CN220781663U

CN220781663U - Pipeline dredging robot

Info

Publication number: CN220781663U
Application number: CN202322493482.6U
Authority: CN
Inventors: 赵元科; 张青龙; 李丽; 魏芳东
Original assignee: Gansu Road Engineering Quality Test Detection Center Co ltd; Gansu Academy Of Transportation Sciences Group Co ltd
Current assignee: Gansu Road Engineering Quality Test Detection Center Co ltd; Gansu Academy Of Transportation Sciences Group Co ltd
Priority date: 2023-09-14
Filing date: 2023-09-14
Publication date: 2024-04-16
Anticipated expiration: 2033-09-14

Abstract

The utility model discloses a pipeline dredging robot, which belongs to the technical field of pipeline cleaning of tunnel concealed structures, and comprises a shell, a travelling mechanism, a cleaning mechanism, a control system and a dredging mechanism, wherein the dredging mechanism comprises a drill bit, a dredging rod and a drill bit motor; the dredging rods are provided with a plurality of vertical and uniform drill bit side walls, and the drill bit motor is connected with the drill bit; the travelling mechanisms are provided with a plurality of groups and are circumferentially fixed on the side wall of the shell; the cleaning mechanism comprises a cleaning brush, a scraping plate, a cleaning brush motor and a scraping plate motor; the cleaning brush and the scraping plate are respectively connected with a cleaning brush motor and a scraping plate motor; the travelling mechanism, the drill motor cleaning brush motor and the scraper motor are all connected with the controller through circuits; the device is communicated with the pipeline through the travelling mechanism to clean the pipeline, the dredging mechanism can dredge the blocking part in the pipeline, and the device is provided with the scraping plate which can scrape out sludge and crystals in the pipeline when the device is retracted.

Description

Pipeline dredging robot

Technical Field

The utility model relates to the technical field of tunnel hidden structure pipeline cleaning, in particular to a pipeline dredging robot.

Background

The central ditch of the tunnel is the most important drainage facility in the tunnel, the central ditch gathers groundwater in the tunnel and guides and discharges outside the hole, guarantees the normal operation of tunnel, and the central ditch is located below the tunnel road surface, and daily maintenance is difficult to clear up, has accumulated a large amount of silt and crystallization thing for a long time, leads to the tunnel drainage unsmooth, causes operation safety problems such as road surface water fall even. Therefore, frequent inspection and cleaning of the tunnel center gutters is necessary.

At present, manual or special cleaning devices are mainly used for periodically checking and cleaning the central ditch of the tunnel, and the manual cleaning is generally to open a cover plate of an inspection well of the central ditch to check the ponding and siltation conditions in the central ditch. Because the interval between the central ditch inspection wells of the tunnel is larger (50-100 m), the space is smaller, the central ditches in the two inspection well sections are difficult to be completely inspected and cleaned manually, and the manual cleaning speed is low, the efficiency is low and the cost is high. And the pipe diameter of the transverse drain pipe connected with the central ditch is smaller and easy to block, but the manual work cannot be used for checking and cleaning, while the existing cleaning device can enter the pipeline to clean the pipeline, but for places with serious blocking, the existing cleaning device cannot be used for effectively dredging, and the existing device cannot carry out sediment and crystals in the pipeline after cleaning.

Disclosure of utility model

The utility model aims to provide a pipeline dredging robot so as to solve the problems of the background technology.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the pipeline dredging robot comprises a shell, a travelling mechanism, a cleaning mechanism and a control system, wherein the travelling mechanism and the cleaning mechanism are fixedly arranged on the shell, the control system comprises a controller, a transmitter, a receiver, a storage battery and a remote controller, the transmitter, the receiver and the storage battery are connected through a circuit and are fixedly arranged in the shell, and the pipeline dredging robot further comprises a dredging mechanism, wherein the dredging mechanism comprises a drill bit, a dredging rod and a drill bit motor; the drill bit is characterized in that one end of the drill bit is conical, a spiral guide bar is arranged on the side wall of the drill bit, the drill bit is fixedly arranged outside the shell, the dredging rod is a strip-shaped rod, strip-shaped protruding parts are arranged on the side wall of the dredging rod, the dredging rod is provided with a plurality of dredging rods which are vertically and uniformly fixed on the side wall of the drill bit, the drill bit motor is fixed inside the shell, and the rotating shaft of the drill bit motor is connected with the drill bit; the travelling mechanisms are provided with a plurality of groups of travelling mechanisms which are circumferentially fixed on the side wall of the shell; the cleaning mechanism comprises a cleaning brush, a scraping plate, a cleaning brush motor and a scraping plate motor; the cleaning brush and the scraping plate are respectively connected with rotating shafts of the cleaning brush motor and the scraping plate motor, and the cleaning brush motor and the scraping plate motor are fixedly arranged in the shell; the running mechanism, the drill motor cleaning brush motor and the scraper motor are all connected with the controller through circuits.

