second fixed seat are both fixed on the mobile trolley. The first angle of the triangular connector is rotatably connected to the first fixed seat, the second angle is rotatably connected to one end of the third connecting rod, and the third angle is connected to the mounting base. The other end of the third connecting rod is rotatably connected to the control rod. The second fixed seat has a through hole, and the control rod passes through the through hole. The control rod has an external thread corresponding to the fixing nut. The fixing nut engages with the control rod and abuts against the second fixed seat.

10. The pipe dredging robot according to claim 9, characterized in that, The height adjustment unit also includes an angle correction device, which is located at the third corner of the triangular connector and is connected to the mounting base to drive the mounting base to pitch and rotate.

Images