An umbrella-shaped robot

Abstract

The present invention relates to the technical field of pipeline cleaning, specifically an umbrella-shaped robot, comprising an in-tube extension seat and an in-tube driving member, the in-tube driving member is fixedly connected to the in-tube extension seat, a liquid separation conduit and an annular support member are fixedly connected to the top of the in-tube extension seat, one end of the liquid separation conduit extends to the inner side of the annular support member; a fixed-point interception processing component is set as an interception structure for retaining a cleaning medium at a cleaning point, and the traction of an operating surface positioning pendulum leaf and a lower interception pendulum leaf is released through an upper edge lifting mechanism and a lower edge lifting mechanism, so that the operating surface positioning pendulum leaf and the lower interception pendulum leaf are expanded and positioned to the upper and lower ends of a position to be cleaned, and the cleaning medium is introduced into the V-shaped angle formed between the operating surface positioning pendulum leaf and the lower interception pendulum leaf through the overflow gap formed between the operating surface positioning pendulum leaf and the middle connecting recess for interception, so that the cleaning medium always maintains the infiltration of impurities on the inner wall of the vertical pipeline.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline cleaning, in particular to an umbrella-shaped robot. Background Art

[0002] Before applying anti-corrosion coating on the inner wall of gas pipeline, in order to ensure the adhesion between the anti-corrosion coating and the inner wall of pipeline, it is usually necessary to clean the surface attachments of the inner wall of gas pipeline to ensure that the inner wall of pipeline remains dust-free, particle-free, attachment-free and has a metallic luster. For unpaved gas pipeline, the length of single section is shallow, the impurities on the inner wall are formed in a short time and the adhesion is not strong. For such impurities, a crawling robot in the pipe is usually used to drive the rotating brush head and the spray-type liquid supply structure to move in a directional manner along the inner wall of the pipe, so that the impurities attached to the pipe can be quickly peeled off. However, this treatment method is applicable to the vertical gas pipelines that have been laid, and its main defect is that after the vertical gas pipelines that have been laid have been used for a long time, the inner wall of the pipelines will form sludge-like impurities with great adhesion. Therefore, when the existing treatment method only uses a rotating brush head and a spray-type liquid supply structure for high-pressure spray cleaning, its spray-infiltration treatment method is subject to the influence of the gravity of the vertical pipeline, and the cleaning medium cannot stay in a fixed position in the pipe within a fixed softening requirement time, so that the sludge-like impurities cannot achieve the softening effect after a short lubrication. In particular, when the vertical gas pipeline is laid for a long length and there are multiple sections of elbow connecting pipes in the middle, the high-pressure liquid source transported by the liquid supply structure generates a large transportation resistance when passing through the multiple sections of elbow connecting pipes. When the cleaning position of the vertical gas pipeline needs to be cleaned is reached, the cleaning medium is not enough to be output by high-pressure injection, resulting in a decrease in the impact force effect, and ultimately resulting in poor cleaning effect. The treatment method that only increases the treatment time along the rotating brush head to the cleaning point is easy to cause the anti-corrosion coating surface on the pipeline surface to be affected by exfoliation, and the adaptability is not ideal. Summary of the invention

[0003] In view of the problems in the prior art, the present invention provides an umbrella-shaped robot.

[0004] The technical solution adopted by the present invention to solve its technical problems is: an umbrella-shaped robot, comprising an in-tube extension seat and an in-tube driving member, the in-tube driving member is fixedly connected to the in-tube extension seat, a liquid separation conduit and an annular support member are fixedly connected to the top of the in-tube extension seat, one end of the liquid separation conduit extends to the inner side of the annular support member, an umbrella-shaped guide leaf is fixedly connected to the bottom of the annular support member, a fixed-point interception processing component is arranged at the bottom of the umbrella-shaped guide leaf, an in-cavity surrounding brushing component is arranged inside the fixed-point interception processing component, and an upper edge lifting mechanism and a lower edge lifting mechanism are respectively arranged at the upper and lower ends of the fixed-point interception processing component;

