Pipeline cleaning robot and operation system

Abstract

The invention provides a pipeline cleaning robot and an operation system, and belongs to the technical field of pipeline robotics.The pipeline cleaning robot comprises a robot body, a rotary disc, a water spray head and a supporting unit, and the robot body is provided with a power mechanism and can move in a pipeline; the rotary disc is connected to the robot body. The axis of the rotary disc is parallel to the axis of the pipeline. The water spray head is connected to the rotary disc, the rotary disc can drive the water spray head to rotate around the axis of the rotary disc, the water spray head can be connected with ultrahigh-pressure water, and a water jet cutter sprayed by the water spray head can break hard obstacles on the inner wall of a pipeline, has good cleaning capacity and cannot damage the inner wall of the pipeline. The supporting unit is installed on the robot body and used for making contact with the inner wall of the pipeline and adjusting the height of the robot body so that the axis of the rotary disc can coincide with the axis of the pipeline, and the water jet cutter can efficiently and accurately cut hard deposits on the inner wall of the pipeline 24 along the inner circumference of the pipeline 24.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline robots, and more specifically, relates to a pipeline cleaning robot and an operating system. Background Art

[0002] If there are local damages and holes in the pipeline, or if there are foreign objects such as concrete and tree roots blocking the pipeline or leakage, the local damaged parts need to be cleaned, repaired, filled with holes, and surface treated before repair. The development and application of pipeline cleaning robots will greatly improve the efficiency and quality of drainage pipeline repair work, reduce labor costs, and reduce the labor intensity of operators. At the same time, robots can also reduce the interference of manual operations on the pipeline environment and improve the accuracy and safety of pipeline repair.

[0003] Currently, pipeline cleaning robots mostly use tools such as brushes or scrapers to clean obstacles attached to the inner wall of the pipeline, and the cleaning process may cause damage to the pipeline. Summary of the invention

[0004] The purpose of the present invention is to provide a pipeline cleaning robot and an operating system to solve the problem that the existing pipeline cleaning robots are prone to damage the pipeline.

[0005] In order to achieve the above objectives, in a first aspect, the present invention provides a pipeline cleaning robot, comprising:

[0006] A robot body, wherein the robot body is provided with a power mechanism and is capable of moving in the pipeline;

[0007] A rotating disk, the rotating disk is connected to the robot body, and the axis of the rotating disk is parallel to the axis of the pipeline;

[0008] A water spray head, the water spray head is connected to the rotating disk, and the rotating disk can drive the water spray head to rotate around the axis of the rotating disk;

[0009] A support unit is installed on the robot body and is used to contact the inner wall of the pipeline and adjust the height of the robot body so that the axis of the turntable coincides with the axis of the pipeline.

[0010] Optionally, the pipeline cleaning robot further includes:

[0011] A robotic arm unit is connected to the turntable, the robotic arm unit can move with multiple degrees of freedom, and the water nozzle is installed at the end of the robotic arm unit.

[0012] Optionally, the pipeline cleaning robot further includes a supporting unit, wherein the supporting unit includes:

[0013] A lower support, the lower support being able to telescope downward to contact a lower portion of an inner wall of the pipe;

[0014] The upper support can be extended and retracted upward to contact the upper part of the inner wall of the pipeline.

[0015] Optionally, the lower support comprises:

[0016] A plurality of leg mounting plates, one end of each leg mounting plate being connected to the lower surface of the robot body via a leg mounting plate rotating shaft, and the leg mounting plate rotating shaft being vertically arranged;

[0017] A plurality of legs are arranged in pairs with a plurality of leg mounting plates, and the legs are connected to the other end of the leg mounting plate and can be extended downward.

[0018] Optionally, the water nozzle is detachably mounted on the robotic arm unit via a clamp, and the clamp can also be used to mount a pneumatic tool.

[0019] Optionally, the mechanical arm unit comprises:

[0020] A big arm, one end of which is hinged to the rotating disk;

[0021] A small arm, one end of which is hinged to the other end of the large arm, and the water spray head is installed at the other end of the small arm;

[0022] A boom electric push rod, one end of which is hinged to the rotary disk, and the other end of which is hinged to the boom;

[0023] A forearm electric push rod, one end of which is hinged to the upper arm, and the other end of which is hinged to the forearm.

[0024] In a second aspect, the present invention provides a pipeline cleaning robot operation system, comprising:

[0025] The pipeline cleaning robot according to the first aspect;

[0026] A ground power vehicle, wherein the ground power vehicle comprises a suspension device, and the suspension device is used for hanging and recovering the pipeline cleaning robot.

