Peristaltic external pipe cleaning robot

Abstract

The present invention discloses a peristaltic external pipe cleaning robot, which comprises: two fixed bodies arranged front and back, the two fixed bodies being connected by a telescopic rod, a lower clamping body being arranged below the left and right sides of each fixed body, each fixed body and the corresponding two lower clamping bodies being arranged to form a non-enclosed cavity, an upper shell being arranged on each fixed body, a locking buckle being arranged at the connection between each fixed body and the corresponding lower clamping body, an inflatable airbag and a cleaning brush being arranged on the inner surface of each cavity, and a dust collection assembly being arranged on each fixed body. The peristaltic external pipe cleaning robot of the present invention realizes the forward and backward peristaltic walking process of the robot through the telescopic movement of the telescopic rod through the peristaltic external pipe cleaning robot body, realizes the clamping of the pipe through the inflation and deflation of the inflatable airbag, and at the same time, the enclosed area of ​​the inflatable airbag forms a closed space, which can realize the high-speed circulation of dust in the closed space and collect it through the dust collection assembly.

Description

Technical Field

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

[0002] At present, the tobacco manufacturing industry is moving from traditional manufacturing to intelligent manufacturing, applying network technology and intelligent manufacturing technology, replacing the original manual operation with intelligent equipment, reducing the number of personnel, while ensuring quality and reducing equipment wear and personnel risks during the production process.

[0003] Due to production process requirements, tobacco production workshops are densely covered with water, air and steam pipes. Affected by the production environment, dust easily accumulates on the pipes. The pipes are 6-9 meters above the ground and there are no dedicated cleaning channels. Daily cleaning is done manually with long wooden poles and rags, which is inefficient, ineffective and poses a huge safety hazard.

[0004] Therefore, there is an urgent need for a peristaltic external pipeline cleaning robot that can adapt to complex on-site environments. Summary of the Invention

[0005] The purpose of the present invention is to provide a peristaltic external pipe cleaning robot to solve the above-mentioned problems in the prior art, and to realize the robot's forward and backward peristaltic walking process through the telescopic movement of the telescopic rod.

[0006] The present invention provides a peristaltic external pipe cleaning robot, comprising:

[0007] Two fixed bodies are arranged along the front and rear directions, and the two fixed bodies are connected by a telescopic rod. A lower clamping body is arranged below the left and right sides of each fixed body. Each fixed body and the corresponding two lower clamping bodies are arranged to form a non-closed cavity. An upper shell is provided on each fixed body, and a locking buckle is provided at the connection between each fixed body and the corresponding lower clamping body. An inflatable airbag and a cleaning brush are provided on the inner surface of each cavity, and a dust collection component is provided on each fixed body.

[0008] The peristaltic external duct cleaning robot as described above, wherein, preferably, the dust suction component includes a dust suction motor and a dust bin, wherein the dust suction motor is arranged on the upper surface of each of the fixed bodies, the dust bin is arranged at the top of each of the fixed bodies, and an air flow channel is provided inside each of the fixed bodies. Dust blowing gas flow channels are provided on both sides of the dust suction motor, and the dust blowing gas flow channels on both sides are connected through the air flow channels located at the bottom of the dust suction motor, and the inner surface of each of the fixed bodies is provided with a dust blowing port arranged in a radial direction and connected to the dust blowing gas flow channel; a dust suction gas flow channel is provided on the top of the dust suction motor, and the dust suction gas flow channel is connected to the dust bin, and a dust suction port arranged in an axial direction and connected to the cavity is provided at the bottom of the dust bin.

[0009] The peristaltic external pipe cleaning robot as described above, wherein preferably, the cross-section of each of the fixed bodies and each of the lower clamping bodies is arc-shaped, the number of the dust suction motors and the dust bins corresponding to each of the fixed bodies is two, and the two dust suction motors and the two dust bins are symmetrically distributed in the radial direction of the fixed body; a dust suction motor mounting hole is provided on the fixed body for mounting the dust suction motor.