[0005] The fixed-point interception processing component is used to intercept the cleaning medium at any fixed position in the gas pipeline. The fixed-point interception processing component includes an intermediate connecting recess, an operating surface positioning swing leaf and a lower interception swing leaf. The bottom of the umbrella-shaped guide leaf is fixedly connected to the intermediate connecting recess. The intermediate connecting recess is fixedly connected with a plurality of liquid level sensors distributed in a ring. The intermediate connecting recess and the operating surface positioning swing leaf are rotatably connected by installing a hinge. An overflow gap is reserved between the operating surface positioning swing leaf and the intermediate connecting recess. The lower interception swing leaf is fixedly connected to the intermediate connecting recess. The upper edge lifting mechanism counterclockwise lifts the placement angle of the front edge of the operating surface positioning swing leaf to reserve the passing space when the operating surface positioning swing leaf moves along the pipe. The lower edge lifting mechanism pulls the placement angle of the front edge of the lower interception swing leaf clockwise to decrease, so as to remove the cleaning medium and impurities accumulated in the position of the intermediate connecting recess.

[0006] Preferably, the intra-cavity surrounding brush assembly includes a split brush surface and a pulley drive motor, the split brush surface is fixedly connected to the pulley drive motor, the transmission end of the pulley drive motor is arranged on the inner side of the middle connecting recess, and the extension length of the split brush surface toward one end of the inner wall of the gas pipeline is greater than the extension length of the operating surface positioning swing leaf and the lower retained swing leaf toward one end of the inner wall of the gas pipeline.

[0007] Preferably, the operating surface positioning swing leaf and the lower retained swing leaf have the same diameter and length, the operating surface positioning swing leaf and the lower retained swing leaf are symmetrically distributed, and an angle is formed between the operating surface positioning swing leaf and the lower retained swing leaf.

[0008] Preferably, the upper edge lifting mechanism includes an electric winding roller, a lifting rib and a pressure-top connecting spring, the electric winding roller is fixedly connected to the outer wall of the umbrella-shaped guide leaf, one end of the lifting rib is fixedly connected to the output end of the electric winding roller, the other end of the lifting rib is fixedly connected to the operating surface positioning swing leaf, and the two ends of the pressure-top connecting spring are respectively fixedly connected to the umbrella-shaped guide leaf and the operating surface positioning swing leaf.

[0009] Preferably, the lower edge lifting mechanism includes a middle-through slide seat, a stretching rib, a flow-discharge connection torsion spring and an electrically controlled slide rail, the electrically controlled slide rail is fixedly connected to the outer side of the in-tube extension seat, the driving end of the electrically controlled slide rail is fixedly connected to the middle-through slide seat, one end of the stretching rib is fixedly connected to the middle-through slide seat, the other end of the stretching rib is fixedly connected to the lower retained swing leaf, and the flow-discharge connection torsion spring is fixedly connected between the lower retained swing leaf and the middle connecting recess.

[0010] Preferably, the annular support member is provided with a lateral flow guide channel, the top end of the lateral flow guide channel is connected to the liquid separation conduit, the bottom end of the lateral flow guide channel is located above the intermediate connecting recess, and a liquid supply hose is provided on the inner side of the in-tube extension seat, one end of the liquid supply hose is fixedly connected to the liquid separation conduit, and the other end of the liquid supply hose is connected to an external cleaning medium conveying member.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. A fixed-point retention processing component is set as an interception structure for retaining the cleaning medium at the cleaning point. That is, after the intracavity surrounding brush component reaches the position of the inner wall of the pipe to be cleaned, the traction on the operating surface positioning pendulum leaf and the lower interception pendulum leaf is released through the upper edge lifting mechanism and the lower edge lifting mechanism, so that the operating surface positioning pendulum leaf and the lower interception pendulum leaf are expanded and positioned to the upper and lower ends of the position to be cleaned, and the cleaning medium is introduced into the V-shaped angle formed between the operating surface positioning pendulum leaf and the lower interception pendulum leaf through the overflow gap formed between the operating surface positioning pendulum leaf and the middle connecting recess for interception, so that the cleaning medium always maintains the infiltration of impurities on the inner wall of the vertical pipe. At the same time, when the cleaning medium is retained, the friction between the intracavity surrounding brush component and the inner wall of the pipe is reduced, which can reduce the damage to the inner wall coating of the pipe. In addition, compared with traditional technical means, the treatment method of intercepting the cleaning medium at the corresponding cleaning position does not need to consider whether the spraying pressure is limited when crossing the vertical gas pipeline.

