An adaptive in-pipe wall cleaning vehicle

Abstract

The present application relates to the technical field of pipeline cleaning, more particularly, to a self-adaptive pipeline inner wall cleaning vehicle, which provides a self-adaptive pipeline inner wall cleaning vehicle, comprising an energy supply module, a moving module, a first rotating mechanism, a first telescopic mechanism, a second rotating mechanism, a brush assembly and a controller, the moving module is connected to the energy supply module, the first rotating mechanism is rotatably connected to the energy supply module, the moving direction of the moving module is the same as the rotating axis direction of the first rotating mechanism, the first telescopic mechanism is arranged on the outer periphery of the first rotating mechanism, the output end of the first telescopic mechanism is connected to the second rotating mechanism, the output end of the second rotating mechanism is connected to the brush assembly, the first rotating mechanism makes the brush assembly rotate around the pipeline inner wall, and meanwhile, the second rotating mechanism makes the brush assembly rotate around its axis, so that the direction of the brush cleaning the pipeline inner wall is increased, and dirt residues are reduced.

Description

Technical Field

[0001] This invention relates to the technical field of pipeline cleaning, and more specifically, to an adaptive pipeline inner wall cleaning vehicle. Background Technology

[0002] Common pipe cleaning devices can only clean the inner walls of pipes with a specific inner diameter. They cannot be adjusted according to changes in the inner diameter of the pipe to be cleaned. They can only clean pipes with a single inner diameter, or they can clean pipes with different inner diameters by replacing corresponding parts. The process is cumbersome and costly. Because the inner wall of the pipe is not flat and there are changes in diameter, it is not possible to ensure that the brush is always in contact with the inner wall of the pipe by simply adjusting the length of the brush.

[0003] Patent CN115138650B discloses a pipeline robot, including a body with a moving mechanism and a cleaning mechanism. The moving mechanism includes multiple drive wheels, and the body also has a diameter-changing component for moving the body in pipelines of different inner diameters. The diameter-changing component includes a detachable diameter-changing component and an adaptive diameter-changing component. The body also has a deflection component for synchronously turning the multiple drive wheels. The cleaning mechanism includes brushes installed at the end of the body, and a rotating component that drives the brushes to rotate is also installed at the end of the body. An annular groove is formed at one end of the body, and a hexagonal fixing block is rotatably installed in the annular groove. One end of the hexagonal fixing block extends to one side of the body and multiple evenly distributed extension seats are fixedly installed on the outer wall. The multiple extension seats are indirectly connected to cleaning seats for rotatably installing multiple brushes. By using the diameter-changing component and the deflection component in conjunction, the working range of the pipeline robot is improved, the stability of the pipeline robot when operating in pipelines of different inner diameters is improved, and the cleaning effect on the inner wall of the pipeline is optimized.

[0004] However, in the above solution, the brush only rotates around the pipe wall and cleans the pipe wall in one direction. Some dirt can easily pass through the gaps between the bristles, resulting in dirt residue. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an adaptive pipe inner wall cleaning vehicle. While cleaning the pipe by rotating the brush assembly, the brush assembly rotates around its own axis, which increases the direction of pipe cleaning, reduces the leakage of dirt, and increases the number of times the brush assembly can clean the wall surface once it rotates around the pipe wall, thereby enhancing the cleaning effect.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] An adaptive pipe inner wall cleaning vehicle is provided, including a power supply module, a moving module, a first rotating mechanism, a first telescopic mechanism, a second rotating mechanism, a brush assembly, and a controller. The moving module is connected to the power supply module, and the first rotating mechanism is rotatably connected to the power supply module. The moving module moves in the same direction as the rotation axis of the first rotating mechanism. The first telescopic mechanism is disposed on the outer periphery of the first rotating mechanism, and its output end is connected to the second rotating mechanism. The output end of the second rotating mechanism is connected to the brush assembly. The brush assembly is provided with a pressure sensing component, which is connected to the input end of the controller. The first telescopic mechanism, the first rotating mechanism, and the second rotating mechanism are all connected to the output end of the controller.

[0008] The adaptive pipe inner wall cleaning cart of the present invention has a first telescopic mechanism that can drive the brush assembly to extend and retract, adjusting the diameter of the cleaning cart. When the diameter of the inner wall of the pipe changes, the brush assembly experiences pressure changes. The pressure sensing component transmits a signal to the controller, which causes the first telescopic mechanism to drive the brush assembly to extend or retract. When the pressure sensing component detects that the pressure on the brush assembly from the inner wall of the pipe reaches a certain value, the controller stops the first telescopic mechanism, and the brush assembly no longer extends. This maintains the pressure on the brush assembly within a defined range even when the diameter of the inner wall of the pipe changes. The power supply module provides energy to rotate the first rotating mechanism, causing the brush assembly to rotate around the axis of the first rotating mechanism, thus moving the brush assembly around the inner wall of the pipe. The cleaning cart moves forward through the moving component, moving the brush assembly forward to clean the pipe. Simultaneously, the second rotating mechanism rotates around its axis, causing the brush assembly to rotate around the axis of the second rotating mechanism. This increases the direction of brush cleaning of the inner wall of the pipe, reduces dirt residue, and increases the number of brushing operations on the wall when the brush assembly rotates around the pipe wall once, thus enhancing the cleaning effect.

