Pipeline cleaning robot

Abstract

The invention relates to the technical field of pipeline cleaning, in particular to a pipeline cleaning robot. The pipeline cleaning robot comprises a main machine, and a cleaning mechanism is arranged on the side, facing the interior of a pipeline, of the main machine; the at least two advancing devices are arranged on the peripheral side of the main machine, the advancing devices are movably connected with the inner side wall of the pipeline, each advancing device comprises a fixing rod, a moving mechanism, at least one connecting rod and an elastic piece, the fixing rods are fixedly arranged on the main machine and are parallel to the main machine, and the moving mechanisms are movably connected with the inner side wall of the pipeline; one end of the connecting rod is slidably connected with the fixing rod, the other end of the connecting rod is rotatably connected with the moving mechanism, the elastic part is arranged on the fixing rod and located on one side of the connecting rod, and the moving mechanism bears external force and is suitable for driving the connecting rod to rotate and enabling one end of the connecting rod to slide in the direction close to the elastic part along the fixing rod.

Description

Technical Field

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

[0002] Pipeline robots play a vital role in the maintenance of modern industrial and urban infrastructure. They can go deep into narrow or difficult-to-reach pipelines to perform tasks instead of people, significantly improving the safety of operations and reducing the risks faced by workers. At present, pipeline robots are mainly used to check pipeline integrity, find leaks and blockages, and clean up blockages to ensure smooth pipeline operation. Because the diameters of pipelines are inconsistent, pipeline robots need to have the function of changing diameters to cope with pipelines of different diameters. In the prior art, pipeline robots usually require motor drive to achieve variable diameter adjustment, which not only increases the complexity and energy consumption of the system, but also leads to a large overall weight, affecting the operational flexibility in narrow or complex pipeline environments. At the same time, pipeline robots often cannot achieve independent variable diameter adjustment of the crawler feet, which limits their ability to work stably in pipelines with varying diameters, resulting in problems such as loose grip, unstable driving, and difficulty in climbing. Summary of the invention

[0003] In view of this, the present invention provides a pipeline cleaning robot to solve the problem that the independent diameter adjustment of the crawler foot cannot be achieved.

[0004] In a first aspect, the present invention provides a pipeline cleaning robot, comprising:

[0005] A main machine, wherein a cleaning mechanism is provided on a side of the main machine facing the inside of the pipeline;

[0006] At least two traveling devices, wherein the traveling devices are arranged on the peripheral side of the main machine, and are movably connected to the inner wall of the pipe. The traveling devices include a fixed rod, a moving mechanism, at least one connecting rod and an elastic member. The fixed rod is fixedly arranged on the main machine and the fixed rod is parallel to the main machine. The moving mechanism is movably connected to the inner wall of the pipe, one end of the connecting rod is slidably connected to the fixed rod, and the other end of the connecting rod is rotatably connected to the moving mechanism. The elastic member is arranged on the fixed rod and is located on one side of the connecting rod. The moving mechanism is suitable for driving the connecting rod to rotate and causing one end of the connecting rod to slide along the fixed rod toward the direction close to the elastic member when subjected to external force.

[0007] Beneficial effects:

[0008] The upper end of the connecting rod is hinged to the moving mechanism, and the lower end of the connecting rod is slidably connected to the fixed rod, so that when the pipeline changes diameter, the lower end of the connecting rod can slide on the fixed rod to reduce the distance between the moving mechanism and the main machine. By setting an elastic member, the elastic member can apply elastic force to the connecting rod and drive the connecting rod to move when the thrust is less than the elastic force, so that the distance between the moving mechanism and the main machine is expanded, which can effectively make the moving mechanism in close contact with the inner wall of the pipeline and improve the gripping ability. Through the elastic member and the connecting rod, a single moving mechanism has the function of independently adjusting the diameter change, which is conducive to stable operation in pipelines with changing diameters. At the same time, it avoids the use of motor drive for diameter adjustment, simplifies the overall structure, and improves the overall flexibility.

[0009] In an optional embodiment, the traveling device further includes a fixing member and a support rod, wherein the fixing member is fixedly disposed on the fixing rod, the fixing member is disposed on a side of the connecting rod away from the elastic member, the fixing member is spaced apart from the connecting rod, one end of the support rod is rotatably connected to the fixing member, and the other end of the support rod is rotatably connected to the connecting rod.

[0010] Beneficial effects:

[0011] By fixing a fixing piece on the fixing rod and connecting the two ends of the support rod to the fixing piece and the connecting rod respectively, the support rod can provide supporting force for the connecting rod, thereby enhancing the strength of the connecting rod and effectively improving the service life of the connecting rod.