[0013] 2. The cleaning medium retained in the V-shaped angle formed by the surrounding brush assembly in the cavity along the operating surface positioning pendulum leaf and the lower retained pendulum leaf is used to treat the impurities on the inner wall. After the treatment, the upper edge lifting mechanism and the lower edge lifting mechanism pull the operating surface positioning pendulum leaf and the lower retained pendulum leaf to release the bottom retention restriction of the cleaning medium, so that the cleaning medium with impurities can be discharged directly without affecting the transportation of the entire structure to the next cleaning point. After the cleaning is completed, the cleaning medium can be discharged only by pulling the lower retained pendulum leaf by the lower edge lifting mechanism, and the upper edge lifting mechanism releases the traction on the operating surface positioning pendulum leaf. At this time, the operating surface positioning pendulum leaf is maintained in a drooping state by the support of the top connection spring in the extended state. When the driving part in the pipe brings the entire device out of the pipe along the original path, the softened impurities are directly brought out from the inner side of the gas pipe wall by the operating surface positioning pendulum leaf that remains drooping in the state of being in contact with the pipe wall, thereby optimizing the treatment effect of a single cleaning operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0015] Figure 1 The structure of the present invention is schematically shown Figure 1 ;

[0016] Figure 2The structure of the present invention is schematically shown Figure 2 ;

[0017] Figure 3 for Figure 1 Enlarged view of part A in the middle.

[0018] In the figure: 1. In-tube extension seat; 11. Liquid dispensing conduit; 12. Liquid supply hose; 2. In-tube driving member; 3. Annular support member; 31. Umbrella-shaped guide leaf; 311. Lateral guide channel; 4. Fixed-point interception processing component; 41. Middle connecting recess; 42. Operating surface positioning swing leaf; 421. Liquid level sensor; 422. Overflow gap; 43. Lower interception swing leaf; 5. In-cavity surrounding brushing component; 51. Split brush surface; 52. Pulley drive motor; 6. Upper edge lifting mechanism; 61. Electric winding roller; 62. Lifting rib; 63. Top pressure connection spring; 7. Lower edge lifting mechanism; 71. Middle through slide seat; 72. Stretching rib; 73. Discharge connection torsion spring; 74. Electric control slide rail. DETAILED DESCRIPTION

[0019] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0020] like Figure 1 - Figure 3 As shown, an umbrella-shaped robot described in the present invention includes an in-tube extension seat 1 and an in-tube driving member 2, the in-tube driving member 2 is fixedly connected to the in-tube extension seat 1, a liquid separation conduit 11 and an annular support member 3 are fixedly connected to the top of the in-tube extension seat 1, one end of the liquid separation conduit 11 extends to the inner side of the annular support member 3, an umbrella-shaped guide page 31 is fixedly connected to the bottom of the annular support member 3, a fixed-point interception processing component 4 is arranged at the bottom of the umbrella-shaped guide page 31, an intracavity surrounding brushing component 5 is arranged on the inner side of the fixed-point interception processing component 4, and an upper edge lifting mechanism 6 and a lower edge lifting mechanism 7 are respectively arranged at the upper and lower ends of the fixed-point interception processing component 4.

[0021] In the present embodiment, in order to solve the problem that when the vertical gas pipeline is laid for a long length and there are multiple curved connecting pipes in the middle, the high-pressure liquid source transported by the liquid supply structure generates a large transport resistance when passing through the multiple curved connecting pipes. When the cleaning position of the vertical gas pipeline needs to be cleaned is reached, the cleaning medium is not sufficient to be output by high-pressure injection, resulting in a decrease in the impact force effect, and ultimately causing a poor cleaning effect. The treatment method of only increasing the treatment time along the rotating brush head staying at the cleaning point is likely to cause the anti-corrosion coating surface of the pipeline surface to be affected by the stripping property. The present invention provides a fixed-point interception treatment component 4, an intra-cavity surrounding brush component 5, an upper edge lifting mechanism 6 and a lower edge lifting mechanism 7. After intercepting the cleaning medium at the corresponding cleaning position, the cleaning operation is performed in a state where the cleaning medium is intercepted and maintained, thereby solving the above technical problems.

[0022] In this embodiment, it should be noted that the improved content of the present invention is not transmission into the pipeline. The transmission operation principle of the in-pipe driving member 2 is a well-known technical means in the art. Moreover, in the prior art, the in-pipe driving member 2 can be installed with a clamp to achieve fixed-point support after transmission. Therefore, the specific principle of the in-pipe driving member 2 is no longer described in detail in the present invention.

