Self-cleaning pipeline detection robot

Abstract

The invention belongs to the technical field of pipeline robots, and particularly relates to a self-cleaning pipeline detection robot which comprises a hollow base, an anti-skid propelling assembly is arranged on the outer side of the hollow base, and the anti-skid propelling assembly comprises a plurality of mounting sleeves annularly distributed on the outer side of the hollow base; the arranged spiral propelling rollers can make close contact with the inner wall of the pipeline, and friction force is kept unchanged, so that it is guaranteed that movement of the robot in the pipeline is not affected, the phenomenon of slipping is not likely to occur, the robot is prevented from sliding down along the interior of the pipeline, sludge is conveniently softened and dispersed, and it is guaranteed that the interior of the pipeline is unblocked; the inner wall of the pipeline can be more comprehensively flushed conveniently, the interior of the pipeline can be comprehensively cleaned conveniently, it is avoided that due to long-time use, rust in the pipeline is solidified, the pipe diameter is reduced, dirt is deposited on the pipe wall, and pipeline blockage is caused, the cleaning effect on the interior of the pipeline is improved, and it is guaranteed that the pipeline is smooth.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline robots, and in particular relates to a self-cleaning pipeline detection robot. Background Art

[0002] After long-term use, the inner wall of the pipeline will produce stains, which need to be cleaned. However, due to the narrow space inside the pipeline, the inner wall of the pipeline cannot be cleaned manually. Therefore, the help of the pipeline inner wall cleaning robot is needed. It can enter the narrow pipeline and clean the inner wall of the pipeline.

[0003] In the actual working process of existing pipeline robots, most of them move in the pipeline by wheels. With the long-term use of the pipeline, the working environment of the pipeline robot will become harsh, the rust and scale in the pipe will solidify, making the pipe diameter smaller, and the dirt will be deposited on the pipe wall. If it is not cleaned regularly, it will cause the pipeline to be blocked. When the pipeline is inclined at a large angle or vertically, it is difficult for the pipeline robot to walk inside the pipeline, resulting in the inability to clean the inside of the pipeline. If the inside of the pipeline is blocked by silt, it will hinder the movement of the pipeline robot, resulting in the inability to effectively clean the dirt in the pipeline.

[0004] In order to solve the above problems, this application proposes a self-cleaning pipeline inspection robot. Summary of the invention

[0005] To solve the problems raised in the above background technology. The present invention provides a self-cleaning pipeline inspection robot, which can be in close contact with the inner wall of the pipeline through the spiral propulsion roller, and the friction force remains unchanged, so as to ensure that when the pipeline is inclined at a large angle or vertically, the movement of the robot in the pipeline is not affected, and it is not easy to slip, so as to prevent the robot from sliding along the inside of the pipeline, and to facilitate the softening and stirring of sludge, so as to ensure the smooth flow of the inside of the pipeline, improve the effect of cleaning the inside of the pipeline, facilitate more comprehensive flushing of the inner wall of the pipeline, and facilitate comprehensive cleaning of the inside of the pipeline, so as to avoid the solidification of rust and scale in the pipe due to long-term use, which makes the pipe diameter smaller, and the dirt is deposited on the pipe wall, resulting in pipe blockage, which is beneficial to improve the cleaning effect of the inside of the pipeline and ensure the smooth flow of the pipeline.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a self-cleaning pipeline inspection robot, comprising a hollow base;

[0007] An anti-skid propulsion assembly is arranged on the outer side of the hollow base, and the anti-skid propulsion assembly includes a plurality of mounting sleeves arranged in an annular shape on the outer side of the hollow base, a spiral propulsion roller arranged in the mounting sleeve, and a driving motor installed in the mounting sleeve for controlling the rotation and propulsion of the spiral propulsion roller;

[0008] A propulsion cleaning assembly is disposed at one end of the hollow base, and the propulsion cleaning assembly includes a water supply pipe rotatably connected to the inside of one end of the hollow base, a plurality of stirring pipes connected to one end of the water supply pipe, and a sealing cone pad and an impeller disposed in the hollow base for driving the plurality of stirring pipes to rotate;

[0009] An inner wall cleaning assembly is arranged on the outer side of one end of the hollow base close to the stirring tube, and the inner wall cleaning assembly includes a limiting ring arranged on the outer side of the water supply pipe, a plurality of adjustment plates arranged on one side of the limiting ring, and an elastic scraper and a wedge-shaped mounting plate arranged on the outer side of the adjustment plate for cleaning the inner wall of the pipe.

