A multi-functional pipeline cleaning robot with variable diameter

Abstract

The present invention discloses a variable-diameter multifunctional pipeline cleaning robot, which includes a power image section, a power ultrasonic section, and a high-pressure water jet section that are flexibly connected in sequence. The power image section includes a first main body and an umbrella-shaped support frame arranged on the periphery of the first main body. The umbrella-shaped support frame includes multiple groups of support assemblies evenly distributed along the circumferential direction of the first main body, and each support assembly is provided with a driving wheel; a front camera is provided at the front end of the first main body, and a control system is provided inside the first main body; the support assembly includes a first connecting rod and a second connecting rod, and the power image section further includes a first driving member for driving the connection between the first connecting rod and the second connecting rod to move away from the center of the first main body. The ability of the robot to pass through curves is greatly enhanced.

Description

Technical Field

[0001] The present invention relates to the field of pipeline cleaning, and particularly to a multi-functional pipeline cleaning robot with variable diameter. Background Art

[0002] Water supply pipelines are lifeline projects of cities and are crucial for the normal production of cities and the daily life of residents. At present, there are still pipelines with a very long service life underground in cities that are used for water supply. The inner walls of these pipelines may be covered with pipe scale and biofilms. These pipe scale and biofilms not only reduce the quality of tap water, but also hinder the transportation of water, increasing the head loss along the way, causing insufficient water pressure and energy waste, and even leading to pipeline leakage and burst. In view of the problems such as the narrow internal space of the underground water supply pipe network, the threat of pipe wall scaling to the safety and stability of water use, and the single function of existing pipeline robots, a multi-functional variable-diameter intelligent pipeline cleaning robot is designed. It is equipped with a variety of sensors and cleaning modules, and can perform a series of operations such as pipeline inspection and leakage detection, pipe scale cleaning, and health assessment under the remote operation of operators or the control of an automatic cleaning system. The control system of the robot mainly controls the driving and variable-diameter motors, and at the same time receives, transmits, and processes the signals fed back by the sensors, and selects a suitable cleaning program based on the swarm intelligence optimization algorithm. The robot is supported on the inner wall of the pipeline by elastic umbrella-shaped wheel legs, moves forward and backward by driving the support wheels to rotate through the motor, turns by means of the differential motion of the support wheels, and adopts methods such as high-pressure water jet, ultrasonic cleaning, and brush cleaning to clean the pipeline.

[0003] Existing pipeline robots have the following problems:

[0004] Existing pipeline robots are mainly of the unidirectional four-wheel or six-wheel type, and more play the role of detecting leakage, without a cleaning function. They are mostly applicable to large-diameter pipelines, with poor turning ability and weak waterproof function, and it is difficult to adapt to small-diameter or bent water supply pipelines. Existing pipeline cleaning robots only change the diameter by changing the size of the wheels, which will cause the camera not to be in the center position of the pipeline, thereby affecting the imaging quality and the feedback of the cleaning effect is not in place. In addition, some robots use the form of driving a brush by a motor to clean the pipe scale, but this method has poor effect. On the one hand, it is difficult to determine the hardness of the brush. If the hardness of the brush is sufficient, the inner lining of the pipeline wall will be scraped off, and if the hardness is not enough, it is difficult to achieve the cleaning function. On the other hand, the brush cleaning section with a robotic arm cannot enter small-diameter pipelines because the robotic arm cannot be expanded, and the brush without a robotic arm is difficult to ensure that the brush is always in the center of the pipeline to achieve the best cleaning effect. Summary of the Invention

[0005] The purpose of the present invention is to provide a multi-functional pipeline cleaning robot with variable diameter, which can effectively solve the problem that existing cleaning robots cannot adapt to bent pipes.