Further, the shower device comprises a shower mechanism, wherein the shower mechanism comprises a water tank, a water pump, a water pipe and a shower nozzle which are connected in sequence, the water tank and the water pump are fixedly arranged inside a shell, the water pump is connected with a controller through a circuit, the shower nozzle is fixedly arranged on the shell, and a water outlet part of the shower nozzle is positioned outside the shell.

The spraying mechanism is arranged to spray water on the inner wall of the pipeline, so that the cleaning effect of the cleaning brush is improved.

Further, the walking mechanism comprises a crawler wheel, a plurality of supporting rods and an adjusting mechanism; the crawler wheel is rotationally connected to one end of the supporting rod, the other end of the supporting rod is rotationally connected to the outer wall of the shell, and one of the supporting rods is rotationally connected with an adjusting mechanism; the crawler wheel comprises a crawler belt, side plates, a transmission gear and a traveling motor, wherein the side plates are arranged on two sides of the crawler belt, the transmission gear is arranged on the inner side of the crawler belt and meshed with the inner side of the crawler belt, the end face of the transmission gear is rotationally connected to the inner side face of the side plates, the transmission gear is connected with a rotating shaft of the traveling motor, and the traveling motor is fixedly arranged on the inner side wall of the side plates; the adjusting mechanism comprises an adjusting rod, a sliding lantern ring, a screw rod, a connecting shaft, a fixing seat and an adjusting motor; one end of the adjusting rod is rotationally connected to the supporting rod through a rotating shaft, the other end of the adjusting rod is rotationally connected to the sliding sleeve ring through the rotating shaft, the sliding sleeve ring is sleeved on the screw rod and is in threaded fit with the screw rod, the connecting shaft is fixedly connected to one end of the screw rod, the other end of the screw rod is rotationally connected to a partition plate inside the shell, the connecting shaft is connected with a rotating shaft of the adjusting motor, the fixing seat is fixed to the inner wall of the shell, the upper portion of the fixing seat is rotationally connected with the connecting shaft, and the advancing motor and the adjusting motor are connected with the controller through a circuit.

The motor and the transmission gear are directly arranged inside the crawler belt, so that the garbage in the pipeline is prevented from being wound on the transmission mechanism to affect the transmission effect during transmission, the screw is driven to rotate by the adjusting motor, the sliding lantern ring is enabled to move on the screw, the adjusting rod is driven to move during the movement of the sliding lantern ring, the adjusting rod is pulled to rotate by the adjusting rod, and the distance between the crawler belt wheel and the shell is adjusted, so that the crawler belt is suitable for cleaning pipelines with various sizes.

Further, waterproof cloth is fixedly connected to the adjusting rod, the upper end of the waterproof cloth is fixed to the periphery of the side wall of the adjusting rod, and the lower end of the waterproof cloth is fixed to the periphery of a notch in the shell, wherein the notch is used for penetrating the adjusting rod.

The waterproof cloth is fixed on the adjusting rod, and the notch of the adjusting rod is plugged by penetrating the shell through the waterproof cloth, so that sludge in the pipeline can be prevented from entering the shell, the waterproof cloth is flexible, and the rotation of the adjusting rod cannot be influenced.

