阅读说明：本技术 一种履带式管道清淤机器人 (Crawler-type pipeline dredging robot ) 是由 左强 邓柱华 连加俤 吕博文 周平 钟浩 姚实 罗显文 徐岗 万安平 于 2021-08-06 设计创作，主要内容包括：本发明公开了一种履带式管道清淤机器人,包括机器人主体,所述机器人主体的两侧设置有履带轮,所述机器人主体的两侧设置有固定装置,所述机器人主体的下端设置有清理装置,所述机器人主体的前端设置有照明装置,所述机器人主体的底端设置有配重装置,机器人主体的前端安设置有伸缩推杆。本发明所述的一种履带式管道清淤机器人,属于管道清淤领域,可以在机器人主体不能行走时将机器人主体进行移动,可以在交复杂的环境下进行擦拭照明灯的表面,保证照明灯可以正常照明,可以避免机器人主体在管道内部行走发生打滑的情况,减小机器人主体发生倾倒的情况,保证机器人主体在行走时的稳定性。(The invention discloses a crawler-type pipeline dredging robot which comprises a robot main body, wherein crawler wheels are arranged on two sides of the robot main body, fixing devices are arranged on two sides of the robot main body, a cleaning device is arranged at the lower end of the robot main body, a lighting device is arranged at the front end of the robot main body, a counterweight device is arranged at the bottom end of the robot main body, and a telescopic push rod is arranged at the front end of the robot main body. The invention relates to a crawler-type pipeline dredging robot, which belongs to the field of pipeline dredging, can move a robot main body when the robot main body cannot walk, can wipe the surface of an illuminating lamp in a complex environment, ensures that the illuminating lamp can normally illuminate, can avoid the condition that the robot main body slips when walking in a pipeline, reduces the condition that the robot main body topples over, and ensures the stability of the robot main body when walking.)

1. The utility model provides a crawler-type pipeline desilting robot which characterized in that: including robot main part (1), the both sides of robot main part (1) are provided with athey wheel (8), the both sides of robot main part (1) are provided with fixing device (5), the lower extreme of robot main part (1) is provided with cleaning device (7), the front end of robot main part (1) is provided with lighting device (6), the bottom of robot main part (1) is provided with counter weight device (9), and telescopic push rod (2) have been installed to the front end of robot main part (1), the tip of telescopic push rod (2) is provided with elevating gear (3), the front end of elevating gear (3) is provided with drill bit (4).

2. The crawler-type pipeline dredging robot of claim 1, wherein: the lifting device (3) comprises a first mounting block (301), a second mounting block (302), a fourth motor (303), a transmission gear (304), a T-shaped groove (305), a T-shaped strip (306), a limiting strip (307) and a rack (308), a first mounting block (301) and a second mounting block (302) are arranged at the end part of the telescopic push rod (2), a fourth motor (303) is arranged on one side of the first mounting block (301), a T-shaped groove (305) is arranged between the first mounting block (301) and the second mounting block (302), a transmission gear (304) is arranged inside the first mounting block (301), a T-shaped strip (306) and a rack (308) are arranged on the second mounting block (302), two ends of the rack (308) are provided with limiting strips (307), the T-shaped groove (305) is matched with the T-shaped strip (306), and the transmission gear (304) is in transmission with the rack (308).

3. The crawler-type pipeline dredging robot of claim 1, wherein: the fixing device (5) comprises a fixing groove (501), a first motor (502), a first threaded rod (503), a nut seat (504), a first threaded hole (505), a fixing strip (506), a third telescopic rod (507), a contact strip (508), a sucker (509) and a matching groove (510), wherein the fixing groove (501) is formed in two sides of the robot main body (1), the first motor (502) is arranged in the fixing groove (501), the first threaded rod (503) is arranged at the output end of the first motor (502), the fixing strip (506) and the nut seat (504) are formed in the first threaded rod (503), the third telescopic rod (507) is arranged on the fixing strip (506), the contact strip (508) is arranged at the output end of the third telescopic rod (507), and the sucker (509) is arranged on the contact strip (508), both sides of fixed strip (506) and robot main part (1) all are provided with cooperation groove (510), first threaded rod (503) are connected with first screw hole (505) of nut seat (504), fixed strip (506) and cooperation groove (510) sliding connection of robot main part (1) both sides, first motor (502) are fixed in the inside of fixed slot (501), third telescopic link (507) are fixed mutually with contact strip (508), sucking disc (509) contacts with the pipeline inner wall.