[0006] To solve the above technical problems, the present invention is realized through the following technical solutions:

[0007] A variable-diameter multifunctional pipeline cleaning robot, comprising a power image section, a power ultrasonic section, and a high-pressure water jet section that are sequentially and flexibly connected. The power image section includes a first main body and an umbrella-shaped support frame arranged on the periphery of the first main body. The umbrella-shaped support frame includes a plurality of support assemblies evenly distributed along the circumferential direction of the first main body, and each support assembly is provided with a power wheel; a front camera is provided at the front end of the first main body, and a control system is provided inside the first main body; one end of the first main body is connected to a connecting plate that is slidably arranged along the axial direction of the first main body.

[0008] The support assembly includes a first connecting rod and a second connecting rod, and the number of both the first connecting rod and the second connecting rod is at least two; the free end of one first connecting rod is hinged to the connecting plate, the one first connecting rod and one second connecting rod are hinged at the hinged end, the free end of the one second connecting rod is hinged to the other end of the first main body, and the free end of the other first connecting rod is hinged to the other end of the first main body. The other first connecting rod and the other second connecting rod are hinged at the hinged end, and the free end of the other second connecting rod is hinged to the connecting plate, so that on the connecting plate, the first connecting rod and the second connecting rod are arranged adjacent to each other. The power image section further 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.

[0009] In the above variable-diameter multifunctional pipeline cleaning robot, the first driving member includes a first support spring, the first support spring is sleeved on the first connecting rod, one end of the first support spring is fixed to the first connecting rod, and the other end of the first support spring is fixed to the first main body; and / or, the first driving member includes a first support spring, the first support spring is sleeved on the second connecting rod, one end of the first support spring is fixed to the second connecting rod, and the other end of the first 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.

[0010] In the above variable-diameter multifunctional pipeline cleaning robot, a driving motor is arranged inside the first connecting rod or the second connecting rod, and the driving motor is in transmission connection with the power wheel.

[0011] In the above variable-diameter multifunctional pipeline cleaning robot, the power ultrasonic section includes a second main body and an ultrasonic generator arranged on the second main body. A cleaning brush is provided on the second main body downstream of the ultrasonic generator. A brush motor for driving the cleaning brush to rotate is provided inside the second main body, and a driven wheel set is provided on the second main body.

[0012] In the above variable-diameter multifunctional pipeline cleaning robot, three ultrasonic generators are evenly spaced along the circumferential direction on the outer side wall of the second main body.

[0013] In the above variable-diameter multi-functional pipeline cleaning robot, the high-pressure water jet section includes a third main body, a self-priming water pump is arranged in the third main body, a water spraying member is rotatably connected to the third main body, at least one group of water spraying ports with opposite directions and unequal flow rates are arranged on the water spraying member, and the water spraying member is driven to rotate relative to the third main body by spraying water through the water spraying ports. A driven wheel set is also arranged on the third main body.

[0014] In the above variable-diameter multi-functional pipeline cleaning robot, the driven wheel set includes a fixing member, a swinging member and a driven wheel. The swinging member is swingably connected to the fixing member, the driven wheel is rotatably connected to the swinging member, and a second driving member is also arranged between the swinging member and the fixing member to drive the driven wheel to closely adhere to the inner wall of the pipeline.

[0015] In the above variable-diameter multi-functional pipeline cleaning robot, the driven wheel is a rubber wheel.

[0016] In the above variable-diameter multi-functional pipeline cleaning robot, each group of the driven wheel sets has two driven wheels. The two driven wheels are coaxial and connected to the swinging member through a rotating shaft.

[0017] In the above variable-diameter multi-functional pipeline cleaning robot, the second driving member is a second support spring or a spring piece, and the second driving member, the swinging member and the fixing member are connected in a triangular shape.

