A pipeline cleaning robot

Abstract

The present invention discloses a pipeline cleaning robot, comprising a universal connection mechanism, a cleaning mechanism is arranged in front of the universal connection mechanism, a dust suction mechanism is arranged behind the universal connection mechanism, a driving mechanism is arranged between the cleaning mechanism and the universal connection mechanism and between the dust suction mechanism and the universal connection mechanism, the driving mechanism comprises a bracket, a plurality of support arms are arranged on the bracket, a driving wheel group is arranged at one end of the support arm away from the bracket, the universal connection mechanism comprises a connecting seat, a plurality of flexible connectors are arranged between the connecting seat and the bracket, and the connecting seat and the bracket are connected to the flexible connectors through a universal joint. It has a universal connection and an automatic diameter changing function, and the robot is equipped with a camera and a dust suction mechanism, which can realize the automation and integration of the pipeline cleaning process.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to a pipeline cleaning robot. Background Art

[0002] Pipelines are widely used in nuclear power, petroleum, natural gas, water conservancy projects and various industrial devices as a device for transporting gas, liquid or fluid with solid particles. At present, in the field of pipeline cleaning, most of the cleaning equipment adopts the unpowered cable dragging walking method for cleaning. This cleaning method is inefficient and has a low degree of automation. It is impossible to adjust the cleaning posture of the equipment according to the size of the pipe diameter, which is far from meeting the growing requirements of modern society.

[0003] At present, there have been some achievements in the research of pipeline cleaning robots, such as "A robot for pipeline cleaning" (invention patent: CN201410123349.4), which proposes to move the cleaning brush in four directions, up, down, left and right, by providing a horizontal rotating device and a vertical rotating device. The robot needs to constantly change the position of the cleaning brush head for cleaning, so the cleaning efficiency is low and there may be cleaning dead corners; the robot carries the cleaning brush head through a flat body with wheels, and its body itself is large in size, and has specific requirements for the pipe diameter specifications that are suitable for cleaning, and the robot has poor passability at the bend. "A synchronous driving device for the support arm of a pipeline robot with adaptive function" (invention patent: CN201711471796.9) proposes a synchronous driving device for the support arm of a pipeline robot with adaptive function, which carries a large number of motors, gears, etc. and has a complex structure. The surrounding environment during pipeline cleaning is poor, and the variable diameter mechanism with an overly complex structure is prone to accumulate dust, slag, etc., which causes the mechanism to get stuck and cannot operate normally.

[0004] Currently, no effective solution has been proposed for the problems in the related technologies. Summary of the invention

[0005] In view of the above technical problems in the related art, the present invention proposes a pipe cleaning robot with a universal connection and an automatic diameter changing function. The robot is also equipped with a camera and a dust suction mechanism, which can realize the automation and integration of the pipe cleaning process.

[0006] To achieve the above technical objectives, the technical solution of the present invention is implemented as follows:

[0007] A pipe cleaning robot comprises a universal connection mechanism, a cleaning mechanism is arranged in front of the universal connection mechanism, a dust collection mechanism is arranged behind the universal connection mechanism, a driving mechanism is arranged between the cleaning mechanism and the universal connection mechanism and between the dust collection mechanism and the universal connection mechanism, the driving mechanism comprises a bracket, a plurality of support arms are arranged on the bracket, a driving wheel group is arranged at one end of the support arm away from the bracket, the universal connection mechanism comprises a connecting seat, a plurality of flexible connectors are arranged between the connecting seat and the bracket, and the connecting seat and the bracket are connected to the flexible connectors through a universal joint.

[0008] Furthermore, the bracket includes a middle splint and at least one base plate, the middle splint and the base plate are spaced apart and fixedly connected to each other, a transmission gear that can rotate around its own axis and a plurality of ratchet bars that can slide radially along the transmission gear are respectively provided between the middle splint and the base plate, the transmission gear is meshed with the ratchet bars, the transmission gear is connected to a bracket driving motor, the ratchet bar is fixedly connected to one end of a connecting sleeve, the other end of the connecting sleeve is slidably connected to the support arm, and the end of the support arm away from the driving wheel group extends between the middle splint and the base plate and is hinged to the middle splint.