[0012] In an optional embodiment, the host includes a host shell and a connecting column, the host shell has a cavity, the connecting column is arranged in the host shell, the two ends of the connecting column are respectively fixedly connected to the two side walls of the cavity, the fixing rod is arranged in the cavity, the two ends of the fixing rod are respectively fixedly connected to the two side walls of the cavity, the fixing rod is arranged on the peripheral side of the connecting column and is parallel to the connecting column, one end of the connecting rod extends out of the cavity and is rotatably connected to the moving mechanism, and the fixing piece is fixedly connected to the connecting column.

[0013] Beneficial effects:

[0014] The fixing piece is fixedly arranged on the connecting column, which effectively improves the stability and strength of the fixing piece and ensures the overall stability of the pipeline cleaning robot.

[0015] In an optional embodiment, clamping plates are provided at both ends of the connecting column, and clamping parts cooperating with the clamping plates are provided on both side walls of the cavity. The connecting column is fixed in the cavity through the clamping plates cooperating with the clamping parts, and an installation groove is provided on the side of the clamping plate facing the other clamping plate, and both ends of the fixing rod are respectively arranged in the installation grooves and fixedly connected to the installation grooves.

[0016] Beneficial effects:

[0017] By providing the clamping plate and the clamping portion, the connecting column can be better fixedly connected to the main body shell, thereby improving the overall stability of the road cleaning robot.

[0018] In an optional embodiment, the connecting column has a cavity therein, the card plate is provided with a connecting hole connected to the cavity, the cleaning mechanism includes a drill bit, the drill bit is arranged in the cavity, and the output end of the drill bit extends out along the connecting hole located on the main unit toward the side of the pipeline.

[0019] Beneficial effects:

[0020] The drill bit is arranged in the cavity of the connecting column, and the output end of the drill bit extends out through the connecting hole, which is beneficial to clearing the blockage in the pipeline.

[0021] In an optional embodiment, the motion mechanism includes a motion shell, a track assembly and a driving structure, the connecting rod is rotationally connected to the motion shell, the driving structure is arranged in the motion shell, the track assembly is movably connected to the inner wall of the pipe, and the driving structure is connected to the track assembly to drive the track assembly to move along the inner wall of the pipe and drive the main machine to move.

[0022] In an optional embodiment, a reinforcement plate is provided on the connecting column, and the fixing member is fixedly connected to the reinforcement plate.

[0023] Beneficial effects:

[0024] The fixing piece is fixedly connected to the reinforcing plate to be fixedly arranged on the connecting column. The reinforcing plate can improve the fixing effect of the fixing piece and the connecting column, thereby improving the overall stability of the road cleaning robot.

[0025] In an optional implementation, it also includes:

[0026] A control device, the control device includes a locator, a visual recognition unit, an ultrasonic sensor and a control main board, the control main board and the locator are arranged in the main body shell, the visual recognition unit is arranged on the side of the main body shell facing the inside of the pipe, the ultrasonic sensors are respectively arranged on the side of the main body shell facing the inside of the pipe and the side away from the inside of the pipe, the visual recognition unit and the ultrasonic sensor are respectively connected to the control main board by signal, a wireless transmission module is arranged on the control main board, and the control main board is electrically connected to the drill bit and the motion mechanism.

[0027] Beneficial effects:

[0028] By controlling the main board to obtain data information, the motion mechanism is controlled to drive the main machine to move forward or control the electric drill to clean the blockage in the pipeline, thereby achieving the effect that the pipeline cleaning robot can operate independently according to the situation in the pipeline, avoiding the process that requires continuous manual operation, reducing the difficulty of operation, and improving work efficiency.

[0029] In an optional embodiment, the track assembly includes a track, a driving gear and a driven gear, the driving gear and the driven gear are respectively arranged at both ends of the track and mesh with the track, and the driving structure is connected to the driving gear to drive the driving gear to rotate.

[0030] In an optional embodiment, the cleaning mechanism further includes a water gun, which is disposed on a side of the main body housing facing the inside of the pipeline, and the water gun is connected to the water storage mechanism via a water pipe.

[0031] Beneficial effects:

[0032] By setting up a water gun, soft blockages in the pipeline can be cleaned, which effectively improves practicality and can better clean blockages in the pipeline.