[0010] As a preferred self-cleaning pipeline inspection robot of the present invention, a driving motor is fixed to one side of the interior of the mounting sleeve, the rotating shaft of the driving motor is connected to the roller shaft at one end of the spiral propulsion roller, and the roller shaft at the other end of the spiral propulsion roller is rotatably connected in the mounting sleeve.

[0011] As a preferred self-cleaning pipeline inspection robot of the present invention, the outer side of the hollow base is sequentially provided with a first support sleeve, a limit frame and a second support sleeve, wherein the first support sleeve is slidably connected to the outer side of the hollow base, the limit frame and the second support sleeve are both fixedly installed on the outer side of the hollow base, the outer sides of the first support sleeve and the second support sleeve are both hinged with a T-shaped hinge shaft, the outer side of the mounting sleeve is hinged with an hinge seat, and one end of the T-shaped hinge shaft is slidably connected in the hinge seat.

[0012] As a preferred embodiment of the self-cleaning pipeline inspection robot of the present invention, a spring 1 is arranged on the outside of the T-shaped hinge shaft, one end of the spring 1 abuts against the outside of the T-shaped hinge shaft, and the other end of the spring 1 abuts against one end of the hinge seat.

[0013] As a preferred self-cleaning pipeline inspection robot of the present invention, a hydraulic seat is fixed on the outside of one end of the hollow base, a plurality of hydraulic push rods are slid on one side of the hydraulic seat, the first support sleeve is fixed on the outside of the hydraulic push rod, and the limit frame and the second support sleeve both slide on the outside of the hydraulic push rod.

[0014] As a preferred self-cleaning pipeline inspection robot of the present invention, a sealing cone gasket is rotatably arranged in the hollow base, an impeller is fixed to one end of the sealing cone gasket, and one end of the water supply pipe is connected to a through groove opened on the surface of the sealing cone gasket.

[0015] As a preferred self-cleaning pipeline inspection robot of the present invention, nozzles are provided on the outer sides of the plurality of stirring tubes, and anti-blocking scrapers with spiral structures are fixed on the outer sides of the plurality of stirring tubes, and a rotating sealing pad is provided at the rotating connection between the water supply pipe and the hollow base.

[0016] As a preferred self-cleaning pipeline inspection robot of the present invention, a wedge-shaped mounting plate is integrally formed on the outer side of the adjustment plate, a plurality of elastic scrapers are fixed to the surface of the wedge-shaped mounting plate by bolts, and the same end of the plurality of stirring tubes is connected to a limit ring.

[0017] As a preferred self-cleaning pipeline inspection robot of the present invention, a plurality of supporting square rods are installed at equal intervals on the inner circle of the limit ring, the same end of the plurality of supporting square rods is connected to the water supply pipe, a spring 2 is installed at one end of the supporting square rod, one end of the spring 2 is connected to a connecting plate slidably connected to the outside of the supporting square rod, and the connecting plate is connected to the adjusting plate.

[0018] As a preferred self-cleaning pipeline inspection robot of the present invention, a hinged rod is hinged on one side of the adjustment plate, a swivel is hinged on one end of the hinged rod, a push ring is rotatably connected to the outer side of the swivel, and the push ring is connected to one end of the hydraulic push rod.

[0019] Compared with the prior art, the present invention has the following beneficial effects: the present invention has a scientific and reasonable structure and is safe and convenient to use:

[0020] 1. By setting an anti-skid propulsion component, and by using the hydraulic push rod, the first support sleeve, the second support sleeve, the T-shaped hinge shaft, the mounting sleeve and the spiral propulsion roller and other structures in coordination, when in use, the robot is first placed in the pipeline, and the plurality of spiral propulsion rollers rotating in the mounting sleeve are controlled to be pressed against the inner wall of the pipeline. At this time, the start of the driving motor can be controlled, so that the robot can move in the pipeline in a spiral propulsion manner by the spiral propulsion rollers;