[0010] The peristaltic external pipe cleaning robot as described above, wherein preferably, each of the lower clamping bodies is provided with a micro air pump, a cleaning motor, a controller and a power supply module, the micro air pump is used to inflate the inflatable airbag, the cleaning motor is used to drive the cleaning brush to clean, the power supply module is used to supply power to the micro air pump, the cleaning motor, the dust suction motor and the controller, and the controller is used to send control signals to the micro air pump, the cleaning motor and the dust suction motor.

[0011] As described above, the peristaltic external pipe cleaning robot, wherein preferably, the number of the telescopic rods is three, and a propulsion cylinder mounting port passing through along the axial direction is respectively provided at the inner edges on the left and right sides and the upper surface at the middle position of each of the fixed bodies, and the two fixed bodies are connected by passing through the propulsion cylinder mounting ports corresponding to the two fixed bodies, and a propulsion cylinder for pushing the telescopic rod to extend and retract is provided at the outer edge of the propulsion cylinder mounting port.

[0012] As described above, the peristaltic external pipe cleaning robot, wherein, preferably, a telescopic rod fixing groove matching the propulsion cylinder mounting port is provided at the middle position on the inner side of the upper shell, so that the accommodating cavity formed by the telescopic rod fixing groove and the propulsion cylinder mounting port can allow the telescopic rod in the middle position to pass through.

[0013] As described above, the peristaltic external pipe cleaning robot, wherein, preferably, a motor fixing groove corresponding to the position of the dust suction motor is provided at the inner edge position of the upper shell, for fixing the dust suction motor; and a dust collecting box corresponding to the position of the dust bin is provided at the top of the upper shell.

[0014] As described above, the peristaltic external pipe cleaning robot, wherein preferably, the number of inflatable airbags corresponding to each of the cavities is five, wherein three inflatable airbags are evenly arranged in the radial direction at the middle position of the fixed body, and an inflatable airbag is respectively arranged in the radial direction at the front and rear ends of each lower clamping body on both sides of the fixed body; the five inflatable airbags corresponding to each of the cavities are connected and arranged to realize simultaneous inflation and deflation.

[0015] As described above, the peristaltic external pipe cleaning robot, wherein preferably, the number of cleaning brushes corresponding to each of the cavities is six, wherein a cleaning brush is arranged at the edges of the front and rear ends of the fixed body along the radial direction, and a cleaning brush is distributed at the edge of each lower clamping body on both sides of the fixed body along the radial direction, and the inflatable airbag corresponding to the lower clamping body is located on the inner side of the cleaning brush.

[0016] As described above, the peristaltic external pipe cleaning robot, wherein preferably, each of the fixed bodies is connected to the lower clamping bodies on the left and right sides through a connecting hinge; the number of the locking buckles is 4, which are respectively arranged at the middle position of the connection between each of the fixed bodies and the corresponding lower clamping bodies, and each of the fixed bodies and each of the lower clamping bodies is provided with a locking buckle mounting hole for installing the locking buckle at the position of the locking buckle.

[0017] The present invention provides a peristaltic external pipe cleaning robot, which realizes the forward and backward peristaltic walking process of the robot through the telescopic movement of a telescopic rod, adopts a progressive clamping walking mode, and realizes the clamping action of the pipe to be cleaned by alternating telescopic walking of two groups of fixed bodies and a lower clamping body through the inflation and deflation of an inflatable airbag. While clamping, the enclosed area of ​​the inflatable airbag will form a closed space. Under the action of a high-speed fan, high-speed circulation of dust can be realized in the closed space, and the dust can be filtered and collected by a dust suction component, thereby achieving the purpose of cleaning; the structural design of the present invention is simple, and energy consumption and manufacturing costs are greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described below with reference to the accompanying drawings, in which:

[0019] Figure 1 A schematic diagram of the three-dimensional structure of an embodiment of the peristaltic external pipe cleaning robot provided by the present invention;

[0020] Figure 2 A left side view of an embodiment of the peristaltic external pipe cleaning robot provided by the present invention;

[0021] Figure 3 A schematic diagram of the structure of the dust bin and the dust collection motor mounting hole on the fixed body of an embodiment of the peristaltic external pipe cleaning robot provided by the present invention;

[0022] Figure 4 A schematic structural diagram of the dust collection gas flow channel inside the fixed body of an embodiment of the peristaltic external pipe cleaning robot provided by the present invention;