[0009] Furthermore, the brush assembly includes a first brush, a second brush, a brush connecting rod, and a brush housing. The first brush is connected to the end face of the brush housing, and the second brush is connected to the outer periphery of the first brush via the brush connecting rod. The brush housing is connected to the output end of the second rotating mechanism. Providing a second brush on the outer periphery of the first brush expands the cleaning range of the brush, increases the cleaning area per rotation of the brush assembly, and improves the cleaning effect.

[0010] Furthermore, it also includes a constraint mechanism for limiting the position of the second brush. The constraint mechanism is movably mounted on the brush housing and rotatably connected to the second brush. The brush connecting rod is rotatably connected to the first brush and fixedly connected to the second brush. The pressure sensing component is mounted on the second brush. During pipe cleaning, the first telescopic mechanism extends the brush assembly, which touches the inner wall of the pipe. The first telescopic mechanism continues to extend, and the brush connecting rod rotates inward. When the pressure on the brush assembly increases to a certain value, the pressure sensor controls the first telescopic mechanism to stop extending, and simultaneously the constraint mechanism locks, supporting the brush assembly and preventing its position from changing.

[0011] Furthermore, the pressure sensing assembly includes a pressing plate, a pressure sensor, and a spring. The pressing plate is connected to the second brush via the spring, and the pressure sensor is mounted on the end face of the second brush, located between the pressing plate and the second brush. When the brush assembly touches and presses against the inner wall of the pipe, the pressing plate on it will press against the pressure sensor, thereby driving the brush connecting rod to rotate to adapt to the curved surface of the inner wall. When the rotation reaches the point where the pressure sensor loses its pressing effect, the first telescopic mechanism stops.

[0012] Furthermore, the constraint mechanism includes a support rod, a second telescopic mechanism, and a second support frame. A first constraint member is fixedly connected to the back of the second brush, and a second constraint member is rotatably connected to the outer surface of the brush housing. The two ends of the support rod are rotatably connected to the first constraint member and the second constraint member, respectively. The second support frame and the second telescopic mechanism are both installed inside the brush housing. The second telescopic mechanism is installed on the second support frame and passes through the side wall of the brush housing, and is rotatably connected to the second constraint member. The connection point between the second constraint member and the second telescopic mechanism is different from the connection point between the second constraint member and the brush housing. The support rod, brush connecting rod, and second rotating mechanism form a stable triangular structure, fixing the second brush in the axial position of the second rotating mechanism. After the brush assembly presses against the inner wall of the pipe, the first telescopic mechanism continues to extend, causing the brush connecting rod to rotate inward. The second brush applies a force towards the first rotating mechanism to the support rod through the first constraint member. The second telescopic mechanism extends and retracts, causing the second constraint member to rotate away from the second rotating mechanism, assisting the support rod to move towards the first rotating mechanism. After the pressure on the brush assembly reaches a certain value, the first telescopic mechanism stops extending, locking the support rod and stabilizing the position of the second brush.

[0013] Furthermore, the second telescopic mechanism includes a second servo motor and a second telescopic rod. The second servo motor is connected to the second telescopic rod, and the second telescopic rod is rotatably connected to the second constraint member. When the first telescopic mechanism extends, the second rotating mechanism and the brush assembly move away from the first rotating mechanism, increasing the diameter of the cleaning cart. This allows the diameter of the cleaning cart to be adjusted at any time according to the diameter of the pipe's inner wall, ensuring that the brush assembly always fits against the pipe wall, guaranteeing the cleaning effect, and preventing the cleaning cart from being unable to pass through if the pipe's inner wall diameter is too small.

[0014] Furthermore, the first rotating mechanism includes a first rotating motor and a first transmission mechanism. The first rotating motor is connected to the power supply module, the output end of the first rotating motor is connected to the first transmission mechanism, and the first transmission mechanism is connected to the second rotating mechanism. When cleaning the wall surface, the brush assembly is brought into contact with the pipe wall surface, the first rotating motor is started, and the second rotating mechanism is driven to rotate around the first rotating motor through the first transmission mechanism, causing the brush assembly to rotate around the inner wall of the pipe and clean the inner wall of the pipe.

[0015] Furthermore, the first transmission mechanism includes a sun gear, planetary gears, and a gear ring. The bottom of the gear ring is fixedly connected to the first rotary motor. The output end of the first rotary motor passes through the center of the gear ring and is fixedly connected to the center of the sun gear. The planetary gears are distributed on the outer periphery of the sun gear and mesh with it. The inner wall of the gear ring is provided with a rack that meshes with the planetary gears. The side wall of the second rotating mechanism is fixedly connected to the end face of the planetary gears. When the sun gear rotates, the planetary gears rotate along the rack, driving the second rotating mechanism to rotate around the axis of the first rotating mechanism, causing the brush assembly to rotate around the inner wall of the pipe, cleaning the inner wall of the pipe. Through the meshing transmission of gears and racks, the transmission efficiency is high and the energy consumption is low.

