CN107225122A - A kind of urban rainwater pipeline clears up robot - Google Patents

Abstract

The invention discloses an urban rainwater pipeline cleaning robot, belonging to the technical field of urban rainwater pipeline cleaning, comprising a high-speed jet mechanism, a drainage mechanism, an acceleration mechanism, a sewage discharge mechanism, a dilution and flushing mechanism, a waterproof body, a walking mechanism and a grinding tool mechanism. The invention can grind hard cement blocks and tree roots, and deal with complex working conditions in rainwater pipes. It adopts an inclined surface drainage structure and adds a high-speed jet device, which solves the problem of backlog caused by grinding debris that cannot be discharged and affects grinding. The chip effect will even break the tool. By accelerating the high-speed throwing of the abrasive chip mixture, it realizes fully automatic removal of blockages and avoids the backlog of blockages. The double-bearing sewage mechanism is adopted to realize a high-speed rotation and closed mechanism. The middle is connected to the pipeline, and the walking mechanism adopts a wheel mechanism with a small outside and a big inside, which better fits the pipe wall and moves forward, making the walking more stable.

Description

A city rainwater pipe cleaning robot

technical field

The invention relates to a robot, in particular to an urban rainwater pipeline cleaning robot, which belongs to the technical field of urban rainwater pipeline cleaning.

Background technique

The rainwater pipeline is a very important link in the urban drainage system. Due to its small diameter, generally 300mm and shallow depth, the rainwater pipeline is a non-pressure pipeline. Garbage, plant debris, etc., and the roots of trees on the surface are easy to extend into the pipes, and the pipes are prone to clogging. The accumulation of cement in the pipes reduces the drainage area, and the roots of the trees are coiled to block solid waste. Finally, several kinds of garbage and silt form extremely difficult to clean. Obstacles seriously affect the drainage function of the pipeline.

At present, the main method of cleaning rainwater pipes in China is dredging, followed by cleaning. The main force is still manual cleaning. Workers insert high-pressure water guns into rainwater pipes, use high-pressure water jets to dredge silt and other debris, and manually dig out garbage. , but there are some disadvantages in the current cleaning method of rainwater pipes:

1. The range of debris to be cleaned is limited, and the high-pressure water gun can only dredge the silt, and the cleaning effect on plant debris such as branches stuck in the pipeline and construction waste deposited on the pipe wall such as cement blocks is not good;

2. The high-pressure water gun can only dredge, but cannot take out the garbage, which also leads to a high frequency of cleaning the rainwater pipes. The workers urgently need a cleaning method that can treat the symptoms and cure the root cause;

3. More manpower is required and the cost is higher, especially the cleaning of branches and roots requires workers to enter the mouth of the sewer pipe and use rod tools to dig out, which is dirty and tiring, and the deep pipes that the tool length cannot reach There is nothing to do with garbage. With the rise of labor costs, society's demand for various robots is also increasing;

4. The tree roots protruding into the pipeline are very tough. The current cleaning plan is difficult to solve, and the rainwater pipeline generally passes under the trees planted on the road. It is very common for tree roots to protrude into the pipeline. If this problem cannot be solved, then with The further growth of tree roots, the situation of clogged storm water pipes will only become more and more serious.

At present, there are many kinds of rainwater pipe detection robots in China. These robots are equipped with LED lights and small cameras, and can enter the rainwater pipes for shooting. However, these robots have low power and low strength. Even if they are transformed, they cannot clean the rainwater pipes. Therefore, , there is an urgent need for a high-power robot that can replace manual work and go deep into rainwater pipes for cleaning.

Contents of the invention

The main purpose of the present invention is to provide a cleaning robot for urban rainwater pipes in order to solve the problems of great cleaning difficulty, inadequate cleaning and high cleaning cost in the current cleaning process of urban rainwater pipes.

