A variable-diameter pipe cleaning robot

Abstract

The present invention discloses a variable-diameter pipe cleaning robot, comprising a power imaging section, a power ultrasonic section, and a high-pressure water jet section, which are flexibly connected in sequence. The power imaging section includes a first power assembly, with a front camera provided at the front end of the power imaging section; the power ultrasonic section includes a first main body and an umbrella-type support frame disposed around the first main body, the umbrella-type support frame comprising multiple groups of support assemblies evenly distributed along the circumference of the first main body, each of the support assemblies being provided with a power wheel or a driven wheel, and the support assemblies provided with driven wheels being provided with an ultrasonic generator; the high-pressure water jet section includes a second main body, a water jet nozzle disposed around the second main body, and a variable-diameter auxiliary wheel assembly, with a rear camera provided at the rear end of the second main body. The advantages of the present invention are that it can better adapt to curved pipes, can be used to clean pipes of various diameters, and can achieve good cleaning results while avoiding damage to the pipe lining.

Description

Technical Field

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

[0002] Water supply pipelines are the lifeblood of cities, crucial for normal production and residents' daily lives. Currently, many of the city's underground water supply pipelines are still very old, and their interiors may be covered with scale and biofilm. This scale and biofilm not only degrade tap water quality but also hinder water transport, increasing head loss along the way, resulting in insufficient water pressure and energy waste, and even causing pipe leaks and bursts. To address the challenges of confined underground water supply networks, scale buildup on pipe walls threatening water safety and stability, and the limited functionality of existing pipeline robots, a multifunctional, variable-diameter intelligent pipe cleaning robot has been designed. Equipped with a variety of sensors and cleaning modules, it can perform a range of tasks, including pipeline inspection and leak detection, scale removal, and health assessment, either remotely operated by a human operator or controlled by an automated cleaning system. The robot's control system primarily controls the drive and variable-diameter motors, while also receiving and processing sensor feedback and selecting appropriate cleaning procedures based on a swarm intelligence optimization algorithm. The robot is supported on the inner wall of the pipe with elastic umbrella-shaped wheel legs. It moves forward and backward by rotating the support wheels driven by a motor. It turns with the help of the differential motion of the support wheels. It also uses high-pressure water jets, ultrasonic cleaning, brush cleaning and other methods to clean the pipe.

[0003] Existing pipeline robots have the following problems:

[0004] Existing pipeline robots are primarily one-way, four-wheeled or six-wheeled, and are primarily designed for leak detection, not cleaning. They are primarily suitable for large-diameter pipes, have poor turning capabilities, and lack waterproofing, making them difficult to adapt to small-diameter or curved water supply pipes. Existing pipeline cleaning robots simply adjust the diameter by changing the wheel size, which can cause the camera to be misaligned with the center of the pipe, affecting image quality and providing inadequate feedback on cleaning results. Furthermore, some robots use motor-driven brushes to remove pipe scale, but this method is ineffective. This is partly because the brush's hardness is difficult to determine. If the brush is sufficiently hard, it will scrape off the pipe's inner lining, while insufficient hardness makes it difficult to clean. Furthermore, the brush cleaning section with a robotic arm cannot enter small-diameter pipes because the robotic arm cannot be extended. Brushes without a robotic arm struggle to maintain the brush's center position for optimal cleaning results. Summary of the Invention

[0005] The object of the present invention is to provide a variable diameter pipe cleaning robot that can effectively solve the problem that existing cleaning robots cannot adapt to curved pipes.

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] A variable-diameter pipe cleaning robot comprises a power imaging segment, a power ultrasonic segment, and a high-pressure water jet segment flexibly connected in sequence, wherein the power imaging segment comprises a first power assembly, and a front camera is provided at the front end of the power imaging segment;

[0008] The powered ultrasonic section includes a first body and an umbrella-type support frame arranged on the periphery of the first body, the umbrella-type support frame includes a plurality of support assemblies evenly distributed along the circumference of the first body, each of the support assemblies is provided with a power wheel or a driven wheel, and the support assembly provided with a driven wheel is provided with an ultrasonic generator;

[0009] The high-pressure water jet section includes a second body, a water jet nozzle and a variable-diameter auxiliary wheel assembly arranged on the periphery of the second body, and a rear camera is provided at the tail end of the second body.