[0016] Furthermore, the second rotating mechanism includes a second rotating motor and a connecting ring. The side of the connecting ring is fixed to the end face of the planetary gear. The connecting ring is sleeved on the outside of the brush housing and rotatably connected to the brush housing. One end of the first telescopic mechanism is fixedly connected to the connecting ring, and the other end is fixedly connected to the second rotating motor. A first support frame is provided on the end face of the sun gear. The second rotating motor is slidably mounted on the first support frame, and the output end of the second rotating motor is fixedly connected to the bottom of the brush housing. While the first rotating motor drives the brush assembly to rotate around the axis of the first rotating mechanism, the second rotating motor is activated, causing the brush housing to rotate around its own axis, thereby driving the brush assembly to rotate around its own axis and enhancing the cleaning effect.

[0017] Furthermore, the moving module includes a fixed rod, a drive mechanism, a second transmission mechanism, and two sets of wheel assemblies. The fixed rod is fixedly connected to the power supply module. The two sets of wheel assemblies are distributed at the bottom of the moving module along its forward direction. Each wheel assembly is connected to the fixed rod via a rotating shaft, which is connected to the fixed rod via a rotary valve. The drive mechanism and the two sets of rotating shafts are sequentially connected via the second transmission mechanism. The drive mechanism drives the second transmission mechanism, causing a change in the angle between the rotating shaft and the rotary valve, thereby changing the position of the wheel assemblies and adjusting the diameter of the cleaning vehicle in real time to adapt to changes in the pipe diameter.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] The adaptive pipe inner wall cleaning cart of the present invention can automatically change the diameter of the cleaning cart according to the diameter of the inner wall of the pipe, so that the pressure on the brush assembly when squeezing the inner wall of the pipe is maintained at a certain value, so that the cleaning force is fixed and constant. While ensuring the cleaning effect, it avoids the brush assembly from being damaged by excessive pressure. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the adaptive pipeline inner wall cleaning vehicle of the present invention;

[0021] Figure 2 This is a schematic diagram of the brush assembly of the adaptive pipe inner wall cleaning vehicle of the present invention.

[0022] Figure 3 This is a schematic diagram of the constraint mechanism of the adaptive pipeline inner wall cleaning vehicle of the present invention;

[0023] Figure 4 This is a schematic diagram of the first transmission mechanism of the adaptive pipeline inner wall cleaning vehicle of the present invention;

[0024] Figure 5 This is a schematic diagram of the moving module of the adaptive pipeline inner wall cleaning vehicle of the present invention;

[0025] Figure 6 This is a schematic diagram of the drive mechanism of the adaptive pipeline inner wall cleaning vehicle of the present invention;

[0026] In the attached diagram: 1. First rotating mechanism; 11. First rotary motor; 12. Gear ring; 13. Circular shell; 14. Front cover; 15. First transmission mechanism; 151. Sun gear; 152. Planetary gear; 153. First support frame; 2. Second rotating mechanism; 21. Second rotary motor; 22. Connecting ring; 23. First telescopic mechanism; 231. First servo motor; 232. First telescopic rod; 233. Connector; 3. Brush assembly; 31. First brush; 32. Second brush; 33. Brush connecting rod; 34. Pressure sensing assembly; 341. Extrusion plate; 342. Pressure sensor; 343. Spring; 35. Brush housing; 36. Constraint mechanism; 361. Support rod; 362. First constraint member; 363. Second constraint member; 364. Second telescopic mechanism; 3641. Second servo motor; 3642. Second telescopic rod; 365. Second support frame; 4. Moving module; 41. Fixed rod; 42. Drive mechanism; 421. Gearbox; 422. Third rotary motor; 423. Gear set; 4231. Drive gear; 4232. First transmission gear; 4233. Second transmission gear; 435. Rotating shaft; 436. Pivot; 43. Second transmission mechanism; 431. Transmission rod; 432. First connecting rod; 433. Second connecting rod; 44. Wheel assembly; 441. Wheel; 442. Steering wheel; 443. Wheel connector; 45. Rotating shaft; 451. Rotary valve; 5. Power supply module; 51. First connecting seat; 52. Second connecting seat; 6. Pipeline. Detailed Implementation

[0027] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0028] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0029] Example 1

[0030] like Figures 1 to 5 The first embodiment of the adaptive pipe inner wall cleaning vehicle of the present invention is shown, including a power supply module 5, a moving module 4, a first rotating mechanism 1, a first telescopic mechanism 23, a second rotating mechanism 2, a brush assembly 3, and a controller. The moving module 4 is connected to the power supply module 5, and the first rotating mechanism 1 is rotatably connected to the power supply module 5. The movement direction of the moving module 4 is the same as the rotation axis direction of the first rotating mechanism 1. The first telescopic mechanism 23 is disposed on the outer periphery of the first rotating mechanism 1, and the output end of the first telescopic mechanism 23 is connected to the second rotating mechanism 2. The output end of the second rotating mechanism 2 is connected to the brush assembly 3. The brush assembly 3 is provided with a pressure sensing component 34, which is connected to the input end of the controller. The first telescopic mechanism 23, the first rotating mechanism 1, and the second rotating mechanism 2 are all connected to the output end of the controller.

