CN216923669U - Municipal drainage pipeline desilting robot - Google Patents

Abstract

The utility model provides a municipal drainage pipe desilting robot, including chassis portion, shell portion, interior hinge grinding transmission portion, outer hinge grinding portion, be provided with side high-pressure water shower nozzle on the shell portion, camera group, high pressure water swivel and aviation socket, interior hinge grinding transmission portion sets up in the shell portion, including gear motor and forward flood dragon sword, the welding of forward flood dragon sword tip has central shower nozzle, outer hinge grinding portion includes outer hinge grinding cover, outer hinge grinding cover inner wall is provided with reverse flood dragon sword, outer hinge grinding cover passes through drive mechanism and is connected with gear motor, high pressure water swivel one end is connected with the high-pressure waterwheel, the other end and side high-pressure water shower nozzle, central shower nozzle intercommunication. The utility model adopts the coaxial reverse flood dragon knife and the forward flood dragon knife, has double effects of flood dragon transmission of silt and reamer cutting and grinding of hard objects, and greatly increases dredging and conveying efficiency; the center nozzle discharges water under high pressure for dredging, and the dredging effect is multiplied; set up camera group, fix a position silt point, inspect the desilting effect simultaneously, improved the desilting efficiency to municipal drainage pipe.

Description

Municipal drainage pipeline desilting robot

Technical Field

The utility model relates to the field of municipal environmental protection, in particular to a municipal drainage pipeline dredging robot.

Background

The underground drainage pipe network is the main passageway of city water pollution prevention and cure and city drainage, flood control, and through long-time operation back, many pipelines are because mud long-time deposit forms the silt board knot thing to being mingled with impurity such as branch, iron wire, plank, plastic bag, beverage bottle, cloth, stone, take place the jam situation very easily, and the manual work is carried out pipeline dredging work and has been consumeed a large amount of manpower and materials, and operational environment is abominable, and work efficiency is very low.

At present, under more conditions, a high-pressure water drill is used for placing the water into a pipeline to wash sludge, and meanwhile, the sewage suction pipe connected with a sewage suction truck sucks the sewage, so that the effect of the sewage suction pipe on the pipeline with the smaller pipe diameter is still good, but the effect of the sewage suction pipe on the pipeline with the larger pipe diameter is not ideal, especially when the sewage suction pipe is clogged by a large area along with more hard objects, the efficiency is low, and the sewage suction pipe can be blocked by the larger hard objects to cause construction stop. Therefore, when the municipal drainage pipeline is blocked in a large area and cannot be accommodated by maintainers due to the pipe diameter, and large hard impurities possibly are mixed in the sludge, the municipal drainage pipeline dredging robot is needed to be invented.

SUMMERY OF THE UTILITY MODEL

The utility model provides a municipal drainage pipeline dredging robot, which aims to solve the problems.

The technical scheme adopted by the utility model is as follows:

the utility model provides a municipal drainage pipe desilting robot which characterized in that includes:

the chassis part is provided with a gear train;

the shell part is arranged on the base part, the side surface of the shell part is provided with a side high-pressure water spray nozzle, the top surface of the shell part is provided with a camera group, and the back of the shell part is provided with a high-pressure water joint and an aviation socket;

the inner hinge grinding transmission part is arranged in the shell part and comprises a speed reducing motor, the speed reducing motor is connected with one end of a flood dragon knife at the rear part, the other end of the flood dragon knife at the rear part is connected with a flood dragon knife at the front part, a central spray head is welded at the other end of the flood dragon knife at the front part, and the flood dragon knife at the rear part is arranged in the conveying inner cylinder;

the outer hinge grinding part comprises an outer hinge grinding cover, a helical blade is arranged on the inner wall of the outer hinge grinding cover, the outer hinge grinding cover is connected with a speed reducing motor through a transmission mechanism, and the steering direction of the outer hinge grinding cover is opposite to that of the front flood dragon knife and the rear flood dragon knife; the front flood dragon knife is arranged in the outer hinged grinding cover and is coaxial with the outer hinged grinding cover;

one end of the high-pressure water joint is connected with a high-pressure water truck on the ground of the manhole, and the other end of the high-pressure water joint is communicated with the side high-pressure water spray nozzle and the central spray nozzle;

Silt conveying inner tube one end and outer hinge mill cover intercommunication, the other end and the play silt pipe intercommunication, outer hinge mill cover, silt conveying inner tube, play silt pipe form the desilting passageway.

