CN221030603U - Underground pipeline dredging robot - Google Patents

Abstract

The utility model discloses an underground pipeline dredging robot, which comprises a running gear and a dredging device positioned at the front end of the running gear; the walking device carries the dredging device to enter a drain pipe, and the dredging device cleans hard sludge in the drain pipe; the dredging device comprises a suction hopper, a spiral roller and a slurry pump; the suction hopper is connected with the slurry pump; the spiral roller and the suction hopper are eccentrically assembled. The underground pipeline dredging robot disclosed by the utility model can improve the working efficiency of cleaning hard sludge.

Description

Underground pipeline dredging robot

Technical Field

The utility model relates to the technical field of pipeline plugging, in particular to an underground pipeline dredging robot.

Background

At present, the operation of dredging, detection, repair, water closing test and the like of the drainage pipeline all need an air bag to block the pipeline opening. The plugging air bag is a hollow product processed by rubber or pvc sandwich mesh cloth material through a bonding process, and is plugged by filling compressed air and tensioning on the wall of a drainage pipeline, so that the plugging air bag is the most commonly used pipeline plugging tool. The common air bags are of a single cabin structure, a large amount of sediment, household garbage, construction garbage and other objects exist in the complex drainage pipeline environment, and the air bags are easily leaked or even burst due to external force factors such as materials and processing, so that the blocking failure is caused, and the safety of constructors and equipment is seriously influenced.

At present, the dredging robot mainly takes a flat and open scene, has larger weight and volume, is more biased to the direction of engineering machinery, and is not suitable for a narrow and relatively closed underground pipeline environment. In the prior art, the patent publication No. CN1103309211A discloses a sewage pipeline plugging system suitable for high-water level operation and a use method, firstly, a dredging device is used for cleaning an inlet of a sewage pipeline, sediment and the like on the surface of the pipeline are scraped off under the action of a surface hairbrush of a rotary cleaning head so as to ensure that an air bag can be tightly attached to the inner wall of the pipeline when expanding, and then the air bag is remotely mounted to the inlet part of the sewage pipeline by an air bag mounting device. In the prior art, the dredging device only cleans sediment on the inner wall surface of the pipeline, and the inflated air bag is prevented from being pricked by the sediment on the inner wall of the pipeline. However, in daily life, sundries such as masonry, garbage, soil and the like on urban roads often fall into urban pipelines through inspection shafts, and as the sundries are accumulated in the pipelines more and more, the sundries form hard sludge in the pipelines, and the prior art cannot clean the hard sludge deposited in the pipelines. In the prior art, the dredging area is limited by the length of the rotating shaft, and only the area near the vertical wellhead can be cleaned, so that a plugging area is cleaned.

Disclosure of utility model

The technical problems to be solved by the utility model are as follows: the problem of the hard silt clearance of deposit in the pipeline, and not restriction clearance area is solved.

In order to solve the technical problems, the utility model provides the following technical scheme:

An underground pipeline dredging robot comprising: the dredging device comprises a walking device (100) and a dredging device (200) positioned at the front end of the walking device (100); the walking device (100) carries the dredging device (200) into a drain pipe, and the dredging device (200) cleans hard sediment in the drain pipe; the dredging device (200) comprises a suction hopper (210), a spiral roller (220) and a slurry pump (240); the suction hopper (210) is connected with the slurry pump (240); the spiral roller (220) is eccentrically assembled with the suction hopper (210).

The advantages are that: the dredging device is used for chopping hard sludge precipitated at the bottom of the drainage pipeline, mixing the hard sludge with water, stirring the mixture into slurry, and pumping the slurry out of the plugging area. The solid small-particle garbage is filtered by the dredging device and is stirred with the silt to form slurry, the slurry is sucked away by a slurry pump and discharged, and the solid large-particle garbage is pushed out of the plugging area by the dredging device. The dredging device is integrated on the vehicle body, so that the dredging device does not limit a cleaning area.

In an embodiment of the utility model, the walking device (100) comprises a walking trunk (110), an accommodating space (111) is formed at the bottom of the walking trunk (110), and a slurry pump (240) of the dredging device (200) is located in the accommodating space (111) and fixedly connected with the walking trunk (110).