[0027] Optionally, the suspension device comprises:

[0028] A foundation, the lower end of which is fixedly connected to the ground power vehicle;

[0029] A turntable, the turntable is connected to the upper end of the turntable, and the turntable can rotate horizontally;

[0030] A main beam, one end of which is hinged to the turntable, and the main beam can rotate vertically around the one end of the main beam;

[0031] A telescopic beam, one end of which is connected to the other end of the main beam, and the other end of which is provided with a pulley;

[0032] A winch is provided with a cable which passes over the pulley and extends downward.

[0033] Optionally, the ground power vehicle further comprises:

[0034] A generator, the generator being connected to the pipeline cleaning robot via a cable;

[0035] A water pump, the water pump is connected to the water nozzle through a water pipe;

[0036] An air pump connected to the electric tool via an air pipe;

[0037] A pipeline retracting and releasing device, the pipeline retracting and releasing device is used to retract and release the cable, the water pipe and the air pipe;

[0038] A pipeline guide device, wherein a guide wheel is provided at the end of the pipeline guide device, and the pipeline guide device is used to extend into an inspection well.

[0039] A control console is electrically connected to the pipeline cleaning robot and is used to control the pipeline cleaning robot.

[0040] Optionally, the pipeline guiding device comprises:

[0041] A guide device nut assembly, one end of which is hinged to the ground power vehicle through a guide device rotating shaft, and the guide device rotating shaft is arranged horizontally;

[0042] A lead screw, one end of which is threadedly connected to the other end of the guide device nut assembly;

[0043] A guide wheel, the guide wheel being arranged at the other end of the lead screw;

[0044] A guide device electric push rod, one end of which is hinged to the ground power vehicle through a guide device electric push rod rotating shaft, the electric push rod rotating shaft is horizontally arranged, and the other end of the guide device electric push rod is hinged to the guide device nut assembly.

[0045] The beneficial effects of the present invention are: providing a pipeline cleaning robot, including: a robot body, a turntable, a water spray head and a support unit, the robot body is provided with a power mechanism and can move in the pipeline; the turntable is connected to the robot body, and the axis of the turntable is parallel to the axis of the pipeline; the water spray head is connected to the turntable, and the turntable can drive the water spray head to rotate around the axis of the turntable, the water spray head can be connected to ultra-high pressure water, and the water jet sprayed by the water spray head can break the hard obstacles on the inner wall of the pipeline, the water jet has good cleaning ability and will not damage the inner wall of the pipeline; the support unit is installed on the robot body, which is used to contact the inner wall of the pipeline and adjust the height of the robot body so that the axis of the turntable coincides with the axis of the pipeline, so as to realize that the water jet can efficiently and accurately cut the hard deposits on the inner wall of the pipeline 24 along the inner circumference of the pipeline 24.

[0046] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0048] Figure 1 One of the schematic structural diagrams of a pipeline cleaning robot according to an embodiment of the present invention is shown.

[0049] Figure 2 A second schematic structural diagram of a pipeline cleaning robot according to an embodiment of the present invention is shown.

[0050] Figure 3 A schematic structural diagram of a pipeline cleaning robot with its leg mounting plates in a retracted state according to an embodiment of the present invention is shown.

[0051] Figure 4 A schematic structural diagram of a pipeline cleaning robot leg mounting plate in an unfolded state according to an embodiment of the present invention is shown.

[0052] Figure 5 One of the schematic structural diagrams of a pipeline cleaning robot operation system according to an embodiment of the present invention is shown.

[0053] Figure 6 A second schematic structural diagram of a pipeline cleaning robot operation system according to an embodiment of the present invention is shown.

[0054] Figure 7 A partial schematic structural diagram of a pipeline cleaning robot operation system according to an embodiment of the present invention is shown.