[0021] The spring 1 is arranged so that the spiral propulsion roller can contact the inner wall of the pipeline, and the spiral propulsion roller can closely contact the inner wall of the pipeline during the movement of the robot in the pipeline, so as to ensure that the movement of the robot in the pipeline is not affected when the pipeline is inclined at a large angle or vertical, and facilitate the pipeline robot to walk inside the pipeline;

[0022] The robot moves in the pipeline in a spiral propulsion manner using a spiral propulsion roller. During the propulsion process, the spiral blades of the spiral structure on the outside of the spiral propulsion roller can press against the inner wall of the pipeline. Compared with the traditional wheel-propelled robot, the robot moves in a spiral propulsion manner using a spiral propulsion roller. When the inside of the pipeline is cleaned, the inner wall of the pipeline is smooth. The spiral blades of the spiral structure on the outside of the spiral propulsion roller can press against the inner wall of the pipeline, while the friction force remains unchanged and slipping is unlikely to occur, thereby preventing the robot from sliding along the inside of the pipeline and causing damage to the pipeline robot.

[0023] 2. By setting a propulsion cleaning component, the impeller, water supply pipe, rotating seal pad and stirring pipe are used in coordination, so that water can be injected into the hollow base. When the water flows through the impeller, the multiple stirring pipes installed at one end of the water supply pipe can rotate inside the pipe, so as to disperse the silt blocked in the pipe, ensure the smooth flow inside the pipe, and avoid the silt blocking the pipe and affecting the normal propulsion cleaning operation of the robot;

[0024] At the same time, the water entering the hollow base flows into the water supply pipe and multiple stirring pipes through the through holes opened on the surface of the sealing cone pad, and is sprayed out through the nozzles opened on the outside of the stirring pipes. The water flow can follow the surface of the sludge, which is convenient for softening the sludge and improving the cleaning effect of the inside of the pipe. The arrangement of multiple nozzles on the outside of the multiple stirring pipes facilitates a more comprehensive flushing of the inner wall of the pipe.

[0025] By setting the anti-blocking scraper on the outside of the stirring pipe, the anti-blocking scraper can rotate with the stirring pipe to disperse the sludge, and cooperate with the water flow sprayed through the nozzle to further improve the effect of pipeline dredging and prevent the sludge from becoming hardened inside the pipeline.

[0026] 3. By setting up an inner wall cleaning component and cooperating with structures such as a push ring, a swivel, a hinged rod, an adjustment plate and an elastic scraper, when the hydraulic push rod is pushed out, multiple elastic scrapers on the surface of the wedge-shaped mounting plate connected by bolt threads can abut against the inner wall of the pipe, and when the stirring pipe rotates, multiple adjustment plates can be rotated, and the elastic scrapers can be rotated in the pipe, so as to comprehensively clean the inside of the pipe, avoid the solidification of rust and scale in the pipe due to long-term use, resulting in a smaller pipe diameter, and dirt deposited on the pipe wall, resulting in pipe blockage, which is beneficial to improve the cleaning effect of the inside of the pipe and ensure the smooth flow of the pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0028] Figure 1 It is a structural schematic diagram of the present invention;

[0029] Figure 2 For the present invention Figure 1 A side view structural schematic diagram of;

[0030] Figure 3 It is a schematic diagram of the structure of the installation sleeve, the push ring, the hydraulic ejector rod and the hydraulic seat in the present invention;

[0031] Figure 4 It is a schematic structural diagram of the limiting frame, the first supporting sleeve and the push ring in the present invention;

[0032] Figure 5 It is a schematic diagram of the structure of the hinge seat, spring and T-shaped hinge shaft in the present invention;

[0033] Figure 6 It is a schematic diagram of the structure of the mounting sleeve, the spiral propulsion roller and the driving motor in the present invention;

[0034] Figure 7 It is a structural schematic diagram of the hinged rod, the impeller, the hydraulic push rod and the adjustment plate in the present invention;

[0035] Figure 8 It is a schematic diagram of the structure of the rotating ring, the hinge rod and the adjustment plate in the present invention;

[0036] Fig. 9 It is a schematic diagram of the structure of the impeller, water supply pipe, stirring pipe and nozzle in the present invention;