The purpose of the present invention can be achieved by adopting the following technical solutions:

An urban rainwater pipeline cleaning robot, including a high-speed jet mechanism, a drainage mechanism, an acceleration mechanism, a sewage discharge mechanism, a dilution and flushing mechanism, a waterproof body, a walking mechanism, and a grinding tool mechanism; the grinding tool mechanism is installed in a clockwise spiral order On the acceleration mechanism; the high-speed jet mechanism is arranged in the drainage mechanism and the acceleration mechanism, and the drainage mechanism is arranged at the front end of the acceleration mechanism; the sewage discharge mechanism is arranged at the rear of the acceleration mechanism and connected to the front end of the dilution and flushing mechanism, the dilution and flushing mechanism is arranged in the waterproof body; the running mechanism is symmetrically arranged on both sides of the waterproof body.

Preferably, the grinding tool mechanism is a sawtooth-type grinding tool mechanism, the sawtooth-type grinding tool mechanism is installed on the cutter head, the cutter head is an inclined surface structure, and the saw-tooth-type grinding tool mechanism The surface has rounded corners.

In any of the above schemes, preferably, the grinding tool mechanism is composed of a grinding tool port, a tool connecting shaft and a connecting thread, the grinding tool port is arranged at the front end of the tool connecting shaft, and the tool connecting shaft The shaft is connected with the cutter head, and the connecting thread is arranged on the surface of the tool connecting shaft.

In any of the above schemes, preferably, the drainage mechanism is composed of a drainage mechanism body, a connecting body and a drainage groove, the drainage mechanism body is arranged in the connecting body, and the drainage groove is arranged in the drainage mechanism body , the drainage groove is connected with the high-speed jet mechanism.

In any of the above solutions, preferably, the connecting body is provided with a plurality of connection holes, the drainage mechanism body is provided with a plurality of installation holes, and the high-speed jet mechanism is provided with a plurality of water outlet holes.

In any of the above schemes, preferably, the acceleration mechanism is a cylindrical acceleration mechanism, the front end of the cylindrical acceleration mechanism is connected to the drainage mechanism by bolts, and the inner part of the cylindrical acceleration mechanism The surface is a rough helicoid.

In any of the above schemes, preferably, the acceleration mechanism is composed of an acceleration mechanism body, an inner cavity, a helicoid and a helical head, the inner cavity is arranged in the acceleration mechanism body, and the helicoid is arranged in the The inner surface of the acceleration mechanism body, the helical head is arranged on the helical surface.

In any of the above schemes, it is preferred that the sewage discharge mechanism is composed of a central shaft, an inner ring, an intermediate static part and a directional sewage discharge part of the outer ring, the intermediate static part is provided with a plurality of connecting shafts, and the central shaft is arranged on In the inner ring, the inner ring is arranged in the middle static part, and the middle static part is arranged between the inner ring and the directional sewage discharge part of the outer ring.

In any of the above schemes, it is preferred that the running gear is composed of a running gear body, a drive shaft, a roller and an anti-skid strip, the drive shaft and the rollers are all arranged on the running gear body, and the anti-skid strip Set on the roller, the anti-skid strip is arranged radially along the drive shaft, the radius of curvature of the inclination angle of the roller is the same as the radius of curvature of the rainwater pipe wall, and the diameter of the inner wheel of the roller is larger than the The diameter of the outer wheel of the roller.

In any of the above schemes, it is preferred that a hanger is provided at the tail of the waterproof fuselage.

Beneficial technical effect of the present invention:

1. According to the urban rainwater pipeline cleaning robot of the present invention, the urban rainwater pipeline cleaning robot provided by the present invention is aimed at the difficult-to-clean blockages in the rainwater pipelines, especially the very hard cement blocks and softer cement blocks in the blockages. Roots and even dead branches and rotten leaves and small plastic bags are used to make a sawtooth cutter. The tool is installed on the cutter head and rotated at high speed to grind hard cement blocks and scrape tree roots. It can better deal with the complex working conditions in the rainwater pipeline, and at the same time solve the ordinary high-pressure jet method that can only dredge the pipeline but not remove the blockage.