Furthermore, the dredging rod comprises an upper rod and a lower rod, wherein the side walls of the upper rod and the lower rod are respectively provided with only strip-shaped protruding parts, the protruding directions of the protruding parts of the upper rod and the upper rod are consistent, the side wall of the upper rod is provided with a plurality of groups of first through holes, the inside of the lower rod is hollow, the side wall of the lower rod is provided with a plurality of groups of second through holes, and the upper rod is sleeved inside the lower rod and is fixed through bolts penetrating through the first through holes and the second through holes; the cleaning brush comprises a brush head and a brush rod, the brush head is fixed at the top of the brush rod, the bottom of the brush rod is fixedly connected with a rotating shaft of a cleaning brush motor, the brush rod is divided into an upper part and a lower part, and the upper part of the brush rod is sleeved inside the lower part and is fixed through bolts.

The upper rod and the lower rod of the dredging rod and the upper part and the lower part of the brush rod are sleeved, a plurality of groups of through holes are arranged and fixed by bolts, the lengths of the dredging rod and the brush rod are convenient to adjust, and the brush rod is suitable for cleaning pipelines with various sizes.

Further, the scraper blade is provided with two, and the scraper blade appearance is quarter circular, and two scraper blade symmetry sets up in the casing below, and the scraper blade top is provided with the double-screw bolt, has the thread bush through threaded connection on the double-screw bolt, and the thread bush rotates to be connected on the casing lateral wall, thread bush upper portion fixed connection is at driven gear's terminal surface center, fixedly connected with driving gear in the axis of rotation of scraper blade motor, driving gear sets up between two driven gears and with driven gear meshing.

The scraper blade is required to rotate the terminal surface to the position parallel with the direction of travel when pipeline dredging robot marcing the clearance, avoids pushing forward the silt in the pipeline, sets up to two occupation space little in the direction of travel after rotating, has expanded the application scene of device.

Further, a camera is fixedly installed on the device shell and connected with the controller through a circuit.

The camera is arranged to facilitate the observation of the internal condition of the pipeline.

Further, the cleaning mechanism center is rotatably connected with a safety cable through a bearing.

The safety cable is arranged to facilitate the pulling out of the device when the device fails.

Compared with the prior art, the utility model has the beneficial effects that:

1. The utility model enables the device to enter the pipeline through the travelling mechanism to clean the pipeline through the cleaning mechanism, solves the problem that the cleaning is difficult to be carried out manually due to the narrow ditch in the center of the tunnel, and is provided with the dredging mechanism, and when the device forwards advances, the bit of the dredging mechanism can be rotated to dredge the blocking part in the pipeline.

2. The scraper is arranged, and when the device finishes the recovery of the pipeline cleaning, the scraper can be opened by the rotation of the scraper motor to enable the scraper to be attached to the lower part of the inner wall of the pipeline, so that the sludge and the crystal in the pipeline are scraped out.

3. The utility model is provided with the spraying mechanism, and before the cleaning mechanism cleans, the spraying mechanism can spray water on the inner wall of the pipeline, so that the cleaning effect of the cleaning mechanism is improved.

Drawings

FIG. 1 is a schematic view of the overall structure of an embodiment of the present utility model;

FIG. 2 is a schematic view of the internal structure of a housing according to an embodiment of the present utility model;

FIG. 3 is a schematic diagram of the construction of an embodiment of the present utility model;

FIG. 4 is a schematic view of the internal structure of a crawler wheel according to an embodiment of the present utility model;

FIG. 5 is a schematic view of a cleaning mechanism according to an embodiment of the present utility model;

FIG. 6 is a front view of a safety cable in an embodiment of the utility model;

FIG. 7 is a schematic view of a dredging rod according to an embodiment of the utility model;

FIG. 8 is a schematic view of a flight configuration according to an embodiment of the present utility model;

In the figure, 1-shell, 2-dredging mechanism, 3-travelling mechanism, 4-spraying mechanism, 5-cleaning mechanism, 6-safety cable, 7-camera, 21-drill bit, 22-dredging rod, 23-drill bit motor, 31-crawler wheel, 32-supporting rod, 33-adjusting mechanism, 34-waterproof cloth, 41-water tank, 42-water pump, 43-water pipe, 44-spray head, 51-cleaning brush, 52-cleaning brush motor, 53-scraper blade, 54-driven straight gear, 55-scraper blade motor, 56-driving straight gear, 57-threaded sleeve, 58-cross bar, 221-upper rod, 222-lower rod, 223-protruding part, 311-crawler belt, 312-side plate, 313-driving bevel gear, 314-driven bevel gear, 315-straight gear, 316-travelling motor, 317-fixed bearing, 331-adjusting rod, 332-screw rod, 333-sliding collar, 334-fixed seat, 335-connecting shaft, 336-adjusting motor, 511-brush rod, 512-brush head, 531-stud.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-8, the present utility model provides a technical solution: a pipeline dredging robot comprises a shell 1, a dredging mechanism 2, a travelling mechanism 3, a spraying mechanism 4, a cleaning mechanism 5, a safety cable 6 and a control system.

