Vacuum pipeline robot

Abstract

The invention discloses a vacuum pipeline robot which comprises a cleaning mechanism. Every two adjacent telescopic mechanisms are connected through a connecting sleeve, each telescopic mechanism comprises a front crawling section, a rear crawling section and a telescopic section used for connecting the front crawling section and the rear crawling section, and the cleaning mechanism is connected to the front crawling section; the cleaning mechanism, the front crawling section, the telescopic section and the rear crawling section are all provided with liquid flow channels which are communicated with one another; when the robot crawl along the inner wall of the vacuum pipeline, liquid in the vacuum pipeline continuously flows through the liquid flow channel, and leakage detection is carried out under the condition that the vacuum pipeline is not closed. Leakage detection can be carried out on the vacuum pipeline under the condition that the vacuum pipeline is not closed, the leakage position of the vacuum pipeline can be accurately found, meanwhile, the inner wall of the vacuum pipeline can be cleaned, the advancing speed of the robot can be adjusted according to the shape of the vacuum pipeline, and the working efficiency is improved. Practicality and flexibility of the robot are greatly improved, and operation is flexible and convenient.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a vacuum pipeline robot. Background Art

[0002] At present, in order to make the sewage reach the water quality requirements for discharge into a certain water body or reuse, it is purified. Sewage treatment is widely used in various fields such as construction, agriculture, transportation, energy, petrochemical, environmental protection, urban landscape, medical treatment, catering, life, etc., and is used to collect the generated sewage through vacuum pipes to the treatment device for treatment.

[0003] Generally, vacuum pipes are buried about 1 meter underground. Vacuum pipes are used to pump sewage from long distances. Each household will install a sewage well, and thousands of sewage wells will be concentrated in one place for treatment, so they need to be transported through a pure vacuum pipe system. Since vacuum pipes are buried underground, they are easily crushed over time, and leak locations are generally detected by robots. However, existing robots need to shut down the entire vacuum pipe system for maintenance, and cannot accurately detect the location of the leak. Summary of the invention

[0004] The purpose of the present invention is to provide a technical solution for a vacuum pipe robot in view of the shortcomings of the prior art. The present invention can not only detect the leakage of the vacuum pipe without closing it, but also accurately find the leakage position of the vacuum pipe. At the same time, the inner wall of the vacuum pipe can be cleaned to extend the service life of the vacuum pipe. The speed of the robot's advancement can be adjusted according to the shape of the vacuum pipe, which greatly improves the practicality and flexibility of the robot and makes it flexible and convenient to operate.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A vacuum pipeline robot, characterized in that:

[0007] A cleaning mechanism for rotating and cleaning the vacuum pipe;

[0008] At least one telescopic mechanism, two adjacent telescopic mechanisms are connected by a connecting sleeve, the telescopic mechanism comprises a front crawling section and a rear crawling section that abut against the inner wall of the vacuum pipe, a telescopic section for connecting the front crawling section and the rear crawling section, and the cleaning mechanism is connected to the front crawling section;

[0009] The cleaning mechanism, the front crawling section, the telescopic section and the rear crawling section are all provided with liquid flow passages that are interconnected;

[0010] When the robot crawls along the inner wall of the vacuum pipe, the liquid in the vacuum pipe flows continuously through the liquid flow channel, thereby realizing leakage detection without closing the vacuum pipe. Through the design of the above structure, not only can the vacuum pipe be leaked without closing the vacuum pipe, but the leakage position of the vacuum pipe can also be accurately found, and the inner wall of the vacuum pipe can be cleaned at the same time to extend the service life of the vacuum pipe. The speed of the robot's advancement can be adjusted according to the shape of the vacuum pipe, which greatly improves the practicality and flexibility of the robot and makes it flexible and convenient to operate.