In an embodiment of the utility model, the walking device (100) further comprises an air bag connection device (120) located above the walking trunk (110); the airbag connecting device (120) comprises a connecting shell (121), concave parts (122) are arranged on two sides of the middle part of the connecting shell (121), a convex part (123) is formed between the two concave parts (122), and a front shell (124) and a rear shell (125) which are connected with the convex parts (123).

In an embodiment of the present utility model, the front housing (124) is provided with a sewage inlet (1241), the rear housing (125) is provided with a sewage outlet (1251), the sewage inlet (1241) is communicated with the inside of the convex part (123) and the sewage outlet (1251) to form a sewage channel, the mud outlet (241) of the mud pump (240) is connected with a sewage pipe (242), and the sewage pipe (242) passes through the sewage channel to discharge the sludge out of the sewage pipe.

In one embodiment of the utility model, the suction hopper (210) comprises a top plate (211), a bottom plate (212), side plates (213), a front baffle (214) and a rear baffle (215); both ends of a pair of the side plates (213) are respectively connected to the top plate (211) and the bottom plate (212); the front baffle (214) is connected with the top plate (211) and the pair of side plates (213) and is on the same side as the spiral roller (220); one end of each of the rear baffles (215) is respectively connected with the top plate (211), the bottom plate (212) and the side plates (213), the other end of each of the rear baffles is folded towards the direction of the traveling device (100) to form a material sucking opening (230), and the material sucking opening (230) is connected with the slurry pump (240) in a pipe joint mode.

In an embodiment of the present utility model, the suction hopper (210) further includes a supporting wheel (216), and a pair of the supporting wheels (216) are respectively connected to a pair of the side plates (213), so as to support the suction hopper (210) to move in the pipeline along with the running gear (100).

In an embodiment of the present utility model, an angle (a) between a connecting edge of the side plate (213) and the top plate (211) and a connecting edge of the side plate (213) and the front baffle (214) is an obtuse angle, so that the front baffle (214) has a certain gradient, the bottom plate (212) is vertically connected with the side plate (213), so that the suction hopper (210) is arranged in an eccentric funnel shape, and sides of the front baffle (214) and the bottom plate (212) close to the spiral roller (220) are all arranged in an arc shape.

In one embodiment of the utility model, the spiral roller (220) is detachably connected with the suction hopper (210) through a roller mounting plate (250); the spiral roller (220) comprises a roller (221) and a pair of spiral blades (222) fixedly arranged on the roller (221), the pair of spiral blades (222) are wound on the roller (221) in a conical shape, and the spiral directions of the pair of spiral blades (222) are opposite, so that the diameter of the spiral roller (220) in the longitudinal direction is the largest in the middle position.

In one embodiment of the utility model, the upper radius difference (R) between the height of a pair of helical blades (222) and the circular arc side of the front baffle (214) is greater than the lower radius difference between the height of a pair of helical blades (222) and the circular arc side of the bottom plate (212).

In one embodiment of the utility model, the pitch (D) and the upper radius difference (R) of each of the helical blades (222) are set according to the solid particulate matter throughput capacity of the mud pump (240).

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

The suction hopper is hinged with the lower part of the walking device, the upper part of the suction hopper is flexibly connected, and meanwhile, the suction port is connected with the inlet of the slurry pump through a hose, so that the suction hopper can swing upwards around the intersection point. The silt is cut and stirred on the sediment by the gravity pressure of the dredging device, so that the phenomenon that the rotation driving resistance is too large caused by the gravity pressure of the robot body on the spiral roller is avoided, the spiral roller is too high in hardness garbage, the back walking wheel support and the middle and front walking wheels of the dredging device and the walking device are suspended, and the walking driving force of the robot is greatly reduced.

The spiral blades are wound on the roller in a conical shape, and the spiral directions of the pair of spiral blades are opposite, so that the diameter of the middle position of the spiral roller is the largest in the longitudinal direction, and the position of the largest diameter of the spiral roller is opposite to the material sucking opening. In the rotating process of the spiral blades, hard sludge at the bottom of the drainage pipeline is cut up and stirred with water to form pasty slurry, the slurry is gathered at the middle position opposite to the material suction openings from the two sides by rotating the spiral blades in different spiral directions, and the pasty slurry is pumped and discharged by the slurry pump.