[0010] In the above-mentioned variable-diameter pipe cleaning robot, the bracket assembly includes a first connecting rod and a second connecting rod, one end of the first connecting rod is hinged to one end of the first main body, the other end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the first main body is connected to a connecting plate arranged to slide along the axial direction of the first main body, and the other end of the second connecting rod is hinged to the connecting plate. The powered ultrasonic section also includes a first driving member that drives the connection between the first connecting rod and the second connecting rod to move away from the center of the first main body.

[0011] In the above-mentioned variable-diameter pipe cleaning robot, the first driving member includes a support spring, which is sleeved on the first connecting rod, one end of the support spring is fixed to the first connecting rod, and the other end of the support spring is fixed to the first main body; and / or, the first driving member includes a support spring, which is sleeved on the second connecting rod, one end of the support spring is fixed to the second connecting rod, and the other end of the support spring is fixedly connected to the chain plate; or, the first driving member is arranged between the first main body and the connecting plate.

[0012] In the above-mentioned variable-diameter pipe cleaning robot, the bracket assembly has an even number of groups, and the power wheels and the driven wheels are alternately arranged along the circumferential direction.

[0013] In the above-mentioned variable-diameter pipe cleaning robot, the second main body is provided with a rotating body along the circumferential direction, and the water jet nozzles are multiple and evenly distributed on the rotating body along the circumferential direction.

[0014] In the above-mentioned variable-diameter pipe cleaning robot, the spraying direction of the water jet nozzle forms an acute angle with the radial direction of the rotating body, so as to push the rotating body to rotate around the axis of the second body.

[0015] In the above-mentioned variable-diameter pipe cleaning robot, along the running direction of the high-pressure water jet section, the variable-diameter auxiliary wheel assembly is respectively provided with a group in front and behind the water jet nozzle; each group of variable-diameter auxiliary wheel assemblies includes a third connecting rod and a fourth connecting rod, the bottoms of the third connecting rod and the fourth connecting rod are both rotatably connected to the second main body, the top of the third connecting rod is provided with an auxiliary wheel, the top of the fourth connecting rod is slidably set on the third connecting rod, and the fourth connecting rod is also provided with a second driving member that drives the auxiliary wheel to move away from the center of the second main body.

[0016] In the above-mentioned variable-diameter pipe cleaning robot, the first power component is a forward-rotating Mecanum wheel and a reverse-rotating Mecanum wheel, and the forward-rotating Mecanum wheel and the reverse-rotating Mecanum wheel are arranged front and back along the forward direction.

[0017] In the above-mentioned variable-diameter pipe cleaning robot, the power imaging section and the power ultrasonic section, as well as the power ultrasonic section and the high-pressure water jet section are connected by flexible cables.

[0018] In the above-mentioned variable-diameter pipe cleaning robot, the power wheel, the driven wheel and the variable-diameter auxiliary wheel assembly all use plastic-coated rubber wheels, and the cross-section of the outer circumference of the plastic-coated rubber wheel is an arc shape.

[0019] Compared with the prior art, the advantages of the present invention are:

[0020] By providing a dynamic imaging segment, a dynamic ultrasonic segment, and a high-pressure water jet segment with flexible connections between them, the robot's overall length is reduced, making it more adaptable to curved pipes. Furthermore, the robot's umbrella-style bracket and variable-diameter auxiliary wheel assembly allow it to clean pipes of various diameters. The ultrasonic generator in the middle section loosens dirt on the inner wall of the pipe, and the water jet nozzle in the tail section then sprays water to remove the loosened dirt, achieving a superior cleaning effect. Furthermore, the combined cleaning methods of ultrasonic waves and high-pressure water jets achieve excellent cleaning results while avoiding damage to the pipe lining. A front-facing camera is located at the front of the dynamic imaging segment in the head, and a rear-facing camera is located at the rear of the high-pressure water jet segment to enable full-path observation and avoid blind spots. Comparing the front and back images also allows for confirmation of proper cleaning.