The inside cavity of casing 1 is provided with the through-hole that is used for the axle to pass on the both ends face about, is provided with the notch that is used for the pole to pass on the middle part lateral wall, and casing 1 inside is provided with a plurality of baffles and separates casing 1 inside into a plurality of independent spaces for separate the part that installs each mechanism at casing 1 inside, fixedly be provided with camera 7 on the casing 1 outside lateral wall.

The dredging mechanism 2 is fixedly arranged at the left side of the shell 1; the dredging mechanism 2 comprises a drill bit 21, a dredging rod 22 and a drill bit motor 23; one end of the drill bit 21 is conical, a spiral guide bar is arranged on the side wall of the drill bit 21, the drill bit 21 is fixedly arranged outside the shell 1, the dredging rods 22 are bar-shaped rods, the dredging rods 22 are provided with three groups, each group of dredging rods 22 comprises an upper rod 221 and a lower rod 222, bar-shaped protruding parts 223 are arranged on the side walls of the upper rod 221 and the lower rod 22, the protruding directions of the protruding parts 223 on the upper rod 221 and the lower rod 222 are consistent, a plurality of groups of first through holes are formed in the side wall of the upper rod 221, a plurality of groups of second through holes are formed in the hollow inside of the lower rod 222, the upper rod 221 is sleeved inside the lower rod 222 and fixed through bolts penetrating through the first through holes and the second through holes, and a plurality of groups of lower rods 222 are uniformly fixed on the side wall of the drill bit 21 along the circumferential direction; the drill motor 23 is fixed inside the housing 1, and a rotation shaft of the drill motor 23 is fixedly connected to the opposite face of the tapered end of the drill 21.

The three groups of travelling mechanisms 3 are fixedly arranged at the middle position of the shell 1 along the circumferential direction; the travelling mechanism 3 comprises a crawler wheel 31, two support rods 32 and an adjusting mechanism 33; the crawler wheel 31 is rotatably connected to one end of the supporting rod 32 through a rotating shaft, the other end of the supporting rod 32 is rotatably connected to the outer wall of the shell 1 through a rotating shaft, and the left supporting rod 32 is rotatably connected with an adjusting mechanism 33 through a rotating shaft.

The crawler wheel 31 comprises a crawler 311, side plates 312, a transmission gear and a traveling motor 316, wherein the side plates 312 are arranged on two sides of the crawler 311, the transmission gear comprises a driving bevel gear 313, a driven bevel gear 314 and four straight gears 315, the driving bevel gear 313 is connected with a rotating shaft of the traveling motor 316, the driven bevel gear 314 is meshed with the driving bevel gear 313, two straight gears 315 are fixed on two inner ends of the crawler 311 and meshed with the inner sides of the crawler 311, the other two straight gears 315 are in transmission connection with the driven bevel gear 314 to drive front-end straight gears 315 meshed on the crawler 311 to rotate, and the driven bevel gear 314 and the four straight gears 315 are in rotation connection with the side plates 312 through shafts penetrating through the gears and fixed bearings 317 fixed on the shafts.