Further, shell portion includes epitheca, back lid, upper cover portion, the epitheca includes the side high pressure water shower nozzle of epitheca and epitheca both sides, the back lid is equipped with high pressure water swivel and aviation socket, the upper cover portion includes upper cover and camera group, the upper cover passes through screwed connection on the epitheca to it is sealed to epitheca upper portion, camera group sets up on the upper cover.

Further, the symmetry is provided with the guide wheel portion on the upper shell portion, the guide wheel portion is four groups, and bilateral symmetry installs on the upper shell, compression spring is installed to the guide wheel lower extreme of guide wheel portion, all be equipped with the spring counter bore on the chassis portion for place compression spring, the compression spring other end supports the two nut ends that are equipped with on the D word axle, makes the D word axle up-and-down motion in wear-resisting cover.

Further, the front flood dragon sword and the rear flood dragon sword all have four helical blade to weld in the quill shaft outer wall that its center was equipped with, and helical blade is the sharp sword.

Furthermore, the central nozzle is of a bullet head structure, and small water outlet holes are formed in the front and the back of the central nozzle.

Furthermore, a bearing seat scraper is arranged in the conveying inner cylinder, the bearing seat scraper is welded in the inner cylinder and is provided with a plurality of through holes for limiting the passing of large-size hard objects.

Further, drive mechanism includes synchronous pulley one, synchronous pulley one is connected with on the sword of back reamer through the key-type, synchronous pulley one drives the synchronous pulley two with the same key-type connection of transmission pivot through the hold-in range, transmission pivot other end key connection has the pinion, the pinion is with the gear wheel external toothing of outer gear sleeve, outer gear sleeve passes through slide bearing and installs on the outer face of cylinder of silt conveying inner tube, outer gear sleeve and outer hinge grinding cover tip flange face screwed connection.

Furthermore, the outer reaming grinding part also comprises a polyurethane block arranged in the circumferential direction of the outer reaming grinding cover and a cleaning brush embedded in the polyurethane block.

Furthermore, the tail end of the sludge conveying inner cylinder is provided with a downward internal sludge outlet, the internal sludge outlet is in screw connection with a flange surface at the head end of the sludge outlet pipe through a flange surface, and the rear end of the sludge outlet pipe is connected into a sewage suction truck through a municipal sludge suction hose.

The utility model has the main advantages and beneficial effects that:

1. The front flood dragon knife and the rear flood dragon knife are formed by adopting a plurality of strands of forward spiral blades with sharp edges, so that the double effects of flood dragon sludge transmission and hard object cutting and grinding by the flood dragon are achieved; meanwhile, the reverse auger knife formed by the reverse spiral blades with the strands of sharp edges is adopted, so that the double effects of conveying silt with the auger and cutting and grinding hard objects with the reamer are achieved, and therefore when more silt blocks a pipeline, the dredging and conveying efficiency is greatly increased.

2. The outer hinge grinding cover and the front flood dragon knife which are opposite in rotation direction are coaxially arranged, and then shearing of branches and hard objects in the sludge is formed, so that the cutting and grinding effect is greatly increased, grinding of large hard objects is effectively guaranteed, and the sludge suction pipe is not blocked when the ground hard objects enter the sludge suction hose.

3. The outer hinged grinding cover is also basically coaxial with the center of the pipeline, and in the case of severe clogging of the pipeline, the high-pressure water outlet central nozzle is matched for use, so that the dredging effect is multiplied.

4. Set up camera group, fix a position silt point, inspect the desilting effect simultaneously, the silt that shelters from the sight on the camera group can be got rid of to the cleaning brush that is equipped with on the rotatory outer hinge mill cover to guarantee under the camera adverse circumstances normal work.

Drawings

Fig. 1 is an overall side view of the structure of the present invention.

FIG. 2 is a second side view of the present invention.

Fig. 3 is a sectional view taken at a-a in fig. 1.

Fig. 4 is a sectional view taken along line B-B in fig. 1.

Fig. 5 is an exploded view of the entire structure of the present invention.