The difference between the height of the pair of helical blades and the upper radius formed by the circular arc side edge of the front baffle is larger than the difference between the height of the pair of helical blades and the lower radius formed by the circular arc side edge of the bottom plate. The suction hopper is arranged in an eccentric funnel shape, the spiral roller is different from the radius formed under the front baffle and the bottom plate, the upper part is large, the lower part is small, the feeding is loose, the discharging damping is adapted, the characteristics of large feeding space at the upper part and small discharging space at the lower part are realized, the ineffective dredging is reduced, and the dredging efficiency is improved. And the material sucking port is a front large and rear small shrinkage port to generate a certain guiding extrusion force for the sludge.

The pitch of each helical blade and the upper radius difference are set according to the solid particle passing capability of the slurry pump, and the upper radius difference is designed according to the solid particle passing capability smaller than the slurry pump, so that the larger solid particles are blocked. When larger solid particles are clamped between the spiral blade and the suction hopper, the solid particles are extruded by the reverse rotation of the spiral roller.

The design of three cabins with unequal distances solves the problem of safety blocking, reduces the length of the air bag, and is convenient to carry in and out of a hoistway. And the three cabins are distributed in unequal intervals, the two large cabins at the two ends and the small cabin in the middle can meet the plugging capability requirement. When the air bag is not leaked, the three cabins are simultaneously tensioned on the inner wall of the drainage pipeline, so that the safety coefficient is increased. When a single cabin leaks or a foreign object punctures a certain partition in the middle to cause the leakage of the middle small cabin and the adjacent large cabin, the remaining large cabin is normally blocked. The middle small cabin is designed to be relatively three large cabins, so that the length of the air bag is shortened, and the safety blocking is not influenced when two adjacent cabins leak.

The deformation requirements to the two sides are cut off when the air bag is exhausted and sucked to be flat by properly lengthening the length of the cabin penetrating air pipe of the middle cabin.

In order to ensure that the rear folding part can not be propped against the pipe wall and can not be unfolded and straightened and the air pipe of the transition chamber can not be stretched to influence the inflation when the airbag is inflated in the folding state, the inflation sequence is the sequence of connecting the independent airbag cabin and the transition chamber in sequence. In order to ensure that the air bag can be flattened during the air exhaust and the air suction, the sequence during the air exhaust is as follows: the independent air bag cabins are firstly arranged in a row, and then the transition chamber is arranged in a row.

Prevent that the gasbag from breathing in, the gasbag from inhaling when flat middle partition irregular pile together and forming the swell, influence the gasbag folding, then axial middle crease, axial outer fringe crease and shutoff radial crease play the guide effect, shutoff radial crease warp according to crease settlement direction when breathing in and exhausting.

The straight-through air tap is used for being connected with the multi-core air pipe assembly rapidly, and is used for inflating and deflating the air bag, the inner connecting disc and the outer connecting disc clamp the air bag plugging layer to be buckled, and the matched circumferential concave-convex ring grooves are designed at the clamping matching surface, so that the air bag plugging layer is clamped and the sealing performance is enhanced.

Drawings

Fig. 1 is a schematic diagram of an underground pipeline dredging robot according to an embodiment of the utility model.

Fig. 2 is a schematic view of an airbag connecting device according to an embodiment of the utility model.

FIG. 3 is a schematic diagram of a dredging apparatus according to an embodiment of the utility model.

Fig. 4 is a schematic view of a suction hopper according to an embodiment of the present utility model.

Fig. 5 is a cross-sectional view of a drum in accordance with an embodiment of the present utility model.

FIG. 6 is a schematic diagram of a spiral roller and a pipe according to an embodiment of the present utility model.

Fig. 7 is a schematic diagram of a robotic dredging device according to an embodiment of the utility model.

Fig. 8 is a schematic view of robot obstacle clearing in an embodiment of the utility model.

Fig. 9 is a schematic diagram of a robot obstacle crossing according to an embodiment of the utility model.

Fig. 10 is a schematic diagram of embodiment 2 of the present utility model.

Detailed Description

In order to facilitate the understanding of the technical scheme of the present utility model by those skilled in the art, the technical scheme of the present utility model will be further described with reference to the accompanying drawings.