[0021] Furthermore, the bracket assembly includes a first connecting rod and a second connecting rod, one end of the first connecting rod is hinged to one end of the first body, the other end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the first body is connected to a connecting plate arranged to slide along the axial direction of the first body, and the other end of the second connecting rod is hinged to the connecting plate, and the powered ultrasonic section also includes a first driving member that drives the connection between the first and second connecting rods to move away from the center of the first body. The above-mentioned bracket assembly forms an umbrella-like skeleton, and the connection between the first and second connecting rods is kept open outward under the action of the first driving member, so that the power wheel and the driven wheel can always abut against the inner wall of the pipe, keep the powered ultrasonic section in the center of the pipe, and evenly descale the inner wall of the pipe when the ultrasonic generator is working.

[0022] Furthermore, the first driving member includes a support spring, which is sleeved on the first connecting rod, with one end of the support spring fixed to the first connecting rod and the other end of the support spring fixed to the first body; and / or the first driving member includes a support spring, which is sleeved on the second connecting rod, with one end of the support spring fixed to the second connecting rod and the other end of the support spring fixedly connected to the chain plate; or the first driving member is disposed between the first body and the connecting plate. Various different first driving member structures can effectively control the tendency of the bracket assembly to expand.

[0023] Furthermore, the support assembly has an even number of arrays, and the power wheels and driven wheels are alternately arranged along the circumferential direction. When the power wheels provide forward power, the powered ultrasonic section maintains a balanced forward power without deviating from the pipeline axis.

[0024] Furthermore, the second body is provided with a rotating body along the circumference, and the water jet nozzles are multiple and evenly distributed along the circumference on the rotating body. The rotating body can rotate to control the water jetted by the water jet nozzles to cover the peripheral wall of the pipeline.

[0025] Furthermore, the spray direction of the water jet nozzle forms an acute angle with the radial direction of the rotating body, so as to propel the rotating body to rotate about the axis of the second body. The water jetted from the water jet nozzle will generate a reaction force to rotate the rotating body, thereby achieving the goal of rotating the rotating body to clean the circumference of the pipe wall without the need for additional power.

[0026] Furthermore, along the direction of operation of the high-pressure water jet section, a set of variable diameter auxiliary wheel assemblies is provided in front of and behind the water jet nozzle; each set of variable diameter auxiliary wheel assemblies includes a third connecting rod and a fourth connecting rod, the bottoms of the third and fourth connecting rods being rotatably connected to the second body, the top of the third connecting rod being provided with an auxiliary wheel, the top of the fourth connecting rod being slidably mounted on the third connecting rod, and the fourth connecting rod being further provided with a second driving member for driving the auxiliary wheel to move away from the center of the second body. The second driving member drives the auxiliary wheel on the third connecting rod to move away from the center of the second body, so that the auxiliary wheel can closely contact the inner wall of the pipe.

[0027] Furthermore, the first power assembly comprises a forward-rotating Mecanum wheel and a reverse-rotating Mecanum wheel, which are arranged in front and behind of each other along the forward direction. The two sets of Mecanum wheels can control the cleaning robot to move forward or backward.

[0028] Furthermore, the power imaging segment and the power ultrasonic segment, as well as the power ultrasonic segment and the high-pressure water jet segment, are connected by flexible cables. The flexible cables can not only connect the power imaging segment, the power ultrasonic segment, and the high-pressure water jet segment in series, but also provide power and communication connections between them.