Wherein: 1. an upper housing portion; 2. a chassis section; 3. an outer reaming and grinding section; 4. an inner reaming and grinding conveying part; 5. a rear cover portion; 6. a guide wheel part; 7. an upper cover portion; 8. an upper shell; 9. a side high pressure water spray head; 10. a first bottom cover; 11. a second bottom cover; 12, externally reaming the grinding cover; 13. a polyurethane block; 14. cleaning the brush; 15. a reverse flood dragon knife; 16. an outer gear sleeve; 17, sliding bearing I; 18. a second sliding bearing; 19. a first check ring; 20. a central nozzle; 21. a flood dragon at the front part; 22. connecting sleeves; 23. a rear flood dragon knife; 24. rotating the water supply seat; 25. a synchronous belt wheel I; 26. a second synchronous belt wheel; 27. a transmission rotating shaft; 28. a pinion gear; 29. a synchronous belt; 30. an isolation sleeve; 31. rotating the sealing ring; 32. a coupling; 33. a reduction motor; 34. a small water outlet hole; 35. a communicating hole; 36. a high-pressure water connector; 37. a spring counterbore; 38. a compression spring; 39. double nuts; 40. a wear-resistant sleeve; a D-shaped shaft; 42, a sewage outlet pipe; 43. an aviation socket; 44. a high-pressure water joint; 45. a rear cover; 46. a forward flood dragon knife; 47. a bearing block scraper; 48. a sharp edge; 49. a sludge conveying inner cylinder; 50. an internal sludge outlet; 51. an upper cover plate; camera group 52.

Detailed description of the preferred embodiments

The utility model is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

A municipal drainage pipeline dredging robot mainly comprises an upper shell part 1, an outer reaming and grinding part 3, an inner reaming and grinding transmission part 4, a rear cover part 5, a guide wheel part 6, an upper cover part 7 and a chassis part 2. The upper shell part 1 comprises an upper shell 8 and side high-pressure water spray heads 9 on two sides, and the upper shell 8 is used as a mounting bracket for other parts except the bottom plate part 2. Interior hinge grinds transmission portion 4 and includes gear motor 33, gear motor 33 passes through the mounting screw in upper shell 8, drives rear portion flood dragon sword 23 through shaft coupling 32, rear portion flood dragon sword 23 is for making things convenient for the complete machine installation, and is connected and beat the thread glue with anterior flood dragon sword 21 through with the welding at the adapter sleeve 22 thread sealing of anterior flood dragon sword 21 axle head, and the screw thread direction of screwing is the same with atress direction when rotatory to guarantee the during operation not pine and take off. The other end of the front flood dragon knife 21 is welded with a central spray head 20. 23 optical axis sections of rear portion flood dragon sword have synchronous pulley 25 through the key-type connection, synchronous pulley 25 drives two 26 of synchronous pulley with the same key-type connection of transmission pivot 27 through hold-in range 29, 27 other end key connections of transmission pivot have pinion 28, the gear wheel external toothing of pinion 28 and outer gear sleeve 16, outer gear sleeve 16 and 12 tip flange face screwed connection of outer hinge mill cover to guarantee at gear motor 33 during operation, outer hinge mill cover 12 also can be driven. The rear flood dragon knife 23 is directly connected with the gear motor 33, so that the steering is the same; the transmission rotating shaft 27 connected through the synchronous belt 29 and the speed reducing motor 33 rotate in the same direction, and after the external meshing transmission is carried out through the pinion 28 and the external gear sleeve 16, the rotation direction is changed to be opposite, the rotating speed is reduced, the torque is increased, the external hinged grinding cover 12 is driven to rotate reversely with the speed reducing motor 33, and the larger cutting and grinding torque to the sludge is also provided. The rear flood dragon knife 23 is supported by sliding bearings at two ends; the transmission rotating shaft 27 is also supported by sliding bearings at two ends, preferably, the two ends prevent the whole shaft from moving through end covers; spacer sleeve 30 is added as a craft part. The outer gear sleeve 16 rotates on a sliding bearing I17 and a sliding bearing II 18 which are arranged on the outer cylindrical surface of a sludge conveying inner cylinder 49 arranged in the upper shell 8, and a retainer ring I19 is arranged at the end part to prevent axial sliding and is convenient to mount and dismount. The outer reaming grinding cover 12 is connected with the outer gear sleeve 16 through a flange face screw arranged at the end part of the outer reaming grinding cover, so that the outer reaming grinding cover 12 is convenient to disassemble and assemble and is convenient to replace after being damaged.