[0023] Figure 5 A schematic diagram of the structure of the dust collection motor and the inflatable airbag of an embodiment of the peristaltic external pipe cleaning robot provided by the present invention;

[0024] Figure 6 A schematic structural diagram of a fixed body of an embodiment of a peristaltic external pipe cleaning robot provided by the present invention;

[0025] Figure 7 A schematic diagram of the structure of the telescopic rod fixing slot and the motor fixing slot inside the upper shell of an embodiment of the peristaltic external pipe cleaning robot provided by the present invention;

[0026] Figure 8 A schematic diagram of the structure of the dust collection box on the upper shell of an embodiment of the peristaltic external duct cleaning robot provided by the present invention;

[0027] Figure 9 A schematic diagram of the structure of the cleaning brush and the inflatable airbag inside the lower clamping body of an embodiment of the peristaltic external pipe cleaning robot provided by the present invention;

[0028] Figure 10 This is a structural schematic diagram of the locking buckle mounting hole inside the lower clamping body of an embodiment of the peristaltic external pipe cleaning robot provided by the present invention.

[0029] Explanation of the accompanying drawings: 1-fixed body, 2-upper shell, 3-locking buckle, 4-lower clamping body, 5-cleaning brush, 6-inflatable airbag, 7-dust bin, 8-dust suction motor mounting hole, 9-dust blowing gas flow channel, 10-dust suction motor, 11-dust blowing port, 12-dust suction port, 13-propulsion cylinder mounting port, 14-connecting hinge, 15-retraction rod fixing groove, 16-motor fixing groove, 17-dust collecting box, 18-locking buckle mounting hole, 19-dust suction gas flow channel, 20-telescopic rod, 21-cavity. DETAILED DESCRIPTION

[0030] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure, its application, or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of parts and steps, the composition of materials, numerical expressions, and numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary and not as limiting.

[0031] The terms "first," "second," and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are simply used to distinguish different parts. Terms such as "include" or "comprising" mean that the elements preceding the term include the elements listed after the term, and do not exclude the possibility of also including other elements. Terms such as "upper," "lower," and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0032] In the present disclosure, when a specific component is described as being located between a first component and a second component, there may or may not be an intervening component between the specific component and the first component or the second component. When a specific component is described as being connected to another component, the specific component may be directly connected to the other component without an intervening component, or may not be directly connected to the other component but have an intervening component.

[0033] All terms (including technical or scientific terms) used in this disclosure have the same meaning as those understood by one of ordinary skill in the art to which this disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, general dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined herein.

[0034] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0035] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a peristaltic external pipe cleaning robot, which includes:

[0036] Two fixed bodies 1 are arranged along the front and rear directions, and the two fixed bodies 1 are connected by a telescopic rod 20. A lower clamping body 4 is provided below the left and right sides of each fixed body 1. Each fixed body 1 and the corresponding two lower clamping bodies 4 are arranged to form a non-closed cavity 21. An upper shell 2 is provided on each fixed body 1, and a locking buckle 3 is provided at the connection between each fixed body 1 and the corresponding lower clamping body 4. The inner surface of each cavity 21 is provided with an inflatable airbag 6 and a cleaning brush 5, and a dust collection component is provided on each fixed body 1.

[0037] In the present invention, the front-to-back direction refers to the axial direction of the pipe to be cleaned, and the left-to-right direction refers to the radial direction of the pipe to be cleaned.

[0038] Furthermore, if Figure 3-Figure 5 As shown, the dust collection component includes a dust collection motor 10 and a dust bin 7, wherein the dust collection motor 10 is arranged on the upper surface of each of the fixed bodies 1, the dust bin 7 is arranged at the top of each of the fixed bodies 1, and each of the fixed bodies 1 is provided with an air flow channel, and dust blowing gas flow channels 9 are provided on both sides of the dust collection motor 10, and the dust blowing gas flow channels 9 on both sides are connected through the air flow channels located at the bottom of the dust collection motor 10, and the inner surface of each of the fixed bodies 1 is provided with a dust blowing port 11 arranged in a radial direction and connected to the dust blowing gas flow channel 9; the top of the dust collection motor 10 is provided with a dust collection gas flow channel 19, and the dust collection gas flow channel 19 is connected to the dust bin 7, and the bottom of the dust bin 7 is provided with a dust collection port 12 arranged in an axial direction and connected to the cavity 21. When the dust suction motor 10 is working, the dust suction motor 10 blows out air from the dust blowing ports 11 on both sides, and sucks the dust into the dust bin 7 through the dust suction port 12 on the top, completely realizing air circulation within the clamping range of the inflatable airbag 6, and reducing external pollution to a minimum.