2. According to the urban rainwater pipeline cleaning robot of the present invention, the urban rainwater pipeline cleaning robot provided by the present invention, the cutterhead of the present invention adopts an inclined surface drainage structure, and a high-speed jet device is added to the middle part of the cutterhead, which is manufactured through precise calculation The inclined drainage surface can better drain the mixture of grinding debris into the acceleration mechanism, which solves the problem that the grinding debris cannot be discharged and causes a backlog, which affects the effect of grinding debris and even breaks the tool.

3. According to the urban rainwater pipeline cleaning robot of the present invention, the urban rainwater pipeline cleaning robot provided by the present invention adopts a spiral cylinder acceleration mechanism, and calculates the number of spiral turns according to the friction roughness and rotation speed of the inner cylinder wall, so that The fluid gets the highest acceleration in the shortest acceleration cylinder. Using the principle of centrifugal force, the abrasive debris mixture is accelerated to be thrown out at high speed, which solves the problem of fully automatic blockage removal and avoids the obstacles caused by the backlog of blockages to the progress of the robot.

4. According to the urban rainwater pipeline cleaning robot of the present invention, the urban rainwater pipeline cleaning robot provided by the present invention, the sewage discharge device of the present invention adopts a composite mechanism, which consists of an inner ring, a middle static part and an outer ring directional sewage part, and the use of double bearings Solve the problem of how to enter the pipeline in the high-speed rotating and closed mechanism.

5. According to the urban rainwater pipeline cleaning robot of the present invention, the urban rainwater pipeline cleaning robot provided by the present invention, the traveling mechanism of the present invention adopts a wheeled mechanism with a small outside and a large inside, wherein the radius of curvature of the inclination of the wheels is the same as the curvature of the pipe wall The radius is the same, so that it can better fit the pipe wall and move forward, which solves the instability problem caused by ordinary wheeled or crawler-type walking in the pipe that cannot fully fit the pipe wall.

Description of drawings

Fig. 1 is according to the overall structure top view of a preferred embodiment of urban rainwater pipe cleaning robot of the present invention;

Fig. 2 is the whole structure side view according to a preferred embodiment of urban rainwater pipeline cleaning robot of the present invention, and this embodiment can be the embodiment identical with Fig. 1, also can be the different embodiment with Fig. 1;

Fig. 3 is the overall structure front view of a preferred embodiment of the urban rainwater pipe cleaning robot according to the present invention, this embodiment can be the same embodiment as Fig. 1 or Fig. 2, also can be different from Fig. 1 or Fig. 2 Example;

Fig. 4 is the front view of the grinding tool mechanism according to a preferred embodiment of the urban rainwater pipeline cleaning robot of the present invention, which embodiment can be the same embodiment as Fig. 1 or Fig. 2 or Fig. 3, and can also be the same as Fig. 1 Or the different embodiments of Fig. 2 or Fig. 3;

Fig. 5 is a side view of the grinding tool mechanism according to a preferred embodiment of the urban rainwater pipe cleaning robot of the present invention, which embodiment can be the same embodiment as Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4, or can be Embodiments different from Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4;

Fig. 6 is the front view of the drainage mechanism according to a preferred embodiment of the urban rainwater pipe cleaning robot of the present invention, which embodiment can be the same embodiment as Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4 or Fig. 5, or can be It is a different embodiment from Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4 or Fig. 5;

Fig. 7 is a side view of the drainage mechanism according to a preferred embodiment of the urban rainwater pipe cleaning robot of the present invention, and this embodiment may be the same embodiment as Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4 or Fig. 5 or Fig. 6 , may also be a different embodiment from FIG. 1 or FIG. 2 or FIG. 3 or FIG. 4 or FIG. 5 or FIG. 6;

Fig. 8 is the front view of the accelerating mechanism according to a preferred embodiment of the urban rainwater pipeline cleaning robot of the present invention, which embodiment can be the same as Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4 or Fig. 5 or Fig. 6 or Fig. 7 The embodiment of Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4 or Fig. 5 or Fig. 6 or Fig. 7 may also be different;