The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Example 1

Referring to fig. 1 and 2, the present utility model provides an underground pipeline dredging robot, comprising: running gear 100 and dredging device 200 that is located running gear 100 front end. The running gear 100 carries the dredging device 200 into the drain pipe, and the dredging device 200 cleans hard sludge in the drain pipe. The dredging device 200 comprises a suction hopper 210, a spiral roller 220 and a slurry pump 240, wherein the suction hopper 210 is connected with the slurry pump 240. The spiral roller 220 is eccentrically assembled with the suction hopper 210.

Referring to fig. 1 and 2, in an embodiment of the present utility model, a walking device 100 includes a walking body 110 and an airbag connection device 120 located above the walking body 110. The bottom of the walking trunk 110 is provided with an accommodating space 111, and a slurry pump 240 of the dredging device 200 is positioned in the accommodating space 111 and fixedly connected with the walking trunk 110. The afterbody of walking truck 110 sets up rings 111 in the back, and both sides are provided with magnetic force rings 112, when the robot is about to go into the well, is fixed in on rings 111 in the back and magnetic force rings 112 through the lifting rope, and when the robot was placed in the inspection shaft bottom through gallows and lifting rope, magnetic force rings 112 loses the electricity, breaks away from with walking truck 110, and the robot gets into in the drain pipe, starts desilting device 200, clears up out the shutoff region.

Referring to fig. 1 and 2, in an embodiment of the present utility model, the airbag connecting device 120 includes a connecting housing 121, recesses 122 provided at both sides of a middle portion of the connecting housing 121, such that a protrusion 123 is formed between the two recesses 122, and a front housing 124 and a rear housing 125 connected to the protrusion 123. And the front housing 124 is provided with a sewage inlet 1241, the rear housing 125 is provided with a sewage outlet 1251, the sewage inlet 1241 is communicated with the inside of the convex part 123 and the sewage outlet 1251 to form a sewage channel, the sludge outlet 241 of the sludge pump 240 is connected with the sewage pipe 242, and the sewage pipe 242 penetrates through the sewage channel to discharge sludge out of the water drain pipe. The sewage outlet 1251 is located on the rear housing 125 and is connected with the sludge outlet 241 in a pipe way, and when the sludge pump 240 works, a larger reaction force is generated in the process of discharging sludge, and the reaction force is converted into a driving force for the robot forwards, so that the power of a driving motor of the robot is reduced.

Referring to fig. 1 and 2, in an embodiment of the present utility model, the air bag connection device 120 further includes a plurality of pin removal assemblies 126 and roller assemblies 127, and a plurality of recesses 122 in which the pin removal assemblies 126 and roller assemblies 127 are located. A plurality of pin stripper assemblies 126 are provided with telescoping rods 1261 on opposite ends of the front and rear housings 124, 125.

Referring to fig. 1 and 2, in an embodiment of the present utility model, a running gear 100 is capable of steering, advancing, and retracting downhole. At both ends of the front case 124 and the rear case 125, a body illumination lamp 1245 and a down-hole camera 1246 are provided. And a pair of body lights 1245 are provided on both sides of each of the downhole cameras 1246. A pair of body lights 1245 are offset illuminated at 45 to prevent light from being reflected in the same direction to affect the down-hole camera 1246. The downhole camera 1246 is a wide angle camera for taking pictures of conditions in the pipeline. Radar (not shown) and power signal connector 113 are also provided on the traveling trunk 110, and the dredging device 200, the radar, the pin removal assembly 126, the roller assembly 127, the body illumination lamp 1245, the downhole camera 1246 and the driving device on the traveling device 100 are connected with the controller on the well through the power signal connector 113.

Referring to fig. 1 to 6, in an embodiment of the present utility model, the suction hopper 210 includes a top plate 211, a bottom plate 212, side plates 213, a front baffle 214, a rear baffle 215, and a support wheel 216. Both ends of the pair of side plates 213 are connected to the top plate 211 and the bottom plate 212, respectively, and the front baffle 214 is connected to the top plate 211 and the pair of side plates 213, and is on the same side as the spiral drum 220. One end of each of the plurality of rear baffles 215 is connected to the top plate 211, the bottom plate 212 and the side plates 213, and the other end is folded toward the traveling device 100 to form a suction port 230, and the suction port 230 is connected to the slurry pump 240. The pair of support wheels 216 are connected to the pair of side plates 213, respectively, and support the suction hopper 210 so as to move in the pipe along with the running gear 100. Wherein, a hopper connector 2111 is provided on the top plate 211, and is flexibly connected with the connection housing 121 through the hopper connector 2111. The side plate 213 is provided with a lug 2131, and is connected with the walking body 110 through a dredging connecting plate 260, in particular, the dredging connecting plate 260 is detachably connected with the walking body 110 and is hinged with the lug 2131. The support wheel 216 positions the dredging device 200 and the bottom of the pipeline relative to each other, preventing the spiral blade 222 from rubbing against the bottom of the pipeline.