[0039] Furthermore, if Figure 6 As shown, each of the fixing bodies 1 is connected to the lower clamping bodies 4 on the left and right sides via a connecting hinge 14 .

[0040] Furthermore, if Figure 8 As shown, a dust box 17 is provided on the top of the upper housing 2 corresponding to the location of the dust bin 7. In this way, after the upper housing 2 is connected to the fixed body 1, the dust collection motor 10 and the telescopic rod 20 can be completely fixed, and the dust box 17 can be taken out without removing the upper housing 2 for easy replacement.

[0041] Furthermore, if Figure 2As shown, the cross-section of each fixed body 1 and each lower clamping body 4 is arc-shaped, and the number of the dust suction motor 10 and the dust bin 7 corresponding to each fixed body 1 is two, and the two dust suction motors 10 and the two dust bins 7 are symmetrically distributed in the radial direction of the fixed body 1. Figure 4 As shown, a dust collection motor mounting hole 8 is provided on the fixed body 1 for mounting the dust collection motor 10 .

[0042] Furthermore, each of the lower clamping bodies 4 is provided with a micro air pump, a cleaning motor, a controller and a power module. The micro air pump is used to inflate the inflatable airbag 6, the cleaning motor is used to drive the cleaning brush 5 to clean, the power module is used to supply power to the micro air pump, the cleaning motor, the dust suction motor 10 and the controller, and the controller is used to send control signals to the micro air pump, the cleaning motor and the dust suction motor 10. This can lower the center of gravity of the entire robot, which is conducive to improving stability during movement. It should be noted that the present invention does not specifically limit the type, model, distribution location, etc. of the micro air pump, cleaning motor, controller and power module.

[0043] During work, after the robot is placed on the pipe to be cleaned, the robot is clamped on the pipe to be cleaned by adjusting the locking buckle 3. At this time, the inflatable airbag 6 in the cavity 21 is inflated by the micro air pump located in the lower clamping body 4, so that the robot can fully clamp the pipe to be cleaned firmly; during the cleaning process, the inflatable airbags 6 corresponding to the front and rear cavities 21 are alternately inflated and deflated, and the forward and backward peristaltic walking process of the robot is realized by the telescopic movement of the telescopic rod 20; during the walking process, the dust suction motor 10 will always be in working state, and the cleaning brush 5 distributed along the front and rear directions on the inner wall of the cavity will clean the pipe wall of the pipe to be cleaned during the movement, and blow the dust off the pipe wall through the high-speed airflow, and collect it in the dust collecting box 17, to realize the overall cleaning process.

[0044] Therefore, compared with the existing technology, the peristaltic external pipe cleaning robot provided in this embodiment realizes the forward and backward peristaltic walking process of the robot through the telescopic movement of the telescopic rod, adopts a progressive clamping walking mode, and walks by alternating telescopic movements of two sets of fixed bodies and the lower clamping body, and realizes the clamping action of the pipe to be cleaned by the inflation and deflation of the inflatable airbag. While clamping, the enclosed area of ​​the inflatable airbag will form a closed space. Under the action of the high-speed fan, high-speed circulation of dust can be realized in the closed space, and the dust can be filtered and collected through the dust suction component, thereby achieving the purpose of cleaning; the structural design of the present invention is simple, which greatly reduces energy consumption and manufacturing costs.

[0045] Furthermore, if Figure 2As shown, the number of the telescopic rods 20 is three. Specifically, Figure 6 As shown, each fixed body 1 has a propulsion cylinder mounting opening 13 extending along the axial direction, formed on the inner edges of the left and right sides and the upper surface at the center. The two fixed bodies 1 are connected by passing through the corresponding propulsion cylinder mounting openings 13 of the two fixed bodies 1. The outer edges of the propulsion cylinder mounting openings 13 are provided with a propulsion cylinder for extending and retracting the telescopic rod 20. It should be noted that the present invention does not impose specific limitations on the number, length, diameter, material, etc. of the telescopic rod 20.