[0029] Furthermore, the driving wheel, driven wheel, and variable diameter auxiliary wheel assembly all utilize plastic-coated rubber wheels, and the cross-section of the outer circumference of the plastic-coated rubber wheels is arc-shaped. This reduces the wear and tear of the wheels on the inner wall of the pipe, and the arc-shaped cross-section of the outer circumference of the plastic-coated rubber wheels allows them to better fit the inner wall of the pipe, preventing slippage. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic structural diagram of a variable-diameter pipe cleaning robot according to the present invention;

[0031] Figure 2 A stereogram of a dynamic image segment in the present invention;

[0032] Figure 3 It is a stereoscopic diagram of the dynamic ultrasound section in the present invention;

[0033] Figure 4 It is a three-dimensional diagram of the high-pressure water jet section of the present invention.

[0034] The accompanying drawings are:

[0035] Power image segment 100, first power assembly 110, front camera 120;

[0036] Power ultrasonic section 200, first body 210, bracket assembly 220, first connecting rod 221, second connecting rod 222, first driving member 223, power wheel 230, driven wheel 240, ultrasonic generator 250, connecting plate 260;

[0037] High-pressure water jet section 300, second body 310, water jet nozzle 320, variable diameter auxiliary wheel assembly 330, third connecting rod 331, fourth connecting rod 332, auxiliary wheel 333, rear camera 340, rotating body 350, second driving member 360;

[0038] Flexible cable 400. DETAILED DESCRIPTION

[0039] A variable-diameter pipe cleaning robot includes a power imaging segment 100, a power ultrasonic segment 200, and a high-pressure water jet segment 300 flexibly connected in sequence, wherein the power imaging segment 100 includes a first power assembly 110, and a front camera 120 is provided at the front end of the power imaging segment 100; the power ultrasonic segment 200 includes a first main body 210 and an umbrella-type support frame arranged on the periphery of the first main body 210, and the umbrella-type support frame includes multiple groups of support assemblies 220 evenly distributed along the circumference of the first main body 210, each of the support assemblies 220 is provided with a power wheel 230 or a driven wheel 240, and the support assembly 220 provided with the driven wheel 240 is provided with an ultrasonic generator 250; the high-pressure water jet segment 300 includes a second main body 310, a water jet nozzle 320 and a variable-diameter auxiliary wheel 333 assembly 330 arranged on the periphery of the second main body 310, and a rear camera 340 is provided at the tail end of the second main body 310.

[0040] By providing a dynamic imaging segment 100, a dynamic ultrasonic segment 200, and a high-pressure water jet segment 300, and employing flexible connections therebetween, the length of the entire cleaning robot is reduced, and it can better adapt to curved pipes. Furthermore, through the use of an umbrella-type bracket and a variable diameter auxiliary wheel 333 assembly 330, it can adapt to cleaning pipes of various diameters. The ultrasonic generator 250 in the middle section can be used to loosen dirt on the inner wall of the pipe, and then the water jet nozzle 320 in the tail section sprays water to clean away the loosened dirt, thereby achieving a better cleaning effect. Furthermore, the combined cleaning method of ultrasonic waves and high-pressure water jets can achieve a good cleaning effect while avoiding damage to the inner lining of the pipe wall. A front camera 120 is provided at the front end of the dynamic imaging segment 100 in the head, and a rear camera 340 is provided at the rear end of the high-pressure water jet segment 300 in the tail, enabling full-path observation and avoiding blind spots. The front and rear images can also be used to determine whether the cleaning is complete.

[0041] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0042] See Figures 1 to 4 This embodiment of the present invention relates to a variable-diameter pipe cleaning robot. The variable-diameter pipe cleaning robot includes a power imaging segment 100, a power ultrasonic segment 200, and a high-pressure water jet segment 300, which are flexibly connected in sequence. The power imaging segment 100 and the power ultrasonic segment 200, as well as the power ultrasonic segment 200 and the high-pressure water jet segment 300, are connected via flexible cables 400. These flexible cables 400 can be connected using aviation plugs to ensure adequate sealing.