[0023] In an optional implementation of this embodiment, the fixed-point interception processing component 4 is used to intercept the cleaning medium at any fixed position in the gas pipeline. The fixed-point interception processing component 4 includes an intermediate connection recess 41, an operating surface positioning swing leaf 42 and a lower interception swing leaf 43. The bottom of the umbrella-shaped guide leaf 31 is fixedly connected to the intermediate connection recess 41, and the intermediate connection recess 41 is fixedly connected with a plurality of liquid level sensors 421 distributed in an annular shape. The intermediate connection recess 41 and the operating surface positioning swing leaf 42 are rotated by installing a hinge. An overflow gap 422 is reserved between the operating surface positioning swing leaf 42 and the middle connecting recess 41, and the lower retained swing leaf 43 is fixedly connected to the middle connecting recess 41. The upper edge lifting mechanism 6 lifts the placement angle of the front edge of the operating surface positioning swing leaf 42 counterclockwise to reserve a passage space for the operating surface positioning swing leaf 42 to move along the tube, and the lower edge lifting mechanism 7 pulls the placement angle of the front edge of the lower retained swing leaf 43 clockwise to decrease the placement angle, so as to remove the cleaning medium and impurities accumulated in the middle connecting recess 41.

[0024] In this embodiment, an intermediate connecting recess 41, an operating surface positioning pendulum leaf 42 and a lower retaining pendulum leaf 43 are set in the fixed-point interception processing component 4 as an interception structure for retaining the cleaning medium at the cleaning point. The intermediate connecting recess 41 is made of hard plastic material, and the operating surface positioning pendulum leaf 42 and the lower retaining pendulum leaf 43 are both made of rubber material. During the process of transporting the overall umbrella-shaped structure to the inner side of the vertical gas pipeline, the upper edge lifting mechanism 6 and the lower edge lifting mechanism 7 move the operating surface positioning pendulum leaf 42, the lower retaining pendulum leaf 43 and the intermediate connecting recess 41 as the center point in opposite directions, so that the operating surface positioning pendulum leaf 42 and the lower retaining pendulum leaf 43 are pulled and maintained in the transport state without direct contact with the inner wall of the gas pipeline. At this time, the overall umbrella-shaped structure can be driven to move into the pipe by the in-pipe driving member 2, so as to avoid the operating surface positioning pendulum leaf 42 and the lower retaining pendulum leaf 43 restricting the transmission of the in-pipe driving member 2. After the intracavity surrounding brush component 5 reaches the position of the inner wall of the pipe to be cleaned, the traction on the operating surface positioning swing leaf 42 and the lower retention swing leaf 43 is released through the upper edge lifting mechanism 6 and the lower edge lifting mechanism 7, so that the operating surface positioning swing leaf 42 and the lower retention swing leaf 43 are expanded and positioned to the upper and lower ends of the position to be cleaned, and the umbrella-shaped surface structure formed by the liquid separation conduit 11 and the liquid supply hose 12 to the umbrella-shaped guide leaf 31 and the channel formed by the lateral guide channel 311 slowly introduce the cleaning medium into the upper end of the middle connecting recess 41, and introduce the cleaning medium into the inner side of the V-shaped angle formed between the operating surface positioning swing leaf 42 and the lower retention swing leaf 43 through the overflow gap 422 reserved between the middle connecting recess 41 and the operating surface positioning swing leaf 42 for interception, so that the cleaning medium always maintains the infiltration of the impurities on the inner wall of the vertical pipe, and finally the cleaning medium intercepted in the V-shaped angle formed between the operating surface positioning swing leaf 42 and the lower retention swing leaf 43 by the intracavity surrounding brush component 5 is used to treat the impurities on the inner wall. In this embodiment, the liquid level sensor 421 set by the operating surface positioning swing leaf 42 is used for sensing the liquid level inside the middle connecting recess 41, so that the cleaning medium introduced into the inside of the middle connecting recess 41 only meets the liquid volume requirement of completely filling the V-shaped angle space between the operating surface positioning swing leaf 42 and the lower retention swing leaf 43.