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

[0019] By dividing the robot into a power image segment, a power ultrasonic segment, and a high-pressure water jet segment that are flexibly connected in sequence, the problem that the current cleaning robot cannot adapt to bent pipes is solved. Through the three-section design with flexible connection, the robot's ability to pass through bends is greatly enhanced. The power image segment is used to clearly see the situation inside the pipe and provide information for subsequent cleaning solutions. The power ultrasonic segment is used to perform ultrasonic cleaning on the inner wall of the pipe, loosen or detach the dirt on the inner wall of the pipe, and then use the high-pressure water ejected by the high-pressure water jet segment to clean the inner wall of the pipe and remove the dirt loosened by the ultrasonic waves. Moreover, the three-section design can be made modular, and some modules can be adjusted, added, or removed at any time according to the situation inside the pipe. A front camera is set in the power image segment and is supported by an umbrella-shaped support frame with multiple sets of support components evenly distributed along the circumference of the first main body, improving the radial stability of the pipe wall. At the same time, while ensuring that the power image segment can run smoothly along the pipe, the image taken by the front camera can be made more stable, avoiding the influence of the shaking during movement on the focusing and imaging effects of the front camera, and enabling the operator to see the situation inside the pipe more clearly. An umbrella-shaped skeleton is formed by the first connecting rod and the second connecting rod. Under the action of the first driving member, the connection between the first connecting rod and the second connecting rod is kept in an outward-opening state, so that the driving wheel can always abut against the inner wall of the pipe, keeping the power image segment at the center position of the pipe and enabling the front camera to clearly see the complete situation of the pipe wall.

[0020] Further, the first driving member includes a first support spring sleeved on the first connecting rod, one end of the first support spring is fixed to the first connecting rod, and the other end of the first support spring is fixed to the first main body; and / or, the first driving member includes a first support spring sleeved on the second connecting rod, one end of the first support spring is fixed to the second connecting rod, and the other end of the first 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. With various different structural forms of the first driving member, the support assembly can be better controlled to have a tendency to open.

[0021] Further, a driving motor is arranged inside the first connecting rod or the second connecting rod, and the driving motor is in transmission connection with the driving wheel. Arranging the driving motor inside the connecting rod reduces the volume of the first main body and enables the power of the driving motor to be transmitted to the driving wheel as soon as possible, reducing the energy loss during intermediate transmission.

[0022] Further, the power ultrasonic segment includes a second main body and an ultrasonic generator arranged on the second main body. A cleaning brush is arranged on the second main body downstream of the ultrasonic generator. A brush motor for driving the cleaning brush to rotate is arranged inside the second main body, and a driven wheel set is arranged on the second main body. After the vibration of the ultrasonic generator and in cooperation with the rotating cleaning brush, the dirt loosened on the inner wall of the pipe can be first washed off, improving the cleaning effect.

[0023] Further, three ultrasonic generators are evenly spaced along the circumferential direction on the outer side wall of the second main body. The three ultrasonic generators can cover a range of 360 degrees to achieve circumferential dead - angle - free cleaning.

[0024] Further, the high - pressure water jet section includes a third main body. A self - priming pump is provided inside the third main body. A water spraying member is rotatably connected to the third main body. At least one group of water spraying openings with opposite directions and unequal flow rates are provided on the water spraying member. By spraying water through the water spraying openings, the water spraying member is driven to rotate relative to the third main body. A driven wheel group is also provided on the third main body. At least one group of water spraying openings with opposite directions and unequal flow rates on the water spraying member can clean the inner wall of the pipeline from two different directions. Moreover, due to the unequal flow rates, the water spraying member can be driven to rotate circumferentially by the ejected water flow without the need to additionally increase a power member to drive its rotation. And by contacting the inner wall of the pipeline through the driven wheel group, the high - pressure water jet section can smoothly move inside the pipeline.

[0025] Further, the driven wheel group includes a fixing member, a swinging member and a driven wheel. The swinging member is swingably connected to the fixing member. The driven wheel is rotatably connected to the swinging member. A second driving member is further provided between the swinging member and the fixing member to drive the driven wheel to closely adhere to the inner wall of the pipeline. With the driven wheel of the above - mentioned structure, the power ultrasonic section and the high - pressure water jet section can also be automatically adjusted according to the inner diameter of the pipeline, so that the centers of these two sections always remain in a centered state. In this way, both ultrasonic cleaning and water spraying flushing can maintain an equal pressure on the entire inner wall of the pipeline, and the circumferential wall of the pipeline can be evenly cleaned.