[0011] Furthermore, the cleaning mechanism includes a main shaft, a brush assembly rotatably connected to the end of the main shaft, and a driving assembly for driving the brush assembly to rotate continuously. The driving assembly drives the brush assembly to rotate along the main shaft to achieve continuous cleaning of the inner wall of the vacuum pipe. After the robot enters the vacuum pipe, the driving assembly drives the brush assembly to rotate, thereby cleaning the vacuum pipe and extending the service life of the vacuum pipe.

[0012] Furthermore, the brush assembly includes a brush plate and brushes distributed along the outer circumferential side of the brush plate. The brush plate drives the brushes to rotate to clean the vacuum pipe.

[0013] Furthermore, the driving assembly includes a driving motor, a driving gear, a transmission gear and a driven gear. The driving motor is fixed to the main shaft through a boss, the driving gear is connected to the output shaft of the driving motor, the transmission gear is rotatably connected to the outer side of the main shaft, and the driven gear is connected to the brush plate. The driving motor drives the driven gear to rotate via the driving gear and the transmission gear to achieve synchronous rotation of the brush plate; the driving assembly is connected to an external controller, and the driving motor is controlled by the controller to achieve synchronous rotation of the driving gear, the transmission gear and the driven gear, thereby driving the brush assembly to rotate and cleaning the inner wall of the vacuum pipe.

[0014] Furthermore, the front crawling section and the rear crawling section both include a cylinder shaft, an expansion mechanism and an airbag blocking mechanism. The expansion mechanism is connected to the cylinder shaft and is used to expand and contract along the cylinder shaft to achieve interference or separation with the inner wall of the vacuum pipe. The airbag blocking mechanism is arranged at one end of the cylinder shaft and is used to block the inner wall of the vacuum pipe for leak detection. A connecting sleeve is provided at the end of the cylinder shaft away from the airbag blocking mechanism for connecting the telescopic section. The expansion mechanism of the rear crawling section contacts the inner wall of the vacuum pipe, so as to support the entire robot, and then the telescopic section drives the front crawling section to move to the required distance. The expansion mechanism of the front crawling segment contacts the inner wall of the vacuum pipe, and then the expansion mechanism of the rear crawling segment is retracted, and the rear crawling segment is driven to move forward the required distance through the telescopic segment, and the cycle is repeated to realize the continuous crawling of the robot along the vacuum pipe. Whenever the front crawling segment and the rear crawling segment of the robot are in the deployed state, the airbag sealing mechanism seals the inner wall of the vacuum pipe to detect whether the vacuum pipe between the front crawling segment and the rear crawling segment is leaking. A diaphragm can be installed between the front crawling segment and the rear crawling segment, and the front crawling segment and the rear crawling segment are equipped with pressure sensors to detect whether the vacuum pipe is leaking.

[0015] Furthermore, the expansion mechanism includes a crawling cylinder, a first connecting disc, a second connecting disc and an expansion component, the crawling cylinder is fixed to the cylinder shaft, the first connecting disc is fixed to the cylinder shaft on a side close to the airbag blocking mechanism, the second connecting disc is slidably connected to the cylinder shaft, the second connecting disc is connected to the crawling cylinder through a first telescopic rod, and the expansion component is evenly distributed in a ring shape between the first connecting disc and the second connecting disc; the crawling cylinder pushes the second connecting disc to move back and forth along the cylinder shaft, so that the expansion component can be expanded or contracted along the first connecting disc, and the expansion component can be made to resist or detach from the inner wall of the vacuum pipe, so that the robot can move forward or backward along the inner wall of the vacuum pipe, and the ring-shaped distribution of the expansion components greatly improves the stability and reliability of the robot when it contacts the inner wall of the vacuum pipe.

[0016] Furthermore, the extension component includes a cylinder bracket, an extension bracket and a connecting rod. The extension bracket is rotatably connected to the first connecting disk, the connecting rod is fixed on the extension bracket, one end of the cylinder bracket is rotatably connected to the second connecting disk, and the other end of the cylinder bracket is rotatably connected to the extension bracket, which is used to drive the extension bracket and the connecting rod to expand or retract; the cylinder bracket is driven to rotate by the second connecting disk, and then the extension bracket can be driven to expand or retract, thereby meeting the adjustment requirements of the connecting rod. The connecting rod is used to resist the inner wall of the vacuum pipe, and its end is an arc-shaped structure, which can play a role in protecting the vacuum pipe.