[0055] Description of reference numerals:

[0056] 1. Ground power vehicle; 2. Pipeline cleaning robot; 3. Generator; 4. Air pump; 5. Water pump; 6. Pipeline retracting and releasing device; 7. Control console; 8. Suspension device; 9. Lifting ring; 10. Side camera; 11. Robot body; 12. Outrigger; 13. Upper support; 14. Headlight; 15. Turntable; 16. Electric push rod for big arm; 17. Big arm; 18. Front camera; 19. Electric push rod for small arm; 20. Rotating shaft of big arm; 21. Small arm; 22. Water spray head; 23. Outrigger mounting plate; 24. Pipeline ; 25. Inspection well mouth; 26. Leg mounting plate shaft; 28. Guide device electric push rod shaft; 29. ​​Guide device electric push rod; 30. Guide device shaft; 31. Guide device nut assembly; 32. Screw; 33. Guide wheel; 34. Inspection well; 36. Pipeline guide device; 37. Forearm shaft; 38. Radar sensor; 39. Laser displacement sensor; 40. Foundation; 41. Turntable; 42. Winch; 43. Main beam; 44. Telescopic beam; 45. Hook; 47. Front camera shaft. DETAILED DESCRIPTION

[0057] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0058] like Figure 1-4 As shown, this embodiment provides a pipeline cleaning robot 2, comprising:

[0059] The robot body 11 is provided with a power mechanism and is capable of moving in the pipe 24;

[0060] A rotating disk 15, the rotating disk 15 is connected to the robot body 11, and the axis of the rotating disk 15 is parallel to the axis of the pipeline 24;

[0061] A water spray head 22, which is connected to the rotating disk 15, and the rotating disk 15 can drive the water spray head 22 to rotate around the axis of the rotating disk 15;

[0062] The support unit is installed on the robot body 11 and is used to contact the inner wall of the pipe 24 and adjust the height of the robot body 11 so that the axis of the turntable 15 coincides with the axis of the pipe 24 .

[0063] Specifically, the water jet 22 of the pipeline robot 2 can be connected to ultra-high pressure water, and the water jet sprayed by the water jet 22 can break the hard obstacles on the inner wall of the pipeline 24. The water jet has good cleaning ability and will not damage the inner wall of the pipeline 24. The support unit can adjust the height of the robot body 11 so that the axis of the rotating disk 15 coincides with the axis of the pipeline 24, so that the water jet can efficiently and accurately cut the hard deposits on the inner wall of the pipeline 24 along the inner circumference of the pipeline 24.

[0064] Optionally, the pipeline cleaning robot 2 further includes:

[0065] The mechanical arm unit is connected to the rotating disk (15), the mechanical arm unit can move with multiple degrees of freedom, and the water spray head (22) is installed at the end of the mechanical arm unit.

[0066] Specifically, the robotic arm unit can drive the water jet head 22 to adjust the position and angle to achieve precise water jet cleaning.

[0067] Optionally, the pipeline cleaning robot 2 further includes a supporting unit, which includes:

[0068] A lower support, the lower support being able to telescope downward to contact the lower portion of the inner wall of the pipe 24;

[0069] The upper support 13 can be extended and retracted upward to contact the upper part of the inner wall of the pipe 24.

[0070] Specifically, when the water spray head 22 is working, when the lower support and the upper support 13 are extended at the same time, they can be expanded and tightened on the inner wall of the pipe 24 to fix the robot body 11, so that the water spray head 22 can work stably and accurately.

[0071] Optionally, the lower support comprises:

[0072] A plurality of leg mounting plates 23, one end of the leg mounting plate 23 is connected to the lower surface of the robot body 11 through a leg mounting plate rotating shaft 26, and the leg mounting plate rotating shaft 26 is vertically arranged;

[0073] The plurality of legs 12 are arranged in pairs with the plurality of leg mounting plates 23 , and the legs 12 are connected to the other end of the leg mounting plate 23 and can be extended downward.

[0074] Specifically, the leg mounting plate 23 can rotate with the leg mounting plate shaft 26 as the axis. When the robot body 11 is moving, the leg mounting plate 23 is retracted to avoid scratching the pipe 24, and is unfolded to support and fix the robot body 11 during cleaning. The height of the robot body 11 can also be adjusted by controlling the extension of the legs 12, which is convenient for cleaning.

[0075] Optionally, the water spray head 22 is detachably mounted on the robot arm unit via a clamp, and the clamp can also be mounted with a pneumatic tool.

[0076] Specifically, the pipeline 24 machine operation system can be equipped with a variety of tools to complete different operation tasks.

[0077] Optionally, the robot arm unit comprises:

[0078] A big arm 17, one end of which is hinged to the rotary plate 15;

[0079] A small arm 21, one end of which is hinged to the other end of the large arm 17, and a water spray head 22 is installed at the other end of the small arm 21;

[0080] A boom electric push rod 16, one end of which is hinged to the rotary plate 15, and the other end of which is hinged to the boom 17;

[0081] The forearm electric push rod 19 has one end hinged to the upper arm 17 and the other end hinged to the forearm 21 .