[0046] Furthermore, if Figure 7 As shown, a telescopic rod fixing groove 15 matching the propulsion cylinder mounting port 13 is provided at the middle position on the inner side of the upper shell 2, so that the accommodating cavity formed by the telescopic rod fixing groove 15 and the propulsion cylinder mounting port 13 can allow the telescopic rod 20 in the middle position to pass through.

[0047] Furthermore, if Figure 7 As shown, a motor fixing groove 16 corresponding to the position of the dust suction motor 10 is provided on the inner edge of the upper shell 2 for fixing the dust suction motor 10 .

[0048] Furthermore, if Figure 2 、 Figure 5 and Figure 6 As shown, the number of inflatable airbags 6 corresponding to each of the cavities 21 is five, wherein three inflatable airbags 6 are evenly arranged in the radial direction at the middle position of the fixed body 1, and an inflatable airbag 6 is respectively arranged in the radial direction at the front and rear ends of each lower clamping body 4 on both sides of the fixed body 1; the five inflatable airbags 6 corresponding to each of the cavities 21 are interconnected to achieve simultaneous inflation and deflation. It should be noted that the present invention does not specifically limit the number and distribution positions of the inflatable airbags 6. The upper and lower inflatable airbags corresponding to each cavity 21 are interconnected to achieve simultaneous inflation and deflation; when inflated, the inflatable airbag 6 is arranged in the middle position of the fixed body 1, and the lower clamping bodies 4 on both sides are also arranged with airbags, thereby forming a triangular structure to ensure that the robot is tightly clamped on the pipe to be cleaned.

[0049] Furthermore, if Figure 2 、 Figure 6 and Figure 9As shown, each cavity 21 corresponds to six cleaning brushes 5 , one of which is radially arranged at the front and rear edges of the fixed body 1 . A cleaning brush 5 is radially arranged at the edge of each lower clamping body 4 on both sides of the fixed body 1 . The inflatable airbags 6 corresponding to the lower clamping bodies 4 are located inside the cleaning brushes 5 . It should be noted that the present invention does not impose any specific restrictions on the number and distribution of the cleaning brushes 5 .

[0050] Furthermore, if Figure 2 As shown, the number of the locking buckles 3 is 4, which are respectively arranged at the middle position of the connection between each of the fixing bodies 1 and the corresponding lower clamping bodies 4. Figure 10 As shown, each of the fixing bodies 1 and each of the lower clamps 4 is provided with a locking buckle mounting hole 18 for mounting the locking buckle 3 at the position of the locking buckle 3 .

[0051] The peristaltic external pipe cleaning robot provided by the embodiment of the present invention realizes the forward and backward peristaltic walking process of the robot through the telescopic movement of the telescopic rod, adopts a progressive clamping walking mode, and walks by alternating telescopic movement of two sets of fixed bodies and the lower clamping body, and realizes the clamping action of the pipe to be cleaned by the inflation and deflation of the inflatable airbag. At the same time, the enclosed area of ​​the inflatable airbag will form a closed space. Under the action of the high-speed fan, high-speed circulation of dust can be realized in the closed space, and the dust can be filtered and collected by the dust suction component, thereby achieving the purpose of cleaning; the structural design of the present invention is simple, and greatly reduces energy consumption and manufacturing costs.

[0052] Thus far, various embodiments of the present disclosure have been described in detail. To avoid obscuring the concept of the present disclosure, some details known in the art have not been described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