[0009] Furthermore, the bracket includes two front and rear base plates, and the middle clamping plate is located between the two base plates, wherein the base plate close to the universal connection mechanism is fixedly connected to the universal joint.

[0010] Furthermore, the driving wheel group includes a driving wheel support, the driving wheel support is fixedly connected to an end of the support arm away from the bracket, a plurality of driving wheel axles are rotatably connected to the driving wheel support, a plurality of driving wheels are fixedly connected to the driving wheel axles, all of the driving wheel axles are connected to the driving wheel motor through a transmission mechanism, the transmission mechanism includes a synchronous belt and a plurality of synchronous wheels, and the synchronous wheels are fixedly connected to the driving wheel axles or the motor shaft of the driving wheel motor.

[0011] Furthermore, the cleaning mechanism includes a brush head base, the rear side of the brush head base is fixedly connected to the bottom plate closest to it, the front side of the brush head base is detachably connected to a brush head top cover via a detachably connected fixed shaft, the outer sleeve of the fixed shaft is provided with a cleaning brush head, the rear end of the cleaning brush head is fixedly connected to the outer ring of the bearing, the inner ring of the bearing is fixedly connected to the outside of the fixed shaft, the outer ring of the bearing is also fixedly connected to a driven gear, the driven gear is meshedly connected to a brush head driving gear, and the brush head driving gear is connected to a brush head driving motor.

[0012] Furthermore, the dust suction mechanism includes a dust suction fan, which includes a fan tube and fan blades, the fan blades are connected to a fan motor, one end of the fan tube is sealed and fixedly connected to a fairing, the other end of the fan tube is sealed and fixedly connected to a dust storage tank, the fan motor is located in the dust storage tank, and the fairing or the dust storage tank is fixedly connected to the base plate closest to it.

[0013] Furthermore, a first camera facing forward is fixedly connected to the front side of the brush head top cover, and a second camera facing backward is fixedly connected to the dust suction mechanism.

[0014] Furthermore, the bracket drive motor, the drive wheel motor, the brush head drive motor, the fan motor, the first camera and the second camera are all connected with cables, and the base plate and the connecting seat are provided with wire holes corresponding to the cables. The connecting seat is connected to the base plate through a middle hose, and the middle hose is located outside the cable.

[0015] Furthermore, the universal joint comprises a cross shaft and two end heads, and the cross shaft is rotatably connected to the two end heads respectively.

[0016] Furthermore, a plurality of limit plates are fixedly connected to the bottom plate and are respectively slidably matched with the ratchet bars one by one, and the ratchet bars are located between the limit plates and the transmission gear.

[0017] The beneficial effects of the present invention are as follows: 1) The driving mechanism has an adaptive pipe diameter function, and can expand and retract the support arm according to the diameter of the pipe to be cleaned, ensuring that the robot is always located at the center of the pipe and the driving wheel group is in contact with the inner wall of the pipe, so as to realize the driving movement of the robot under different pipe diameters. In addition, the driving mechanism has a compact structure and is easy to maintain and clean, which is conducive to ensuring the stable operation of the mechanism under harsh pipe cleaning conditions;

[0018] 2) It has a universal connection mechanism, which enables the robot to flexibly pass through pipes with a bending angle of less than 90° and perform cleaning operations, making the robot able to clean a wider range of pipe types;

[0019] 3) The dust collection mechanism has the functions of dust collection and dust storage, which can collect dust and stains dropped by the cleaning brush head in time, avoiding secondary pollution of pipeline cleaning and realizing efficient and integrated pipeline cleaning;

[0020] 4) The cleaning brush head is replaceable. The cleaning brush heads of different sizes can be replaced according to the cleaning requirements of different pipe diameters. Since the robot always moves in the center of the pipeline, the cleaning range of the cleaning brush head can achieve full coverage of the inner wall of the pipeline when the robot moves. This is different from the traditional pipeline cleaning robot that constantly changes the brush head position during the cleaning process, making the cleaning process more efficient;