Fig. 9 is a front view of the blowdown mechanism according to a preferred embodiment of the urban rainwater pipeline cleaning robot of the present invention, which embodiment can be the same as Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4 or Fig. 5 or Fig. 6 or Fig. 7 or The same embodiment as Fig. 8 may also be a different embodiment from Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4 or Fig. 5 or Fig. 6 or Fig. 7 or Fig. 8;

Fig. 10 is a side view of the blowdown mechanism according to a preferred embodiment of the urban rainwater pipeline cleaning robot of the present invention, which embodiment can be the same as Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4 or Fig. 5 or Fig. 6 or Fig. 7 or The same embodiment as Fig. 8 or Fig. 9 may also be a different embodiment from Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4 or Fig. 5 or Fig. 6 or Fig. 7 or Fig. 8 or Fig. 9;

Fig. 11 is the front view of the walking mechanism according to a preferred embodiment of the urban rainwater pipe cleaning robot of the present invention, which embodiment can be the same as Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4 or Fig. 5 or Fig. 6 or Fig. 7 or The same embodiment as Fig. 8 or Fig. 9 or Fig. 10 may also be a different embodiment from Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4 or Fig. 5 or Fig. 6 or Fig. 7 or Fig. 8 or Fig. 9 or Fig. 10 ;

Fig. 12 is a side view of the walking mechanism according to a preferred embodiment of the urban rainwater pipeline cleaning robot of the present invention, which embodiment can be the same as Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4 or Fig. 5 or Fig. 6 or Fig. 7 or The same embodiment as Fig. 8 or Fig. 9 or Fig. 10 or Fig. 11 may also be the same as Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4 or Fig. 5 or Fig. 6 or Fig. 7 or Fig. 8 or Fig. 9 or Fig. 10 or Fig. 11 Different embodiments.

In the figure: 1-high-speed jet mechanism, 2-drainage mechanism, 3-acceleration mechanism, 4-drainage mechanism, 5-dilution and flushing mechanism, 6-waterproof body, 7-traveling mechanism, 8-hanging buckle, 9-grinding Tool mechanism, 21-drainage mechanism body, 22-connector, 23-drainage groove, 24-connection hole, 25-installation hole, 31-acceleration mechanism body, 32-inner cavity, 33-spiral surface, 34-spiral head, 41-central shaft, 42-inner ring, 43-middle stationary part, 44-outer ring directional sewage discharge part, 45-connecting shaft, 71-traveling mechanism body, 72-drive shaft, 73-inner wheel, 74-outer wheel, 75 -Anti-slip strip, 91-grinding tool mouth, 92-tool connecting shaft, 93-connecting thread.

detailed description

In order to make the technical solutions of the present invention clearer and clearer to those skilled in the art, the present invention will be further described in detail below in conjunction with the examples and accompanying drawings, but the embodiments of the present invention are not limited thereto.

As shown in Fig. 1, Fig. 2 and Fig. 3, a kind of urban rainwater pipe cleaning robot provided by this embodiment includes a high-speed jet mechanism 1, a drainage mechanism 2, an acceleration mechanism 3, a sewage mechanism 4, a dilution flushing mechanism 5, and a waterproof machine body 6, walking mechanism 7 and grinding tool mechanism 9; the grinding tool mechanism 9 is installed on the acceleration mechanism 3 in a clockwise spiral order; the high-speed jet mechanism 1 is arranged on the drainage mechanism 2 and the In the acceleration mechanism 3, the drainage mechanism 2 is arranged at the front end of the acceleration mechanism 3; the sewage discharge mechanism 4 is arranged at the rear end of the acceleration mechanism 3, and is connected with the front end of the dilution flushing mechanism 5, the The dilution and flushing mechanism 5 is arranged in the waterproof body 6 ; the running mechanism 7 is symmetrically arranged on both sides of the waterproof body 6 , and the tail of the waterproof body 6 is provided with a hook 8 .