[0026] Further, the driven wheel is a rubber wheel. The rubber wheel is beneficial to protecting the inner wall of the pipeline from damage and is also more likely to pass through the joint protrusions and thick dirt layers caused by the installation of the water supply pipe section.

[0027] Further, each group of the driven wheel group has two driven wheels. The two driven wheels are coaxial and are connected to the swinging member through a rotating shaft. The two - driven - wheel group rolls more smoothly on the inner wall of the pipeline.

[0028] Further, the second driving member is a second support spring or a spring piece. The second driving member, the swinging member and the fixing member are connected in a triangular shape. The second driving member can provide effective support for the driven wheel, enabling it to maintain the pressure on the inner wall of the pipeline, and forming a triangular connection to achieve a stable structural shape. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic structural diagram of a variable - diameter multi - functional pipeline cleaning robot of the present invention.

[0030] Figure 2 It is a schematic structural diagram of the power image section in the present invention.

[0031] Figure 3 This is a schematic structural diagram of the power ultrasonic section in the present invention.

[0032] Figure 4 This is a schematic structural diagram of the high-pressure water jet section in the present invention.

[0033] Figure 5 This is a schematic structural diagram of the driven wheel set in the present invention.

[0034] Reference numerals:

[0035] Power image section 100, first main body 110, power wheel 120, front camera 130, first connecting rod 140, second connecting rod 150, connecting plate 160, bracket assembly 170, first driving member 180.

[0036] Power ultrasonic section 200, second main body 210, ultrasonic generator 220, cleaning brush 230.

[0037] High-pressure water jet section 300, third main body 310, water spraying member 320, water spraying port 330.

[0038] Driven wheel set 400, fixing member 410, swinging member 420, driven wheel 430, second driving member 440. Detailed implementation manners

[0039] A variable-diameter multifunctional pipeline cleaning robot includes a power image section 100, a power ultrasonic section 200, and a high-pressure water jet section 300 that are sequentially and flexibly connected. The power image section 100 includes a first main body 110 and an umbrella-shaped support frame arranged on the periphery of the first main body 110. The umbrella-shaped support frame includes multiple groups of bracket assemblies 170 evenly distributed along the circumferential direction of the first main body 110, and a power wheel 120 is provided on each bracket assembly 170; a front camera 130 is provided at the front end of the first main body 110, and a control system is provided inside the first main body 110; one end of the first main body 110 is connected to a connecting plate 160 that is slidably arranged along the axial direction of the first main body 110.

[0040] The bracket assembly 170 includes a first connecting rod 140 and a second connecting rod 150, and the number of the first connecting rods 140 and the second connecting rods 150 is at least two; the free end of one first connecting rod 140 is hinged to the connecting plate 160, the one first connecting rod 140 and one second connecting rod 150 are hinged at the hinged end, the free end of the one second connecting rod 150 is hinged to the other end of the first main body 110, and the free end of another first connecting rod 140 is hinged to the other end of the first main body 110, the another first connecting rod 140 and another second connecting rod 150 are hinged at the hinged end, and the free end of the another second connecting rod 150 is hinged to the connecting plate 160, so that on the connecting plate 160, the first connecting rods 140 and the second connecting rods 150 are arranged adjacent to each other; the power image segment 100 further includes a first driving member 180 that drives the connection between the first connecting rod 140 and the second connecting rod 150 to move away from the center direction of the first main body 110.