[0021] 5) By driving the wheel set in tight contact with the inner wall of the pipe, the robot can always be located in the center of the pipe when moving in the pipe, so that the robot's cleaning posture is more stable and has an anti-rollover function. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 is an axial view of a pipeline cleaning robot according to an embodiment of the present invention;

[0024] Figure 2 is a rear view of the pipeline cleaning robot according to an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of a first camera according to an embodiment of the present invention;

[0026] Figure 4 is a schematic diagram of a second camera according to an embodiment of the present invention;

[0027] Figure 5 is an exploded view of a cleaning mechanism according to an embodiment of the present invention;

[0028] Figure 6 is an exploded view of a driving mechanism according to an embodiment of the present invention;

[0029] Figure 7 is a schematic diagram of a base plate according to an embodiment of the present invention;

[0030] Figure 8 is a schematic diagram of a driving mechanism when a support arm is retracted according to an embodiment of the present invention;

[0031] Fig. 9 is a schematic diagram of a driving mechanism when a support arm is unfolded according to an embodiment of the present invention;

[0032] Fig.10 is a schematic diagram of a driving wheel assembly according to an embodiment of the present invention;

[0033] Fig.11 is a schematic diagram of a universal connection mechanism according to an embodiment of the present invention;

[0034] Fig.12 is a schematic diagram of a universal joint according to an embodiment of the present invention;

[0035] Fig.13 Detailed description of the invention The figure is an exploded view of the dust collection mechanism according to an embodiment of the invention.

[0036] In the figure:

[0037] 1. First camera; 2. Cleaning mechanism; 21. Brush head top cover; 22. Cleaning brush head; 23. Brush head driving gear; 24. Driven gear; 25. Bearing; 26. Fixed shaft; 27. Brush head base; 3. Driving mechanism; 31. Driving wheel set; 311. Driving wheel support; 312. Driving wheel motor; 313. Driving wheel; 314. Driving wheel bearing; 315. Driving wheel shaft; 316. Synchronous wheel; 317. Synchronous wheel Step belt; 32, support arm; 33, connecting sleeve; 34, ratchet bar; 35, bottom plate; 351, limit plate; 36, transmission gear; 37, middle clamping plate; 38, screw pin; 4, universal connection mechanism; 41, universal joint; 42, connecting spring; 43, middle hose; 44, connecting seat; 5, dust suction mechanism; 51, fairing; 52, dust suction fan; 53, fan motor; 54, dust storage tank; 6, second camera. DETAILED DESCRIPTION

[0038] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0039] like Figure 1-13 As shown, a pipe cleaning robot according to an embodiment of the present invention includes a universal connection mechanism 4, a cleaning mechanism 2 is arranged in front of the universal connection mechanism 4, a dust collection mechanism 5 is arranged behind the universal connection mechanism 4, a driving mechanism 3 is arranged between the cleaning mechanism 2 and the universal connection mechanism 4 and between the dust collection mechanism 5 and the universal connection mechanism 4, the driving mechanism 3 includes a bracket, a plurality of support arms 32 are arranged on the bracket, a driving wheel group 31 is arranged at one end of the support arm 32 away from the bracket, the universal connection mechanism 4 includes a connecting seat 44, a plurality of flexible connectors are arranged between the connecting seat 44 and the bracket, and the connecting seat 44 and the bracket are connected to the flexible connector via a universal joint 41.

[0040] In a specific embodiment of the present invention, the bracket includes a middle splint 37 and at least one base plate 35, the middle splint 37 and the base plate 35 are spaced apart and fixedly connected to each other, a transmission gear 36 that can rotate around its own axis and a plurality of ratchet bars 34 that can slide radially along the transmission gear 36 are respectively arranged between the middle splint 37 and the base plate 35, the transmission gear 36 is meshed with the ratchet bars 34, the transmission gear 36 is connected to a bracket driving motor, the ratchet bar 34 is fixedly connected to one end of the connecting sleeve 33, the other end of the connecting sleeve 33 is slidably connected to the support arm 32, and the end of the support arm 32 away from the driving wheel group 31 extends between the middle splint 37 and the base plate 35 and is hinged to the middle splint 37.