[0037] Fig.10 It is a schematic diagram of the structure of the elastic scraper, the limiting ring and the supporting square rod in the present invention;

[0038] Fig.11 It is a schematic diagram of the structure of the sealing cone gasket, the elastic scraper and the adjustment plate in the present invention;

[0039] Fig.12 It is a structural schematic diagram of the spiral propulsion roller in the present invention;

[0040] Fig.13 For the present invention Fig.10 A schematic diagram of the structure at A;

[0041] In the figure:

[0042] 1. Hollow base;

[0043] 2. Anti-skid propulsion assembly; 21. Hydraulic seat; 22. Hydraulic push rod; 23. First support sleeve; 24. Second support sleeve; 25. Limiting frame; 26. T-shaped hinge shaft; 27. Spring 1; 28. Articulated seat; 29. ​​Mounting sleeve; 210. Driving motor; 211. Spiral propulsion roller;

[0044] 3. Propel cleaning assembly; 31. Sealing cone pad; 32. Impeller; 33. Water supply pipe; 34. Rotating sealing pad; 35. Stirring pipe; 36. Nozzle; 37. Anti-blocking scraper;

[0045] 4. Inner wall cleaning assembly; 41. Push ring; 42. Swivel; 43. Articulated rod; 44. Adjustment plate; 45. Elastic scraper; 46. Limiting ring; 47. Support square rod; 48. Connecting plate; 49. Spring 2; 410. Wedge-shaped mounting plate. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Example: Figure 1-Figure 13 As shown, the present invention provides a technical solution, a self-cleaning pipeline inspection robot, comprising a hollow base 1;

[0048] An anti-skid propulsion assembly 2 is arranged on the outer side of the hollow base 1, and the anti-skid propulsion assembly 2 includes a hydraulic seat 21, a hydraulic push rod 22, a first support sleeve 23, a second support sleeve 24, a limit frame 25, a T-shaped hinge shaft 26, a spring 27, an hinge seat 28, a mounting sleeve 29, a driving motor 210, and a spiral propulsion roller 211;

[0049] A plurality of mounting sleeves 29 are arranged in a circular shape on the outside of the hollow base 1, and a spiral propulsion roller 211 is arranged inside each of the plurality of mounting sleeves 29. A driving motor 210 is fixed to one side of the inside of the mounting sleeve 29, and the rotating shaft of the driving motor 210 is connected to the roller shaft at one end of the spiral propulsion roller 211, and the roller shaft at the other end of the spiral propulsion roller 211 is rotatably connected in the mounting sleeve 29.

[0050] The outer side of the hollow base 1 is sequentially provided with a first support sleeve 23, a limiting frame 25 and a second support sleeve 24, wherein the first support sleeve 23 is slidably connected to the outer side of the hollow base 1, the limiting frame 25 and the second support sleeve 24 are both fixedly installed on the outer side of the hollow base 1, the outer sides of the first support sleeve 23 and the second support sleeve 24 are both hinged with a T-shaped hinge shaft 26, the outer side of the mounting sleeve 29 is hinged with a hinge seat 28, and one end of the T-shaped hinge shaft 26 is slidably connected in the hinge seat 28.

[0051] A spring 27 is provided on the outer side of the T-shaped hinge shaft 26 , one end of the spring 27 abuts against the outer side of the T-shaped hinge shaft 26 , and the other end of the spring 27 abuts against one end of the hinge seat 28 .

[0052] A hydraulic seat 21 is fixed to the outside of one end of the hollow base 1, and multiple hydraulic push rods 22 are slid on one side of the hydraulic seat 21. The first support sleeve 23 is fixed to the outside of the hydraulic push rod 22, and the limit frame 25 and the second support sleeve 24 both slide on the outside of the hydraulic push rod 22.

[0053] A propulsion cleaning assembly 3 is provided at one end of the hollow base 1, and the propulsion cleaning assembly 3 includes a sealing cone pad 31, an impeller 32, a water supply pipe 33, a rotating sealing pad 34, an agitation pipe 35, a nozzle 36, and an anti-blocking scraper 37;

[0054] A water supply pipe 33 is rotatably connected to one end of the hollow base 1, and one end of the water supply pipe 33 is connected to multiple stirring pipes 35. A sealing cone gasket 31 is rotatably arranged inside the hollow base 1, and an impeller 32 is fixed to one end of the sealing cone gasket 31. One end of the water supply pipe 33 is connected to a through groove opened on the surface of the sealing cone gasket 31.