[0082] In this embodiment, the boom shaft 20 is mounted on the rotating disk 15, one end of the boom electric push rod 16 is hingedly mounted on the rotating disk 15, and the other end is hingedly mounted on the boom 17. When the boom electric push rod 16 is telescopic, the boom 17 swings around the boom shaft 20. The forearm shaft 37 is mounted on the boom 17, one end of the forearm electric push rod 19 is hingedly mounted on the boom 17, and the other end is hingedly mounted on the forearm 21. When the forearm electric push rod 19 is telescopic, the forearm 21 swings around the forearm shaft 37. The water spray head 22 and the radar sensor 38 are mounted on the forearm 21. The radar sensor 38 is used to detect obstacles in the pipeline 24.

[0083] In specific implementation, when the legs 12 are unfolded, the legs 12 are extended to raise the pipe cleaning robot 2, so that the axis of the rotating disk 15 coincides with the axis of the pipe 24, and then the upper support 13 is raised to support the pipe wall, so that the body of the pipe cleaning robot 2 can be fixed. At this time, the rotating disk 15 rotates, which will drive the water spray head 22 to move along the inner circle of the pipe 24. At this time, the water pump 5 is started, and the water jet formed by the high-pressure water flow sprayed by the water spray head 22 can cut off the hard deposits on the inner wall of the pipe 24 along the inner circle of the pipe 24.

[0084] Optionally, the pipeline cleaning robot further includes:

[0085] The front camera 18 is mounted on the upper arm 17 .

[0086] The side camera 10 is installed on the rear side of the robot body 11 .

[0087] A plurality of lights 14 are mounted on the robot body 11 .

[0088] Specifically, the front camera 18 and the side cameras 10 are used to monitor the situation in the pipe 24 , and the vehicle lights 14 are used to provide lighting for the front camera 18 and the side cameras 10 .

[0089] like Figure 5 and 6 As shown, this embodiment also provides a pipeline cleaning robot operation system, including:

[0090] The pipeline cleaning robot 2 in this embodiment;

[0091] The ground power vehicle 1 comprises a suspension device 8 , and the suspension device 8 is used for hanging and recovering the pipeline cleaning robot 2 .

[0092] Specifically, the pipeline cleaning robot operation system can directly drive the ground power vehicle 1 to the operation site, complete the whole process of going down the well, positioning, breaking operations, and recycling and returning mechanized operations, and realize convenient and fast construction operations.

[0093] Optionally, the suspension device 8 comprises:

[0094] A foundation 40, the lower end of which is fixedly connected to the ground power vehicle 1;

[0095] A turntable 41, connected to the upper end of the turntable 41, and the turntable 41 can rotate horizontally;

[0096] A main beam 43, one end of which is hinged to the turntable 41, and the main beam 43 can rotate vertically around the one end of the main beam 43;

[0097] A telescopic beam 44, one end of which is connected to the other end of the main beam 43, and a pulley is provided at the other end of the telescopic beam 44;

[0098] The winch 42 is provided with a cable, which passes over a pulley and extends downward.

[0099] In this embodiment, the turntable 41 can rotate around the axis of the foundation 40, the main beam 43 is installed on the turntable 41, the telescopic beam 44 can be telescoped along the main beam 43, and the winch 42 is installed on the main beam 43 to drive the hook 45 to move up and down. The pipe cleaning robot 2 can be lifted by operating the suspension device 8 and placed in the inspection well 34.

[0100] Optionally, the ground power vehicle 1 further includes:

[0101] A generator 3, the generator 3 is connected to the pipeline cleaning robot 2 through a cable;

[0102] A water pump 5, which is connected to the water nozzle 22 through a water pipe;

[0103] An air pump 4, the air pump 4 is connected to the electric tool through an air pipe;

[0104] A pipeline retracting and releasing device 6, which is used to retract and release cables, water pipes and air pipes;

[0105] A pipeline guiding device 36 , at the end of which a guide wheel 33 is provided, is used to extend into the inspection well 34 .

[0106] The control console 7 is electrically connected to the pipeline cleaning robot 2 and is used to control the pipeline cleaning robot 2 .

[0107] Specifically, the pipeline guiding device 36 can extend into the inspection well 34 so that the guide wheel 33 is located near the entrance of the pipeline 24, and the cables, water pipes and air pipes are passed around the guide wheel 33. The guide wheel 33 guides the extension direction of the cables, water pipes and air pipes to be in the same direction as the axis of the pipeline 24, which can prevent the cables, water pipes and air pipes from scratching against the pipe wall.