[0033] In an optional embodiment, a power supply structure is provided in the main body shell, and the power supply structure is respectively connected to the locator, the visual recognition unit, the ultrasonic sensor, the control main board, the cleaning mechanism and the motion mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 is a schematic diagram of a pipeline cleaning robot according to an embodiment of the present invention;

[0036] Figure 2 This is a front view of a pipeline cleaning robot according to an embodiment of the present invention;

[0037] Figure 3 is a schematic diagram of a connecting column according to an embodiment of the present invention;

[0038] Figure 4 is a schematic diagram of a crawler assembly according to an embodiment of the present invention;

[0039] Figure 5 2 is a cross-sectional view of a motion mechanism according to an embodiment of the present invention.

[0040] Description of reference numerals:

[0041] 1. Main machine; 2. Traveling device; 3. Fixed rod; 4. Moving mechanism; 5. Connecting rod; 6. Elastic member; 7. Fixed member; 8. Support rod; 9. Main machine housing; 10. Connecting column; 11. Clamping plate; 12. Clamping part; 13. Drill bit; 14. Moving housing; 15. Track assembly; 16. Driving structure; 17. Visual recognition unit; 18. Ultrasonic sensor; 19. Track; 20. Driving gear; 21. Driven gear; 22. Water gun; 23. Slider. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0043] When pipeline cleaning robots check pipeline integrity, find leaks and blockage locations, and clear blockages, human intervention is usually required to control the work of the pipeline cleaning robots. It is impossible to dynamically adjust the cleaning methods and travel status according to real-time data, and the operation is relatively complicated.

[0044] Combine the following Figures 1 to 5 , describing an embodiment of the present invention.

[0045] According to an embodiment of the present invention, a pipeline cleaning robot is provided, comprising: a main body 1 and at least two traveling devices 2 .

[0046] Specifically, a cleaning mechanism is provided on the side of the main machine 1 facing the inside of the pipe. A traveling device 2 is provided on the side of the main machine 1, and the traveling device 2 is movably connected to the inner wall of the pipe. The traveling device 2 includes a fixed rod 3, a moving mechanism 4, at least one connecting rod 5 and an elastic member 6. The fixed rod 3 is fixedly provided on the main machine 1 and is parallel to the main machine 1. The moving mechanism 4 is movably connected to the inner wall of the pipe. One end of the connecting rod 5 is slidably connected to the fixed rod 3, and the other end of the connecting rod 5 is rotatably connected to the moving mechanism 4. The elastic member 6 is provided on the fixed rod 3 and is located on one side of the connecting rod 5. The moving mechanism 4 is suitable for driving the connecting rod 5 to rotate and slide one end of the connecting rod 5 along the fixed rod 3 toward the direction close to the elastic member 6 under external force.

[0047] Specifically, the side of the main machine 1 facing the inside of the pipeline is the front side, and a cleaning mechanism is provided on the front side, through which the blockage in the pipeline can be cleaned. The traveling device 2 is provided on the side of the main machine 1, and the traveling device 2 is connected to the main machine 1. The traveling device 2 is movably connected to the inner wall of the pipeline, and the traveling device 2 moves along the guide direction of the inner wall of the pipeline to drive the main machine 1 to move. The traveling device 2 includes a fixed rod 3, a moving mechanism 4, at least one connecting rod 5 and an elastic member 6. The fixed rod 3 is fixedly provided in the main machine 1, and the fixed rod 3 is parallel to the main machine 1. Figure 3 In the figure, the lower end of the connecting rod 5 is slidably connected to the fixed rod 3, the upper end of the connecting rod 5 is hinged to the moving mechanism 4, the elastic member 6 is arranged on the fixed rod 3 and on one side of the connecting rod 5, the moving mechanism 4 is movably connected to the inner wall of the pipeline, when the diameter of the pipeline changes from large to small, the moving mechanism 4 on the side of the main machine 1 will move toward the direction close to the main machine 1, the moving mechanism 4 will apply a force to the connecting rod 5 to drive the connecting rod 5 to rotate, and the lower end of the connecting rod 5 will slide in the direction close to the elastic member 6, thereby reducing the distance between the moving mechanism 4 and the main machine 1, and realizing the variable diameter adjustment of the moving mechanism 4, when the diameter of the pipeline changes from small to large, the elastic member 6 drives the lower end of the fixed rod 3 to slide in the direction away from the elastic member 6 through the elastic force, the upper end of the fixed rod 3 rotates and drives the moving mechanism 4 away from the main machine 1, and realizing the variable diameter adjustment of the moving mechanism 4.