[0041] By dividing the robot into a power image segment 100, a power ultrasonic segment 200, and a high-pressure water jet segment 300 that are sequentially flexibly connected, the problem that the current cleaning robot cannot adapt to bent pipes is solved. Through the three-section design with flexible connection, the ability of the robot to pass through the bend is greatly enhanced. The power image segment 100 is used to clearly see the situation inside the pipe and provide information for the subsequent cleaning plan. The power ultrasonic segment 200 is used to perform ultrasonic cleaning on the inner wall of the pipe to loosen or make the dirt on the inner wall of the pipe fall off, and then the high-pressure water ejected by the high-pressure water jet segment 300 is used to clean the inner wall of the pipe to remove the dirt loosened by the ultrasonic wave. Moreover, the three-section design can be made modular, and some modules can be adjusted, added or removed at any time according to the situation inside the pipe. A front camera 130 is arranged in the power image segment 100 and is supported by an umbrella-shaped support frame with a plurality of bracket assemblies 170 evenly distributed along the circumference of the first main body 110, so as to increase the radial normal pressure on the pipe wall, and while ensuring that the power image segment 100 can run smoothly along the pipe, the image taken by the front camera 130 can be made more stable, avoiding the influence of the shaking during movement on the focus and imaging effect of the front camera 130, and enabling the operator to more clearly see the situation inside the pipe. Through the first connecting rod 140 and the second connecting rod 150 to form umbrella-shaped skeletons, under the action of the first driving member 180, the connection between the first connecting rod 140 and the second connecting rod 150 is kept in an outward-opening state, so that the driving wheel 120 can always abut against the inner wall of the pipe, keeping the power image segment 100 at the central position of the pipe and enabling the front camera 130 to clearly see the complete situation of the pipe wall.

[0042] The embodiments of the present invention will be described in detail below, and the examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, but should not be construed as a limitation to the present invention.

[0043] Refer toFigures 1 to 5 This is an embodiment of a variable-diameter multi-functional pipeline cleaning robot of the present invention. A variable-diameter multi-functional pipeline cleaning robot includes a power image section 100, a power ultrasonic section 200, and a high-pressure water jet section 300 that are flexibly connected in sequence. The flexible connection means connecting with a soft connecting piece to improve the overall passability.

[0044] The power image section 100 includes a first power component including a first main body 110 and an umbrella-shaped support frame arranged on the periphery of the first main body 110. The umbrella-shaped support frame includes multiple groups of support assemblies 170 evenly distributed along the circumferential direction of the first main body 110. A driving wheel 120 is provided on each support assembly 170; a front camera 130 is provided at the front end of the first main body 110, and a control system is provided inside the first main body 110. The front camera 130 is used to check the dirt on the inner wall of the pipeline in front of the advancing direction, and the control system is used to receive signals to control the forward or backward movement of the driving wheels 120, and feed back the signals collected by the front camera 130 to the operator through a cable.

[0045] The umbrella-shaped support frame includes multiple groups of support assemblies 170 evenly distributed along the circumferential direction of the first main body 110. A driving wheel 120 is provided on each support assembly 170. In this embodiment, six groups of support assemblies 170 are adopted. Of course, other different numbers of support assemblies 170 can also be adopted according to actual situations. The support assemblies 170 are preferably evenly distributed along the circumferential direction of the first main body 110, which can keep the first main body 110 always in the central position, and it is not easy for the main body to deviate from the center line of the pipeline during the operation of the cleaning robot, ensuring uniform cleaning of the inner wall of the pipeline. The driving wheels 120 are equipped with active power devices, such as electric motors, and the driving wheels 120 are driven by the electric motors to provide operating power for the entire multi-functional pipeline cleaning robot.

[0046] The umbrella-shaped support frame is mainly of the structure of an umbrella skeleton and has high stability. Specifically, the support assembly 170 includes a first connecting rod 140 and a second connecting rod 150. One end of the first connecting rod 140 is hinged to one end of the first main body 110, the other end of the first connecting rod 140 is hinged to one end of the second connecting rod 150, a connecting plate 160 slidably arranged along the axial direction of the first main body 110 is connected to the other end of the first main body 110, and the other end of the second connecting rod 150 is hinged to the connecting plate 160. The power image section 100 further includes a first driving member 180 for driving the connection of the first connecting rod 140 and the second connecting rod 150 to move away from the center of the first main body 110. Through the first driving member 180, the support assembly 170 can be kept in an open state, that is, the power to push the connection of the first connecting rod 140 and the second connecting rod 150 to open outward away from the center of the first main body 110. After entering the pipeline, the driving wheels 120 and the driven wheels 430 can be kept in close contact with the inner wall of the pipeline to run.