[0031] like Figure 1 and Figure 2 As shown, the adaptive pipe inner wall cleaning cart of the present invention has a first telescopic mechanism 23 that can drive the brush assembly 3 to extend and retract, adjusting the diameter of the cleaning cart. When the inner wall diameter of the pipe 6 changes, the brush assembly 3 experiences pressure changes. The pressure sensing component 34 transmits a signal to the controller, which then causes the first telescopic mechanism 23 to extend or retract the brush assembly 3. When the pressure sensing component 34 detects that the pressure on the brush assembly 3 from the inner wall of the pipe 6 reaches a certain value, the controller stops the first telescopic mechanism 23, and the brush assembly 3 no longer extends. This allows the pressure on the brush assembly 3 to be maintained within a certain range even when the inner wall diameter of the pipe 6 changes, controlling the brushing intensity and ensuring cleaning efficiency. While achieving a cleaning effect, the system avoids excessive pressure on the brush assembly 3, which could damage the brush. The power supply module 5 provides energy to rotate the first rotating mechanism 1, causing the brush assembly 3 to rotate around the axis of the first rotating mechanism 1. This allows the brush assembly 3 to move around the inner wall of the pipe 6. The cleaning cart moves forward via the moving module 4, moving the brush assembly 3 forward to clean the pipe 6. Simultaneously, the second rotating mechanism 2 causes the brush assembly 3 to rotate around its axis, increasing the direction of brush cleaning of the inner wall of the pipe 6, reducing dirt residue, and increasing the number of brushing cycles per rotation of the brush assembly 3 around the pipe 6 wall, thus enhancing the cleaning effect.

[0032] The brush assembly 3 includes a first brush 31, a second brush 32, a brush connecting rod 33, and a brush housing 35. The first brush 31 is connected to the end face of the brush housing 35, and the second brush 32 is connected to the outer periphery of the first brush 31 via the brush connecting rod 33. The brush housing 35 is connected to the second rotating mechanism 2. This expands the cleaning range of the brush and increases the cleaning area of ​​the brush assembly 3 each time it rotates around the first rotating mechanism 1, thereby improving the cleaning effect. In this embodiment, three brush assemblies 3 are evenly distributed on the outer periphery of the first rotating mechanism 1, and each brush assembly 3 includes three second brushes 32 evenly distributed on the outer periphery of the first brush 31.

[0033] like Figure 3 As shown, it also includes a constraint mechanism 36 for limiting the position of the second brush 32. The constraint mechanism 36 is mounted on the brush housing 35 and is rotatably connected to the second brush 32. The brush connecting rod 33 is rotatably connected to the first brush 31 and fixedly connected to the second brush 32. The pressure sensing component 34 is mounted on the second brush 32.

[0034] In this embodiment, the pressure sensing component 34 includes a pressing plate 341 and a pressure sensor 342. The pressure sensor 342 is mounted on the second brush 32 and is located on the same surface as the brush. A spring 343 is connected between the pressing plate 341 and the pressure sensor 342. The height of the pressing plate 341 and the pressure sensor 342 is lower than the height of the brush.

[0035] When cleaning pipe 6, the first telescopic mechanism 23 extends the brush assembly 3. When the three second brushes 32 on each brush assembly 3 touch and squeeze the inner wall of pipe 6, the squeezing plate 341 on it will squeeze the pressure sensor 342, thereby pushing the brush connecting rod 33 to rotate to adapt to the curved surface of the inner wall of pipe 6. When the pressure sensor 342 loses its squeezing effect, the controller controls the first telescopic mechanism 23 to stop extending and controls the constraint mechanism 36 to lock. When the diameter of the inner wall of pipe 6 changes, the brush assembly 3 is subjected to pressure changes from the inner wall of pipe 6. The squeezing plate 341 is subjected to spring action, changes position, and re-squeezes the pressure sensor 342. The first telescopic mechanism 23 starts to work, the constraint mechanism 36 unlocks, and the second brushes 32 and the brush connecting rod 33 can move until the pressure sensor 342 is no longer subjected to pressure.

[0036] The constraint mechanism 36 includes a support rod 361, a second telescopic mechanism 364, and a second support frame 365. The second support frame 365 and the second telescopic mechanism 364 are both installed inside the brush housing 35. A first constraint member 362 is fixedly connected to the back of the second brush 32. A second constraint member 363 is rotatably connected to the outer surface of the brush housing 35. The two ends of the support rod 361 are rotatably connected to the first constraint member 362 and the second constraint member 363, respectively. The second support frame 365 is a triangular support frame. Three second telescopic mechanisms 364 are installed at the three corners of the second support frame 365 and pass through the brush housing 35. The output end of the second telescopic mechanism 364 is rotatably connected to the opposite side of the second constraint member 363 and the brush housing 35.

[0037] The second telescopic mechanism 364 includes a second servo motor 3641 and a second telescopic rod 3642. The second servo motor 3641 is connected to the second telescopic rod 3642, and the second telescopic rod 3642 is rotatably connected to the second constraint member 363.

[0038] The two ends of the support rod 361 are respectively internally connected to the first constraint member 362 and the second constraint member 363 by ball joints. Any structure that enables the two ends of the support rod 361 to be rotatably connected to the second brush 32 and the first rotating mechanism 1 is applicable to the present invention. The structures listed in this embodiment are not intended to limit the present invention.