[0048] In this embodiment, if Figure 3 As shown, four connecting rods 5 are arranged on the fixed rod 3, two connecting rods 5 form a group, the two groups of connecting rods 5 are respectively arranged at the two ends of the fixed rod 3, the two groups of connecting rods 5 are arranged opposite to each other, the lower ends of the two connecting rods 5 in each group are hinged to the slider 23, the slider 23 is slidably arranged on the fixed rod 3, the lower ends of the connecting rods 5 are slidably connected to the fixed rod 3 through the slider 23, Figure 3 The middle elastic member 6 is arranged on the side of each group of connecting rods 5 away from the other group of connecting rods 5. Preferably, the elastic member 6 is a compression spring, one end of which is fixedly connected to the slider 23, and the upper ends of the two groups of connecting rods 5 are hinged to the moving mechanism 4. When the diameter of the pipeline changes from large to small, the moving mechanism 4 on the side of the main machine 1 will move toward the direction close to the main machine 1, and the moving mechanism 4 will apply a force to the connecting rod 5 to drive the connecting rod 5 to rotate. The connecting rod 5 drives the slider 23 to slide in the direction close to the compression spring. The slider 23 applies a thrust to the compression spring to compress the compression spring, thereby reducing the distance between the moving mechanism 4 and the main machine 1, and realizing the diameter adjustment of the moving mechanism 4; when the diameter of the pipeline changes from small to large, the compression spring drives the lower end of the fixed rod 3 to slide in the direction away from the compression spring through elastic force, and the upper end of the fixed rod 3 rotates and drives the moving mechanism 4 away from the main machine 1, thereby realizing the diameter adjustment of the moving mechanism 4.

[0049] In this embodiment, if Figure 2As shown, three motion mechanisms 4 are arranged on the peripheral side of the main machine 1, and the side of the main machine 1 facing the motion mechanism 4 has a long hole, and the upper end of the connecting rod 5 can extend from the long hole. The main machine 1 is hinged with the motion mechanism 4, and the connecting rod 5 can also rotate in the long hole.

[0050] In other embodiments, two, four or other number of motion mechanisms 4 may be provided on the circumference of the main body 1 , and two, three or other number of connecting rods 5 may be provided on the fixing rod 3 .

[0051] It should be noted that the upper end of the connecting rod 5 is hinged to the moving mechanism 4, and the lower end of the connecting rod 5 is slidably connected to the fixed rod 3, so that when the pipe changes diameter, the lower end of the connecting rod 5 can slide on the fixed rod 3, so that the distance between the moving mechanism 4 and the main machine 1 is reduced. By setting the elastic member 6, the elastic member 6 can apply elastic force to the connecting rod 5 and drive the connecting rod 5 to move when the thrust is less than the elastic force, so that the distance between the moving mechanism 4 and the main machine 1 is expanded, and the moving mechanism 4 can be effectively in close contact with the inner wall of the pipe to improve the gripping ability. Through the elastic member 6 and the connecting rod 5, the single moving mechanism 4 has the function of independently adjusting the diameter change, which is conducive to stable operation in the pipe with changing diameter. At the same time, it avoids the use of motor drive for diameter adjustment, simplifies the overall structure, and improves the overall flexibility.

[0052] In some embodiments, the traveling device 2 also includes a fixing member 7 and a support rod 8. The fixing member 7 is fixedly disposed on the fixing rod 3. The fixing member 7 is disposed on the side of the connecting rod 5 away from the elastic member 6. The fixing member 7 is spaced apart from the connecting rod 5. One end of the support rod 8 is rotatably connected to the fixing member 7, and the other end of the support rod 8 is rotatably connected to the connecting rod 5.

[0053] In this embodiment, if Figure 3 As shown, the fixing member 7 is arranged between the two sliders 23, and the fixing rod 3 passes through the fixing member 7 so that the fixing member 7 is fixedly arranged on the fixing rod 3. Four supporting rods 8 are arranged on the fixing member 7, and the lower ends of the four supporting rods 8 are hinged to the fixing member 7, and the upper ends of the four supporting rods 8 are respectively hinged to the middle parts of the four connecting rods 5. When the connecting rods 5 rotate, the supporting rods 8 will be driven to rotate.

[0054] It should be noted that, by fixing the fixing member 7 on the fixing rod 3 and connecting the two ends of the support rod 8 to the fixing member 7 and the connecting rod 5 respectively, the support rod 8 can provide supporting force for the connecting rod 5, thereby enhancing the strength of the connecting rod 5 and effectively improving the service life of the connecting rod 5.

[0055] In some embodiments, the host 1 includes a host shell 9 and a connecting column 10. The host shell 9 has a cavity. The connecting column 10 is arranged in the host shell 9. The two ends of the connecting column 10 are respectively fixedly connected to the two side walls of the cavity. The fixing rod 3 is arranged in the cavity. The two ends of the fixing rod 3 are respectively fixedly connected to the two side walls of the cavity. The fixing rod 3 is arranged on the surrounding side of the connecting column 10 and is parallel to the connecting column 10. One end of the connecting rod 5 extends out of the cavity and is rotatably connected to the moving mechanism 4. The fixing part 7 is fixedly connected to the connecting column 10.