[0053] Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art will understand that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that the above embodiments may be modified or some technical features may be replaced with equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A peristaltic external pipe cleaning robot, characterized in that: include: Two fixed bodies are arranged along the front and rear directions, and the two fixed bodies are connected by a telescopic rod. A lower clamping body is provided below the left and right sides of each fixed body. Each fixed body and the corresponding two lower clamping bodies are arranged to form a non-enclosed cavity. An upper shell is provided on each fixed body, and a locking buckle is provided at the connection between each fixed body and the corresponding lower clamping body. An inflatable airbag and a cleaning brush are provided on the inner surface of each cavity, and a dust collection component is provided on each fixed body; The number of inflatable airbags corresponding to each of the cavities is five, wherein three inflatable airbags are evenly arranged in the radial direction in the middle position of the fixed body, and an inflatable airbag is respectively arranged in the radial direction at the front and rear ends of each lower clamping body on both sides of the fixed body; the five inflatable airbags corresponding to each of the cavities are connected to achieve simultaneous inflation and deflation; Each of the fixed bodies is connected to the lower clamping bodies on the left and right sides through a connecting hinge; the number of the locking buckles is 4, which are respectively arranged at the middle position of the connection between each of the fixed bodies and the corresponding lower clamping bodies, and each of the fixed bodies and each of the lower clamping bodies is provided with a locking buckle mounting hole for installing the locking buckle at the position of the locking buckle.

2. The peristaltic external pipe cleaning robot according to claim 1, characterized in that: The dust collection assembly includes a dust collection motor and a dust bin, wherein the dust collection motor is arranged on the upper surface of each of the fixed bodies, the dust bin is arranged at the top of each of the fixed bodies, and an air flow channel is provided inside each of the fixed bodies. Dust blowing gas flow channels are provided on both sides of the dust collection motor, and the dust blowing gas flow channels on both sides are connected through the air flow channels located at the bottom of the dust collection motor. The inner surface of each of the fixed bodies is provided with a dust blowing port arranged in a radial direction and connected to the dust blowing gas flow channel; a dust collection gas flow channel is provided on the top of the dust collection motor, and the dust collection gas flow channel is connected to the dust bin, and a dust collection port arranged in an axial direction and connected to the cavity is provided at the bottom of the dust bin.

3. The peristaltic external pipe cleaning robot according to claim 2, characterized in that: The cross-section of each of the fixed bodies and each of the lower clamping bodies is arc-shaped, and the number of the dust collection motors and the dust bins corresponding to each of the fixed bodies is two, and the two dust collection motors and the two dust bins are symmetrically distributed in the radial direction of the fixed body; a dust collection motor mounting hole is provided on the fixed body for installing the dust collection motor.

4. The peristaltic external pipe cleaning robot according to claim 2, characterized in that: Each of the lower clamping bodies is provided with a micro air pump, a cleaning motor, a controller and a power supply module. The micro air pump is used to inflate the inflatable airbag, the cleaning motor is used to drive the cleaning brush for cleaning, and the power supply module is used to supply power to the micro air pump, the cleaning motor, the dust suction motor and the controller. The controller is used to send control signals to the micro air pump, the cleaning motor and the dust suction motor.

5. The peristaltic external pipe cleaning robot according to claim 2, characterized in that: There are three telescopic rods, and each fixed body is provided with a propulsion cylinder mounting opening that passes through along the axial direction at the inner edges of the left and right sides and the upper surface of the middle position. The two fixed bodies are connected by passing through the propulsion cylinder mounting openings corresponding to the two fixed bodies, and a propulsion cylinder for pushing the telescopic rod to extend and retract is provided at the outer edge of the propulsion cylinder mounting opening.

6. The peristaltic external pipe cleaning robot according to claim 5, characterized in that: A telescopic rod fixing groove matching the propulsion cylinder mounting port is provided at the inner middle position of the upper shell, so that the accommodating cavity formed by the telescopic rod fixing groove and the propulsion cylinder mounting port can allow the telescopic rod in the middle position to pass through.

7. The peristaltic external pipe cleaning robot according to claim 6, characterized in that: A motor fixing groove corresponding to the position of the dust suction motor is provided on the inner edge of the upper shell for fixing the dust suction motor; a dust collecting box corresponding to the position of the dust bin is provided on the top of the upper shell.

8. The peristaltic external pipe cleaning robot according to claim 1, characterized in that: The number of cleaning brushes corresponding to each of the cavities is six, wherein a cleaning brush is arranged at the edges of the front and rear ends of the fixed body along the radial direction, and a cleaning brush is distributed at the edge of each lower clamping body on both sides of the fixed body along the radial direction, and the inflatable airbag corresponding to the lower clamping body is located on the inner side of the cleaning brush.

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