[0039] The brush connecting rod 33, the support rod 361, and the first rotating mechanism 1 form a triangular structure, fixing the position of the second brush 32 on the axis of the first rotating mechanism 1. After the brush assembly 3 contacts the wall of the pipe 6, the first telescopic mechanism 23 continues to extend. The pressure exerted by the wall on the brush assembly 3 causes the brush connecting rod 33 to rotate inward, generating a force on the support rod 361 in the direction of the first rotating mechanism 1. The second telescopic mechanism 364 extends, causing the second constraint member 363 to rotate away from the first rotating mechanism 1, and causing the end of the support rod 361 connected to the second constraint member 363 to move away from the first rotating mechanism 1, assisting the support rod 361 to move in the direction of the first rotating mechanism 1. After the pressure on the brush assembly 3 reaches a certain value, the first telescopic mechanism 23 stops extending, locking the support rod 361 and re-fixing the second brush 32 in the axial position of the first rotating mechanism 1.

[0040] The first rotating mechanism 1 includes a first rotating motor 11 and a first transmission mechanism 15. The first rotating motor 11 is connected to the power supply module 5, and the output end of the first rotating motor 11 is connected to the first transmission mechanism 15. The first transmission mechanism 15 is connected to the first rotating mechanism 1.

[0041] Any first transmission mechanism 15 capable of driving the first rotating mechanism 1 to rotate around the axis of the first rotating mechanism 1 can be applied to the present invention, such as a crank-connecting rod mechanism, etc. The first transmission mechanism 15 listed in this embodiment is not limited to the present invention.

[0042] like Figure 2 and Figure 4 As shown, the first transmission mechanism 15 includes a sun gear 151, a planetary gear 152, and a gear ring 12. The bottom of the gear ring 12 is fixedly connected to the first rotary motor 11. The output end of the first rotary motor 11 passes through the center of the gear ring 12 and is fixedly connected to the center of the sun gear 151. The planetary gear 152 is distributed on the outer periphery of the sun gear 151 and meshes with the sun gear 151. The inner wall of the gear ring 12 is provided with a rack that meshes with the planetary gear 152. The side wall of the first rotating mechanism 1 is fixedly connected to the end face of the planetary gear 152. When the sun gear 151 rotates, the planetary gear 152 will rotate along the rack, driving the first rotating mechanism 1 to rotate around the axis of the first rotating mechanism 1, so that the brush assembly 3 rotates around the inner wall of the pipe 6 to clean the inner wall of the pipe 6.

[0043] The rotation of the brush assembly 3 is achieved by using a gear and rack transmission, which can achieve a high rotation speed while improving transmission efficiency, reducing energy consumption, thereby extending working time and reducing costs.

[0044] In this embodiment, the first rotating mechanism 1 further includes a circular shell 13 and a front cover 14. The circular shell 13 is rotatably connected to the gear ring 12, and the front cover 14 is fixedly connected to the circular shell 13. The first rotating mechanism 1 passes through the side wall of the circular shell 13, and there is no gap between the side wall of the second rotating mechanism 2 and the circular shell 13. The gear ring 12, the circular shell 13, and the front cover 14 form a sealed outer shell, which protects the internal first transmission mechanism 15, prevents dust or liquid from entering the first transmission mechanism 15, reduces the failure rate, and extends the service life.

[0045] It also includes a first telescopic mechanism 23 for extending or retracting the brush assembly 3. The first telescopic mechanism 23 is connected between the first rotating mechanism 1 and the first rotating mechanism 23. When the first telescopic mechanism 23 extends, the first rotating mechanism 1 and the brush assembly 3 move away from the first rotating mechanism 1, thereby increasing the diameter of the cleaning cart. The diameter of the cleaning cart can be adjusted at any time according to the diameter of the inner wall of the pipe 6, so that the brush assembly 3 is always in contact with the pipe wall, ensuring the cleaning effect, while avoiding the cleaning cart from being unable to pass through due to the inner diameter of the pipe 6 being too small.

[0046] The second rotating mechanism 2 includes a second rotating motor 21 and a connecting ring 22. A first support frame 153 is fixedly connected to the sun gear 151. The second rotating motor 21 is slidably mounted on the first support frame 153. The connecting ring 22 is fixed to the tooth surface of the planetary gear 152. The connecting ring 22 is sleeved on the brush housing 35. One end of the brush housing 35 is connected to the second rotating motor 21, and the other end is connected to the brush assembly 3.

[0047] like Figure 2 and Figure 4 As shown, in this embodiment, the first support frame 153 is a cylindrical shell with a through hole on its side wall facing the connecting ring 22, allowing the second rotary motor 21 to pass through it; the side of the second rotary motor 21 is provided with a long protrusion, and the through hole is provided with a groove that cooperates with the protrusion. The protrusion can slide in the groove, so that the second rotary motor 21 can pass through the through hole to make telescopic movements without rotating around the axis. Therefore, when the second rotary motor 21 is working, the second rotary motor 21 can drive the brush shell 35 to rotate without rotating itself.