[0056] In this embodiment, if Figure 2 and Figure 3 As shown, the main engine housing 9 is a hexagonal prism structure, the three motion mechanisms 4 correspond to one side of the main engine housing 9 respectively, and the adjacent motion mechanisms 4 are separated by one side. The connecting column 10 is arranged in the cavity of the main engine housing 9, and the two ends of the connecting column 10 are respectively fixedly connected to the front and rear end inner walls of the main engine housing 9. The fixing rod 3 is arranged in the cavity and fixedly connected to the front and rear end inner walls of the main engine housing 9. The fixing rod 3 and the connecting column 10 are parallel to each other. The side of the main engine housing 9 facing the motion mechanism 4 has a long hole, and the upper end of the connecting rod 5 can extend from the long hole. The main engine 1 is hinged with the motion mechanism 4, and the connecting rod 5 can also rotate in the long hole.

[0057] Preferably, the connecting column 10 is a triangular prism, and the three side surfaces of the connecting column 10 are respectively facing the three motion mechanisms 4. The fixing member 7 is fixedly arranged on the side surface of the connecting column 10.

[0058] In some embodiments, clamping plates 11 are provided at both ends of the connecting column 10, and clamping portions 12 cooperating with the clamping plates 11 are provided on both side walls of the cavity. The connecting column 10 is fixed in the cavity through the clamping plates 11 cooperating with the clamping portions 12. A mounting groove (not shown) is provided on the side of the clamping plate 11 facing the other clamping plate 11, and both ends of the fixing rod 3 are respectively arranged in the mounting grooves and fixedly connected to the mounting grooves.

[0059] In this embodiment, if Figures 1 to 3 As shown, a clamping plate 11 is provided at both ends of the connecting column 10, and mounting grooves are provided on the inner walls of the front and rear ends of the cavity. The clamping plate 11 is clamped with the mounting groove so that the connecting column 10 is fixedly set in the cavity. The side of the clamping plate 11 facing the other clamping plate 11 is provided with a mounting groove, and the two ends of the fixing rod 3 are respectively fixedly connected with the mounting groove so that the fixing rod 3 is fixed to the side of the connecting column 10. There is a gap between the fixing rod 3 and the side of the connecting column 10, one end of the compression spring is fixedly connected to the slider 23, and the other end of the compression spring is fixedly connected to the clamping plate 11.

[0060] Preferably, the clamping plate 11 is a tooth-shaped structure, and the mounting groove matches the outer contour of the clamping plate 11 .

[0061] In some embodiments, the connecting column 10 has a cavity therein, and the clamping plate 11 is provided with a connecting hole (not shown) connected to the cavity. The cleaning mechanism includes a drill bit 13, which is disposed in the cavity. The output end of the drill bit 13 extends out along the connecting hole located on the side of the main unit 1 toward the inside of the pipeline.

[0062] In this embodiment, if Figure 2 and Figure 4 As shown, the connection column 10 has a cavity inside, the card plate 11 is provided with a connection hole connected to the cavity, the connection hole is concentric with the connection column 10, the drill bit 13 is arranged in the cavity, the output end of the drill bit 13 extends out of the cavity through the connection hole of the front card plate 11, and the wire of the drill bit 13 extends out of the cavity through the connection hole of the rear card plate 11 and is connected to the power supply structure. The pipeline cleaning robot can move to the blocked part of the pipeline. If it is a hard blockage, the pipeline cleaning robot will clean the blocked part through the drill bit 13 to make the pipeline unblocked.

[0063] In some embodiments, the motion mechanism 4 includes a motion shell 14, a track assembly 15 and a driving structure 16, the connecting rod 5 is rotationally connected to the motion shell 14, the driving structure 16 is arranged in the motion shell 14, the track assembly 15 is movably connected to the inner wall of the pipe, and the driving structure 16 is connected to the track assembly 15 to drive the track assembly 15 to move along the inner wall of the pipe and drive the main machine 1 to move.

[0064] In this embodiment, if Figure 4 and Figure 5 As shown, in Figure 4 The middle connecting rod 5 is hinged to the lower end surface of the moving shell 14, the track assemblies 15 are arranged on both sides of the moving shell 14, and the driving structure 16 is fixedly arranged in the moving shell 14. The driving structure 16 is connected to the track assemblies 15 on both sides of the moving shell 14, and the track assemblies 15 are movably connected to the inner wall of the pipeline. The driving structure 16 can drive the track assembly 15 to move along the inner wall of the pipeline. When the diameter of the pipe changes from large to small, the moving shell 14 will drive the connecting rod 5 to rotate to adjust the distance between the moving shell 14 and the main machine 1 to achieve variable diameter adjustment.