[0041] In a specific embodiment of the present invention, the bracket includes two front and rear base plates 35 , and the middle clamping plate 37 is located between the two base plates 35 , wherein the base plate 35 close to the universal connection mechanism 4 is fixedly connected to the universal joint 41 .

[0042] In a specific embodiment of the present invention, the driving wheel group 31 includes a driving wheel support 311, the driving wheel support 311 is fixedly connected to one end of the support arm 32 away from the bracket, a plurality of driving wheel axles 315 are rotatably connected to the driving wheel support 311, a plurality of driving wheels 313 are fixedly connected to the driving wheel axles 315, all of the driving wheel axles 315 are connected to the driving wheel motor 312 through a transmission mechanism, the transmission mechanism includes a synchronous belt 317 and a plurality of synchronous wheels 316, and the synchronous wheel 316 is fixedly connected to the driving wheel axle 315 or the motor shaft of the driving wheel motor 312.

[0043] In a specific embodiment of the present invention, the cleaning mechanism 2 includes a brush head base 27, the rear side of the brush head base 27 is fixedly connected to the bottom plate 35 closest to it, the front side of the brush head base 27 is detachably connected to the brush head top cover 21 through a detachably connected fixed shaft 26, the outer sleeve of the fixed shaft 26 is provided with a cleaning brush head 22, the rear end of the cleaning brush head 22 is fixedly connected to the outer ring of the bearing 25, the inner ring of the bearing 25 is fixedly connected to the outside of the fixed shaft 26, the outer ring of the bearing 25 is also fixedly connected to the driven gear 24, the driven gear 24 is meshedly connected to the brush head drive gear 23, and the brush head drive gear 23 is connected to the brush head drive motor.

[0044] In a specific embodiment of the present invention, the dust suction mechanism 5 includes a dust suction fan 52, and the dust suction fan 52 includes a fan tube and fan blades, and the fan blades are connected to a fan motor 53. One end of the fan tube is sealed and fixedly connected to a fairing 51, and the other end of the fan tube is sealed and fixedly connected to a dust storage tank 54. The fan motor 53 is located in the dust storage tank 54, and the fairing 51 or the dust storage tank 54 is fixedly connected to the base plate 35 closest to it.

[0045] In a specific embodiment of the present invention, a first camera 1 facing forward is fixedly connected to the front side of the brush head top cover 21, and a second camera 6 facing backward is fixedly connected to the dust suction mechanism 5.

[0046] In a specific embodiment of the present invention, the bracket drive motor, the drive wheel motor 312, the brush head drive motor, the fan motor 53, the first camera 1 and the second camera 6 are all connected with cables, and the base plate 35 and the connecting seat 44 are provided with wire holes corresponding to the cables. The connecting seat 44 is connected to the base plate 35 through a middle hose 43, and the middle hose 43 is located outside the cable.

[0047] In a specific embodiment of the present invention, the universal joint 41 includes a cross shaft and two ends, and the cross shaft is rotatably connected to the two ends.

[0048] In a specific embodiment of the present invention, a plurality of limit plates 351 are fixedly connected to the bottom plate 35 and are respectively slidably matched with the ratchet bars 34 . The ratchet bars 34 are located between the limit plates 351 and the transmission gear 36 .

[0049] In order to facilitate understanding of the above technical solutions of the present invention, the above technical solutions of the present invention are described in detail below through specific usage methods.