[0043] The power image segment 100 includes a first power assembly 110 and a front camera 120 disposed at the front end of the power image segment 100. The first power assembly 110 includes a forward-rotating Mecanum wheel and a reverse-rotating Mecanum wheel. The forward-rotating Mecanum wheel and the reverse-rotating Mecanum wheel are arranged in front and behind each other in the forward direction. The forward and reverse rotation of the Mecanum wheels can realize the forward or reverse movement of the cleaning robot. In addition, the front camera 120 is disposed at the front end of the power image segment 100 to collect the situation in the front pipe in real time.

[0044] The powered ultrasonic segment 200 comprises a first body 210 and an umbrella-like support frame disposed around the first body 210. The umbrella-like support frame comprises multiple sets of support assemblies 220 evenly distributed along the circumference of the first body 210. Each support assembly 220 is equipped with a driving wheel or a driven wheel 240. The support assembly 220 equipped with the driven wheel 240 is also equipped with an ultrasonic generator 250. In this embodiment, six sets of support assemblies 220 are used, but other numbers of support assemblies 220 can be used depending on the actual situation. The support assemblies 220 are preferably evenly distributed along the circumference of the first body 210 to maintain the first body 210 in a central position. This prevents the cleaning robot from deviating from the centerline of the pipeline during operation, ensuring uniform cleaning of the pipeline interior. The driving wheel is equipped with an active power device, such as an electric motor. The electric motor drives the driving wheel to provide operating power for the powered ultrasonic segment 200, reducing pressure on the powered ultrasonic segment 100. The driven wheel 240 is unpowered and primarily provides auxiliary support to maintain stable operation of the powered ultrasonic segment 200.

[0045] The umbrella-type support frame is mainly composed of an umbrella skeleton structure and has high stability. Specifically, the support assembly 220 includes a first connecting rod 221 and a second connecting rod 222. One end of the first connecting rod 221 is hinged to one end of the first body 210, and the other end of the first connecting rod 221 is hinged to one end of the second connecting rod 222. The other end of the first body 210 is connected to a connecting plate 260 that is axially slidable along the first body 210, and the other end of the second connecting rod 222 is hinged to the connecting plate 260. The powered ultrasonic segment 200 also includes a first driving member 223 that drives the connection between the first connecting rod 221 and the second connecting rod 222 to move away from the center of the first body 210. The first driving member 223 can maintain the support assembly 220 in an open state, that is, the power to open the connection between the first connecting rod 221 and the second connecting rod 222 outward away from the center of the first body 210. After entering the pipeline, it can also keep the driving wheel and the driven wheel 240 close to the inner wall of the pipeline.

[0046] The first driving member 223 has various structural forms but is not limited to the following structures:

[0047] The first is that the first driving member 223 includes a support spring, which is mounted on the first connecting rod 221 and / or the second connecting rod 222. One end of the support spring is fixedly connected to the corresponding connecting rod, and the other end of the support spring is fixedly connected to the first main body 210 or the connecting plate 260 corresponding to the connecting rod. After the bracket assembly 220 is squeezed by the tube wall and folded, the support spring undergoes elastic deformation, so that the support spring provides a supporting force, and the umbrella-type support frame has a tendency to open. Since each bracket assembly 220 is provided with a support spring, each bracket assembly 220 can dynamically adjust its position, and the influence of slight size differences of the power wheel 230 or the driven wheel 240 on the power ultrasonic segment 200 can be ignored, so that the power ultrasonic segment 200 can be adaptively adjusted to be centered.

[0048] The second method is to set a first driving member 223 between the first main body 210 and the connecting plate 260. The first driving member 223 can be a compression spring. The first driving member 223 provides a thrust to push the connecting plate 260 away from the first main body 210, thereby causing the first connecting rod 221 and the second connecting rod 222 to tend to expand outward. This method can simplify the structure and can also achieve the purpose of driving the umbrella-type support frame to open.