[0065] In some embodiments, the track assembly 15 includes a track 19, a driving gear 20 and a driven gear 21. The driving gear 20 and the driven gear 21 are respectively arranged at both ends of the track 19 and mesh with the track 19. The driving structure 16 is connected to the driving gear 20 to drive the driving gear 20 to rotate.

[0066] In this embodiment, if Figure 5As shown, two driving structures 16 are arranged in the moving shell 14, and the two driving structures 16 are respectively connected to the driving gears 20 on both sides. The driving gear 20 and the driven gear 21 are respectively arranged on both sides of the track 19, and the track 19 is movably connected to the inner wall of the pipeline. The driving structure 16 drives the driving gear 20 to rotate and drives the track 19 and the driven gear 21 to rotate at the same time, so that the track 19 moves along the inner wall of the pipeline, driving the moving shell 14 to move.

[0067] Preferably, the driving structure 16 is a driving motor. The output shaft of the driving motor is sleeved into the coupling of the driving gear 20, and the coupling has a threaded hole, and the output shaft is fixedly connected to the coupling by tightening the fixing screw.

[0068] In some embodiments, a reinforcement plate (not shown) is disposed on the connection column 10, and the fixing member 7 is fixedly connected to the reinforcement plate.

[0069] In this embodiment, a reinforcing plate is provided on the side of the connecting column 10 , and the fixing member 7 is fixedly connected to the reinforcing plate to be fixedly arranged on the connecting column 10 . The reinforcing plate can improve the fixing effect of the fixing member 7 and the connecting column 10 .

[0070] In some embodiments, the control device further includes: a control device. The control device includes a locator (not shown), a visual recognition unit 17, an ultrasonic sensor 18 and a control mainboard. The control mainboard and the locator are arranged in the main body housing 9. The visual recognition unit 17 is arranged on the side of the main body housing 9 facing the inside of the pipeline. The ultrasonic sensor 18 is respectively arranged on the side of the main body housing 9 facing the inside of the pipeline and the side away from the inside of the pipeline. The visual recognition unit 17 and the ultrasonic sensor 18 are respectively connected to the control mainboard by signal. The control mainboard is provided with a wireless transmission module. The control mainboard is electrically connected to the drill bit 13 and the motion mechanism 4.

[0071] In this embodiment, the locator and the control mainboard are arranged in the mainframe housing 9, the visual recognition unit 17 is arranged at the front end of the mainframe housing 9, the ultrasonic sensor 18 is arranged at the front end and the rear end of the mainframe housing 9 respectively, the visual recognition unit 17 and the ultrasonic sensor 18 are respectively connected to the control mainboard signal, the control mainboard is provided with a wireless transmission module, and the control mainboard is electrically connected to the drill bit 13 and the driving structure 16. The visual recognition unit 17 can capture and analyze the image information in front of the mainframe housing 9 and transmit the information to the control mainboard, and the ultrasonic sensor 18 can detect obstacles in front of and behind the mainframe housing 9 through ultrasonic waves and transmit the information to the control mainboard.

[0072] Specifically, the control mainboard has a control chip, and the control chip can execute a logic algorithm to control the drill 13 and the drive structure 16 according to the received data. The visual recognition unit 17 obtains the image information in front of the host housing 9 and transmits the data to the control mainboard. After receiving the data, the control chip determines the information of the front pipeline and controls the motion mechanism 4 to drive the host 1 to move forward. At the same time, the ultrasonic sensor 18 can detect whether there are obstacles in front and behind the host 1 and the distance between the obstacles through ultrasonic waves, and transmit the data to the control mainboard. If there are obstacles, the control chip obtains the data transmitted by the visual recognition unit 17 to determine whether it is a blockage or whether it affects the advancement of the host 1. If it is a blockage, the control mainboard starts the electric drill to clean the blockage; if the obstacle affects the advancement of the host 1, the control mainboard transmits information to the terminal through the wireless transmission module. If the obstacle does not affect the advancement of the host 1, the control mainboard continues to control the motion mechanism 4 to drive the host 1 to move forward. The locator is connected to the terminal signal to obtain the precise coordinate information of the location of the pipeline cleaning robot and transmit it to the terminal. Preferably, the visual recognition unit 17 is a camera device.