[0050] The pipeline cleaning robot of the present invention is used in conjunction with a replaceable cleaning brush head 22. The robot is mainly composed of a cleaning mechanism 2, a camera monitoring module, a driving mechanism 3, a universal connection mechanism 4, and a dust collection mechanism 5. When the robot is working, the robot drives the support arm 32 to unfold according to the inner diameter of the pipeline to be cleaned, so that the driving wheel group 31 is close to the inner wall of the pipeline, and the driving wheel motor 312 drives the driving wheel 313 to rotate through the synchronous belt 317, so that the robot can complete the forward and backward movements in the pipeline. During the robot's movement, since the universal connection mechanism 4 is connected in series between the front and rear driving mechanisms 3, the robot's main structure can be bent but the center of the robot is always guaranteed to coincide with the pipeline axis, ensuring that the robot's cleaning posture is always centered and stable. The camera detection module includes a first camera 1 and a second camera 6, both of which are zoom cameras, the first camera 1 is arranged at the front end of the cleaning mechanism 2, and the second camera 6 is arranged at the rear end of the dust collection mechanism 5. Before cleaning, the first camera 1 located at the front of the robot transmits the image directly in front of the pipeline, and provides real-time feedback on the internal situation of the pipeline. It can also detect local stains and rust on the inner wall of the pipeline through the zoom function, so as to prepare for pipeline cleaning. The second camera 6 located at the rear of the robot transmits the image directly behind the pipeline, and can monitor the situation of the pipeline after cleaning in real time. It also has a zoom function, which allows the operator to judge whether the pipeline cleaning has reached the required cleanliness level. The cleaning mechanism 2 can be equipped with a cleaning brush head 22 of corresponding size according to the inner diameter of the pipeline to be cleaned. During cleaning, the cleaning brush head 22 is driven by the brush head driving motor to rotate, and the stains and floating rust on the inner wall of the pipeline are cleaned by the principle of high-speed centrifugation. The dust and stains that fall off after cleaning will be concentrated at the bottom of the pipeline due to gravity, and the stains and rust will be adsorbed and temporarily stored by the dust suction mechanism 5 carried at the rear end of the robot.

[0051] like Figure 5 As shown, the fixed shaft 26 of the cleaning mechanism 2 is connected to the middle of the brush head base 27 by threading, the brush head driving gear 23 is connected to the brush head driving motor, the driven gear 24 is welded and fixed to the outer ring of the bearing 25, and the replaceable cleaning brush head 22 is also welded and fixed to the outer ring of the bearing 25, so the driven gear 24, the bearing 25, and the cleaning brush head 22 can be replaced as a whole, so as to achieve the connection and fixation during the replacement and rotation of the cleaning brush head 22, and the brush head top cover 21 is connected to the fixed shaft 26 by threading. The brush head driving motor realizes the rotation of the cleaning brush head 22 through the transmission of the brush head driving gear 23 and the driven gear 24. The diameter of the cleaning brush head 22 is slightly larger than the inner diameter of the pipe to be cleaned.

[0052] like Figure 6-9As shown, the transmission gear 36 of the driving mechanism 3 is fixedly connected to the support driving motor, the support arm 32 is hinged on the middle clamping plate 37 through the screw pin 38 on the bottom plate 35, the ratchet bar 34 is connected to the support arm 32 through the connecting sleeve 33, the bottom plate 35 is provided with a limit plate 351 to limit the vertical direction of the ratchet bar 34, the transmission gear 36 is meshed with the ratchet bar 34, so that the ratchet bar 34 can move horizontally; the driving wheel group 31 is fixedly connected to the support arm 32, and the bottom plate 35 is also fixedly connected to the middle clamping plate 37 through the screw pin 38. The support driving motor drives the ratchet bar 34 to move horizontally by a corresponding distance by controlling the transmission gear 36 to rotate forward and reversely at a certain angle, thereby causing the support arm 32 to be expanded or retracted to adapt to the size of the inner diameter of the pipeline to be cleaned.

[0053] like Fig.10 As shown, the driving wheel 313, driving wheel bearing 314 and synchronous wheel 316 of the driving wheel group 31 are all connected to the driving wheel support 311 through the driving wheel shaft 315, the driving wheel motor 312 is connected to other synchronous wheels 316, all synchronous wheels 316 are meshed with the synchronous belt 317 and together form a transmission mechanism, the driving wheel motor 312 can drive the driving wheel 313 to rotate through the transmission of the transmission mechanism, thereby realizing the movement of the robot in the pipeline.