[0047] The first driving member 180 has various structural forms including but not limited to the following structures:

[0048] The first type is that the first driving member 180 includes a support spring. The support spring is sleeved on the first connecting rod 140221 and / or the second connecting rod 150. 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 corresponding first main body 110 or the connecting plate 160 of the connecting rod. After the bracket assembly 170 is folded due to being squeezed by the pipe wall, the support spring undergoes elastic deformation, so that the support spring provides a supporting force, and the umbrella-shaped support frame has a tendency to open. Since each bracket assembly 170 is provided with a support spring, each bracket assembly 170 can dynamically adjust its position to keep the power image segment 100 adaptable to adjust to the center.

[0049] The second type is that the first driving member 180 is arranged between the first main body 110 and the connecting plate 160. The first driving member 180 can be a compression spring. The first driving member 180 provides a thrust force to push the connecting plate 160 away from the first main body 110, so that the first connecting rod 140 and the second connecting rod 150 have a tendency to expand outwards. This method can simplify the structure and can also achieve the purpose of driving the umbrella-shaped support frame to open.

[0050] A driving motor is arranged inside the first connecting rod 140 or the second connecting rod 150. It can be an integrated molding of a reduction motor and the connecting rod to reduce bolt interfaces, and can also reduce the volume of the first main body 110, and enable the power of the driving motor to be transmitted to the power wheel 120 as soon as possible, reducing the energy loss in the intermediate transmission.

[0051] On the basis of the above embodiments, the power ultrasonic section 200 includes a second main body 210 and an ultrasonic generator 220 arranged on the second main body 210. A cleaning brush 230 is arranged on the second main body 210 downstream of the ultrasonic generator 220, that is, the cleaning brush 230 is arranged at the tail of the second main body 210, and a brush motor for driving the cleaning brush 230 to rotate is arranged on the second main body 210. The cleaning brush 230 is driven by the brush motor to rotate axially to clean the inner wall of the pipeline. The ultrasonic generator first emits ultrasonic waves to loosen or make the dirt on the inner wall of the pipeline fall off, and then the cleaning brush 230 behind is used to further clean the dirt adhering to the inner wall of the pipeline. And a driven wheel set 400 is also arranged on the second main body 210 to keep the power ultrasonic section 200 moving smoothly in the pipeline and reduce the moving resistance.

[0052] Further, three ultrasonic generators 220 are evenly spaced along the axial direction on the outer side wall of the second main body 210. That is, the circumferential angle between the three ultrasonic generators 220 at the circumference is 120°. And all the ultrasonic generators 220 are arranged on the outer side of the second main body 210, which can shorten the distance between the ultrasonic generator 220 and the pipe wall, reduce the energy loss during the propagation of sound waves, and clean the pipe scale more comprehensively and evenly.

[0053] The high-pressure water jet section 300 includes a third main body 310. A self-priming pump is provided inside the third main body 310. A water spraying member 320 is also rotatably connected to the third main body 310. At least one set of water spraying ports 330 with opposite directions and unequal flow rates are provided on the water spraying member 320. By spraying water through the water spraying ports 330, the water spraying member 320 is driven to rotate relative to the third main body 310. The high-pressure water jet section 300 mainly uses high-pressure water flow to clean the pipeline again. And at least one set of water spraying ports 330 with opposite directions and unequal flow rates are provided. Through the two water spraying ports 330 with different directions, the pipeline can be jet-cleaned at different angles. And because the flow rates are unequal, the water spraying member 320 can be pushed to rotate in one direction for rotary cleaning. And multiple sets of driven wheel groups 400 are also provided on the third main body 310 of the high-pressure water jet section 300 to ensure that the third main body 310 can move smoothly inside the pipeline.