[0073] Specifically, the control device also includes a controller, and the locator is connected to the controller by signal. The locator can obtain the precise coordinate information of the location of the pipeline cleaning robot and transmit it to the controller. The control mainboard is connected to the controller by signal through the wireless transmission module, and the controller can obtain the control information and operation process of the control mainboard. The controller is provided with a display screen, and the control mainboard can transmit the image information data in front of the host 1 obtained by the visual recognition unit 17 to the controller, and the controller can display it on the display screen after processing the data. The wireless transmission module adopts a dual-mode redundant wireless communication mechanism, including Bluetooth wireless transmission and ESP-NOW self-organizing network technology. The Bluetooth wireless transmission uses the HC-05 Bluetooth module as a communication medium, receives information from the control mainboard in real time, and realizes data exchange with the control mainboard through serial communication, so as to realize fine control of the robot state; the ESP-NOW self-organizing network technology uses the ESP series chip as a communication medium, and can establish a point-to-point or point-to-multipoint communication link based on the unique mac address of the device when the Bluetooth network fails, so as to ensure effective data communication between the controller and the control mainboard.

[0074] The controller includes STM32F103C8T6 microcontroller, MPU6050 gyroscope, FLEX sensor curvature sensor, SU-03T voice module, TFT display and mobile phone. The gyroscope and curvature sensor can convert the curvature of the user's fingers and the change of the hand angle into the robot motor control signal, and use the body sensing technology to achieve fine control of the robot's movement and speed regulation. The controller uses the wireless transmission module to obtain the information sent by the control motherboard, and realizes the information display combined with audio and video and the remote control combined with body sensing and mobile devices.

[0075] It should be noted that, by controlling the mainboard to obtain data information, controlling the motion mechanism 4 to drive the host 1 to move forward or controlling the electric drill to clean the blockage in the pipeline, the pipeline cleaning robot can operate independently according to the situation in the pipeline, avoiding the process that requires continuous manual operation, reducing the difficulty of operation, and improving work efficiency.

[0076] In some embodiments, the cleaning mechanism further includes a water gun 22, which is disposed on a side of the main housing 9 facing the inside of the pipeline, and the water gun 22 is connected to the water storage mechanism through a water pipe.

[0077] In this embodiment, if Figure 2 As shown, the water gun 22 is arranged at the front end of the main body housing 9, and the water gun 22 is arranged on one side of the electric drill. The rear end of the water gun 22 is connected to the water storage mechanism through a water pipe. When there is a soft blockage in the pipeline, the water gun 22 can clean the soft blockage. The water gun 22 is electrically connected to the control main board, and the control main board can control the water gun 22 to spray water. The rear end face of the main body housing 9 has a through hole, one end of the water pipe is connected to the water storage mechanism outside the pipeline, and the other end of the water pipe extends into the pipeline and enters the main body housing 9 through the through hole to connect with the water gun 22.

[0078] In other embodiments, a water storage mechanism may be provided in the main body housing 9 .

[0079] In some embodiments, a power supply structure (not shown) is provided in the host housing 9, and the power supply structure is respectively connected to the locator, the visual recognition unit 17, the ultrasonic sensor 18, the control main board, the cleaning mechanism and the motion mechanism 4.

[0080] In this embodiment, the power supply structure is a battery, which is fixed in the main body housing 9. The battery is connected to the locator, the visual recognition unit 17, the ultrasonic sensor 18, the control main board and the drive structure 16 through lines. The wires of the drill bit 13 extend through the connecting hole of the clamping plate 11 at the rear end of the main body housing 9, and extend into the main body housing 9 through the through hole at the rear end of the main body housing 9 to be connected to the power supply structure.

[0081] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A pipeline cleaning robot, characterized in that: include: A main machine (1), wherein a cleaning mechanism is provided on a side of the main machine (1) facing the inside of the pipeline; At least two traveling devices (2), the traveling devices (2) being arranged on the periphery of the main machine (1), the traveling devices (2) being movably connected to the inner wall of the pipe, the traveling devices (2) comprising a fixed rod (3), a moving mechanism (4), at least one connecting rod (5) and an elastic member (6), the fixed rod (3) being fixedly arranged on the main machine (1) and being parallel to the main machine (1), the moving mechanism (4) being movably connected to the inner wall of the pipe, one end of the connecting rod (5) being slidably connected to the fixed rod (3), the other end of the connecting rod (5) being rotatably connected to the moving mechanism (4), the elastic member (6) being arranged on the fixed rod (3) and being located on one side of the connecting rod (5), the moving mechanism (4) being adapted to drive the connecting rod (5) to rotate under external force and to make one end of the connecting rod (5) slide along the fixed rod (3) in a direction close to the elastic member (6).