Referring to fig. 1 to 6, in an embodiment of the utility model, an angle a between a connecting edge of the side plate 213 and the top plate 211 and a connecting edge of the side plate 213 and the front baffle 214 is an obtuse angle, so that the front baffle 214 has a certain gradient, the bottom plate 212 is vertically connected to the side plate 213, the suction hopper 210 is arranged in an "eccentric funnel shape", and the sides of the front baffle 214 and the bottom plate 212 near the spiral roller 220 are all arranged in an arc shape.

Referring to fig. 1 to 6, in an embodiment of the present utility model, the spiral roller 220 is detachably connected to the suction hopper 210 through a roller mounting plate 250. A plurality of groups of adjustment holes 251 are provided on the drum mounting plate 250 to adjust the gap between the spiral drum 220 and the pipe wall. The spiral roller 220 includes a roller 221 and a pair of spiral blades 222 wound and fixed on the roller 221, wherein the pair of spiral blades 222 are wound on the roller 221 in a conical shape, and the spiral directions of the pair of spiral blades 222 are opposite, so that the diameter of the spiral roller 220 in the longitudinal direction is the largest, and the position of the largest diameter of the spiral roller 220 is opposite to the material suction opening 230.

Referring to fig. 1 to 6, in an embodiment of the present utility model, a drum motor 2211 and a conductive slip ring 2212 are disposed in a drum 221, and two sides of the drum 221 are sealed by a rotary oil seal and an O-ring of an end cover, so that the structure is compact and the sealing is reliable. The power cable 2213 is connected with the conductive slip ring 2212 to transmit signals and power to the drum motor 2211, and the drum motor 2211 rotates to drive the spiral drum 220 to rotate.

Referring to fig. 1 to 6, in an embodiment of the utility model, the maximum radius of the spiral roller 220 is smaller than the radius of the drain pipe, and the supporting wheel 216 supports the dredging device 200, so that a certain gap B is kept between the spiral roller 220 and the wall of the drain pipe, and the spiral roller 220 is prevented from rotating to scratch the wall of the pipe. The upper radius difference R between the height of the pair of helical blades 222 and the circular arc side of the front baffle 214 is greater than the lower radius difference (not shown) between the height of the pair of helical blades 222 and the circular arc side of the bottom plate 212. The suction hopper 210 is arranged in an eccentric funnel shape, the spiral roller 220 is different from the radius formed under the front baffle 214 and the bottom plate 212, the upper part is large, the lower part is small, the adaptation feeding is loose, the discharging damping is realized, the characteristics of large upper feeding space and small lower discharging space are realized, the ineffective dredging is reduced, and the dredging efficiency is improved. And the material sucking port 230 is a front large and rear small shrinkage port to generate a certain guiding extrusion force for the sludge.

Referring to fig. 1-6, in one embodiment of the present utility model, the pitch D and the upper radius difference R of each helical blade 222 are set according to the solid particulate matter throughput of the mud pump 240. The upper radius difference R is designed to be smaller than the solids throughput capacity of the mud pump 240 to act as a barrier to larger solids. When larger solid particles are caught between the screw blade 223 and the suction hopper 210, the extrusion is reversely rotated by the screw drum 220.