Further, in this embodiment, as shown in FIG. 4 and FIG. 5 , the grinding tool mechanism 9 is a sawtooth-type grinding tool mechanism, and the sawtooth-type grinding tool mechanism is installed on the cutter head. The disc is an inclined surface structure, and the surface of the serrated grinding tool mechanism is provided with rounded corners. The grinding tool mechanism 9 is composed of a grinding tool opening 91, a tool connecting shaft 92 and a connecting thread 93. The grinding tool The port 91 is arranged at the front end of the tool connecting shaft 92 , the tool connecting shaft 92 is connected with the cutter head, and the connecting thread 93 is arranged on the surface of the tool connecting shaft 92 .

Further, in this embodiment, as shown in Figure 6 and Figure 7, the drainage mechanism 2 is composed of a drainage mechanism body 21, a connecting body 22 and a drainage groove 23, and the drainage mechanism body 21 is arranged on the connecting body 22, the drainage groove 23 is arranged in the drainage mechanism body 21, the drainage groove 23 is connected with the high-speed jet mechanism 1, and the connecting body 22 is provided with a plurality of connection holes 24, and the drainage mechanism The body 21 is provided with a plurality of mounting holes 25, and the high-speed jet mechanism 1 is provided with a plurality of water outlet holes.

Further, in this embodiment, as shown in FIG. 8, the acceleration mechanism 3 is a cylindrical acceleration mechanism, and the front end of the cylindrical acceleration mechanism is connected to the drainage mechanism 2 by bolts. The inner surface of the cylindrical acceleration mechanism is a rough helical surface, and the acceleration mechanism 3 is composed of an acceleration mechanism body 31, an inner cavity 32, a helical surface 33 and a helical head 34, and the inner cavity 32 is arranged on the acceleration mechanism body 31 , the spiral surface 33 is disposed on the inner surface of the acceleration mechanism body 31 , and the spiral head 34 is disposed on the spiral surface 33 .

Further, in this embodiment, as shown in Fig. 9 and Fig. 10, the sewage discharge mechanism 4 is composed of a central shaft 41, an inner ring 42, a middle static part 43 and a directional sewage part 44 of the outer ring, and the middle static part 43 is provided with a plurality of connecting shafts 45, the central shaft 41 is set in the inner ring 42, the inner ring 42 is set in the middle stationary part 43, and the middle stationary part 43 is set in the inner ring 42 and the outer ring directional blowdown part 44.

Further, in this embodiment, as shown in Fig. 11 and Fig. 12, the traveling mechanism 7 is composed of a traveling mechanism body 71, a driving shaft 72, rollers and anti-skid strips 75, and the driving shaft 72 and the rollers are both Set on the walking mechanism body 71, the anti-skid strip 75 is arranged on the roller, the anti-skid strip 75 is arranged radially along the drive shaft 72, the radius of curvature of the inclination angle of the roller is the same as that of the rainwater pipe The tube walls have the same radius of curvature, and the diameter of the inner wheel 73 of the roller is larger than the diameter of the outer wheel 74 of the roller.

In this embodiment, the main working process of the rainwater pipe cleaning robot: when working, the robot moves forward at a previously set specific speed, which determines the feed rate of the tool mechanism for grinding, while the tool mechanism, cutter head, The whole body consisting of the acceleration mechanism and the sewage mechanism rotates at high speed. First, the cutter mechanism grinds the blockage into pieces to form a liquid mixture. The mixture will enter the acceleration cylinder under the drainage of the cutter head, and then the dilution device will further dilute the mixture. Then the diluted mixture will be accelerated to a high-speed rotation state in the acceleration cylinder, and finally thrown out from the sewage outlet.

In this embodiment, the mouth of the tool mechanism is made into a sawtooth shape and large rounded corners are used to reduce unnecessary friction. The tool is installed on the cutter head and rotates at a high speed to grind hard cement blocks. , and can also scrape tree roots, which can better deal with complex working conditions in rainwater pipes.

In this embodiment, the drainage mechanism adopts an inclined surface drainage structure, and a high-speed jet mechanism is added in the middle of the drainage mechanism. The drainage inclined surface manufactured through precise calculation can better drain the abrasive debris mixture into the acceleration mechanism, so that It solves the problem of backlog caused by grinding debris not being discharged.