[0054] like Fig.11 As shown, the universal connection mechanism 4 is composed of a connection seat 44, twelve connection springs 42, twenty-four universal joints 41 and two middle hoses 43. The middle hose 43 is mainly for cables (including control lines and power lines) to pass through. The connection springs 42 form a flexible connector. The two ends of each connection spring 42 are welded and fixed to a universal joint 41. The universal joint 41 is welded and connected to the bottom plate 35 of the driving mechanism 3 in the same direction to prevent the universal joint 41 from being connected in different directions to cause motion interference. The universal connection mechanism 4 can realize the adaptive deformation of the robot main structure when passing through the curved pipe. The universal connection mechanism 4 can provide installation space for the robot control and power supply circuits, and can also increase the segmentation of the robot main structure, thereby improving the passability and flexibility of the robot in the pipeline.

[0055] like Fig.12 As shown, the universal joint 41 is a cross-axis universal joint.

[0056] like Fig.13 As shown, the dust collecting mechanism 5 includes a fairing 51, a dust collecting fan 52, a fan motor 53 and a dust storage tank 54. The dust collecting fan 52 is fixedly connected to the fan motor 53. The fan motor 53 drives the blades of the dust collecting fan 52 to rotate, and guides the airflow through the fairing 51 to absorb the rust, stains, etc. cleaned by the cleaning brush head 22 and temporarily store them in the dust storage tank 54.

[0057] In summary, with the help of the above technical scheme of the present invention, the driving mechanism has the function of adaptive pipe diameter, and can unfold and retract the support arm according to the diameter of the pipe to be cleaned, ensuring that the robot is always located at the center of the pipe and the driving wheel group is in contact with the inner wall of the pipe, so as to realize the driving movement of the robot under different pipe diameters. In addition, the driving mechanism has a compact structure and is easy to maintain and clean, which is beneficial for the robot to ensure stable operation of the mechanism under harsh pipe cleaning conditions; it has a universal connection mechanism, which enables the robot to flexibly pass through pipes with a bending angle of less than 90° and perform cleaning operations, so that the robot can clean a wider range of pipe types; the dust suction mechanism has dust suction and dust storage functions, which can The dust and stains dropped by the cleaning brush head are collected in time, avoiding secondary pollution of pipeline cleaning and realizing integrated efficient pipeline cleaning; the cleaning brush head is replaceable and can be replaced with cleaning brush heads of different sizes according to the cleaning requirements of different pipe diameters. Since the robot always maintains the center position in the pipeline, the cleaning range of the cleaning brush head can achieve full coverage of the inner wall of the pipeline when the robot is moving. This is different from the traditional pipeline cleaning robot that constantly changes the position of the brush head during the cleaning process, making the cleaning process more efficient; by driving the wheel group to tightly contact the inner wall of the pipeline, the robot can always be located in the center of the pipeline when it is moving in the pipeline, so that the robot's cleaning posture is more stable and has an anti-rollover function.