[0017] Furthermore, the airbag sealing mechanism includes a limit plate, an airbag inner ring and an annular airbag. The two limit plates are fixed on both sides of the airbag inner ring. The annular airbag is located between the two limit plates and installed on the outer side of the airbag inner ring. The annular airbag is provided with an air valve, which is connected to an external air source. The air valve is used to control the inflation or deflation of the annular airbag to meet the requirements for vacuum pipe sealing and improve detection accuracy. The airbag inner ring improves the stability and reliability of the annular airbag installation and can ensure the liquid to flow along the airbag inner ring. The limit plate improves the installation stability of the annular airbag to avoid back and forth shaking that affects the sealing effect.

[0018] Furthermore, at least one mounting hole is provided on the cylinder shaft, a plug is installed in the mounting hole, and the mounting hole can be used to connect the air pipe.

[0019] Furthermore, the telescopic section includes a fixed sleeve, a telescopic cylinder, a pushing disc and a connecting hose. The telescopic cylinder is fixed on the fixed sleeve. The telescopic cylinder is connected to the pushing disc through a second telescopic rod. The pushing disc is connected to the fixed sleeve through the telescopic sleeve. The fixed sleeve and the pushing disc are respectively connected to the front crawling section and the rear crawling section through the connecting hose. The connecting hose can improve the sealing effect between the telescopic section and the front crawling section and the rear crawling section to prevent leakage and affect the detection accuracy. The pushing disc is driven to move forward and backward by the telescopic cylinder through the second telescopic rod, thereby realizing the telescopic movement between the front crawling section and the rear crawling section, meeting the movement requirements of the robot. The fixed sleeve and the telescopic sleeve improve the stability and reliability of the telescopic section during movement.

[0020] The present invention has the following beneficial effects due to the adoption of the above technical solution:

[0021] 1. The present invention can not only detect the leakage of the vacuum pipeline without closing the vacuum pipeline, but also accurately find the leakage position of the vacuum pipeline. At the same time, the inner wall of the vacuum pipeline can be cleaned to extend the service life of the vacuum pipeline. The speed of the robot's advancement can be adjusted according to the shape of the vacuum pipeline, which greatly improves the practicality and flexibility of the robot and is flexible and convenient to operate.

[0022] 2. After the robot enters the vacuum pipe, the driving component drives the brush component to rotate, so as to clean the vacuum pipe and extend the service life of the vacuum pipe.

[0023] 3. The expansion mechanism of the rear crawling segment contacts the inner wall of the vacuum pipe, so as to support the entire robot. The front crawling segment is then driven to move to the required distance by the telescopic segment, so that the expansion mechanism of the front crawling segment contacts the inner wall of the vacuum pipe. The expansion mechanism of the rear crawling segment is then retracted, and the rear crawling segment is driven to move the required distance forward by the telescopic segment. This cycle is repeated to achieve continuous crawling of the robot along the vacuum pipe. Whenever the front crawling segment and the rear crawling segment of the robot are in the deployed state, the airbag sealing mechanism seals the inner wall of the vacuum pipe to detect whether the vacuum pipe between the front crawling segment and the rear crawling segment is leaking. A diaphragm can be installed between the front crawling segment and the rear crawling segment, and pressure sensors are installed on the front crawling segment and the rear crawling segment to detect whether the vacuum pipe is leaking.