[0025] In an optional implementation of this embodiment, the intracavity surrounding brushing assembly 5 includes a split brush face 51 and a pulley drive motor 52, the split brush face 51 is fixedly connected to the pulley drive motor 52, the drive end of the pulley drive motor 52 is arranged on the inner side of the middle connection recess 41, and the extension length of the split brush face 51 toward the inner wall of the gas pipeline is greater than the extension length of the operating surface positioning swing leaf 42 and the lower intercepting swing leaf 43 toward the inner wall of the gas pipeline. Among them, the arrangement method of the split brush face 51 with a longer extension length is to ensure that the operating surface positioning swing leaf 42 and the lower intercepting swing leaf 43 are in close contact with the inner wall of the pipeline, while maintaining sufficient contact surface between the split brush face 51 and the inner wall of the pipeline, so that the inner wall of the pipeline can be subjected to the contact force when the split brush face 51 moves and sweeps.

[0026] In this embodiment, the pulley drive motor 52 is composed of a drive motor and a pulley, wherein the pulley is connected to the output end of the drive motor, the split brush surface 51 is fixedly connected to the outer shell of the drive motor, and an annular groove for loading the pulley is opened on the inner side of the middle connecting recess 41. The pulley is driven by the drive motor to self-move along the annular groove opened on the inner side of the middle connecting recess 41, so that the pulley drive motor 52 moves in an annular manner inside the angle formed by the operating surface positioning pendulum leaf 42 and the lower retaining pendulum leaf 43 under the transmission action of the drive motor, and the inner wall of the pipeline is swept and cleaned. Since the cleaning medium is trapped inside the operating surface positioning pendulum leaf 42 and the lower retaining pendulum leaf 43, the friction between the brush assembly 5 and the inner wall of the pipeline in the lower cavity is reduced, which can reduce the damage to the coating on the inner wall of the pipeline.

[0027] In an optional implementation of this embodiment, the operating surface positioning swing leaf 42 and the lower retained swing leaf 43 have the same diameter and length, the operating surface positioning swing leaf 42 and the lower retained swing leaf 43 are symmetrically distributed, and an angle is formed between the operating surface positioning swing leaf 42 and the lower retained swing leaf 43.

[0028] In this embodiment, when not subjected to the traction of the upper edge lifting mechanism 6 and the lower edge lifting mechanism 7, the operating surface positioning swing leaf 42 and the lower intercepting swing leaf 43 are both in contact with the inner wall surface of the pipeline, and the angle formed between the operating surface positioning swing leaf 42 and the lower intercepting swing leaf 43 serves as the interception space after the cleaning medium flows in, so that the cleaning medium can fully surround the impurities attached to the inner wall of the pipeline after entering the angle position formed between the operating surface positioning swing leaf 42 and the lower intercepting swing leaf 43, so that the impurities can be fully softened. At the same time, compared with traditional technical means, only by inputting the operation mode of intercepting the cleaning medium, there is no need to consider whether the spraying pressure is limited when crossing the vertical gas pipeline.

[0029] In an optional implementation of the present embodiment, the upper edge lifting mechanism 6 includes an electric winding roller 61, a lifting rib 62 and a top pressure connecting spring 63, the electric winding roller 61 is fixedly connected to the outer wall of the umbrella-shaped guide page 31, one end of the lifting rib 62 is fixedly connected to the output end of the electric winding roller 61, the other end of the lifting rib 62 is fixedly connected to the operating surface positioning swing page 42, and the two ends of the top pressure connecting spring 63 are respectively fixedly connected to the umbrella-shaped guide page 31 and the operating surface positioning swing page 42.

[0030] In an optional implementation of the present embodiment, the lower edge lifting mechanism 7 includes a middle through slide 71, a stretching rib 72, a flow discharge connection torsion spring 73 and an electric control slide rail 74, the electric control slide rail 74 is fixedly connected to the outer side of the in-tube extension seat 1, the driving end of the electric control slide rail 74 is fixedly connected to the middle through slide 71, one end of the stretching rib 72 is fixedly connected to the middle through slide 71, the other end of the stretching rib 72 is fixedly connected to the lower retained swing leaf 43, and the flow discharge connection torsion spring 73 is fixedly connected between the lower retained swing leaf 43 and the middle connecting recess 41.