Four forward helical blades with enough thickness are welded on the outer wall of the hollow shaft arranged in the center of each of the front flood dragon knife 21 and the rear flood dragon knife 23 to form a forward flood dragon knife 46, the flood dragon knives are all provided with sharp edges 48, when the speed reducing motor 33 works, the flood dragon realizes inward conveying of silt, and meanwhile, the cutting and grinding effects on branches, hard objects and the like are achieved, namely, the flood dragon transmission and reamer cutting and grinding effects are achieved, and the conveying efficiency is increased; outer hinge grinding cover 12 also is equipped with four sufficient thick reverse helical blade and welds in the inner wall of infundibulate cover body, forms reverse flood dragon sword 15, and its flood dragon sword also is sharp 48, because outer hinge grinding cover 12 motion direction of rotation is opposite with anterior flood dragon sword 21, and helical blade's structure direction is also opposite, consequently it also can realize the inside conveying of silt in, reaches the cutting and grinding effect to branch, hard thing etc. it has flood dragon transmission and reamer cutting and grinding effect equally concurrently, increases conveying efficiency. The reversely rotating outer hinged grinding cover 12 and the forward rotating front flood dragon knife 21 are coaxially arranged and form shearing on branches and hard objects again, so that the grinding effect is greatly improved, the outer hinged grinding cover 12 is basically coaxial with the center of a pipeline, and the dredging device can efficiently dredge in the case of severe pipeline clogging. The bearing seat scraper 47 is arranged in the sludge conveying inner cylinder 49, the bearing seat scraper 47 is welded in the sludge conveying inner cylinder 49 and provided with a plurality of through holes for limiting the passing of large-size hard objects, the gap between the rear end surface of the front flood dragon knife 21 and the gap between the front end surface of the rear flood dragon knife 23 and the two end surfaces of the bearing seat scraper 47 are small, the sludge on the bearing seat scraper 47 is cleaned, and meanwhile, when the sludge and possible hard objects pass through the through holes of the bearing seat scraper 47, the hard objects are cut and ground by the front flood dragon knife 21 and the rear flood dragon knife 23 again, so that the situation that the large hard objects are ground and cannot block a sludge suction pipeline when entering a sludge suction hose is effectively guaranteed.

The rear cover part 5 is provided with a high-pressure water joint 44 which is connected with a high-pressure water truck on the ground of the manhole, the other end of the rear cover part is communicated with two side high-pressure water spray heads 9 and a high-pressure water joint 36 inside the robot, the high-pressure water joint 36 is connected with the end surface of the rotary water supply seat 24 in a sealing way, the middle part of the synchronous belt 29 is connected without interference, the rotary water supply seat 24 is fixed inside the upper shell 8 through screws, communication holes 35 are arranged inside the upper shell, two sides of the rotary water supply seat are respectively provided with a rotary sealing ring 31 to ensure that the rotary water supply seat is sealed and cannot leak, the rear flood dragon knife 23 is a hollow shaft, radial holes are formed in the position of the communication holes 35 in an aligning way, so that high-pressure water is transmitted into the hollow shaft of the rear flood dragon knife 23 and then transmitted into the central spray head 20 through the hollow shaft of the front flood dragon knife 21, the central spray head 20 is of a bullet head structure, and small water outlet holes 34 are formed around the front part and the rear part, the water outlet small holes 34 which are arranged in the front of the spraying side are used for removing or humidifying sludge in the front, the central sprayer 20 is positioned in the center of the pipeline, so that the sludge removing and humidifying efficiency is higher in the place where the sludge is seriously blocked, and the water outlet small holes 34 which are arranged in the rear of the spraying side can absorb the sludge in a wetting mode and clean flood dragon blades. The two side high-pressure water spray nozzles 9 provide more high-pressure water spray dredging for two sides and the upper part.