The adjusting mechanism 33 comprises an adjusting rod 331, a sliding collar 333, a screw 332, a connecting shaft 335, a fixed base 334 and an adjusting motor 336; one end of the adjusting rod 331 is rotationally connected to the supporting rod 32 through a rotating shaft, the other end of the adjusting rod 331 is rotationally connected to the sliding collar 333 through a rotating shaft, waterproof cloth 34 is fixedly connected to the adjusting rod 331, the upper end of the waterproof cloth 34 is fixed on the periphery of the side wall of the adjusting rod 331, the lower end of the waterproof cloth is fixed on the shell 1 and is used for penetrating the periphery of a notch of the adjusting rod 331, the sliding collar 333 is sleeved on the screw 332, the sliding collar 333 is in threaded connection with the screw 332, the connecting shaft 335 is fixedly connected to one end of the screw 332, the other end of the screw 332 is rotationally connected to a partition plate in the shell 1, the connecting shaft 335 is connected with a rotating shaft of the adjusting motor 336, and the adjusting motor 336 is fixedly arranged in the shell 1; the fixed base 334 is fixed on the inner wall of the casing 1, and the upper part of the fixed base 334 is rotatably connected with the connecting shaft 335 through a bearing.

The spraying mechanism 4 is fixedly arranged in the middle of the shell 1, and the spraying mechanism 4 comprises a water tank 41, a water pump 42, a water pipe 43 and a spray head 44 which are sequentially connected; the water tank 41 and the water pump 42 are fixedly arranged in the shell 1, the spray head 44 is fixedly arranged on the shell 1, and the water outlet part of the spray head 44 is positioned outside the shell 1.

The cleaning mechanism 5 is arranged at the right end of the shell 1, and the cleaning mechanism 5 comprises a cleaning brush 51, a scraping plate 53, a cleaning brush motor 52 and a scraping plate motor 55; the cleaning brush 51 is provided with three groups, and every group cleaning brush 51 includes brush head 512 and brush pole 511, and brush head 512 is fixed at brush pole 511 top, and brush pole 511 divide into upper and lower two parts, and brush pole 511 upper portion cup joints inside the lower part and through the bolt fastening, and brush pole 511 bottom is connected with horizontal pole 58, and multiunit brush pole 511 evenly fixes on horizontal pole 58 lateral wall along circumference, and horizontal pole 58 and cleaning brush motor 52's axis of rotation fixed connection, and cleaning brush motor 52 is fixed to be set up inside casing 1.

The scraper 53 is provided with two, and the scraper 53 appearance is quarter circular, and two scraper 53 symmetry sets up in casing 1 below, and the scraper 53 top is provided with double-screw bolt 531, has threaded sleeve 57 through threaded connection on the double-screw bolt 531, and threaded sleeve 57 swivelling joint is on casing 1 lateral wall, and threaded sleeve 57 upper portion fixed connection is at driven spur gear 54's terminal surface center, fixedly connected with initiative spur gear 56 in scraper motor 55's the axis of rotation, initiative spur gear 56 set up between two driven spur gears 54 and with driven spur gear 54 meshing.

The safety cable 6 is arranged at the right end of the device, the safety cable 6 is fixedly connected with the inner ring of the bearing, and the outer ring of the bearing is fixedly connected on the cross rod 58, so that the safety cable 6 is rotationally connected with the cross rod 58.

The control system comprises a controller, a transmitter, a receiver, a storage battery and a remote controller, wherein the controller, the transmitter, the receiver and the storage battery are connected through a circuit and fixedly installed inside the shell 1, and the remote controller is operated outside the pipeline by a worker.

The drill motor 23, the camera 7, the travelling motor 316, the adjusting motor 336, the water pump 42, the cleaning brush motor 52 and the scraper motor 55 are all connected with the controller through circuits.

In the control system, the transmitter converts the electric signals transmitted from the camera through an integrated encoder in the transmitter and transmits the converted electric signals to the remote controller, a worker can observe the internal condition of the pipeline through a display screen on the remote controller, and the worker can send an operation instruction through the remote controller, processes the signals through a receiver and then controls the device through the controller.

The specific operation process of the utility model is as follows:

Device adjustment

1. According to the inner wall of the pipeline to be cleaned, the bolts on the dredging rod 22 and the brush rod 511 are unscrewed, the dredging rod 22 is adjusted to be attached to the inner wall of the pipeline or a proper gap is reserved, and when the brush rod 511 is adjusted to the condition that the bristles on the brush head 512 are contacted with the inner wall of the pipeline, the bolts are screwed down again to be fixed.

2. The proper scraper 53 is selected according to the inner wall of the pipeline, and a stud 531 on the top of the scraper 53 is screwed on a threaded sleeve 57 on the shell 1 to fix the scraper 53 on the shell 1, and the scraper 53 is in a closed state.