[0031] In this embodiment, after cleaning is completed, the lower interception swing leaf 43 can be pulled only by the lower edge lifting mechanism 7, while the upper edge lifting mechanism 6 releases the traction on the operating surface positioning swing leaf 42. At this time, the operating surface positioning swing leaf 42 is maintained in a drooping state by the support of the top connection spring 63 in the extended state. When the driving member 2 in the pipe brings the entire device out of the pipe along the original path, the softened impurities are directly brought out from the inner side of the gas pipe wall by the operating surface positioning swing leaf 42 that remains drooping in the state of being in contact with the pipe wall, thereby optimizing the processing effect of a single cleaning operation.

[0032] In this embodiment, when the electric winding roller 61 does not lift and drive the lifting rib 62, the top pressure connecting spring 63 is in an extended state. The extension force applied by the top pressure connecting spring 63 pushes the operating surface positioning swing page 42 to fit the inner wall of the pipeline. When the electric winding roller 61 drives the lifting rib 62 to rewind, the lifting rib 62 pulls the front edge position of the operating surface positioning swing page 42 to lift, so that the operating surface positioning swing page 42 is away from the inner wall of the pipeline, thereby avoiding the formation of contact friction between the operating surface positioning swing page 42 and the inner wall of the pipeline during transmission along the pipeline.

[0033] In this embodiment, the stretching rib 72 is a metal woven strip, and the lower retention pendulum leaf 43 can maintain contact with the inner wall of the pipe through the extension support of the stretching rib 72 and the discharge connecting torsion spring 73. At the same time, when it is necessary to discharge the cleaning medium intercepted between the operating surface positioning pendulum leaf 42 and the lower retention pendulum leaf 43, the middle slide seat 71 can be driven by the electric control slide rail 74 to slide down along the longitudinal path, so that the stretching rib 72 pulls the front edge of the lower retention pendulum leaf 43 to elastically shrink downward, so that the bottom of the middle connecting recess 41 is no longer trapped. At this time, some softened impurities that are infiltrated by the inner side of the operating surface positioning pendulum leaf 42 and the lower retention pendulum leaf 43 and shed by the split brush surface 51 in an annular sweep flow to the lower point due to gravity, without affecting the transportation of the overall structure to the next cleaning point. And after the cleaning is completed, the stretching rib 72 can be controlled only by the electrically controlled slide rail 74 to pull the intercepted swing leaf 43, while the electric winding roller 61 extends the lifting rib 62 to release the traction of the lifting rib 62 on the operating surface positioning swing leaf 42. At this time, the operating surface positioning swing leaf 42 is maintained in a drooping state by the support of the top connection spring 63 in the extended state. When the driving part 2 in the pipe brings the entire device out of the pipe along the original path, the softened impurities can be directly brought out from the inner side of the gas pipe wall by the operating surface positioning swing leaf 42 that keeps drooping in the state of being in contact with the pipe wall, thereby simplifying the cleaning operation process.

[0034] In an optional implementation of the present embodiment, the annular support member 3 is provided with a lateral flow guide channel 311, the top end of the lateral flow guide channel 311 is connected to the liquid separation conduit 11, the bottom end of the lateral flow guide channel 311 is located above the middle connecting recess 41, and a liquid supply hose 12 is provided on the inner side of the in-tube extension seat 1, one end of the liquid supply hose 12 is fixedly connected to the liquid separation conduit 11, and the other end of the liquid supply hose 12 is connected to the external cleaning medium conveying member.

[0035] In this embodiment, the liquid supply hose 12 is connected to the input end of the external water pump. After the cleaning medium is extracted by the external water pump, it is introduced into the liquid separation conduit 11 through the liquid supply hose 12. The liquid separation conduit 11 is provided with a plurality of diversion ports corresponding to the lateral guide channels 311. When the cleaning medium is output through the liquid separation conduit 11, the cleaning medium can be slowly input into the middle connecting recess 41 through the guidance of the umbrella-shaped guide leaf 31 with an umbrella-shaped surface and the lateral guide channel 311, without the need for high-pressure spraying.