[0108] like Figure 7 As shown, optionally, the pipeline guiding device 36 includes:

[0109] A guide device nut assembly 31, one end of which is hinged to the ground power vehicle 1 through a guide device rotating shaft 30, and the guide device rotating shaft 30 is arranged horizontally;

[0110] A lead screw 32, one end of which is threadedly connected to the other end of the guide device nut assembly 31;

[0111] A guide wheel 33, which is disposed at the other end of the lead screw 32;

[0112] The guide device electric push rod 29 has one end hinged to the ground power vehicle 1 through the guide device electric push rod rotating shaft 28, the electric push rod rotating shaft 28 is horizontally arranged, and the other end of the guide device electric push rod 29 is hinged to the guide device nut assembly 31.

[0113] During specific implementation, the guide device electric push rod 29 is extended, the guide device nut assembly 31 rotates 90 degrees counterclockwise around the guide device shaft 30 and is parallel to the axis of the inspection well 34, the guide device nut assembly 31 drives the screw 32 to extend, and the screw 32 penetrates into the inspection well 34 so that the guide wheel 33 is located near the entrance of the pipeline 24.

[0114] The construction method using the pipeline cleaning robot operation system includes: a downhole process, a positioning process, a cleaning operation process and a recovery process.

[0115] The process of going down into the well includes:

[0116] Park the ground power vehicle 1 beside the starting inspection well opening 25;

[0117] Control the suspension device 8 to move its hook 45 to the top of the pipeline cleaning robot 2, and hang the ring 9 of the pipeline cleaning robot 2 on the hook 45 of the suspension device 8;

[0118] The suspension device 8 is controlled to lift the pipeline cleaning robot 2, adjusted to a suitable well entry angle, and the pipeline cleaning robot 2 is placed into the inspection well 34 so that the head of the pipeline cleaning robot 2 faces the direction of the pipeline 24 to be operated.

[0119] The pipeline guide device 36 is controlled and adjusted to a suitable position in the inspection well 34, and the lowering into the well is completed.

[0120] The placement process includes:

[0121] Control the pipeline cleaning robot 2 to move forward to a waiting position for operation;

[0122] The pipeline cleaning robot 2 is controlled to extend the four legs 12 so that the axis of the rotary disk 15 of the pipeline cleaning robot 2 coincides with the axis of the pipeline 24, and the pipeline cleaning robot 2 is controlled to extend the upper support 13 to support the pipe wall, and the positioning is completed.

[0123] The cleaning process includes:

[0124] Control the rotary plate 15, the upper arm 17 and the lower arm 21 of the pipeline cleaning robot 2 so that the distance between the water jet head 22 and the deposits meets the effective distance of the water jet operation;

[0125] The water pump 5 is started to start the breaking operation, and the rotary disk 15 is controlled to rotate at a suitable speed so that the water jet breaks the deposits along the inner arc line of the pipeline 24.

[0126] When the distance between the water nozzle 22 and the deposit exceeds the effective distance of the water jet operation, turn off the water pump 5, stop the breaking operation, retract the legs 12, control the pipe cleaning robot 2 to move forward an appropriate distance, and then control the pipe cleaning robot 2 to expand and extend the legs 12, so that the axis of the turntable 15 of the pipe cleaning robot 2 coincides with the axis of the pipe 24, and extend the upper support 13 to support the pipe wall.

[0127] Repeat the above operations in this operation process until all the deposits are removed and the removal operation is completed.

[0128] The recycling process includes:

[0129] The water pump 5 is turned off, and the pipeline cleaning robot 2 is controlled to stop working.

[0130] The pipeline cleaning robot 2 is controlled to retract the upper support 13 , retract the four legs 12 , and retract the four legs 12 .

[0131] The pipeline cleaning robot 2 is controlled to retreat into the inspection shaft 34 .

[0132] Control the retraction line guide 36.

[0133] The suspension device 8 is controlled to lift the pipeline cleaning robot 2 back to the ground power vehicle 1 .

[0134] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A pipeline cleaning robot, characterized in that: include: A robot body (11), wherein the robot body (11) is provided with a power mechanism and is capable of moving in the pipe (24); A rotating disk (15), the rotating disk (15) is connected to the robot body (11), and the axis of the rotating disk (15) is parallel to the axis of the pipeline (24); A water spray head (22), wherein the water spray head (22) is connected to the rotating disk (15), and the rotating disk (15) can drive the water spray head (22) to rotate around the axis of the rotating disk (15); A support unit is installed on the robot body (11) and is used to contact the inner wall of the pipe (24) and adjust the height of the robot body (11) so that the axis of the turntable (15) coincides with the axis of the pipe (24).