Referring to fig. 1 to 9, in an embodiment of the present utility model, a robot enters a drain pipe 600 to start a dredging device 200. The screw blade 222 rotates to cut up the hard sludge at the bottom of the drain pipe 600 and agitate the same with water to form a pasty slurry. The pair of screw blades 222 are rotated in opposite directions to collect the slurry from the middle position facing the suction ports 230 from both sides, and suction and discharge the slurry by the slurry pump 240, as shown in fig. 7. When the dredging device 200 dredges the pipeline and encounters large solid particles, the rotation direction of the spiral roller 220 is opposite to the rotation direction of the travelling wheel 130 of the travelling device 100, and the spiral roller 220 lifts and rolls the large solid particles upwards, as shown in fig. 8. When the dredging device 200 cannot push the large solid particles, the rotation direction of the spiral roller 220 is the same as the rotation direction of the travelling wheel 130, and the large solid particles climb over to get over the obstacle, as shown in fig. 9. In this embodiment, the maximum solid particulate matter throughput of the mud pump 240 is 20mm, and the pitch D and the upper radius difference R of the helical blades 222 is less than 20mm. Not only ensures that the mud and the solid particles smaller than 20mm can be sucked away and removed by the mud pump 240, but also can push away the larger solid particles while blocking the forward movement.

Example 2

In pipeline plugging, the dredging device and the air bag installation device are two independent sets of equipment. When the dredging device works, after the dredging device firstly completes dredging work, the dredging device needs to exit from the pit, and then the air bag installation device is put into the pit to carry out air bag plugging, the dredging device and the air bag installation device are two independent devices, cannot be integrated, and have low working efficiency. In the embodiment, the pipeline dredging and the air bag blocking are integrated, so that the working efficiency is improved.

Referring to fig. 1 to 10, the utility model further provides a robot for dredging an underground pipeline and plugging an air bag, and further comprises a multi-chamber air bag 3400. The multi-chamber airbag 3400 is located at the multi-chamber airbag 3400 at the back of the running gear 100. The running gear 100 carries the dredging device 200 and the multi-chamber air bag 3400 to enter the drain pipe, the dredging device 200 cleans a plugging area in the drain pipe, after cleaning is completed, the multi-chamber air bag 3400 is separated from the running gear 100, the running gear 100 carries the dredging device 200 to exit the drain pipe, and meanwhile the multi-chamber air bag 3400 is inflated, so that the multi-chamber air bag 3400 is tightly inflated in the wall of the drain pipe to plug the pipeline.

Referring to fig. 1 to 10, in an embodiment of the present utility model, when the running gear 100 carries the multi-chamber air bag 3400, the hanging ring on the multi-chamber air bag 3400 is sleeved on the telescopic rod 1261, so as to ensure that the multi-chamber air bag 3400 and the running gear 100 are integrated when the running gear goes down the well. The roller assembly 127 is positioned between the pin removal assembly 126 and the boss 123, and when the multi-chamber air bag 3400 is disengaged from the running gear 100, the roller assembly 127 is in rolling friction with the multi-chamber air bag 3400.

Referring to fig. 1-10, in one embodiment of the present utility model, telescoping rod 1261 is opened and multi-chamber air bag 3400 is decoupled from running gear 100. Under the working conditions of high water level, full water or larger pipeline diameter, the multi-chamber air bag 3400 is separated from the running gear 100 to float upwards, at the moment, the separating power of the roller assembly 127 is an unpowered roller, and the roller assembly can freely rotate, so that the sliding friction of the multi-chamber air bag 3400, which is not completely separated from the running gear 100, is changed into rolling friction, and the running gear 100 is prevented from dragging the multi-chamber air bag 3400 out. The running gear 100 is withdrawn from the lower portion of the multi-chamber airbag 3400 to the manhole and lifted to the entrance by the hoist rope. The multi-chamber air bag 3400 inflates and expands the air bag through the air bag inflation and release device, breaks the constraint of the plastic adhesive tape and tightens on the pipe wall, and completes the blocking. In the case of a low water level or small pipe diameter, the disengagement power of the roller assembly 127 is a powered roller. When the running gear 100 releases the multi-chamber air bag 3400 to be withdrawn through the pin removing assembly 126, the roller assembly 127 reversely rotates, namely, rotates in the direction opposite to the withdrawal direction of the running gear 100, and generates forward moving force for poking the multi-chamber air bag 3400, so that the multi-chamber air bag 3400 is prevented from being separated from the running gear 100 thoroughly and not being withdrawn. The multi-chamber airbag 3400 and the traveling apparatus 100 are separated by the rotational conveyance of the roller assembly 127, and the traveling apparatus 100 is withdrawn to the manhole. The multi-chamber air bag 3400 inflates and expands the air bag through the air bag inflation and release device 500, and breaks through the constraint and the tension of the plastic adhesive tape to complete the sealing on the pipe wall.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

The above-described embodiments merely represent embodiments of the utility model, the scope of the utility model is not limited to the above-described embodiments, and it is obvious to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model.