[0036] The working principle of the present invention is: before the driving device as a whole reaches the cleaning surface in the pipe through the in-pipe driving member 2, the electric winding roller 61 winds up the lifting rib 62, so that the lifting rib 62 pulls the front edge of the operating surface positioning pendulum leaf 42 to lift, and the electric-controlled slide rail 74 drives the middle slide seat 71 to longitudinally pull the stretching rib 72, so that the stretching rib 72 drives the front edge of the lower retained pendulum leaf 43 to descend. At this time, the operating surface positioning pendulum leaf 42 and the lower retained pendulum leaf 43 and the middle connecting recess 41 move in opposite directions as the center point, so that the operating surface positioning pendulum leaf 42 and the lower retained pendulum leaf 43 do not contact the inner wall surface of the pipe, and then the driving device as a whole can reach the cleaning surface in the pipe through the in-pipe driving member 2, and the fixed-point support of the entire device is completed by the clamp. After fixed-point support, the middle slide 71 is driven to rise by the electrically controlled slide rail 74, releasing the traction of the stretching rib 72 on the lower retained pendulum leaf 43, and the lifting rib 62 is extended by the electric winding roller 61 to release the traction on the operating surface positioning pendulum leaf 42. At this time, the middle connecting recess 41, the operating surface positioning pendulum leaf 42 and the lower retained pendulum leaf 43 serve as a retention structure for the cleaning medium to be retained at the cleaning point. Afterwards, a water pump connected to the liquid supply hose 12 delivers cleaning medium to the liquid separation conduit 11, so that the umbrella-shaped surface structure formed by the umbrella-shaped guide leaf 31 of the cleaning medium and the channel formed by the lateral guide channel 311 slowly guide the cleaning medium to the upper end of the intermediate connecting recess 41, and guide the cleaning medium to the inner side of the V-shaped angle formed between the operating surface positioning pendulum leaf 42 and the lower intercepting pendulum leaf 43 through the overflow gap 422 reserved between the intermediate connecting recess 41 and the operating surface positioning pendulum leaf 42, and the cleaning medium is intercepted by the operating surface positioning pendulum leaf 42 and the lower intercepting pendulum leaf 43, so that the cleaning medium always keeps infiltrating the impurities on the inner wall of the vertical pipeline, and finally, the split brush surface 51 drives the pulley driving motor 52 to move in a circular motion along the V-shaped angle formed between the operating surface positioning pendulum leaf 42 and the lower intercepting pendulum leaf 43 to clean and brush off the impurities on the inner wall of the pipeline. After the cleaning operation is completed, the lifting rib 62 can be rolled up by the electric winding roller 61, so that the lifting rib 62 can pull the front edge of the operating surface positioning swing leaf 42 to lift again, thereby releasing the contact between the operating surface positioning swing leaf 42 and the inner wall of the pipeline, and the middle slide seat 71 can be controlled to slide down longitudinally again by the electric control slide rail 74, so that the stretching rib 72 pulls the lower edge of the lower retained swing leaf 43 to release the contact with the inner wall of the pipeline. In the current state, the cleaning medium is discharged from the V-shaped angle space under the action of gravity, and the operating surface positioning swing leaf 42 and the lower retained swing leaf 43 are not in contact with the inner wall of the pipeline. At this time, the overall structure can be transported to the next cleaning position of the vertical gas pipeline through the in-pipe drive 2.After the cleaning is completed, only the electrically controlled slide rail 74 is used to control the stretching rib 72 to pull the lower retained pendulum leaf 43, thereby releasing the contact between the lower retained pendulum leaf 43 and the inner wall of the pipe, while the electric winding roller 61 extends the lifting rib 62, thereby releasing the traction of the lifting rib 62 on the operating surface positioning pendulum leaf 42. At this time, the operating surface positioning pendulum leaf 42 is maintained in a drooping state and in contact with the pipe wall by the support of the top connection spring 63 in an extended state, while the lower retained pendulum leaf 43 is not in contact with the pipe wall. When the driving member 2 in the pipe brings the entire device out of the pipe along the original path, the softened impurities are directly brought out from the inner side of the gas pipe wall by the operating surface positioning pendulum leaf 42 that remains drooping in contact with the pipe wall.