[0049] In order to keep the powered ultrasonic section 200 running stably in the pipeline, the driving wheel and the driven wheel 240 are alternately arranged. A reduction motor can be arranged on the bracket assembly 220, and the reduction motor and the connecting rod are integrally formed to reduce bolt interfaces.

[0050] The high-pressure water jet section 300 includes a second body 310, a water jet nozzle 320 arranged on the periphery of the second body 310, and a variable diameter auxiliary wheel 333 assembly 330. The tail end of the second body 310 is provided with a rear camera 340. The rear camera 340 at the tail can observe the inner wall of the cleaned pipe and can be compared with the image of the front camera 120 to determine whether the inner wall of the pipe is cleaned properly.

[0051] The second body 310 is circumferentially provided with a rotating body 350. Multiple water jet nozzles 320 are evenly distributed along the circumference of the rotating body 350. As the rotating body 350 rotates, the water jet nozzles 320 flush the entire inner wall of the pipe. The rotating body 350 can be driven by a power source or an unpowered source. In this embodiment, an unpowered drive is used to rotate the rotating body 350. Specifically, the spray direction of the water jet nozzles 320 forms an acute angle with the radial direction of the rotating body 350, thereby driving the rotating body 350 to rotate about the axis of the second body 310.

[0052] In order to maintain stable water jetting when the water jet nozzle 320 is working, a group of variable diameter auxiliary wheel 333 assemblies 330 are respectively provided in front and rear of the rotating body 350, and each group of variable diameter auxiliary wheel 333 assemblies 330 includes a third connecting rod 331 and a fourth connecting rod 332. The bottoms of the third connecting rod 331 and the fourth connecting rod 332 are both rotatably connected to the second main body 310, and the top of the third connecting rod 331 is provided with an auxiliary wheel 333, and the top of the fourth connecting rod 332 is slidably set on the third connecting rod 331. The fourth connecting rod 332 is also provided with a second driving member 360 that drives the auxiliary wheel 333 to move away from the center of the second main body 310. The second driving member 360 can refer to the setting structure of the first driving member 223. In this embodiment, the second driving member 360 adopts a support spring, and the support spring is arranged on the fourth connecting rod 332. One end of the second driving member 360 is fixedly connected to the fourth connecting rod 332, and the other end of the second driving member 360 is fixedly connected to the second main body 310, thereby maintaining the variable diameter auxiliary wheel 333 assembly 330 with a supporting force to stretch outward.

[0053] Based on the above embodiment, all wheels in this embodiment are plastic-coated rubber wheels, and the cross-section of the outer circumference of the plastic-coated rubber wheel is arc-shaped, which increases the fit with the inner wall of the pipe and reduces the wear of the wheel on the protective layer of the inner wall of the pipe.

[0054] After the cleaning robot enters the pipeline, the umbrella-shaped support frame will open, so that the power wheel 230 and the driven wheel 240 of the power ultrasonic section 200 are close to the inner wall of the pipeline. At the same time, the variable diameter auxiliary wheel 333 assembly 330 of the high-pressure water jet section 300 is also close to the inner wall of the pipeline. As the first power assembly 110 and the power wheel 230 are started, the cleaning robot will start to move along the pipeline. The front camera 120 will observe the condition of the inner wall of the pipeline in front. If dirt is found, the ultrasonic generator 250 will start to loosen the dirt on the inner wall of the pipeline, and then the water jet nozzle 320 will spray water to wash away the loose dirt. The rear camera 340 will check the cleaned pipeline to determine whether the cleaning is complete. The flexible connection reduces the length of the entire cleaning robot and allows it to better adapt to curved pipes. Furthermore, the umbrella-style bracket and variable diameter auxiliary wheel 333 assembly 330 allow it to adapt to cleaning pipes of various diameters. The ultrasonic generator 250 in the middle section loosens dirt on the inner wall of the pipe, and the water jet nozzle 320 in the tail section sprays water to clean away the loosened dirt, thereby achieving a better cleaning effect. Furthermore, the combined cleaning method of ultrasonic waves and high-pressure water jets achieves excellent cleaning results while avoiding damage to the pipe lining. A front camera 120 is provided at the front end of the power imaging section 100 in the head, and a rear camera 340 is provided at the rear end of the high-pressure water jet section 300 in the tail section, enabling full-path observation and avoiding blind spots. The front and back images can also be compared to determine whether the cleaning is complete.