[0024] 4. The connecting hose can improve the sealing effect between the telescopic section and the front crawling section and the rear crawling section to prevent leakage and affect the detection accuracy. The telescopic cylinder drives the disc to move forward and backward through the second telescopic rod, thereby realizing the telescopic movement between the front crawling section and the rear crawling section to meet the movement requirements of the robot. The fixed sleeve and the telescopic sleeve improve the stability and reliability of the telescopic section during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described below in conjunction with the accompanying drawings:

[0026] Figure 1 This is a schematic diagram of the structure of a vacuum pipeline robot of the present invention;

[0027] Figure 2 for Figure 1 The main view;

[0028] Figure 3 for Figure 2 Schematic diagram of the structure in the AA direction;

[0029] Figure 4 It is a schematic diagram of the connection between the cleaning mechanism and the telescopic mechanism in the present invention;

[0030] Figure 5 It is a structural schematic diagram of the cleaning mechanism in the present invention;

[0031] Figure 6 It is a schematic diagram of the structure of the front crawling section and the rear crawling section in the present invention;

[0032] Figure 7 for Figure 6 Schematic diagram of the structure in the B direction;

[0033] Figure 8 It is a structural schematic diagram of the telescopic section in the present invention.

[0034] In the figure: 1-cleaning mechanism; 2-telescopic mechanism; 3-connecting sleeve; 4-liquid flow channel; 5-main shaft; 6-brush plate; 7-brush; 8-boss; 9-driving motor; 10-driving gear; 11-transmission gear; 12-driven gear; 13-telescopic section; 14-front crawling section; 15-rear crawling section; 16-cylinder shaft; 17-connecting sleeve; 18-first connecting disc; 19-second connecting disc; 20-crawling cylinder; 21-first telescopic rod; 22-extension component; 23-limiting plate; 24-airbag inner ring; 25-annular airbag; 26-air valve; 27-plug; 28-mounting hole; 29-cylinder bracket; 30-extension bracket; 31-connecting rod; 32-connecting hose; 33-fixing sleeve; 34-telescopic cylinder; 35-pushing disc; 36-second telescopic rod; 37-telescopic sleeve. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0036] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only embodiments of a part of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0038] like Figures 1 to 8 As shown, a vacuum pipeline robot of the present invention includes a cleaning mechanism 1 and at least one telescopic mechanism 2. The application takes three telescopic mechanisms 2 as an example. Two adjacent telescopic mechanisms 2 are connected by a connecting sleeve 3. The cleaning mechanism 1 is connected to the front crawling section 14 of the first telescopic mechanism 2 at the forward end.

[0039] The cleaning mechanism 1 is used for performing rotational cleaning on the vacuum pipe.

[0040] The cleaning mechanism 1 includes a main shaft 5, a brush assembly rotatably connected to the end of the main shaft 5, and a driving assembly for driving the brush assembly to rotate continuously. The driving assembly drives the brush assembly to rotate along the main shaft 5 to achieve continuous cleaning of the inner wall of the vacuum pipe. After the robot enters the vacuum pipe, the driving assembly drives the brush assembly to rotate, thereby cleaning the vacuum pipe and extending the service life of the vacuum pipe.

[0041] The brush assembly includes a brush plate 6 and brushes 7 distributed along the outer circumferential side of the brush plate 6. The brush plate 6 drives the brushes 7 to rotate to clean the vacuum pipe.

[0042] The driving assembly includes a driving motor 9, a driving gear 10, a transmission gear 11 and a driven gear 12. The driving motor 9 is fixed to the main shaft 5 through a boss 8. The driving gear 10 is connected to the output shaft of the driving motor 9. The transmission gear 11 is rotatably connected to the outer side of the main shaft 5. The driven gear 12 is connected to the brush plate 6. The driving motor 9 drives the driven gear 12 to rotate through the driving gear 10 and the transmission gear 11 to achieve synchronous rotation of the brush plate 6. The driving assembly is connected to an external controller, and the driving motor 9 is controlled by the controller to work, so as to achieve synchronous rotation of the driving gear 10, the transmission gear 11 and the driven gear 12, thereby driving the brush assembly to rotate and cleaning the inner wall of the vacuum pipe.

[0043] The telescopic mechanism 2 includes a front crawling section 14 and a rear crawling section 15 that abut against the inner wall of the vacuum pipe, and a telescopic section 13 used to connect the front crawling section 14 and the rear crawling section 15 .