[0048] The first telescopic mechanism 23 includes a first servo motor 231, a first telescopic rod 232, and a connector 233. The first servo motor 231 is mounted on the connecting ring 22. The first telescopic rod 232 is fixedly connected to the second rotary motor 21 via the connector 233. When the first telescopic mechanism 23 is working, the first servo motor 231 drives the first telescopic rod 232 to move, which in turn drives the second rotary motor 21 connected to the first telescopic rod 232 to move, causing the brush assembly 3 to extend or retract from the first rotary mechanism 1. The maximum extension length of the first telescopic mechanism 23 is sufficient to press the brush assembly 3 against the wall of the pipe 6.

[0049] like Figure 5 As shown, the moving module 4 includes a fixed rod 41, a drive mechanism 42, a second transmission mechanism 43, and two sets of wheel assemblies 44. The two sets of wheel assemblies 44 are longitudinally distributed at the bottom of the moving module 4. The fixed rod 41 is fixedly connected to the power supply module 5. The wheel assemblies 44 are connected to the fixed rod 41 via a rotating shaft 45. The rotating shaft 45 is rotatably connected to the fixed rod 41 via a rotating valve 451. The drive mechanism 42 and the two sets of rotating shafts 45 are sequentially connected via the second transmission mechanism 43. The drive mechanism 42 drives the second transmission mechanism 43, causing the angle between the rotating shaft 45 and the rotating valve 451 to change, thereby changing the position of the wheel assemblies 44 and adjusting the diameter of the cleaning vehicle in real time to adapt to the diameter changes of the pipe 6.

[0050] In this embodiment, the moving module 4 includes two sets of fixing rods 41, which are rotatably connected to two sets of rotating shafts 45 respectively. Each set of fixing rods 41 is fixedly connected to the power supply module 5 by bolts, which facilitates installation and disassembly.

[0051] The power supply module 5 includes a first connecting seat 51 and a second connecting seat 52. The first connecting seat 51 is connected between the power supply module 5 and the first rotating mechanism 1, and the second connecting seat 52 is connected between the power supply module 5 and the moving module 4. The fixed rod 41 is fixedly connected to the first connecting seat 51. The first connecting seat 51 and the second connecting seat 52 are provided with transmission lines for transmitting current to each motor.

[0052] In this embodiment, the power supply module 5 also includes a fuel generator, which generates electricity through fuel combustion and transmits the electricity to each motor. Fuel-powered electricity can support long-distance cleaning operations, and when the energy is depleted, refueling allows for rapid resumption of work, improving work efficiency.

[0053] Example 2

[0054] This embodiment is a second embodiment of the adaptive pipeline inner wall cleaning vehicle of the present invention. This embodiment is similar to the first embodiment, except that, as Figure 6 As shown, the drive mechanism 42 includes a gearbox 421, a motor, and a gear set 423, both of which are installed inside the gearbox 421. In this embodiment, the gear set 423 includes a drive gear 4231, a first transmission gear 4232, and a second transmission gear 4233. The drive gear 4231 is fixedly connected to the output end of the motor, meshes with the first transmission gear 4232, and the first transmission gear 4232 meshes with the second transmission gear 4233.

[0055] A rotating shaft 435 is rotatably connected between the two opposing inner walls of the gear. The first transmission gear 4232 is fixedly connected to the rotating shaft 435. A pivot 436 is connected between the transmission rods 431 on both sides of the gearbox 421. The pivot 436 passes through the center of the gearbox 421 and the second transmission gear 4233, and is rotatably connected to the gearbox 421 and fixedly connected to the second transmission gear 4233.

[0056] When the drive mechanism 42 is working, the motor is started, and the motor causes the drive gear 4231 to rotate. The drive gear 4231 drives the first transmission gear 4232 to rotate around the rotating shaft 435 through gear meshing. The first transmission gear 4232 drives the second transmission gear 4233 to rotate, which in turn drives the pivot 436 to rotate. The pivot 436 then drives the second transmission mechanism 43 to rotate.

[0057] The second transmission mechanism 43 includes a transmission rod 431, a first connecting rod 432, and a second connecting rod 433 connected in sequence. One end of the transmission rod 431 is rotatably connected to the drive mechanism 42, and the other end is rotatably connected to the first connecting rod 432. The first connecting rod 432 and the second connecting rod 433 are each rotatably connected to a set of rotating shafts 45. The connection point of the first connecting rod 432 and the second connecting rod 433 is located between two sets of wheel assemblies 44. The drive mechanism 42 drives the second transmission mechanism 43 to rotate, the second transmission mechanism 43 drives the first connecting rod 432 to move, and the first connecting rod 432 drives the second connecting rod 433 to move. The movement of the first connecting rod 432 and the second connecting rod 433 causes the two sets of rotating shafts 45 to rotate in opposite directions, causing the wheel assemblies 44 to move in opposite directions, thus adjusting the diameter of the cleaning vehicle.

[0058] In this embodiment, each set of wheel assemblies 44 includes two wheel assemblies 44, and there are a total of four symmetrically distributed wheel assemblies 44, which makes the driving of the cleaning vehicle more stable.