3. The remote controller controls the adjusting motor 336 to rotate, drives the sliding lantern ring 333 to move on the screw 332, and adjusts the opening size of the travelling mechanism 3, so that the three crawler wheels 31 are tightly attached to the inner wall of the pipeline.

Secondly, cleaning the pipeline

After the adjustment is completed, the drill motor 23, the traveling motor 316, the adjusting motor 336, the water pump 42, the cleaning brush motor 52 and the scraper motor 55 are started through the remote controller, at the moment, the running mechanism 3 drives the device to move towards the inside of the pipeline, the dredging mechanism 2 dredges the blocking part in front of the device, the spraying mechanism 4 sprays water to clean the inner wall of the pipeline in the traveling process, and the pipeline is cleaned through the cleaning brush 51 at the rear side.

Thirdly, after the cleaning is finished

The scraper 53 is opened by controlling the rotation of the scraper motor 55 through the remote controller, the arc-shaped surface of the scraper 53 is attached to the lower part of the inner wall of the pipeline, the device is pulled out through the safety cable 6 or the travelling motor 316 is controlled to be reversed through the remote controller to retract the device, and the scraper 53 brings out residual sludge and crystals in the pipeline in the retracting process of the device.

In addition, when the device fails and cannot move in the pipeline, the device can be pulled out through the safety cable 6.

It should be noted that, the motor, the water pump 42, the camera 7, the spray head 44, and the controller, the transmitter, the receiver, the storage battery, and the remote controller in the control system used in the device are commercial components purchased in the market, and specific model specifications thereof need to be determined by selecting the model according to the actual specifications of the device, and the like, and the model selection calculation method adopts the prior art in the field, so that detailed description is omitted. The control system power supply and its principles are clear to a person skilled in the art and will not be described in detail here.

Although the present utility model has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present utility model.

Claims

1. The utility model provides a pipeline dredging robot, includes casing (1), running gear (3), clearance mechanism (5), control system, running gear (3) and clearance mechanism (5) fixed mounting are on casing (1), control system includes controller, transmitter, receiver, battery and remote controller, transmitter, receiver, battery pass through circuit connection and fixed mounting inside casing (1), its characterized in that: the dredging mechanism (2) comprises a drill bit (21), a dredging rod (22) and a drill bit motor (23); one end of the drill bit (21) is conical, a spiral guide bar is arranged on the side wall of the drill bit (21), the drill bit (21) is fixedly arranged outside the shell (1), the dredging rod (22) is a strip rod, strip-shaped protruding parts (223) are arranged on the side wall of the dredging rod (22), the dredging rod (22) is provided with a plurality of dredging rods (22) which are vertically and uniformly fixed on the side wall of the drill bit (21), the drill bit motor (23) is fixed inside the shell (1), and the rotating shaft of the drill bit motor (23) is connected with the drill bit (21); the travelling mechanisms (3) are provided with a plurality of groups, and the travelling mechanisms (3) are circumferentially fixed on the side wall of the shell (1); the cleaning mechanism (5) comprises a cleaning brush (51), a scraping plate (53), a cleaning brush motor (52) and a scraping plate motor (55); the cleaning brush (51) and the scraping plate (53) are respectively connected with rotating shafts of the cleaning brush motor (52) and the scraping plate motor (55), and the cleaning brush motor (52) and the scraping plate motor (55) are fixedly arranged in the shell (1); the travelling mechanism (3), the drill motor (23), the cleaning brush motor (52) and the scraper motor (55) are all connected with the controller through circuits.

2. The pipeline dredging robot of claim 1, wherein: the water spraying device further comprises a spraying mechanism (4), wherein the spraying mechanism (4) comprises a water tank (41), a water pump (42), a water pipe (43) and a spray head (44) which are sequentially connected; the water tank (41) and the water pump (42) are fixedly arranged inside the shell (1), the water pump (42) is connected with the controller through a circuit, the spray head (44) is fixedly arranged on the shell (1), and the water outlet part of the spray head (44) is positioned outside the shell (1).