[0044] The front crawling section 14 and the rear crawling section 15 both include a cylinder shaft 16, an expansion mechanism and an airbag blocking mechanism. The expansion mechanism is connected to the cylinder shaft 16 and is used to expand and contract along the cylinder shaft 16 to achieve interference or separation with the inner wall of the vacuum pipe. The airbag blocking mechanism is arranged at one end of the cylinder shaft 16 and is used to block the inner wall of the vacuum pipe for leak detection. A connecting sleeve 17 is arranged at the end of the cylinder shaft 16 away from the airbag blocking mechanism and is used to connect the telescopic section 13. The expansion mechanism of the rear crawling section 15 contacts the inner wall of the vacuum pipe to support the entire robot, and then the telescopic section 13 drives the front crawling section 14 to move to the required distance, so that The expansion mechanism of the front crawling segment 14 contacts the inner wall of the vacuum pipe, and then retracts the expansion mechanism of the rear crawling segment 15, and drives the rear crawling segment 15 to move forward the required distance through the telescopic segment 13, and repeats the cycle to realize continuous crawling of the robot along the vacuum pipe. Whenever the front crawling segment 14 and the rear crawling segment 15 of the robot are in the deployed state, the airbag sealing mechanism seals the inner wall of the vacuum pipe to detect whether the vacuum pipe between the front crawling segment 14 and the rear crawling segment 15 is leaking. A diaphragm can be installed between the front crawling segment 14 and the rear crawling segment 15, and pressure sensors are installed on the front crawling segment 14 and the rear crawling segment 15 to detect whether the vacuum pipe is leaking.

[0045] The expansion mechanism includes a crawling cylinder 20, a first connecting disc 18, a second connecting disc 19 and an expansion component 22. The crawling cylinder 20 is fixed to the cylinder shaft 16. The first connecting disc 18 is fixed to the cylinder shaft 16 on the side close to the airbag blocking mechanism. The second connecting disc 19 is slidably connected to the cylinder shaft 16. The second connecting disc 19 is connected to the crawling cylinder 20 through a first telescopic rod 21. The expansion component 22 is evenly distributed in a ring shape between the first connecting disc 18 and the second connecting disc 19. The crawling cylinder 20 pushes the second connecting disc 19 to move back and forth along the cylinder shaft 16, so that the expansion component 22 can be expanded or contracted along the first connecting disc 18, and the expansion component 22 can be made to resist or detach from the inner wall of the vacuum pipe, so that the robot can move forward or backward along the inner wall of the vacuum pipe. The annularly distributed expansion component 22 greatly improves the stability and reliability of the robot when it contacts the inner wall of the vacuum pipe.

[0046] The extension component 22 includes a cylinder bracket 29, an extension bracket 30 and a connecting rod 31. The extension bracket 30 is rotatably connected to the first connecting disk 18, and the connecting rod 31 is fixed on the extension bracket 30. One end of the cylinder bracket 29 is rotatably connected to the second connecting disk 19, and the other end of the cylinder bracket 29 is rotatably connected to the extension bracket 30, which is used to drive the extension bracket 30 and the connecting rod 31 to expand or retract; the cylinder bracket 29 is driven to rotate by the second connecting disk 19, and then the extension bracket 30 can be driven to expand or retract, thereby meeting the adjustment requirements of the connecting rod 31. The connecting rod 31 is used to resist the inner wall of the vacuum pipe, and its end is an arc-shaped structure, which can play a role in protecting the vacuum pipe.

[0047] The airbag sealing mechanism includes a limit plate 23, an airbag inner ring 24 and an annular airbag 25. The two limit plates 23 are fixed on both sides of the airbag inner ring 24. The annular airbag 25 is located between the two limit plates 23 and installed on the outer side of the airbag inner ring 24. The annular airbag 25 is provided with an air valve 26. The air valve 26 is connected to an external air source. The inflation or deflation of the annular airbag 25 is controlled by the air valve 26 to meet the requirements for vacuum pipeline sealing and improve the detection accuracy. The airbag inner ring 24 improves the stability and reliability of the installation of the annular airbag 25 and can ensure the liquid to flow along the airbag inner ring 24. The limit plate 23 improves the installation stability of the annular airbag 25 to avoid shaking back and forth and affecting the sealing effect.