4. The crawler-type pipeline dredging robot of claim 1, wherein: the lighting device (6) comprises a fixed cover (601), a lighting lamp (602), a rotating plate (603), cleaning sponge (604), a fixing frame (605) and a second motor (606), wherein the fixed cover (601) and the lighting lamp (602) are arranged at the front end of the robot main body (1), the fixing frame (605) is welded on the fixed cover (601), the second motor (606) is arranged in the middle of the fixing frame (605), the rotating plate (603) is arranged at the output end of the second motor (606), and the cleaning sponge (604) is arranged on the rotating plate (603).

5. A track-type pipe dredging robot as claimed in claim 4, wherein: the output end of the second motor (606) penetrates through a fixed frame (605) to be connected with a rotating plate (603), the cleaning sponge (604) is connected with a lighting lamp (602), the lighting lamp (602) is located inside a fixed cover (601), and the fixed cover (601) is fixed on the robot main body (1) through bolts.

6. The crawler-type pipeline dredging robot of claim 1, wherein: the cleaning device (7) comprises a first fixing seat (701), a fourth hydraulic rod (702), a third motor (703), a connecting block (704), a first connecting plate (705), a fixing plate (706), a telescopic spring (707), a scraper (708), a containing groove (709) and a second connecting plate (710), wherein the first fixing seat (701) is arranged at the lower end of the robot main body (1), the fourth hydraulic rod (702) is arranged below the first fixing seat (701), the connecting block (704) is arranged below the fourth hydraulic rod (702), the third motor (703) is arranged on the connecting block (704), the first connecting plate (705) is arranged on the lower surface of the connecting block (704), the containing groove (709) is arranged inside the first connecting plate (705), the fixing plate (706) is arranged inside the containing groove (709), the telescopic spring (707) and the second connecting plate (710) are arranged inside the fixing plate (706), a scraper (708) is arranged at the edge of the second connecting plate (710).

7. A track-type pipe dredging robot as claimed in claim 6, wherein: the first connecting plate (705) is rotatably connected with the end part of the third motor (703), the scraper (708) of the first connecting plate (705) is positioned at the front end of the crawler wheel (8), the fixing plate (706) is in sliding connection with the second connecting plate (710), and two ends of the expansion spring (707) are connected with the second connecting plate (710) and the fixing plate (706).

8. The crawler-type pipeline dredging robot of claim 1, wherein: the counterweight device (9) comprises a counterweight box (901), a fifth motor (902), a second threaded hole (903), a second threaded rod (904), a guide hole (905), a guide rod (906), a cover plate (907) and a counterweight block (908), the bottom end of the robot main body (1) is provided with a weight box (901) and a cover plate (907), a second threaded hole (903) and a guide hole (905) are formed in the weight box (901), a second threaded rod (904) is arranged in the second threaded hole (903), a fifth motor (902) is arranged on the second threaded rod (904), the fifth motor (902) is fixed with the bottom surface of the robot main body (1), a guide rod (906) is arranged on the guide hole (905), the weight box (901) is connected with the bottom end of the robot main body (1) in a sliding way, and two ends of the guide rod (906) are fixed on the robot main body (1).

9. The crawler-type pipeline dredging robot of claim 1, wherein: the telescopic push rod (2) moves along the horizontal direction, a drill bit (4) is arranged at the front end of the lifting device (3), a motor is arranged at the upper end of the lifting device (3), and the output end of the motor penetrates through the lifting device (3) to be connected with the drill bit (4).

10. A tracked pipe dredging robot according to claim 9, wherein: the drill bit (4) moves in a vertical direction.

Technical Field

The invention relates to the field of pipeline dredging, in particular to a crawler-type pipeline dredging robot.