[0037] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. An umbrella-shaped robot, comprising an in-tube extension seat (1) and an in-tube driving member (2), wherein the in-tube driving member (2) is fixedly connected to the in-tube extension seat (1), characterized in that: The top of the in-tube extension seat (1) is fixedly connected to a liquid separation conduit (11) and an annular support member (3); one end of the liquid separation conduit (11) extends to the inner side of the annular support member (3); the bottom of the annular support member (3) is fixedly connected to an umbrella-shaped guide leaf (31); a fixed-point interception processing component (4) is provided at the bottom of the umbrella-shaped guide leaf (31); an intracavity surrounding brushing component (5) is provided inside the fixed-point interception processing component (4); and an upper edge lifting mechanism (6) and a lower edge lifting mechanism (7) are provided at the upper and lower ends of the fixed-point interception processing component (4), respectively. The fixed-point interception processing component (4) is used to intercept the cleaning medium at any fixed position in the gas pipeline. The fixed-point interception processing component (4) comprises an intermediate connection recess (41), an operating surface positioning swing leaf (42) and a lower interception swing leaf (43). The bottom of the umbrella-shaped guide leaf (31) is fixedly connected to the intermediate connection recess (41). The intermediate connection recess (41) is fixedly connected to a plurality of liquid level sensors (421) distributed in an annular shape. The intermediate connection recess (41) is rotatably connected to the operating surface positioning swing leaf (42) by installing a hinge. The operating surface positioning swing leaf (43) is fixedly connected to the intermediate connection recess (41). An overflow gap (422) is reserved between the operating surface positioning swing leaf (42) and the intermediate connecting recess (41); the lower intercepting swing leaf (43) is fixedly connected to the intermediate connecting recess (41); the upper edge lifting mechanism (6) counterclockwise lifts the front edge of the operating surface positioning swing leaf (42) to reserve a passage space for the operating surface positioning swing leaf (42) to move along the tube; the lower edge lifting mechanism (7) clockwise pulls the front edge of the lower intercepting swing leaf (43) to decrease the front edge angle to remove the cleaning medium and impurities accumulated at the intermediate connecting recess (41); The intracavity surrounding brushing assembly (5) comprises a split brush surface (51) and a pulley drive motor (52), the split brush surface (51) being fixedly connected to the pulley drive motor (52), the drive end of the pulley drive motor (52) being arranged on the inner side of the intermediate connection recess (41), the extension length of the split brush surface (51) towards the inner wall of the gas pipeline is greater than the extension length of the operating surface positioning swing leaf (42) and the lower intercepting swing leaf (43) towards the inner wall of the gas pipeline; the operating surface positioning swing leaf (42) and the lower intercepting swing leaf (43) have the same diameter and length, the operating surface positioning swing leaf (42) and the lower intercepting swing leaf (43) are symmetrically distributed, and an angle is formed between the operating surface positioning swing leaf (42) and the lower intercepting swing leaf (43).

2. The umbrella-shaped robot according to claim 1, characterized in that: The upper edge lifting mechanism (6) comprises an electric winding roller (61), a lifting rib (62) and a top pressure connection spring (63); the electric winding roller (61) is fixedly connected to the outer wall of the umbrella-shaped guide leaf (31); one end of the lifting rib (62) is fixedly connected to the output end of the electric winding roller (61); the other end of the lifting rib (62) is fixedly connected to the operating surface positioning swing leaf (42); and the two ends of the top pressure connection spring (63) are respectively fixedly connected to the umbrella-shaped guide leaf (31) and the operating surface positioning swing leaf (42).

3. The umbrella-shaped robot according to claim 1, characterized in that: The lower edge lifting mechanism (7) comprises a central through slide seat (71), a stretching rib (72), a flow-discharge connection torsion spring (73) and an electric control slide rail (74); the electric control slide rail (74) is fixedly connected to the outer side of the in-tube extension seat (1); a driving end of the electric control slide rail (74) is fixedly connected to the central through slide seat (71); one end of the stretching rib (72) is fixedly connected to the central through slide seat (71); the other end of the stretching rib (72) is fixedly connected to the lower retained swing leaf (43); and the flow-discharge connection torsion spring (73) is fixedly connected between the lower retained swing leaf (43) and the middle connection recess (41).

4. The umbrella-shaped robot according to claim 1, characterized in that: The annular support member (3) is provided with a lateral flow guide channel (311), the top end of the lateral flow guide channel (311) is connected to the liquid separation conduit (11), the bottom end of the lateral flow guide channel (311) is located above the intermediate connection recess (41), and a liquid supply hose (12) is provided inside the in-tube extension seat (1), one end of the liquid supply hose (12) is fixedly connected to the liquid separation conduit (11), and the other end of the liquid supply hose (12) is connected to an external cleaning medium conveying member.

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