[0048] At least one mounting hole 28 is provided on the cylinder shaft 16 , and a plug 27 is installed in the mounting hole 28 . The mounting hole 28 can be used to connect an air pipe.

[0049] The telescopic section 13 includes a fixed sleeve 33, a telescopic cylinder 34, a pushing disc 35 and a connecting hose 32. The telescopic cylinder 34 is fixed on the fixed sleeve 33. The telescopic cylinder 34 is connected to the pushing disc 35 through a second telescopic rod 36. The pushing disc 35 is movably connected to the fixed sleeve 33 through a telescopic sleeve 37. The fixed sleeve 33 and the pushing disc 35 are respectively connected to the front crawling section 14 and the rear crawling section 15 through the connecting hose 32. The connecting hose 32 can improve the sealing effect between the telescopic section 13 and the front crawling section 14 and the rear crawling section 15 to prevent leakage and affect the detection accuracy. The pushing disc 35 is driven to move forward and backward by the telescopic cylinder 34 through the second telescopic rod 36, thereby realizing the telescopic movement between the front crawling section 14 and the rear crawling section 15, meeting the movement requirements of the robot. The fixed sleeve 33 and the telescopic sleeve 37 improve the stability and reliability of the telescopic section 13 when moving.

[0050] The cleaning mechanism 1, the front crawling section 14, the telescopic section 13 and the rear crawling section 15 are all provided with liquid flow channels 4 which are interconnected.

[0051] When the robot crawls along the inner wall of the vacuum pipe, the liquid in the vacuum pipe flows continuously through the liquid flow channel 4, thereby realizing leakage detection without closing the vacuum pipe. Through the design of the above structure, not only can the vacuum pipe be leak-detected without closing the vacuum pipe, but the leakage position of the vacuum pipe can also be accurately found, and the inner wall of the vacuum pipe can be cleaned at the same time to extend the service life of the vacuum pipe. The speed of the robot's advancement can be adjusted according to the shape of the vacuum pipe, which greatly improves the practicability and flexibility of the robot and makes it flexible and convenient to operate.

[0052] When the present invention is actually used, the robot is first assembled, and then the side of the robot with the cleaning mechanism 1 is horizontally placed in the vacuum pipe, and the robot is connected to an external controller and an air source, and then each telescopic mechanism 2 is started to make the robot crawl along the inner wall of the vacuum pipe, and the cleaning mechanism 1 is started to continuously clean the inner wall of the vacuum pipe; whenever the front crawling section 14 and the rear crawling section 15 of the telescopic mechanism 2 are in the unfolded state, the airbag sealing mechanism on the front crawling section 14 and the rear crawling section 15 works to seal the inner wall of the vacuum pipe, so that a detection area is formed between the diaphragm between the two adjacent annular airbags 25 and the inner wall of the vacuum pipe. Once a leak occurs in the detection area, the negative pressure in the detection area increases due to the leakage, and the leakage position can be detected by the pressure sensor, and the information is transmitted to the controller to realize the precise positioning of the leakage position of the vacuum pipe. At the same time, during the crawling and detection process of the robot, the liquid in the vacuum pipe can flow uninterruptedly without affecting the normal use of the pipeline system.

[0053] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent replacements or modifications made based on the present invention to achieve basically the same technical effects are all included in the protection scope of the present invention.

Claims

1. A vacuum pipeline robot, characterized in that: include A cleaning mechanism for rotating and cleaning the vacuum pipe; At least one telescopic mechanism, two adjacent telescopic mechanisms are connected by a connecting sleeve, the telescopic mechanism comprises a front crawling section and a rear crawling section that abut against the inner wall of the vacuum pipe, and a telescopic section for connecting the front crawling section and the rear crawling section, the cleaning mechanism is connected to the front crawling section; the cleaning mechanism, the front crawling section, the telescopic section and the rear crawling section are all provided with liquid flow channels that are interconnected; When the robot crawls along the inner wall of the vacuum pipe, the liquid in the vacuum pipe flows uninterruptedly through the liquid flow channel, thereby realizing leakage detection without closing the vacuum pipe.