The wheel trains on the two sides of the chassis part 2 are respectively and independently driven, and two driving motors are arranged, so that the steering effect of the chassis is achieved. The guide wheels 6 are four groups and are symmetrically arranged on the upper shell 8 in a left-right mode, compression springs 38 are arranged at the lower ends of the guide wheels 6, the base part 2 comprises a first bottom cover 10 and a second bottom cover 11, the first bottom cover 10 and the second bottom cover 11 are both covers on the base part 2, spring counter bores 37 are formed in the first bottom cover 10 and the second bottom cover 11 and used for placing the compression springs 38, the other ends of the compression springs 38 abut against two nuts 39 arranged on a D-shaped shaft 41, so that the D-shaped shaft 41 moves up and down in the wear-resistant sleeve 40, the guide wheels of the four groups of guide wheels 6 respectively and independently act, the guide wheels are tightly attached to the upper inner wall of the pipeline, and when walking is deviated to one side, the compression springs 38 on that side have higher energy storage pressure, so that the base part 2 returns to the right; meanwhile, four groups of guide wheels ensure the stable shape of the robot during working. The upper shell part 1 is installed on the base part 2 through screws and can be detached.

The upper cover part 7 comprises an upper cover 51 and a camera group 52, the upper cover 51 is connected to the upper shell 8 through screws and seals the upper part of the upper shell 8, the camera group 52 comprises a camera in the middle and illuminating lamps on two sides, the camera group 52 is connected to the upper cover 51 through screws, and the camera group 52 can position a clogging point and check the dredging effect at the same time. Outer hinge grinding portion 3 is still including setting up outer hinge grinding cover 12 circumference polyurethane piece 13 to and inlay in cleaning brush 14 in the polyurethane piece 13, work as when outer hinge grinding cover 12 is rotatory, the polyurethane piece 13 that has wear-resisting and cushioning effect can prevent that the outer wall of outer hinge grinding cover 12 from colliding the pipeline inner wall, cleaning brush 14 can be cleaned the camera group 52, side high pressure water shower nozzle 9 can be in the same direction as taking and wash cleaning brush 14.

The tail end of the sludge conveying inner cylinder 49 is provided with a downward internal sludge outlet 50, the internal sludge outlet 50 is in screw connection with a flange surface at the head end of the sludge outlet pipe 42 through a flange surface, and the rear end of the sludge outlet pipe 42 enters the sewage suction truck through a municipal sludge suction hose through a through hole correspondingly formed in the rear cover 45 contained in the rear cover part 5.

The back cover part 5 is also provided with an aviation socket 43, and the purpose that the robot is communicated with the ground measurement and control end is achieved by connecting a municipal external cable. The aviation socket 43 is internally provided with a speed reduction motor 33, two driving motors of the chassis part 2 and power lines of the camera group 52, and is also provided with a communication line for the camera group 52.

When the intelligent control system is used, a robot is placed into a silted pipeline from an inspection well, a ground measurement and control end is used for controlling the robot, a ground sewage suction truck and a high-pressure water pump are connected at the same time, when the robot starts to walk, a camera group 52 works, a speed reduction motor 33 does not work, when the robot is positioned to a silted point, the speed reduction motor 33 is turned on, a reverse flood dragon knife 15 and a forward flood dragon knife 46 are matched for dredging, the ground high-pressure water pump works at the same time, high-pressure water is sprayed out for dredging, the ground sewage suction pump starts to suck sewage, and silted objects enter the sewage suction truck through an outer hinge grinding cover 12, a silt conveying inner cylinder 49 and a silt outlet pipe 42; when the camera group 52 monitors and checks that the dredging is completed, the ground high-pressure water pump stops supplying water.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, are used in the orientations and positional relationships indicated in the drawings, which are based on the orientations and positional relationships indicated in the drawings, and are used for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent change and modification made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention without departing from the technical solution of the present invention.

Details not described in this specification are within the skill of the art that are well known to those skilled in the art.

Claims (9)

1. The utility model provides a municipal drainage pipe desilting robot which characterized in that includes:

the chassis part (2), there are gear trains on the said chassis part (2);

The shell part is arranged on the chassis part (2), the side surface of the shell part is provided with a side high-pressure water spray nozzle (9), the top surface of the shell part is provided with a camera group (52), and the rear surface of the shell part is provided with a high-pressure water joint (44) and an aviation socket (43);

the sludge conveying device comprises an inner hinge grinding transmission part (4), wherein the inner hinge grinding transmission part (4) is arranged in a shell part, the inner hinge grinding transmission part (4) comprises a speed reducing motor (33), the speed reducing motor (33) is connected with one end of a rear flood dragon knife (23), the other end of the rear flood dragon knife (23) is connected with a front flood dragon knife (21), a central spray head (20) is welded at the other end of the front flood dragon knife (21), and the rear flood dragon knife (23) is arranged in a sludge conveying inner cylinder (49);