[0055] Nozzles 36 are provided on the outer sides of the plurality of stirring tubes 35 , and anti-blocking scrapers 37 with spiral structures are fixed on the outer sides of the plurality of stirring tubes 35 . A rotating sealing pad 34 is provided at the rotating connection between the water supply pipe 33 and the hollow base 1 .

[0056] An inner wall cleaning assembly 4 is arranged outside one end of the hollow base 1 close to the stirring tube 35, and the inner wall cleaning assembly 4 includes a push ring 41, a rotating ring 42, a hinge rod 43, an adjustment plate 44, an elastic scraper 45, a limiting ring 46, a supporting square rod 47, a connecting plate 48, a second spring 49, and a wedge-shaped mounting plate 410;

[0057] A limiting ring 46 is arranged on the outer side of the water supply pipe 33, and a plurality of adjustment plates 44 are arranged on one side of the limiting ring 46. A wedge-shaped mounting plate 410 is integrally formed on the outer side of the adjusting plate 44, and a plurality of elastic scrapers 45 are fixed to the surface of the wedge-shaped mounting plate 410 by bolts. The same end of the plurality of stirring tubes 35 are connected to the limiting ring 46.

[0058] The inner circle of the limiting ring 46 is equipped with multiple supporting square rods 47 at equal intervals. The same end of the multiple supporting square rods 47 is connected to the water supply pipe 33. A spring 49 is installed at one end of the supporting square rod 47. One end of the spring 49 is connected to a connecting plate 48 slidably connected to the outside of the supporting square rod 47. The connecting plate 48 is connected to the adjusting plate 44.

[0059] A hinged rod 43 is hinged on one side of the adjustment plate 44 , a swivel 42 is hinged on one end of the hinged rod 43 , a push ring 41 is rotatably connected to the outer side of the swivel 42 , and the push ring 41 is connected to one end of the hydraulic push rod 22 .

[0060] The working principle and use process of the present invention are as follows: when in use, the robot is first placed in the pipeline, and a plurality of hydraulic push rods 22 are controlled to slide out of the hydraulic seat 21. At this time, the first support sleeve 23 fixed on the outside of the hydraulic push rod 22 can slide to one side on the surface of the hollow base 1, while the position of the second support sleeve 24 remains unchanged, so that the two groups of T-shaped hinge shafts 26 respectively hinged on the surfaces of the first support sleeve 23 and the second support sleeve 24 can approach each other, and then the hinge seat 28 slidably connected to the outside of the two groups of T-shaped hinge shafts 26 can push the mounting sleeve 29, and make the spiral propulsion roller 211 rotatingly arranged in the mounting sleeve 29 close to the inner wall of the pipeline. At this time, the start of the driving motor 210 can be controlled, so that the robot can move in the pipeline in a spiral propulsion manner of the spiral propulsion roller 211;

[0061] The spring 27 is provided so that the spiral propulsion roller 211 can contact the inner wall of the pipeline, and the spiral propulsion method allows the spiral propulsion roller 211 to closely contact the inner wall of the pipeline during the movement of the robot in the pipeline, so as to ensure that the movement of the robot in the pipeline is not affected when the pipeline is inclined at a large angle or vertical, and facilitate the pipeline robot to walk inside the pipeline;

[0062] The spiral propulsion roller 211 is used to move in the pipeline in a spiral propulsion manner. During the propulsion process, the spiral blades of the spiral structure on the outside of the spiral propulsion roller 211 can be pressed against the inner wall of the pipeline. Compared with the traditional wheel-propelled robot, the spiral propulsion roller 211 can prevent the inner wall of the pipeline from being smooth when the inside of the pipeline is cleaned. The spiral blades of the spiral structure on the outside of the spiral propulsion roller 211 can be pressed against the inner wall of the pipeline tightly, and the friction force remains unchanged, so that slipping is not likely to occur, thereby preventing the robot from sliding along the inside of the pipeline and causing damage to the pipeline robot.