2. The pipeline cleaning robot according to claim 1, characterized in that: Also includes: A mechanical arm unit is connected to the rotating disk (15), the mechanical arm unit is capable of multi-degree-of-freedom movement, and the water spray head (22) is installed at the end of the mechanical arm unit.

3. The pipeline cleaning robot according to claim 1, characterized in that: The support unit comprises: a lower support, the lower support being capable of telescoping downward to contact a lower portion of an inner wall of the pipe (24); An upper support (13) is capable of extending and retracting upward to contact the upper portion of the inner wall of the pipe (24).

4. The pipeline cleaning robot according to claim 3, characterized in that: The lower support comprises: A plurality of leg mounting plates (23), one end of each leg mounting plate (23) being connected to the lower surface of the robot body (11) via a leg mounting plate rotating shaft (26), and the leg mounting plate rotating shaft (26) being arranged vertically; A plurality of legs (12) are provided, wherein the plurality of legs (12) and the plurality of leg mounting plates (23) are arranged in pairs, and the legs (12) are connected to the other end of the leg mounting plate (23) and can be extended downward.

5. The pipeline cleaning robot according to claim 2, characterized in that: The water spray head (22) is detachably mounted on the mechanical arm unit via a clamp, and the clamp can also be mounted with a pneumatic tool.

6. The pipeline cleaning robot according to claim 2, characterized in that: The robot arm unit comprises: A large arm (17), one end of which is hinged to the rotating disk (15); A small arm (21), one end of the small arm (21) is hinged to the other end of the large arm (17), and the water spray head (22) is installed at the other end of the small arm (21); A boom electric push rod (16), one end of which is hinged to the rotary disc (15), and the other end of which is hinged to the boom (17); A forearm electric push rod (19), one end of which is hinged to the upper arm (17), and the other end of which is hinged to the forearm (21).

7. A pipeline cleaning robot operation system, characterized in that: include: The pipeline cleaning robot (2) according to any one of claims 1 to 6; A ground power vehicle (1), the ground power vehicle (1) comprising a suspension device (8), the suspension device (8) being used for suspending and recovering the pipeline cleaning robot (2).

8. The pipeline cleaning robot operation system according to claim 7, characterized in that: The suspension device (8) comprises: A foundation (40), the lower end of which is fixedly connected to the ground power vehicle (1); A turntable (41), the turntable (41) being connected to the upper end of the turntable (41), and the turntable (41) being capable of horizontal rotation; A main beam (43), one end of the main beam (43) is hinged to the turntable (41), and the main beam (43) can rotate vertically around the one end of the main beam (43); A telescopic beam (44), one end of the telescopic beam (44) is connected to the other end of the main beam (43), and the other end of the telescopic beam (44) is provided with a pulley; A winch (42) is provided with a cable, which passes over the pulley and extends downward.

9. The pipeline cleaning robot operation system according to claim 8, characterized in that: The ground power vehicle (1) further comprises: A generator (3), the generator (3) being connected to the pipeline cleaning robot (2) via a cable; A water pump (5), wherein the water pump (5) is connected to the water nozzle (22) via a water pipe; An air pump (4), the air pump (4) being connected to the electric tool via an air pipe; A pipeline retracting and releasing device (6), the pipeline retracting and releasing device (6) being used for retracting and releasing the cable, the water pipe and the air pipe; A pipeline guide device (36), wherein a guide wheel (33) is provided at the end of the pipeline guide device (36), and the pipeline guide device (36) is used to extend into the inspection well (34); A control console (7) is electrically connected to the pipeline cleaning robot (2) and is used to control the pipeline cleaning robot (2).

10. The pipeline cleaning robot operation system according to claim 9, characterized in that: The pipeline guiding device (36) comprises: A guide device nut assembly (31), one end of the guide device nut assembly (31) is hinged to the ground power vehicle (1) through a guide device rotating shaft (30), and the guide device rotating shaft (30) is arranged horizontally; A lead screw (32), one end of which is threadedly connected to the other end of the guide device nut assembly (31); A guide wheel (33), wherein the guide wheel (33) is arranged at the other end of the lead screw (32); A guide device electric push rod (29), one end of which is hinged to the ground power vehicle (1) via a guide device electric push rod rotating shaft (28), the electric push rod rotating shaft (28) is arranged horizontally, and the other end of the guide device electric push rod (29) is hinged to the guide device nut assembly (31).

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