the outer hinge grinding part (3) comprises an outer hinge grinding cover (12), the inner wall of the outer hinge grinding cover (12) is provided with a helical blade, the outer hinge grinding cover (12) is connected with a speed reducing motor (33) through a transmission mechanism, and the direction of rotation of the outer hinge grinding cover (12) is opposite to that of the front flood dragon knife (21) and the rear flood dragon knife (23); the front flood dragon knife (21) is arranged in the outer hinged grinding cover (12), and the front flood dragon knife (21) is coaxial with the outer hinged grinding cover (12);

one end of the high-pressure water joint (44) is connected with a high-pressure water truck on the ground of the manhole, and the other end of the high-pressure water joint is communicated with the side high-pressure water spray head (9) and the central spray head (20);

Silt conveying inner tube (49) one end and outer hinge mill cover (12) intercommunication, the other end and silt outlet pipe (42) intercommunication, outer hinge mill cover (12), silt conveying inner tube (49), silt outlet pipe (42) form the desilting passageway.

2. The municipal drainage pipeline dredging robot according to claim 1, wherein the outer shell part comprises an upper shell part (1), a rear cover part (5) and an upper cover part (7), the upper shell part (1) comprises an upper shell (8) and side high-pressure water nozzles (9) on two sides of the upper shell (8), the rear cover part (5) is provided with a high-pressure water connector (44) and an aviation socket (43), the upper cover part (7) comprises an upper cover (51) and a camera group (52), the upper cover (51) is connected to the upper shell (8) through screws and seals the upper part of the upper shell (8), and the camera group (52) is arranged on the upper cover (51).

3. The municipal drainage pipeline dredging robot according to claim 2, wherein the upper shell part (1) is symmetrically provided with four guide wheel parts (6), the guide wheel parts (6) are symmetrically arranged on the upper shell (8) in a left-right manner, compression springs (38) are arranged at the lower ends of the guide wheels of the guide wheel parts (6), the bottom disk part (2) is provided with spring counter bores (37) for placing the compression springs (38), and the other ends of the compression springs (38) abut against two nut ends (39) arranged on a D-shaped shaft (41), so that the D-shaped shaft (41) moves up and down in the wear-resistant sleeve (40).

4. The municipal drainage pipeline dredging robot of claim 1, wherein the front flood dragon knife (21) and the rear flood dragon knife (23) are respectively provided with four helical blades welded on the outer wall of a hollow shaft arranged at the center, and the helical blades are sharp blades.

5. The municipal drainage pipeline dredging robot according to claim 1, wherein the central nozzle (20) is of a bullet-shaped structure, and small water outlet holes (34) are formed in the front and the back of the central nozzle.

6. The municipal drainage pipeline dredging robot according to claim 1, wherein the sludge transfer inner cylinder (49) is provided with a bearing support scraper (47), the bearing support scraper (47) is welded in the sludge transfer inner cylinder (49) and is provided with a plurality of through holes for limiting the passage of large-sized hard objects.

7. The municipal drainage pipeline dredging robot of claim 1, wherein, drive mechanism includes synchronous pulley (25), synchronous pulley (25) is connected on rear flood dragon sword (23) through the key, synchronous pulley (25) drives synchronous pulley two (26) with the same key-type connection of transmission pivot (27) through hold-in range (29), transmission pivot (27) other end key-type connection has pinion (28), the big gear external toothing of pinion (28) and outer gear sleeve (16), outer gear sleeve (16) are installed on the outer face of cylinder of silt conveying inner tube (49) through slide bearing, outer gear sleeve (16) and outer hinge grinding cover (12) tip flange face screwed connection.

8. The municipal drainage pipeline dredging robot according to claim 1, wherein the outer reaming and grinding part (3) further comprises a polyurethane block (13) disposed in the circumferential direction of the outer reaming and grinding cover (12), and a cleaning brush (14) embedded in the polyurethane block (13).

9. The municipal drainage pipeline dredging robot according to claim 1, wherein the tail end of the sludge conveying inner cylinder (49) is provided with a downward internal sludge outlet (50), the internal sludge outlet (50) is in screw connection with a flange surface at the head end of the sludge outlet pipe (42) through a flange surface, and the rear end of the sludge outlet pipe (42) is connected to a sewage suction truck through a municipal sludge suction hose.

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