[0063] During the propulsion process of the robot, one end of the hollow base 1 is connected to an external high-pressure water inlet pipe, and the high-pressure water inlet pipe is connected to a high-pressure pump. The high-pressure pump is turned on to inject water into the hollow base 1. When the water flows through the impeller 32, the sealing cone gasket 31 can drive the water supply pipe 33 to rotate inside the hollow base 1, and then the multiple stirring pipes 35 installed at one end of the water supply pipe 33 can follow and rotate inside the pipe, so as to stir up the silt blocked in the pipe, ensure the smooth flow inside the pipe, and avoid the silt blocking the pipe and affecting the normal propulsion and cleaning operation of the robot.

[0064] At the same time, the water entering the hollow base 1 flows into the water supply pipe 33 and the multiple stirring pipes 35 through the through holes opened on the surface of the sealing cone pad 31, and is sprayed out through the nozzles 36 opened on the outside of the stirring pipes 35, so that the multiple stirring pipes 35 can rotate inside the pipe to disperse the sludge, and the water flow can follow and spray to the surface of the sludge, which is convenient for softening the sludge and improving the cleaning effect of the inside of the pipe. The multiple nozzles 36 outside the multiple stirring pipes 35 are arranged to facilitate more comprehensive flushing of the inner wall of the pipe, thereby improving the cleaning effect of the pipe.

[0065] By setting the anti-blocking scraper 37 on the outside of the stirring pipe 35, the anti-blocking scraper 37 can rotate with the stirring pipe 35 to disperse the sludge, and cooperate with the water flow sprayed through the nozzle 36 to further improve the effect of dredging the pipeline and prevent the sludge from hardening inside the pipeline.

[0066] When the hydraulic push rod 22 is pushed out, the push ring 41 installed at one end of the hydraulic push rod 22 can slide to one side on the surface of the hollow base 1, and drive the rotating ring 42 connected to the push ring 41 to move to one side. Under the action of the hinge rod 43, multiple adjustment plates 44 arranged on one side of the limit ring 46 and the wedge-shaped mounting plate 410 on the outside thereof are pushed out at the same time, so that multiple elastic scrapers 45 on the surface of the wedge-shaped mounting plate 410 connected by bolt threads can abut against the inner wall of the pipeline, and when the stirring pipe 35 rotates, the limit ring 46 can follow the rotation, so that the multiple adjustment plates 44 can be rotated, and the elastic scraper 45 can be rotated in the pipeline, so as to facilitate comprehensive cleaning of the inside of the pipeline, avoid the rust and scale in the pipeline solidifying to reduce the diameter of the pipeline due to long-term use, and the dirt is deposited on the pipeline wall, resulting in pipeline blockage, which is conducive to improving the cleaning effect of the inside of the pipeline and ensuring the smooth flow of the pipeline.

[0067] It should be noted that the connecting plate 48 is used to limit the adjustment of the adjusting plate 44 to ensure that the adjusting plate 44 can be adjusted in time.

[0068] It should be noted that the elastic scraper blade 45 is fixed by bolt connection, so that the damaged elastic scraper blade 45 can be replaced regularly.

[0069] It should be noted that: a roller is installed on the outer side of the installation sleeve 29 through a rotating pin, and a hard rubber pad is integrally provided at the contact surface between the spiral propulsion roller 211 and the pipeline.

[0070] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A self-cleaning pipeline inspection robot, comprising a hollow base (1); Features: An anti-skid propulsion assembly (2) is arranged on the outer side of the hollow base (1), and the anti-skid propulsion assembly (2) comprises a plurality of mounting sleeves (29) arranged in an annular shape on the outer side of the hollow base (1), a spiral propulsion roller (211) arranged in the mounting sleeve (29), and a driving motor (210) installed in the mounting sleeve (29) for controlling the rotation and propulsion of the spiral propulsion roller (211); A propulsion cleaning assembly (3) is provided at one end of the hollow base (1), and the propulsion cleaning assembly (3) comprises a water supply pipe (33) rotatably connected to the interior of one end of the hollow base (1), a plurality of stirring pipes (35) connected to one end of the water supply pipe (33), and a sealing cone pad (31) and an impeller (32) provided in the hollow base (1) for driving the plurality of stirring pipes (35) to rotate; An inner wall cleaning assembly (4) is arranged on the outer side of one end of the hollow base (1) close to the stirring tube (35), and the inner wall cleaning assembly (4) comprises a limiting ring (46) arranged on the outer side of the water supply tube (33), a plurality of adjustment plates (44) arranged on one side of the limiting ring (46), and an elastic scraper (45) and a wedge-shaped mounting plate (410) arranged on the outer side of the adjustment plate (44) for cleaning the inner wall of the pipeline.