[0055] The above description is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by any technician in this field within the scope of the present invention are included in the patent scope of the present invention.

Claims

1. A variable diameter pipe cleaning robot, characterized in that: The system comprises a power imaging segment, a power ultrasonic segment and a high-pressure water jet segment which are flexibly connected in sequence. The power imaging segment comprises a first power assembly, and a front camera is provided at the front end of the power imaging segment. Flexible cables are connected in series between the power imaging segment and the power ultrasonic segment, and between the power ultrasonic segment and the high-pressure water jet segment. The powered ultrasonic section comprises a first main body and an umbrella-type support frame arranged on the periphery of the first main body, the umbrella-type support frame comprises at least four groups of support assemblies evenly distributed along the circumference of the first main body, forming a cage-like embracing structure surrounding the first main body, each of the support assemblies is provided with a power wheel or a driven wheel, and the power wheels and driven wheels of different support assemblies are alternately arranged along the circumference; the support assembly provided with the driven wheel is provided with an ultrasonic generator; the support assembly comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is hinged to one end of the first main body, the other end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the first main body is connected to a connecting plate arranged to slide axially along the first main body, the other end of the second connecting rod is hinged to the connecting plate, the power wheel or the driven wheel is located at the hinge position of the first connecting rod and the second connecting rod; the power wheel and the driven wheel are both plastic-coated rubber wheels and the cross-section of the outer circumference is an arc; the powered ultrasonic section also comprises a first driving member that drives the connection between the first connecting rod and the second connecting rod to move away from the center of the first main body; the connecting plate is sleeved on the outside of the flexible cable; The high-pressure water jet section includes a second body, a water jet nozzle arranged on the periphery of the second body, and a variable-diameter auxiliary wheel assembly. A rear camera is provided at the tail end of the second body; the second body is provided with a rotating body along the circumference, and there are multiple water jet nozzles that are evenly distributed on the rotating body along the circumference; the spraying direction of the water jet nozzle forms an acute angle with the radial direction of the rotating body, so as to drive the rotating body to rotate around the axis of the second body.

2. A variable diameter pipe cleaning robot according to claim 1, characterized in that: The first driving member includes a support spring, the support spring is sleeved on the first connecting rod, one end of the support spring is fixed to the first connecting rod, and the other end of the support spring is fixed to the first body; And / or, the first driving member includes a support spring, the support spring is sleeved on the second connecting rod, one end of the support spring is fixed to the second connecting rod, and the other end of the support spring is fixedly connected to the chain plate; Alternatively, the first driving member is arranged between the first body and the connecting plate.

3. The variable diameter pipe cleaning robot according to claim 1, characterized in that: Along the running direction of the high-pressure water jet section, the variable diameter auxiliary wheel assembly is respectively provided with a group in front and behind the water jet nozzle; each group of variable diameter auxiliary wheel assemblies includes a third connecting rod and a fourth connecting rod, the bottoms of the third connecting rod and the fourth connecting rod are both rotatably connected to the second main body, the top of the third connecting rod is provided with an auxiliary wheel, the top of the fourth connecting rod is slidably set on the third connecting rod, and the fourth connecting rod is also provided with a second driving member for driving the auxiliary wheel to move away from the center of the second main body.

4. The variable diameter pipe cleaning robot according to claim 1, characterized in that: The first power assembly comprises a forward-rotating Mecanum wheel and a reverse-rotating Mecanum wheel, and the forward-rotating Mecanum wheel and the reverse-rotating Mecanum wheel are arranged front and back along the forward direction.

Images