Background

The pipeline dredging is to dredge the pipeline, clean wastes such as sludge and the like in the pipeline and keep the pipeline smooth for a long time so as to prevent waterlogging in cities. The pipeline does not regularly desilt and can cause sewage to flow excessively, the polluted environment, bring the trouble for people's livelihood, arrange the back that finishes to constructor safety measure before going into the pit construction, carry out manual cleaning to remaining brick, stone, partial silt and other residues in the inspection shaft, until the clearance finishes, then, carry out desilting to downstream sewage inspection shaft one by one according to the above-mentioned explanation, carry out the shutoff to the inspection shaft that the upper reaches was cleared up at first during construction desilting, in order to prevent that the silt of upper reaches from flowing into the pipeline or during the lower reaches construction to flow into upper reaches inspection shaft and pipeline when filling water to the pipeline, wherein, present robot can carry out the desilting through desilting robot, thereby make desilting robot clear up the pipeline. But current desilting robot has certain drawback, at first, the desilting robot can not fix in the pipeline when using, at the during operation, make the desilting robot slide along in the pipeline easily, silt makes the track skid easily in addition, thereby make the robot advance more difficult, the shakiness of the inside desilting robot chassis of pipeline makes the emergence turn on one's side easily in addition, thereby influence the walking of robot, influence the work progress, carry out the desilting in the pipeline in addition and need just can observe the condition in the pipeline through light illumination, it is more practical.

Disclosure of Invention

The invention mainly aims to provide a crawler-type pipeline dredging robot which can effectively solve the problems in the background technology.

In order to achieve the purpose, the invention adopts the technical scheme that:

the utility model provides a crawler-type pipeline desilting robot, includes the robot main part, the both sides of robot main part are provided with the athey wheel, the both sides of robot main part are provided with fixing device, the lower extreme of robot main part is provided with cleaning device, the front end of robot main part is provided with lighting device, the bottom of robot main part is provided with the counter weight device, and flexible push rod has been installed to the front end of robot main part, the tip of flexible push rod is provided with elevating gear, elevating gear's front end is provided with the drill bit.

Preferably, elevating gear includes first installation piece, second installation piece, fourth motor, drive gear, T type groove, T type strip, spacing and rack, telescopic push rod's tip is provided with first installation piece and second installation piece, one side of first installation piece is provided with the fourth motor, be provided with T type groove between first installation piece and the second installation piece, the inside of first installation piece is provided with drive gear, be provided with T type strip and rack on the second installation piece, the both ends of rack are provided with spacing, T type groove cooperatees with T type strip, transmission gear and rack are driven mutually.

Preferably, the fixing device comprises a fixing groove, a first motor, a first threaded rod, a nut seat, a first threaded hole, a fixing strip, a third telescopic rod, a contact strip, a sucker and a matching groove, the fixing groove is formed in two sides of the robot main body, the first motor is arranged in the fixing groove, the first threaded rod is arranged at the output end of the first motor, the first threaded rod is provided with the fixing strip and the first threaded hole formed in the nut seat, the third telescopic rod is arranged on the fixing strip, the contact strip is arranged at the output end of the third telescopic rod, the sucker is arranged on the contact strip, the matching grooves are formed in two sides of the fixing strip and the robot main body, the first threaded rod is connected with the first threaded hole of the nut seat, the fixing strip is connected with the matching grooves in two sides of the robot main body in a sliding manner, and the first motor is fixed in the fixing groove, the third telescopic link is fixed with the contact strip mutually, the sucking disc contacts with the pipeline inner wall.

Preferably, lighting device includes fixed cover, light, rotor plate, clean sponge, mount, second motor, the front end of robot main part is provided with fixed cover and light, the welding has the mount on the fixed cover, the centre of mount is provided with the second motor, the output of second motor is provided with the rotor plate, be provided with clean sponge on the rotor plate.

Preferably, the output end of the second motor penetrates through the fixing frame to be connected with the rotating plate, the cleaning sponge is connected with the illuminating lamp, the illuminating lamp is located inside the fixing cover, and the fixing cover is fixed on the robot main body through bolts.