2. The self-cleaning pipeline inspection robot according to claim 1, characterized in that: A driving motor (210) is fixed to one side of the interior of the installation sleeve (29); the rotating shaft of the driving motor (210) is connected to a roller shaft at one end of the spiral propulsion roller (211); and the roller shaft at the other end of the spiral propulsion roller (211) is rotatably connected in the installation sleeve (29).

3. The self-cleaning pipeline inspection robot according to claim 1, characterized in that: The outer side of the hollow base (1) is provided with a first support sleeve (23), a limiting frame (25) and a second support sleeve (24) in sequence, wherein the first support sleeve (23) is slidably connected to the outer side of the hollow base (1), the limiting frame (25) and the second support sleeve (24) are both fixedly mounted on the outer side of the hollow base (1), the outer sides of the first support sleeve (23) and the second support sleeve (24) are both hinged with a T-shaped hinge shaft (26), the outer side of the mounting sleeve (29) is hinged with a hinge seat (28), and one end of the T-shaped hinge shaft (26) is slidably connected in the hinge seat (28).

4. The self-cleaning pipeline inspection robot according to claim 3, characterized in that: A spring 1 (27) is arranged on the outside of the T-shaped hinge shaft (26), one end of the spring 1 (27) abuts against the outside of the T-shaped hinge shaft (26), and the other end of the spring 1 (27) abuts against one end of the hinge seat (28).

5. The self-cleaning pipeline inspection robot according to claim 3, characterized in that: A hydraulic seat (21) is fixed on the outside of one end of the hollow base (1), a plurality of hydraulic push rods (22) are slidably mounted on one side of the hydraulic seat (21), the first support sleeve (23) is fixed on the outside of the hydraulic push rod (22), and the limiting frame (25) and the second support sleeve (24) both slide on the outside of the hydraulic push rod (22).

6. The self-cleaning pipeline inspection robot according to claim 1, characterized in that: A sealing cone gasket (31) is rotatably arranged in the hollow base (1), an impeller (32) is fixed to one end of the sealing cone gasket (31), and one end of the water supply pipe (33) is connected to a through groove formed on the surface of the sealing cone gasket (31).

7. The self-cleaning pipeline inspection robot according to claim 1, characterized in that: The outer sides of the plurality of stirring tubes (35) are each provided with a nozzle (36), and the outer sides of the plurality of stirring tubes (35) are each fixed with a spiral anti-blocking scraper (37), and a rotating sealing gasket (34) is provided at the rotating connection between the water supply pipe (33) and the hollow base (1).

8. The self-cleaning pipeline inspection robot according to claim 1, characterized in that: A wedge-shaped mounting plate (410) is integrally formed on the outer side of the adjustment plate (44), a plurality of elastic scrapers (45) are fixed to the surface of the wedge-shaped mounting plate (410) by means of bolts, and the same end of the plurality of stirring tubes (35) is connected to a limiting ring (46).

9. The self-cleaning pipeline inspection robot according to claim 1, characterized in that: The inner circle of the limiting ring (46) is provided with a plurality of supporting square rods (47) at equal intervals, and the same end of the plurality of supporting square rods (47) is connected to the water supply pipe (33). A second spring (49) is provided at one end of the supporting square rod (47), and one end of the second spring (49) is connected to a connecting plate (48) slidably connected to the outside of the supporting square rod (47), and the connecting plate (48) is connected to the adjusting plate (44).

10. The self-cleaning pipeline inspection robot according to claim 1, characterized in that: A hinged rod (43) is hinged on one side of the adjustment plate (44), a swivel (42) is hinged on one end of the hinged rod (43), a push ring (41) is rotatably connected to the outer side of the swivel (42), and the push ring (41) is connected to one end of a hydraulic push rod (22).

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