[0059] Each wheel assembly 44 includes two wheels 441, a steering wheel 442, and a wheel connector 233. The top of the wheel connector 233 is fixedly connected to the first transmission mechanism 15 or the second transmission mechanism 43, and the bottom is rotatably connected to the steering wheel 442. The wheels 441 are rotatably connected to the side of the steering wheel 442. The steering wheel 442 allows the direction of the wheels 441 to be variable. When the rotating shaft 45 rotates, the lateral force on the wheels 441 causes the steering wheel 442 to rotate, making the rotation direction of the wheels 441 the same as the movement direction of the wheel assembly 44. This reduces the resistance experienced by the wheel assembly 44 when adjusting the diameter, and at the same time makes the wheel assembly 44 more flexible and able to adapt to changes in the direction of the pipe 6.

[0060] Example 3

[0061] This embodiment is the third embodiment of the adaptive pipeline inner wall cleaning vehicle of the present invention. This embodiment is similar to embodiment two, except that, as Figure 5 As shown, the moving module 4 includes a fixed rod 41, a drive mechanism 42, a second transmission mechanism 43, and two sets of wheel assemblies 44. The two sets of wheel assemblies 44 are distributed at the bottom of the moving module 4 along the forward direction of the moving module 4. The wheel assemblies 44 are connected to the fixed rod 41 via a rotating shaft 45. The rotating shaft 45 is rotatably connected to the fixed rod 41 via a rotating valve 451. The drive mechanism 42 and the two sets of rotating shafts 45 are sequentially connected via the second transmission mechanism 43. The drive mechanism 42 drives the second transmission mechanism 43, causing the angle between the rotating shaft 45 and the rotating valve 451 to change, thereby changing the position of the wheel assemblies 44 and adjusting the diameter of the cleaning vehicle in real time to adapt to the diameter changes of the pipe 6.

[0062] The drive mechanism 42 includes a gearbox 421, a third rotary motor 422, and a gear set 423. Both the third rotary motor 422 and the gear set 423 are installed inside the gearbox 421. In this embodiment, the gear set 423 includes a drive gear 4231, a first transmission gear 4232, and a second transmission gear 4233. The drive gear 4231 is fixedly connected to the output end of the third rotary motor 422, meshes with the first transmission gear 4232, and the first transmission gear 4232 meshes with the second transmission gear 4233.

[0063] A rotating shaft 435 is rotatably connected between the two opposing inner walls of the gear. The first transmission gear 4232 is fixedly connected to the rotating shaft 435. A pivot 436 is connected between the transmission rods 431 on both sides of the gearbox 421. The pivot 436 passes through the center of the gearbox 421 and the second transmission gear 4233, and is rotatably connected to the gearbox 421 and fixedly connected to the second transmission gear 4233.

[0064] When the drive mechanism 42 is working, the third rotary motor 422 is started, causing the drive gear 4231 to rotate. The drive gear 4231 drives the first transmission gear 4232 to rotate around the rotating shaft 435 through gear meshing. The first transmission gear 4232 drives the second transmission gear 4233 to rotate, which in turn drives the pivot 436 to rotate. The pivot 436 then drives the second transmission mechanism 43 to rotate.

[0065] The second transmission mechanism 43 includes a transmission rod 431, a first connecting rod 432, and a second connecting rod 433 connected in sequence. One end of the transmission rod 431 is rotatably connected to the drive mechanism 42, and the other end is rotatably connected to the first connecting rod 432. The first connecting rod 432 and the second connecting rod 433 are each rotatably connected to a set of rotating shafts 45. The connection point of the first connecting rod 432 and the second connecting rod 433 is located between two sets of wheel assemblies 44. The drive mechanism 42 drives the second transmission mechanism 43 to rotate, the second transmission mechanism 43 drives the first connecting rod 432 to move, and the first connecting rod 432 drives the second connecting rod 433 to move. The movement of the first connecting rod 432 and the second connecting rod 433 causes the two sets of rotating shafts 45 to rotate in opposite directions, causing the wheel assemblies 44 to move in opposite directions, thus adjusting the diameter of the cleaning vehicle.

[0066] In this embodiment, each set of wheel assemblies 44 includes two wheel assemblies 44, and there are a total of four symmetrically distributed wheel assemblies 44, which makes the driving of the cleaning vehicle more stable.

[0067] Each wheel assembly 44 includes two wheels 441, a steering wheel 442, and a wheel connector 233. The top of the wheel connector 233 is fixedly connected to the second transmission mechanism 43, and the bottom is rotatably connected to the steering wheel 442. The wheels 441 are rotatably connected to the side of the steering wheel 442. The steering wheel 442 allows the direction of the wheels 441 to be variable. When the rotating shaft 45 rotates, the lateral force on the wheels 441 causes the steering wheel 442 to rotate, making the rotation direction of the wheels 441 the same as the movement direction of the wheel assembly 44. This reduces the resistance experienced by the wheel assembly 44 when adjusting the diameter, and at the same time makes the wheel assembly 44 more flexible and able to adapt to changes in the direction of the pipe 6.