Claims (8)

1. An underground pipeline dredging robot, comprising: the dredging device comprises a walking device (100) and a dredging device (200) positioned at the front end of the walking device (100); the walking device (100) carries the dredging device (200) into a drain pipe, and the dredging device (200) cleans hard sediment in the drain pipe; the dredging device (200) comprises a suction hopper (210), a spiral roller (220) and a slurry pump (240); the suction hopper (210) is connected with the slurry pump (240); the spiral roller (220) is eccentrically assembled with the suction hopper (210);

The walking device (100) comprises a walking trunk (110), an accommodating space (111) is formed in the bottom of the walking trunk (110), and a slurry pump (240) of the dredging device (200) is located in the accommodating space (111) and fixedly connected with the walking trunk (110);

The walking device (100) further comprises an air bag connecting device (120) positioned above the walking trunk (110); the airbag connecting device (120) comprises a connecting shell (121), concave parts (122) are arranged on two sides of the middle part of the connecting shell (121), a convex part (123) is formed between the two concave parts (122), and a front shell (124) and a rear shell (125) which are connected with the convex parts (123).

2. The underground pipeline dredging robot as recited in claim 1, wherein the front housing (124) is provided with a sewage inlet (1241), the rear housing (125) is provided with a sewage outlet (1251), the sewage inlet (1241) is communicated with the inside of the protrusion (123) and the sewage outlet (1251) to form a sewage drain, a sewage drain pipe (242) is connected to a sludge outlet (241) of the sludge pump (240), and the sewage drain pipe (242) penetrates through the sewage drain to drain sludge out of the water drain pipe.

3. The underground piping dredging robot of claim 2, wherein the suction hopper (210) comprises a top plate (211), a bottom plate (212), side plates (213), a front baffle (214), and a rear baffle (215); both ends of a pair of the side plates (213) are respectively connected to the top plate (211) and the bottom plate (212); the front baffle (214) is connected with the top plate (211) and the pair of side plates (213) and is on the same side as the spiral roller (220); one end of each of the rear baffles (215) is respectively connected with the top plate (211), the bottom plate (212) and the side plates (213), the other end of each of the rear baffles is folded towards the direction of the traveling device (100) to form a material sucking opening (230), and the material sucking opening (230) is connected with the slurry pump (240) in a pipe joint mode.

4. A dredging robot for an underground pipe according to claim 3, wherein the suction hopper (210) further comprises a supporting wheel (216), a pair of the supporting wheels (216) are respectively connected with a pair of the side plates (213), and the suction hopper (210) is supported to move in the pipe along with the running gear (100).

5. The underground pipeline dredging robot as recited in claim 4, wherein an angle (a) between a connecting edge of the side plate (213) and the top plate (211) and a connecting edge of the side plate (213) and the front baffle (214) is an obtuse angle, so that the front baffle (214) has a certain gradient, the bottom plate (212) is vertically connected with the side plate (213), so that the suction hopper (210) is arranged in an eccentric funnel shape, and sides of the front baffle (214) and the bottom plate (212) close to the spiral roller (220) are all arranged in an arc shape.

6. The underground piping dredging robot of claim 5, wherein the spiral roller (220) is detachably connected with the suction hopper (210) through a roller mounting plate (250); the spiral roller (220) comprises a roller (221) and a pair of spiral blades (222) fixedly arranged on the roller (221), the pair of spiral blades (222) are wound on the roller (221) in a conical shape, and the spiral directions of the pair of spiral blades (222) are opposite, so that the diameter of the spiral roller (220) in the longitudinal direction is the largest in the middle position.

7. The underground piping dredging robot of claim 6, wherein an upper radius difference (R) formed by the height of a pair of spiral blades (222) and the circular arc side of the front baffle (214) is larger than a lower radius difference formed by the height of a pair of spiral blades (222) and the circular arc side of the bottom plate (212).

8. The underground piping dredging robot of claim 7, wherein the pitch (D) and the upper radius difference (R) of each of the helical blades (222) are set according to the solid particulate matter throughput capacity of the mud pump (240).