[0058] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A pipeline cleaning robot, characterized in that: The invention comprises a universal connection mechanism (4), a cleaning mechanism (2) is arranged in front of the universal connection mechanism (4), a dust collection mechanism (5) is arranged behind the universal connection mechanism (4), a driving mechanism (3) is arranged between the cleaning mechanism (2) and the universal connection mechanism (4) and between the dust collection mechanism (5) and the universal connection mechanism (4), the driving mechanism (3) comprises a bracket, a plurality of support arms (32) are arranged on the bracket, a driving wheel group (31) is arranged at one end of the support arm (32) away from the bracket, and the universal connection mechanism (4) comprises a connecting seat (44), the connecting seat (44) and the connecting seat (44) are connected to the universal connection mechanism (4). A plurality of flexible connectors are arranged between the brackets, the connecting seat (44) and the brackets are connected to the flexible connectors via a universal joint (41), the brackets include a middle clamping plate (37) and at least one bottom plate (35), the middle clamping plate (37) and the bottom plate (35) are arranged at intervals and fixedly connected to each other, a transmission gear (36) that can rotate around its own axis and a plurality of ratchet bars (34) that can slide circumferentially along the transmission gear (36) are respectively arranged between the middle clamping plate (37) and the bottom plate (35), the transmission gear (36) is meshed with the ratchet bar (34), and the transmission gear (36) is connected A support driving motor is provided, wherein the ratchet bar (34) is fixedly connected to one end of a connecting sleeve (33), the other end of the connecting sleeve (33) is slidably connected to the support arm (32), the end of the support arm (32) away from the driving wheel group (31) extends between the middle clamping plate (37) and the bottom plate (35) and is hinged to the middle clamping plate (37), the support comprises two front and rear bottom plates (35), the middle clamping plate (37) is located between the two bottom plates (35), wherein the bottom plate (35) close to the universal connection mechanism (4) is fixedly connected to the universal joint (41), the driving wheel group (31) is connected to the middle clamping plate (37) and the bottom plate (35) is hinged to the middle clamping plate (37), 1) comprising a driving wheel support (311), the driving wheel support (311) being fixedly connected to an end of the support arm (32) away from the bracket, the driving wheel support (311) being rotatably connected to a plurality of driving wheel shafts (315), the driving wheel shafts (315) being fixedly connected to a plurality of driving wheels (313), all of the driving wheel shafts (315) being connected to a driving wheel motor (312) via a transmission mechanism, the transmission mechanism comprising a synchronous belt (317) and a plurality of synchronous wheels (316), the synchronous wheels (316) being fixedly connected to the driving wheel shafts (315) or to the motor shaft of the driving wheel motor (312).

2. The pipeline cleaning robot according to claim 1, characterized in that: The cleaning mechanism (2) comprises a brush head base (27), the rear side of the brush head base (27) is fixedly connected to the bottom plate (35) closest to the brush head base, the front side of the brush head base (27) is detachably connected to a brush head top cover (21) via a detachably connected fixed shaft (26), the exterior of the fixed shaft (26) is sleeved with a cleaning brush head (22), the rear end of the cleaning brush head (22) is fixedly connected to the outer ring of a bearing (25), the inner ring of the bearing (25) is fixedly connected to the exterior of the fixed shaft (26), the outer ring of the bearing (25) is also fixedly connected to a driven gear (24), the driven gear (24) is meshingly connected to a brush head driving gear (23), and the brush head driving gear (23) is connected to a brush head driving motor.

3. The pipeline cleaning robot according to claim 2, characterized in that: The dust collection mechanism (5) comprises a dust collection fan (52), the dust collection fan (52) comprising a fan barrel and fan blades, the fan blades being connected to a fan motor (53), one end of the fan barrel being sealed and fixedly connected to a fairing (51), the other end of the fan barrel being sealed and fixedly connected to a dust storage tank (54), the fan motor (53) being located in the dust storage tank (54), and the fairing (51) or the dust storage tank (54) being fixedly connected to the base plate (35) closest thereto.

4. The pipeline cleaning robot according to claim 3, characterized in that: A first camera (1) facing forward is fixedly connected to the front side of the brush head top cover (21), and a second camera (6) facing backward is fixedly connected to the dust suction mechanism (5).

5. The pipeline cleaning robot according to claim 4, characterized in that: The support drive motor, the drive wheel motor (312), the brush head drive motor, the fan motor (53), the first camera (1) and the second camera (6) are all connected to cables; the bottom plate (35) and the connecting seat (44) are both provided with cable holes corresponding to the cables; the connecting seat (44) is connected to the bottom plate (35) via a middle hose (43); and the middle hose (43) is located outside the cables.

6. The pipeline cleaning robot according to claim 1, characterized in that: The universal joint (41) comprises a cross shaft and two end heads, and the cross shaft is rotatably connected to the two end heads respectively.

7. The pipeline cleaning robot according to claim 1, characterized in that: A plurality of limit plates (351) are fixedly connected to the bottom plate (35) and are respectively slidably matched with the ratchet bars (34). The ratchet bars (34) are located between the limit plates (351) and the transmission gear (36).

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