2. The pipeline cleaning robot according to claim 1, characterized in that: The traveling device (2) further comprises a fixing member (7) and a support rod (8), wherein the fixing member (7) is fixedly arranged on the fixing rod (3), the fixing member (7) is arranged on a side of the connecting rod (5) away from the elastic member (6), the fixing member (7) and the connecting rod (5) are spaced apart, one end of the support rod (8) is rotatably connected to the fixing member (7), and the other end of the support rod (8) is rotatably connected to the connecting rod (5).

3. The pipeline cleaning robot according to claim 2, characterized in that: The host (1) comprises a host housing (9) and a connecting column (10), wherein the host housing (9) has a cavity therein, the connecting column (10) is arranged in the host housing (9), the two ends of the connecting column (10) are respectively fixedly connected to the two side walls of the cavity, the fixing rod (3) is arranged in the cavity, the two ends of the fixing rod (3) are respectively fixedly connected to the two side walls of the cavity, the fixing rod (3) is arranged on the peripheral side of the connecting column (10) and is parallel to the connecting column (10), one end of the connecting rod (5) extends out of the cavity and is rotatably connected to the moving mechanism (4), and the fixing member (7) is fixedly connected to the connecting column (10).

4. The pipeline cleaning robot according to claim 3, characterized in that: The two ends of the connecting column (10) are provided with clamping plates (11), and the two side walls of the cavity are provided with clamping parts (12) that cooperate with the clamping plates (11). The connecting column (10) is fixedly arranged in the cavity through the clamping plates (11) and the clamping parts (12). The side of the clamping plate (11) facing the other clamping plate (11) is provided with a mounting groove, and the two ends of the fixing rod (3) are respectively arranged in the mounting grooves and fixedly connected to the mounting grooves.

5. The pipeline cleaning robot according to claim 4, characterized in that: The connecting column (10) has a cavity therein, the clamping plate (11) is provided with a connecting hole connected to the cavity, the cleaning mechanism comprises a drill bit (13), the drill bit (13) is arranged in the cavity, and the output end of the drill bit (13) extends out along the connecting hole located on the main unit (1) toward one side of the pipeline.

6. The pipeline cleaning robot according to any one of claims 1 to 5, characterized in that: The motion mechanism (4) comprises a motion housing (14), a track assembly (15) and a driving structure (16); the connecting rod (5) is rotationally connected to the motion housing (14); the driving structure (16) is arranged in the motion housing (14); the track assembly (15) is movably connected to the inner wall of the pipeline; the driving structure (16) is connected to the track assembly (15) to drive the track assembly (15) to move along the inner wall of the pipeline and drive the main machine (1) to move.

7. The pipeline cleaning robot according to any one of claims 3 to 5, characterized in that: A reinforcing plate is provided on the connecting column (10), and the fixing member (7) is fixedly connected to the reinforcing plate.

8. The pipeline cleaning robot according to claim 4, characterized in that: Also includes: A control device, the control device comprising a locator, a visual recognition unit (17), an ultrasonic sensor (18) and a control mainboard, the control mainboard and the locator being arranged in the main body housing (9), the visual recognition unit (17) being arranged on the side of the main body housing (9) facing the inside of the pipe, the ultrasonic sensor (18) being arranged on the side of the main body housing (9) facing the inside of the pipe and the side away from the inside of the pipe, respectively, the visual recognition unit (17) and the ultrasonic sensor (18) being respectively connected to the control mainboard by signals, the control mainboard being provided with a wireless transmission module, and the control mainboard being electrically connected to the cleaning mechanism and the motion mechanism (4).

9. The pipeline cleaning robot according to claim 6, characterized in that: The crawler track assembly (15) comprises a crawler track (19), a driving gear (20) and a driven gear (21); the driving gear (20) and the driven gear (21) are respectively arranged at two ends of the crawler track (19) and mesh with the crawler track (19); the driving structure (16) is connected to the driving gear (20) to drive the driving gear (20) to rotate.

10. The pipeline cleaning robot according to claim 5, characterized in that: The cleaning mechanism further comprises a water gun (22), wherein the water gun (22) is arranged on a side of the main body housing (9) facing the inside of the pipeline, and the water gun (22) is connected to the water storage mechanism via a water pipe.

11. The pipeline cleaning robot according to claim 8, characterized in that: A power supply structure is provided in the main body housing (9), and the power supply structure is respectively connected to the locator, the visual recognition unit (17), the ultrasonic sensor (18), the control main board, the cleaning mechanism and the motion mechanism (4).

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