[0054] For the driven wheel groups 400 on the power ultrasonic section 200 and the high-pressure water jet section 300, no active power is provided. The power of the entire cleaning robot is provided by the driving wheels 120 of the power image section 100. The driven wheel group 400 includes a third main body 310. A self-priming pump is provided inside the third main body 310. A water spraying member 320 is also rotatably connected to the third main body 310. At least one set of water spraying ports 330 with opposite directions and unequal flow rates are provided on the water spraying member 320. By spraying water through the water spraying ports 330, the water spraying member 320 is driven to rotate relative to the third main body 310, so that the power ultrasonic section 200 and the high-pressure water jet section 300 can also be automatically adjusted according to the inner diameter of the pipeline, and the centers of these two sections are always kept in the centered state. In this way, both ultrasonic cleaning and water spraying flushing can maintain equal pressure on the inner wall of the entire pipeline, and the circumferential wall of the pipeline can be evenly cleaned.

[0055] The driven wheel group 400 includes a fixing member 410, a swinging member 420 and a driven wheel 430. The fixing member 410 is fixed on the corresponding main body. The swinging member 420 is swingably connected to the fixing member 410. The driven wheel 430 is rotatably connected to the swinging member 420. A second driving member 440 is also provided between the swinging member 420 and the fixing member 410 to drive the driven wheel to closely adhere to the inner wall of the pipeline. So that the power ultrasonic section 200 and the high-pressure water jet section 300 can also be automatically adjusted according to the inner diameter of the pipeline, and the centers of these two sections are always kept in the centered state. In this way, both ultrasonic cleaning and water spraying flushing can maintain equal pressure on the inner wall of the entire pipeline, and the circumferential wall of the pipeline can be evenly cleaned.

[0056] Furthermore, the driven wheels 430 are rubber wheels with a diameter as large as possible. While providing a certain degree of flexibility, the larger wheel diameter also facilitates the movement through joint protrusions and thick scale layers generated during installation of the water supply pipe. Each driven wheel assembly 400 includes two driven wheels 430. The two driven wheels 430 are coaxial and connected to the swing member 420 via a rotating shaft. This allows a pair of driven wheels 430 to roll more smoothly on the inner wall of the pipe.

[0057] Furthermore, the second driving member 440 is a second supporting spring or spring, and the second driving member 440, the swinging member 420, and the fixing member 410 are connected in a triangle. The second driving member 440 can provide effective support for the driven wheel 430, thereby maintaining the pressure on the inner wall of the pipe, and the triangular connection is formed to achieve a stable structural shape.

[0058] After the cleaning robot enters the pipe, the umbrella-shaped support frame opens, allowing the power wheel 120 to closely contact the pipe's inner wall. Simultaneously, the driven wheel 430 of the driven wheel assembly 400 of the powered ultrasonic section 200 and the high-pressure water jet section 300 also closely contact the pipe's inner wall under the drive of the second drive element 440. This maintains the first body 110, the second body 210, and the third body 310 in the center of the pipe. The robot automatically adjusts according to changes in the pipe's inner diameter, ensuring that all three bodies remain in the center of the pipe. The front camera 130 is used to observe the contamination of the pipe's inner wall. The operator can select different cleaning modes based on the contamination level. When all cleaning modes are activated, the ultrasonic generator 220 is first used to loosen dirt on the pipe's inner wall. Then, the brush motor drives the cleaning brush 230 to clean the pipe's inner wall. Finally, the water sprayed by the water spray element 320 cleans the pipe's inner wall, achieving a good 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's inner lining. The robot's flexible, three-stage design significantly enhances its ability to navigate corners. The dynamic imaging segment 100 provides a clear view of the pipe interior, providing intelligence for subsequent cleaning plans. The dynamic ultrasonic segment 200 ultrasonically cleans the pipe's inner wall, loosening or removing debris. High-pressure water jets from the high-pressure water jet segment 300 then clean the pipe's inner wall, removing the debris loosened by the ultrasonic vibrations. Furthermore, the three-stage design can be modularized, allowing modules to be added or removed at any time based on the pipe's conditions.