[0068] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0069] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An adaptive pipeline inner wall cleaning vehicle, characterized in that, The system includes a power supply module (5), a moving module (4), a first rotating mechanism (1), a first telescopic mechanism (23), a second rotating mechanism (2), a brush assembly (3), and a controller. The moving module (4) is connected to the power supply module (5), and the first rotating mechanism (1) is rotatably connected to the power supply module (5). The moving module (4) moves in the same direction as the rotation axis of the first rotating mechanism (1). The first telescopic mechanism (23) is located on the outer periphery of the first rotating mechanism (1). The output end of the first rotating mechanism (2) is connected to the second rotating mechanism (2), and the output end of the second rotating mechanism (2) is connected to the brush assembly (3). The brush assembly (3) is provided with a pressure sensing component (34), which is connected to the input end of the controller. The first telescopic mechanism (23), the first rotating mechanism (1), and the second rotating mechanism (2) are all connected to the output end of the controller. The brush assembly (3) includes a first brush (31), a second brush (32), a brush connecting rod (33), and a brush housing (35). A first brush (31) is connected to the end face of the brush housing (35), and a second brush (32) is connected to the outer periphery of the first brush (31) via a brush connecting rod (33). The brush housing (35) is connected to the output end of the second rotating mechanism (2). The system also includes a constraint mechanism (36) for limiting the position of the second brush (32). The constraint mechanism (36) is movably mounted on the brush housing (35) and rotatably connected to the second brush (32). The brush connecting rod (33) is connected to the output end of the second rotating mechanism (2). A brush (31) is rotatably connected and fixedly connected to a second brush (32). The pressure sensing component (34) is mounted on the second brush (32). The pressure sensing component (34) includes a pressing plate (341), a pressure sensor (342), and a spring (343). The pressing plate (341) is connected to the second brush (32) through the spring (343). The pressure sensor (342) is mounted on the end face of the second brush (32) and is located between the pressing plate (341) and the second brush (32).

2. The adaptive pipeline inner wall cleaning vehicle according to claim 1, characterized in that, The constraint mechanism (36) includes a support rod (361), a second telescopic mechanism (364), and a second support frame (365). The back of the second brush (32) is fixedly connected to a first constraint member (362). The outer surface of the brush housing (35) is rotatably connected to a second constraint member (363). The two ends of the support rod (361) are rotatably connected to the first constraint member (362) and the second constraint member (363) respectively. The second support frame (365) and the second telescopic mechanism (364) are both installed inside the brush housing (35). The second telescopic mechanism (364) is installed on the second support frame (365) and passes through the side wall of the brush housing (35), and is rotatably connected to the second constraint member (363). The connection point between the second constraint member (363) and the second telescopic mechanism (364) is different from the connection point between the second constraint member (363) and the brush housing (35).

3. The adaptive pipeline inner wall cleaning vehicle according to claim 2, characterized in that, The second telescopic mechanism (364) includes a second servo motor (3641) and a second telescopic rod (3642). The second servo motor (3641) is connected to the second telescopic rod (3642), and the second telescopic rod (3642) is rotatably connected to the second constraint member (363).

4. The adaptive pipeline inner wall cleaning vehicle according to claim 1, characterized in that, The first rotating mechanism (1) includes a first rotating motor (11) and a first transmission mechanism (15). The first rotating motor (11) is connected to the power supply module (5). The output end of the first rotating motor (11) is connected to the first transmission mechanism (15). The first transmission mechanism (15) is connected to the second rotating mechanism (2).

5. The adaptive pipeline inner wall cleaning vehicle according to claim 4, characterized in that, The first transmission mechanism (15) includes a sun gear (151), a planetary gear (152), and a gear ring (12). The bottom of the gear ring (12) is fixedly connected to the first rotary motor (11). The output end of the first rotary motor (11) passes through the center of the gear ring (12) and is fixedly connected to the center of the sun gear (151). The planetary gear (152) is distributed on the outer periphery of the sun gear (151) and meshes with the sun gear (151). The inner wall of the gear ring (12) is provided with a rack that meshes with the planetary gear (152). The side wall of the second rotating mechanism (2) is fixedly connected to the end face of the planetary gear (152).

6. The adaptive pipeline inner wall cleaning vehicle according to claim 5, characterized in that, The second rotating mechanism (2) includes a second rotating motor (21) and a connecting ring (22). The side of the connecting ring (22) is fixed to the end face of the planetary gear (152). The connecting ring (22) is sleeved on the outside of the brush housing (35) and rotatably connected to the brush housing (35). One end of the first telescopic mechanism (23) is fixedly connected to the connecting ring (22), and the other end is fixedly connected to the second rotating motor (21). A first support frame (153) is provided on the end face of the sun gear (151). The second rotating motor (21) is slidably mounted on the first support frame (153). The output end of the second rotating motor (21) is fixedly connected to the end of the brush housing (35) away from the first brush (31).

7. The adaptive pipeline inner wall cleaning vehicle according to claim 1, characterized in that, The moving module (4) includes a fixed rod (41), a drive mechanism (42), a second transmission mechanism (43), and two sets of wheel assemblies (44). The fixed rod (41) is fixedly connected to the power supply module (5). The two sets of wheel assemblies (44) are distributed at the bottom of the moving module (4) along the forward direction of the moving module (4). The wheel assemblies (44) are connected to the fixed rod (41) through a rotating shaft (45). The rotating shaft (45) is connected to the fixed rod (41) through a rotating valve (451). The drive mechanism (42) and the two sets of rotating shafts (45) are connected in sequence through the second transmission mechanism (43).

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