In this embodiment, the acceleration mechanism adopts a spiral cylinder acceleration mechanism, and the number of helical turns is calculated according to the friction roughness of the inner cylinder wall and the rotation speed, so that the fluid can get the highest acceleration in the shortest acceleration cylinder. Utilizing the principle of centrifugal force, it solves the problem of fully automatic blockage removal by accelerating the abrasive debris mixture to be thrown out at high speed.

In this embodiment, the blowdown mechanism adopts a composite mechanism, which consists of an inner ring, a middle static part and an outer ring for directional blowdown. The desilting mechanism is integrated, mainly responsible for sewage discharge, the middle static part is mainly used to connect the pipeline, and the use of double bearings solves the problem of how to connect the pipeline in the high-speed rotating and closed mechanism.

In this embodiment, the traveling mechanism adopts a wheeled mechanism with a small outside and a large inside, in which the radius of curvature of the inclination of the wheel is the same as that of the pipe wall, so that it can better fit the pipe wall and move forward, solving the problem of the common wheeled mechanism. Or the instability problem caused by the crawler walking in the pipeline and unable to fully fit the pipe wall.

In summary, in this embodiment, according to the urban rainwater pipeline cleaning robot of this embodiment, the urban rainwater pipeline cleaning robot provided by this embodiment, this embodiment is aimed at the difficult-to-clean blockage in the rainwater pipeline, especially the blockage There are very hard cement blocks in the objects, and there are relatively soft roots, even dead branches and leaves, and small plastic bags. A zigzag cutter is made. This tool is installed on the cutter head and rotates at a high speed. Grinding can also be used to scrape tree roots, which can better deal with the complex working conditions in rainwater pipes, and also solve the ordinary high-pressure jet method that can only dredge the pipes but not remove the blockages.

In this embodiment, the cutterhead adopts an inclined surface drainage structure, and a high-speed jet device is added in the middle of the cutterhead. The inclined drainage surface manufactured through precise calculation can better drain the abrasive debris mixture into the acceleration mechanism, thus solving the problem of grinding If the debris cannot be discharged, it will cause a backlog, which will affect the grinding effect and even break the tool.

This embodiment adopts a spiral cylinder acceleration mechanism, and calculates the number of spiral turns according to the friction roughness and rotation speed of the inner cylinder wall, so that the fluid can get the highest acceleration in the shortest acceleration cylinder. It is thrown out at high speed, which solves the problem of fully automatic removal of blockages, and also avoids obstacles caused by the backlog of blockages to the progress of the robot.

The sewage device of the present embodiment adopts a compound mechanism, which consists of an inner ring, a middle static part and an outer ring to direct the sewage part. The use of double bearings solves the problem of how to feed the pipeline in a high-speed rotating and closed mechanism.

The walking mechanism of this embodiment adopts a wheel mechanism with a small outside and a large inside, wherein the radius of curvature of the inclination of the wheel is the same as that of the pipe wall, so that it can better fit the pipe wall and advance, solving the problem of ordinary wheel or The instability problem caused by the crawler walking in the pipeline cannot fully fit the pipe wall.

The above is only a further embodiment of the present invention, but the protection scope of the present invention is not limited thereto, any person familiar with the technical field within the scope disclosed in the present invention, according to the technical scheme of the present invention and its Any equivalent replacement or modification of the concept falls within the protection scope of the present invention.

Claims (10)

1. a kind of urban rainwater pipeline clears up robot, it is characterised in that：Including high-speed jet mechanism (1), drainage mechanism (2), Acceleration mechanism (3), pollution discharge mechanism (4), dilution flushing machine (5), waterproof fuselage (6), walking mechanism (7) and grinding knife tool mechanism (9)；The grinding knife tool mechanism (9) is arranged on the acceleration mechanism (3) according to clock wise spirals order；The high-speed jet Mechanism (1) is arranged in the drainage mechanism (2) and the acceleration mechanism (3), and the drainage mechanism (2) is arranged on the acceleration The front end of mechanism (3)；The pollution discharge mechanism (4) is arranged on the rear end of the acceleration mechanism (3), and with the dilution flushing machine (5) front end connection, the dilution flushing machine (5) is arranged in the waterproof fuselage (6)；The walking mechanism (7) is symmetrical Be arranged on waterproof fuselage (6) both sides.