Preferably, cleaning device includes first fixing base, fourth hydraulic stem, third motor, connecting block, first connecting plate, fixed plate, expanding spring, scraper, accomodates groove and second connecting plate, the lower extreme of robot main part is provided with first fixing base, the below of first fixing base is provided with the fourth hydraulic stem, the below of fourth hydraulic stem is provided with the connecting block, be provided with the third motor on the connecting block, the lower surface of connecting block is provided with first connecting plate, the inside of first connecting plate is provided with accomodates the groove, the inside of accomodating the groove is provided with the fixed plate, the inside of fixed plate is provided with expanding spring and second connecting plate, the edge of second connecting plate is provided with the scraper.

Preferably, the first connecting plate is rotatably connected with the end of the third motor, the scraper of the first connecting plate is located at the front end of the crawler wheel, the fixed plate is slidably connected with the second connecting plate, and two ends of the telescopic spring are connected with the second connecting plate and the fixed plate.

Preferably, the counter weight device includes weight box, fifth motor, second screw hole, second threaded rod, guide hole, guide bar, apron and balancing weight, the bottom of robot main part is provided with weight box and apron, second screw hole and guide hole have been seted up to the inside of weight box, the inside of second threaded hole is provided with the second threaded rod, be provided with the fifth motor on the second threaded rod, the fifth motor is fixed mutually with the bottom surface of robot main part, be provided with the guide bar on the guide hole, the weight box is along the bottom sliding connection of robot main part, the both ends of guide bar are fixed in the robot main part.

Preferably, the telescopic push rod moves along the horizontal direction, the front end of the lifting device is provided with a drill bit, the upper end of the lifting device is provided with a motor, and the output end of the motor penetrates through the lifting device and is connected with the drill bit.

Preferably, the drill bit moves in a vertical direction.

Compared with the prior art, the invention has the following beneficial effects:

1. the fixing device is arranged, the contact strip is in contact with the inner wall of the conduit by stretching the third telescopic rod, the robot main body is pressed in the conduit, and then the fixing strip is moved by the fixing device, so that the robot main body can be moved back and forth, and the robot main body can be moved when the robot main body cannot walk, which is more convenient;

2. the illuminating device is arranged, and the surface of the illuminating lamp can be wiped in a complex environment through the cleaning sponge on the illuminating device, so that the illuminating lamp can normally illuminate and is practical;

3. the cleaning device is arranged, and the pipeline sludge in front of the crawler belt is scraped by the cleaning device, so that the condition that the robot main body slips when walking in the pipeline can be avoided, the robot main body can be accelerated to move forward when the sludge is cleaned, and convenience is brought;

4. the counterweight device is arranged, when the robot main body moves in the pipeline, the counterweight box can be moved to be positioned at the position of the robot main body, so that the gravity center of the robot main body is positioned at a lower position, the condition that the robot main body topples over is reduced, the stability of the robot main body during walking is ensured, and the counterweight device is practical;

5. through elevating gear, can adjust the drill bit of elevating gear tip to can bore different positions, it is more practical.

Drawings

FIG. 1 is an overall schematic view of the present invention;

FIG. 2 is a schematic bottom view of the robot body of the present invention;

FIG. 3 is a schematic view of the lift of the present invention;

FIG. 4 is a schematic view of the fixture of the present invention;

FIG. 5 is a schematic view of the illumination device of the present invention;

FIG. 6 is a schematic view of the cleaning apparatus of the present invention;

fig. 7 is a schematic view of a counterweight device of the present invention.