2. A vacuum pipeline robot according to claim 1, characterized in that: The cleaning mechanism includes a main shaft, a brush assembly rotatably connected to the end of the main shaft, and a driving assembly for driving the brush assembly to rotate continuously. The driving assembly drives the brush assembly to rotate along the main shaft to achieve continuous cleaning of the inner wall of the vacuum pipe.

3. A vacuum pipeline robot according to claim 2, characterized in that: The brush assembly comprises a brush disc and brushes distributed along the outer circumferential side of the brush disc. The brushes are driven to rotate by the brush disc to clean the vacuum pipe.

4. A vacuum pipeline robot according to claim 3, characterized in that: The driving assembly includes a driving motor, a driving gear, a transmission gear and a driven gear. The driving motor is fixed to the main shaft through a boss, the driving gear is connected to the output shaft of the driving motor, the transmission gear is rotatably connected to the outer side of the main shaft, and the driven gear is connected to the brush plate. The driving motor drives the driven gear to rotate through the driving gear and the transmission gear to achieve synchronous rotation of the brush plate.

5. The vacuum pipeline robot according to claim 1, characterized in that: The front crawling section and the rear crawling section both include a cylinder shaft, an expansion mechanism and an airbag sealing mechanism. The expansion mechanism is connected to the cylinder shaft and is used to expand and contract along the cylinder shaft to achieve interference or separation with the inner wall of the vacuum pipe. The airbag sealing mechanism is arranged at one end of the cylinder shaft and is used to seal the inner wall of the vacuum pipe for leakage detection. A connecting sleeve is provided at one end of the cylinder shaft away from the airbag sealing mechanism for connecting the telescopic section.

6. A vacuum pipeline robot according to claim 5, characterized in that: The expansion mechanism includes a crawling cylinder, a first connecting disc, a second connecting disc and an expansion component. The crawling cylinder is fixed to the cylinder shaft, the first connecting disc is fixed to the cylinder shaft on a side close to the airbag sealing mechanism, the second connecting disc is slidably connected to the cylinder shaft, the second connecting disc is connected to the crawling cylinder through a first telescopic rod, and the expansion component is evenly distributed in a ring shape between the first connecting disc and the second connecting disc.

7. The vacuum pipeline robot according to claim 6, characterized in that: The extension component includes a cylinder bracket, an extension bracket and a connecting rod. The extension bracket is rotatably connected to the first connecting disk, and the connecting rod is fixed on the extension bracket. One end of the cylinder bracket is rotatably connected to the second connecting disk, and the other end of the cylinder bracket is rotatably connected to the extension bracket, which is used to drive the extension bracket and the connecting rod to expand or retract.

8. The vacuum pipeline robot according to claim 5, characterized in that: The airbag sealing mechanism includes a limiting plate, an airbag inner ring and an annular airbag. The two limiting plates are fixed on both sides of the airbag inner ring. The annular airbag is located between the two limiting plates and installed on the outer side of the airbag inner ring. The annular airbag is provided with an air valve.

9. The vacuum pipeline robot according to claim 5, characterized in that: At least one mounting hole is provided on the cylinder shaft, and a plug is installed in the mounting hole.

10. The vacuum pipeline robot according to claim 1, characterized in that: The telescopic section includes a fixed sleeve, a telescopic cylinder, a pushing disc and a connecting hose. The telescopic cylinder is fixed on the fixed sleeve. The telescopic cylinder is connected to the pushing disc through a second telescopic rod. The pushing disc is movably connected to the fixed sleeve through the telescopic sleeve. The fixed sleeve and the pushing disc are respectively connected to the front crawling section and the rear crawling section through the connecting hose.

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