[0059] 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 multi-functional pipeline cleaning robot, characterized in that, It includes a power image segment, a power ultrasonic segment, and a high-pressure water jet segment that are flexibly connected in sequence. The power image segment includes a first main body and an umbrella-shaped support frame arranged on the periphery of the first main body. The umbrella-shaped support frame includes multiple groups of support assemblies evenly distributed along the circumference of the first main body, and each support assembly is provided with a power wheel; a front camera is provided at the front end of the first main body, and a control system is provided inside the first main body; one end of the first main body is connected to a connecting plate that is slidably arranged along the axial direction of the first main body. The support assembly includes a first connecting rod and a second connecting rod, and the number of both the first connecting rod and the second connecting rod is at least two; the free end of one first connecting rod is hinged to the connecting plate, the one first connecting rod and one second connecting rod are hinged at the hinged end, the free end of the one second connecting rod is hinged to the other end of the first main body, and the free end of the other first connecting rod is hinged to the other end of the first main body. The other first connecting rod and the other second connecting rod are hinged at the hinged end, and the free end of the other second connecting rod is hinged to the connecting plate, so that on the connecting plate, the first connecting rod and the second connecting rod are arranged adjacent to each other; the power image segment further includes a first driving member for driving the connection point of the first connecting rod and the second connecting rod to move away from the center of the first main body. The power ultrasonic segment includes a second main body and an ultrasonic generator arranged on the second main body. A cleaning brush is provided on the second main body downstream of the ultrasonic generator. A brush motor for driving the cleaning brush to rotate is provided inside the second main body, and a driven wheel group is provided on the second main body. The high-pressure water jet segment includes a third main body. A self-priming pump is provided inside the third main body. A water spraying member is also rotatably connected to the third main body. The water spraying member is provided with at least one group of water spraying ports with opposite directions and unequal flow rates. Spraying water through the water spraying ports drives the water spraying member to rotate relative to the third main body, and a driven wheel group is also provided on the third main body.

2. The variable-diameter multi-functional pipeline cleaning robot according to claim 1, characterized in that, The first driving member includes a first support spring. The first support spring is sleeved on the first connecting rod. One end of the first support spring is fixed to the first connecting rod, and the other end of the first support spring is fixed to the first main body. And / or, the first driving member includes a first support spring. The first support spring is sleeved on the second connecting rod. One end of the first support spring is fixed to the second connecting rod, and the other end of the first 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.

3. The variable-diameter multifunctional pipeline cleaning robot according to claim 1, wherein, A driving motor is provided inside the first connecting rod or the second connecting rod, and the driving motor is in transmission connection with the power wheel.

4. The variable-diameter multi-functional pipeline cleaning robot according to claim 1, wherein, Three ultrasonic generators are evenly spaced along the circumferential direction on the outer side wall of the second main body.

5. The variable-diameter multi-functional pipeline cleaning robot according to claim 1, characterized in that, The driven wheel group includes a fixing member, a swinging member, and a driven wheel. The swinging member is swingably connected to the fixing member, the driven wheel is rotatably connected to the swinging member, and a second driving member is further provided between the swinging member and the fixing member for driving the driven wheel to closely adhere to the inner wall of the pipeline.

6. The variable-diameter multi-functional pipeline cleaning robot according to claim 5, wherein, The driven wheel is a rubber wheel.

7. The variable-diameter multifunctional pipeline cleaning robot according to claim 5, wherein Each group of the driven wheel group has two driven wheels. The two driven wheels are coaxial and connected to the swinging member through a rotating shaft.

8. The variable-diameter multi-functional pipeline cleaning robot according to claim 5, characterized in that, The second driving member is a second support spring or a shrapnel, and the second driving member, the swinging member and the fixing member are connected in a triangular shape.

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