In the figure: 1. a robot main body; 2. a telescopic push rod; 3. a lifting device; 301. a first mounting block; 302. a second mounting block; 303. a fourth motor; 304. a transmission gear; 305. a T-shaped groove; 306. t-shaped strips; 307. a limiting strip; 308. a rack; 4. a drill bit; 5. a fixing device; 501. fixing grooves; 502. a first motor; 503. a first threaded rod; 504. a nut seat; 505. a first threaded hole; 506. a fixing strip; 507. a third telescopic rod; 508. a contact bar; 509. a suction cup; 510. a mating groove; 6. an illumination device; 601. a fixed cover; 602. an illuminating lamp; 603. a rotating plate; 604. cleaning the sponge; 605. a fixed mount; 606. a second motor; 7. a cleaning device; 701. a first fixed seat; 702. a fourth hydraulic lever; 703. a third motor; 704. connecting blocks; 705. a first connecting plate; 706. a fixing plate; 707. a tension spring; 708. a scraper; 709. a receiving groove; 710. a second connecting plate; 8. a crawler wheel; 9. a counterweight device; 901. a weight box; 902. a fifth motor; 903. a second threaded hole; 904. a second threaded rod; 905. a guide hole; 906. a guide bar; 907. a cover plate; 908. and a balancing weight.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1-7, a crawler-type pipeline dredging robot comprises a robot main body 1, crawler wheels 8 are arranged on two sides of the robot main body 1, fixing devices 5 are arranged on two sides of the robot main body 1, a cleaning device 7 is arranged at the lower end of the robot main body 1, a lighting device 6 is arranged at the front end of the robot main body 1, a counterweight device 9 is arranged at the bottom end of the robot main body 1, a telescopic push rod 2 is arranged at the front end of the robot main body 1, a lifting device 3 is arranged at the end part of the telescopic push rod 2, and a drill bit 4 is arranged at the front end of the lifting device 3.

In this embodiment, the lifting device 3 includes a first mounting block 301, a second mounting block 302, a fourth motor 303, a transmission gear 304, a T-shaped groove 305, a T-shaped strip 306, a limiting strip 307 and a rack 308, the end portion of the telescopic push rod 2 is provided with the first mounting block 301 and the second mounting block 302, one side of the first mounting block 301 is provided with the fourth motor 303, a T-shaped groove 305 is provided between the first mounting block 301 and the second mounting block 302, the transmission gear 304 is provided inside the first mounting block 301, the T-shaped strip 306 and the rack 308 are provided on the second mounting block 302, two ends of the rack 308 are provided with the limiting strip 307, the T-shaped groove 305 is matched with the T-shaped strip 306, the transmission gear 304 is in transmission with the rack 308, and the drill bit 4 at the end portion of the lifting device 3 can be adjusted, so that different positions can be drilled, which is practical.

In this embodiment, the fixing device 5 includes a fixing groove 501, a first motor 502, a first threaded rod 503, a nut seat 504, a first threaded hole 505, a fixing strip 506, a third telescopic rod 507, a contact strip 508, a suction cup 509, and a matching groove 510, the fixing groove 501 is opened on both sides of the robot body 1, the first motor 502 is disposed inside the fixing groove 501, the first threaded rod 503 is disposed at an output end of the first motor 502, the fixing strip 506 and the nut seat 504 are disposed on the first threaded rod 503, the third telescopic rod 507 is disposed on the fixing strip 506, the contact strip 508 is disposed at an output end of the third telescopic rod 507, the suction cup 509 is disposed on the contact strip 508, the matching grooves 510 are disposed on both sides of the fixing strip 506 and the robot body 1, the first threaded rod 503 is connected with the first threaded hole 505 of the nut seat 504, the fixing strip 506 is slidably connected with the matching grooves 510 on both sides of the robot body 1, the first motor 502 is fixed inside the fixing groove 501, the third telescopic rod 507 is fixed with the contact strip 508, the sucker 509 is in contact with the inner wall of the pipeline, the robot body 1 is abutted to the pipeline, and then the fixing strip 506 is moved through the fixing device 5, so that the robot body 1 can be moved back and forth, the robot body 1 can be moved when the robot body 1 cannot walk, and convenience is brought;