2. a kind of urban rainwater pipeline cleaning robot according to claim 1, it is characterised in that：The grinding knife tool machine Structure (9) is sawtooth pattern grinding knife tool mechanism, and the sawtooth pattern grinding knife tool mechanism is arranged on cutterhead, and the cutterhead is inclined plane Structure, the surface of the sawtooth pattern grinding knife tool mechanism is provided with fillet.

3. a kind of urban rainwater pipeline cleaning robot according to claim 2, it is characterised in that：The grinding knife tool machine Structure (9) is made up of grinding knife tool mouthful (91), cutter connecting shaft (92) and connection screw thread (93), and the grinding knife tool mouthful (91) is set In the front end of the cutter connecting shaft (92), the cutter connecting shaft (92) is connected with the cutterhead, the connection screw thread (93) It is arranged on the surface of the cutter connecting shaft (92).

4. a kind of urban rainwater pipeline cleaning robot according to claim 1, it is characterised in that：The drainage mechanism (2) it is made up of drainage mechanism body (21), connector (22) and drainage trough (23), the drainage mechanism body (21) is arranged on institute State in connector (22), the drainage trough (23) is arranged in the drainage mechanism body (21), the drainage trough (23) and institute State high-speed jet mechanism (1) connection.

5. a kind of urban rainwater pipeline cleaning robot according to claim 4, it is characterised in that：The connector (22) Multiple connecting holes (24) are provided with, the drainage mechanism body (21) is provided with multiple mounting holes (25), the high-velocity liquid jet Structure (1) is provided with multiple apopores.

6. a kind of urban rainwater pipeline cleaning robot according to claim 1, it is characterised in that：The acceleration mechanism (3) it is cylindric acceleration mechanism, is connected between the front end of the cylindric acceleration mechanism and the drainage mechanism (2) by bolt Connect, the inner surface of the cylindric acceleration mechanism is coarse helicoid.

7. a kind of urban rainwater pipeline cleaning robot according to claim 1, it is characterised in that：The acceleration mechanism (3) it is made up of acceleration mechanism body (31), inner chamber (32), helicoid (33) and spiral head (34), the inner chamber (32) is arranged on In the acceleration mechanism body (31), the helicoid (33) is arranged on the inner surface of the acceleration mechanism body (31), described Spiral head (34) is arranged on the helicoid (33).

8. a kind of urban rainwater pipeline cleaning robot according to claim 1, it is characterised in that：The pollution discharge mechanism (4) it is made up of central shaft (41), inner ring (42), central rest part (43) and outer ring orientation blowdown part (44), the centre Stationary part (43) is provided with multiple connecting shafts (45), and the central shaft (41) is arranged in the inner ring (42), the inner ring (42) be arranged in the central rest part (43), the central rest part (43) be arranged on the inner ring (42) with it is described Between outer ring orientation blowdown part (44).

9. a kind of urban rainwater pipeline cleaning robot according to claim 1, it is characterised in that：The walking mechanism (7) it is made up of walking mechanism body (71), drive shaft (72), roller and tread plate (75), the drive shaft (72) and the rolling Wheel is arranged on the walking mechanism body (71), and the tread plate (75) is arranged on the roller, the tread plate (75) being radially arranged along the drive shaft (72), the radius of curvature of the leaning angle of the roller and the curvature of storm sewer tube wall Radius is identical, and the diameter of the lubrication groove (73) of the roller is more than the diameter of the foreign steamer (74) of the roller.

10. a kind of urban rainwater pipeline cleaning robot according to claim 1, it is characterised in that：The waterproof fuselage (6) afterbody is provided with and buckled (8).