3. The pipeline dredging robot of claim 1, wherein: the travelling mechanism (3) comprises a crawler wheel (31), a plurality of supporting rods (32) and an adjusting mechanism (33); the crawler wheel (31) is rotationally connected to one end of the supporting rod (32), the other end of the supporting rod (32) is rotationally connected to the outer wall of the shell (1), and one supporting rod (32) is rotationally connected with the adjusting mechanism (33); the crawler wheel (31) comprises a crawler belt (311), side plates (312), a transmission gear and a traveling motor (316), wherein the side plates (312) are arranged on two sides of the crawler belt (311), the transmission gear is arranged on the inner side of the crawler belt (311) and is meshed with the inner side of the crawler belt (311), the end face of the transmission gear is rotationally connected to the inner side face of the side plates (312) and is connected with the rotating shaft of the traveling motor (316), and the traveling motor (316) is fixedly arranged on the inner side wall of the side plates (312); the adjusting mechanism (33) comprises an adjusting rod (331), a sliding sleeve ring (333), a screw (332), a connecting shaft (335), a fixing seat (334) and an adjusting motor (336); one end of the adjusting rod (331) is rotationally connected to the supporting rod (32) through a rotating shaft, the other end of the adjusting rod is rotationally connected to the sliding sleeve ring (333) through the rotating shaft, the sliding sleeve ring (333) is sleeved on the screw rod (332) and is in threaded fit with the screw rod (332), the connecting shaft (335) is fixedly connected to one end of the screw rod (332), the other end of the screw rod (332) is rotationally connected to a partition plate inside the shell (1), the connecting shaft (335) is connected with a rotating shaft of the adjusting motor (336), the fixing seat (334) is fixed to the inner wall of the shell (1), the upper portion of the fixing seat (334) is rotationally connected with the connecting shaft (335), and the advancing motor (316) and the adjusting motor (336) are connected with the controller through a circuit.

4. A pipeline dredging robot as claimed in claim 3, wherein: waterproof cloth (34) is fixedly connected to the adjusting rod (331), the upper end of the waterproof cloth (34) is fixed to the periphery of the side wall of the adjusting rod (331), and the lower end of the waterproof cloth is fixed to the periphery of a notch in the shell (1) for penetrating the adjusting rod (331).

5. The pipeline dredging robot of claim 1, wherein: the dredging rod (22) comprises an upper rod (221) and a lower rod (222), strip-shaped protruding portions (223) are arranged on the side walls of the upper rod (221) and the lower rod (222), protruding directions of the protruding portions (223) of the upper rod (221) and the lower rod (222) are consistent, a plurality of groups of first through holes are formed in the side wall of the upper rod (221), the lower rod (222) is hollow, a plurality of groups of second through holes are formed in the side wall of the lower rod (222), and the upper rod (221) is sleeved in the lower rod (222) and is fixed through bolts penetrating through the first through holes and the second through holes; the cleaning brush (51) comprises a brush head (512) and a brush rod (511), the brush head (512) is fixed at the top of the brush rod (511), the bottom of the brush rod (511) is fixedly connected with a rotating shaft of the cleaning brush motor (52), the brush rod (511) is divided into an upper part and a lower part, and the upper part of the brush rod (511) is sleeved inside the lower part and is fixed through bolts.

6. The pipeline dredging robot of any one of claims 1-5, wherein: the utility model discloses a scraper blade, including scraper blade (53), screw cap (57), driving straight gear (56), scraper blade (53) are provided with two, and scraper blade (53) appearance is quarter circular, and two scraper blade (53) symmetry set up in casing (1) below, and scraper blade (53) top is provided with double-screw bolt (531), has threaded sleeve (57) through threaded connection on double-screw bolt (531), and threaded sleeve (57) rotate and connect on casing (1) lateral wall, threaded sleeve (57) upper portion fixed connection is at the terminal surface center of driven straight gear (54), fixedly connected with driving straight gear (56) in the axis of rotation of scraper blade motor (55), driving straight gear (56) set up between two driven straight gears (54) and with driven straight gear (54) meshing.

7. The pipeline dredging robot of claim 5, wherein: the camera (7) is fixedly installed on the shell (1), and the camera (7) is connected with the controller through a circuit.

8. The pipeline dredging robot of claim 6, wherein: the center of the cleaning mechanism (5) is rotatably connected with a safety cable (6) through a bearing.