in this embodiment, the lighting device 6 includes a fixed cover 601, a lighting lamp 602, a rotating plate 603, a cleaning sponge 604, a fixed frame 605, and a second motor 606, the fixed cover 601 and the lighting lamp 602 are disposed at the front end of the robot main body 1, the fixed frame 605 is welded on the fixed cover 601, the second motor 606 is disposed in the middle of the fixed frame 605, the rotating plate 603 is disposed at the output end of the second motor 606, and the cleaning sponge 604 is disposed on the rotating plate 603; the output end of the second motor 606 penetrates through the fixed frame 605 to be connected with the rotating plate 603, the cleaning sponge 604 is connected with the illuminating lamp 602, the illuminating lamp 602 is located inside the fixed cover 601, the fixed cover 601 is fixed on the robot main body 1 through bolts, and the surface of the illuminating lamp 602 can be wiped in a complex environment through the cleaning sponge 604 on the illuminating device 6, so that the illuminating lamp 602 can normally illuminate, and the cleaning sponge is practical;

in this embodiment, the cleaning device 7 includes a first fixing seat 701, a fourth hydraulic rod 702, a third motor 703, a connecting block 704, a first connecting plate 705, a fixing plate 706, a telescopic spring 707, a scraper 708, a receiving groove 709 and a second connecting plate 710, the lower end of the robot main body 1 is provided with the first fixing seat 701, the fourth hydraulic rod 702 is arranged below the first fixing seat 701, the connecting block 704 is arranged below the fourth hydraulic rod 702, the third motor 703 is arranged on the connecting block 704, the lower surface of the connecting block 704 is provided with the first connecting plate 705, the receiving groove 709 is arranged inside the first connecting plate 705, the fixing plate 706 is arranged inside the receiving groove 709, the telescopic spring 707 and the second connecting plate 710 are arranged inside the fixing plate 706, and the scraper 708 is arranged at the edge of the second connecting plate 710; the first connecting plate 705 is rotatably connected with the end part of the third motor 703, the scraper 708 of the first connecting plate 705 is positioned at the front end of the crawler wheel 8, the fixing plate 706 is slidably connected with the second connecting plate 710, and the two ends of the expansion spring 707 are connected with the second connecting plate 710 and the fixing plate 706, so that the pipeline sludge in front of the crawler is scraped off through the cleaning device 7, thereby avoiding the slipping of the robot main body 1 during the walking inside the pipeline, cleaning the sludge of the crawler wheel 8, and accelerating the advance of the robot main body 1 when the sludge is cleaned, which is more convenient;

in this embodiment, the weight device 9 includes a weight box 901, a fifth motor 902, a second threaded hole 903, a second threaded rod 904, a guide hole 905, a guide rod 906, a cover plate 907, and a weight block 908, the bottom end of the robot body 1 is provided with the weight box 901 and the cover plate 907, the weight box 901 is internally provided with the second threaded hole 903 and the guide hole 905, the second threaded rod 904 is internally provided with the second threaded rod 903, the fifth motor 902 is provided on the second threaded rod 904, the fifth motor 902 is fixed to the bottom surface of the robot body 1, the guide hole 905 is provided with the guide rod 906, the weight box 901 is slidably connected along the bottom end of the robot body 1, both ends of the guide rod 906 are fixed on the robot body 1, when the robot body 1 moves inside the pipeline, the center of gravity of the robot body 1 can be located at a lower position by moving the weight box 901, therefore, the situation that the robot main body 1 is toppled is reduced, the stability of the robot main body 1 during walking is guaranteed, and the robot is practical.

In addition, the telescopic push rod 2 moves along the horizontal direction, the front end of the lifting device 3 is provided with a drill bit 4, the upper end of the lifting device 3 is provided with a motor, and the output end of the motor penetrates through the lifting device 3 and is connected with the drill bit 4; the drill 4 moves in the vertical direction.

It should be noted that, when the crawler-type pipeline dredging robot is used, the robot main body 1 is placed into a pipeline, then the robot main body 1 is started, so that the crawler wheels 8 of the robot main body 1 can move, at this time, when the crawler wheels 8 are moved, the telescopic push rods 2 can be stretched and contracted, so that the drill bits 4 are stretched and contracted, the drill bits 4 are lifted and lowered through the lifting device 3, specifically, the fourth motor 303 on the first mounting block 301 is started, so that the transmission gear 304 is meshed with the rack 308, so that the second mounting block 302 moves along the T-shaped groove 305 of the first mounting block 301 through the T-shaped strip 306, so that the drill bits 4 are lifted and lowered up and down through the limiting strip 307, when a clogged place in the pipeline is drilled, so that the clogged place can be opened, so that the robot main body 1 can clean sludge in the pipeline, then the robot body 1 continues to advance, and is illuminated by the illumination device 6, some sludge adheres to the surface of the illumination lamp 602 during illumination, so that the surface of the illumination lamp 602 is unclear, but the fixed frame 605 is welded on the surface of the fixed cover 601, so that the second motor 606 on the fixed frame 605 drives the rotating plate 603 to rotate, so that the cleaning sponge 604 on the rotating plate 603 cleans the illumination lamp 602, thereby avoiding that the surface of the illumination lamp 602 has more sludge, and the illumination condition of the robot body 1 is not influenced, which is practical, the condition in the pipeline can be conveyed to the terminal equipment by the wireless transmission equipment for observation, the cleaned sludge adheres to the crawler wheel 8, and the advance of the crawler wheel 8 can be influenced, at this time, the length of the fourth hydraulic rod 702 on the first fixed seat 701 can be extended, and then the third motor 703 on the connecting block 704 can be rotated, the first connecting plate 705 at the end of the fourth hydraulic rod 702 is contacted with the inner wall of the pipeline, so that the first connecting plate 705 deforms under the condition of flexible deformation and is attached to the pipeline, the second connecting plate 710 is pushed under the action of the expansion spring 707 on the fixing plate 706, so that the scraper 708 on the second connecting plate 710 is exposed, the surface of the crawler wheel 8 is cleaned, the scraper 708 can be placed through the expansion spring 707 to damage the crawler wheel 8, sludge in front of the crawler wheel 8 is cleaned, so that sludge standing on the crawler wheel 8 is reduced, when the robot is not used, the first connecting plate 705 can be collected and contacted, so that the sludge at the front end can be resisted, the pipeline sludge in front of the crawler wheel is scraped through the cleaning device 7, and the situation that the robot body 1 slides when walking in the pipeline can be avoided, when the robot main body 1 is adjusted to the telescopic push rod 2 during operation, the robot main body 1 is easy to lose weight or be unstable, at the moment, the gravity center can be adjusted through the weight box 901, the fifth motor 902 is started to drive the second threaded hole 903 to move, and the fifth motor 901 moves along the guide rod 906 in the guide hole 905, so that the position of the counterweight 908 in the weight box 901 can be adjusted, the situation of toppling is avoided, the stability is improved, when the robot main body 1 moves in the pipeline, the counterweight 908 in the weight box 901 can be moved to be located at the position of the robot main body 1, so that the gravity center of the robot main body 1 is located at a lower position, and the situation of toppling of the robot main body 1 is reduced, the stability of the robot body 1 during walking is ensured, and the operation is more practical, when the robot body 1 slips, the length of the third telescopic rod 507 can be extended and contracted, so that the contact strip 508 at the end of the third telescopic rod 507 is contacted with the pipeline and is attached to the inner wall of the pipeline through the suction cup 509, then the first motor 502 in the fixing groove 501 is started, so that the first motor 502 drives the first threaded rod 503, the first threaded rod 503 and the first threaded hole 505 in the nut seat 504 rotate, so that the matching groove 510 on the fixing strip 506 is matched with the robot body 1, so that the fixing strip 506 moves, the robot body 1 moves forwards or backwards, the robot body 1 is not influenced by sludge, more supporting points can be obtained, and the contact strip 508 is contacted with the inner wall of the conduit through the extension and contraction of the third telescopic rod 507, support robot main part 1 in the pipeline, then remove fixed strip 506 through fixing device 5, thereby can remove robot main part 1 around going on, can remove robot main part 1 when robot main part 1 can not walk, can improve the condition of the speed of marcing of robot main part 1, thereby make cleaning device 7 when using, accelerate the speed of clearance pipeline, efficiency is than higher, after the clearance is accomplished, it can to withdraw robot main part 1.

Although illustrative embodiments of the present invention have been described herein with reference to the accompanying drawings, which are not intended to depart from the spirit and scope of the invention, the same shall be construed as disclosed herein, and it will be apparent to those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention.