Pipeline cleaning robot

Abstract

The invention discloses a pipeline cleaning robot which comprises a frame body, a sweeping structure, a walking mechanism, an opening and closing adjusting mechanism and a plurality of pose adjusting mechanisms, and the sweeping structure is arranged on the frame body and used for cleaning the inner wall of a pipeline; the walking mechanism comprises a plurality of walking parts arranged around the peripheral side of the frame body, the inner end of each walking part is rotationally connected with the frame body, the outer end of each walking part is used for supporting the frame body to walk, and a connecting point is formed at any position between the two ends of each walking part; the opening and closing adjusting mechanism is connected with the connecting points of all the walking components so as to drive all the walking components to synchronously rotate around the inner ends of the opening and closing adjusting mechanism to adjust the opening and closing angles of all the walking components. The multiple pose adjusting mechanisms are connected with the frame body and the inner ends of the multiple walking components correspondingly and used for driving the inner ends of the walking components to rotate around the connecting points, the robot can adapt to variable terrain and pipeline conditions, key dirty positions can be conveniently cleaned, and the stability and the cleaning effect of the cleaning structure in a pipeline are guaranteed.

Description

Technical Field

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

[0002] As an ideal deep-sea pipeline inspection and maintenance equipment, deep-sea pipeline robots are used for pipeline cleaning, which is of great significance to extending the service life of pipelines and reducing the risk of safety accidents. After many years of service, deep-sea oil pipelines have significantly reduced the flow area due to scaling or accumulation of debris on the inner wall of the pipeline, which has seriously affected the transportation efficiency. In addition, the long-term accumulation of sediments on the inner wall of the pipeline may cause the power of the oil pump to increase, which in turn causes damage to key equipment such as motors.

[0003] Most of the pipe cleaning devices currently used in China are combinations of high-pressure water hoses and nozzles. For example, a sewage pipe cleaner provided by the patent with publication number CN114197626A includes a top plate, a hydraulic pump, a motor, a first cleaning brush, a second cleaning brush, a stirring wheel, a water pipe interface, a button, a telescopic rod, a nozzle, a brush head, a turntable, a brush, a movable rod and a connecting block. The solution is to install an annular first cleaning brush and a second cleaning brush on the outer wall of the device, and both are composed of an annular turntable and four brush heads surrounding the outer wall of the turntable, a layer of brush is sleeved on the outer wall of the brush head, and the brush head is controlled to be ejected and retracted by a movable rod. When the device is started, the turntable is driven by a motor to start operation, and the two cleaning brushes are driven to rotate by the turntable. The brush heads are controlled to be ejected by the movable rod and rest on the inner wall of the pipe. The telescopic rod under the top plate is controlled by a hydraulic pump to continuously retract and gradually advance into the depth of the pipe, so that the device can more fully clean the inner wall of the pipe when it is placed inside the sewage pipe; it relies on high pressure of water flow to achieve pipeline cleaning, solving the problem of pipeline cleaning and maintenance.

[0004] However, the cleaning device in the prior art often cannot maintain a stable forward state during movement, which causes a certain degree of swinging during the forward movement, making it difficult to ensure the cleaning effect of the cleaning device and may even have a negative impact on the operating stability of the pipe cleaning robot. Summary of the invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and to provide a pipeline cleaning robot to solve the technical problem in the prior art that the cleaning device is unstable when moving, which affects the cleaning effect and operation stability.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: The present invention provides a pipeline cleaning robot, comprising: a frame, a cleaning structure, a walking mechanism, an opening and closing adjustment mechanism and a plurality of posture adjustment mechanisms, wherein the cleaning structure is arranged on the frame and is used to clean the inner wall of the pipeline; the walking mechanism comprises a plurality of walking components arranged around the circumference of the frame, the inner end of each walking component is rotatably connected to the frame, and the outer end is used to support the frame to walk, and a connection point is formed at any position between the two ends of the walking component; the opening and closing adjustment mechanism is connected to the connection points of each walking component, so as to drive each walking component to rotate synchronously around its inner end, so as to adjust the opening and closing angles of each walking component; the plurality of posture adjustment mechanisms are respectively connected to the frame and the inner ends of the plurality of walking components, and are used to drive the inner ends of the walking components to rotate around the connection points.

[0007] In some embodiments, the cleaning structure includes a cleaning unit and a cleaning drive unit. The cleaning unit is rotatably mounted at one end of the frame, and a cleaning surface is formed on its periphery. The cleaning drive unit is connected to the cleaning unit and is used to drive the cleaning unit to rotate so as to clean the inner wall of the pipe through the rotating cleaning surface.

[0008] In some embodiments, the central axis of the cleaning unit coincides with the central axis of the frame.

[0009] In some embodiments, the walking mechanism has an upright state and a lowered state. When the walking mechanism is in the upright state, the opening and closing angles of all the walking parts remain consistent, and the cleaning surface remains coaxial with the interval formed by the outer surface of the walking mechanism; when the walking mechanism is in the lowered state, the opening and closing angle of at least one of the walking parts is smaller than the opening and closing angles of other walking parts, and the cleaning surface is offset to one side within the interval formed by the outer surface of the walking mechanism.

[0010] In some embodiments, several posture adjustment mechanisms include an adjusting screw and an adjusting nut block, wherein the adjusting screw is rotatably connected to the frame, the adjusting nut block is sleeved on the outer side of the adjusting screw and is threadedly connected to the adjusting screw, and one side of the adjusting nut block is connected to the inner end of the walking component, so as to drive the adjusting nut block to move by rotating the adjusting screw, thereby driving the inner end of the walking component to rotate around the connection point; when the adjusting nut block moves to cause at least one walking component to rotate and reduce the opening and closing angle, the walking mechanism is in the low-lying state.

[0011] In some embodiments, the walking mechanism is provided with at least two groups, and at least two groups of the walking mechanism are arranged side by side on the outside of the frame.

[0012] In some embodiments, each of the walking components of the walking mechanism includes a first connecting rod, a wheel and a first driving motor. One end of the first connecting rod is rotatably connected to the frame, and the other end of the first connecting rod is provided with the wheel. The driving shaft of the first driving motor is connected to the wheel for driving the wheel to rotate and drive the frame to move in the pipeline.

[0013] In some embodiments, the opening and closing adjustment mechanism includes a feed screw, a movable mounting plate, a connecting rod structure and a second drive motor. The feed screw is rotatably installed in the frame body, the movable mounting plate is sleeved on the feed screw and is threadedly connected to the feed screw, and the outer side of the movable mounting plate and the corresponding position of the walking component are rotatably provided with a connecting rod structure, the connecting rod structure is rotatably connected to the connection point of the walking component, and the driving shaft of the second drive motor is connected to the feed screw, which is used to drive the feed screw to rotate and drive the movable mounting plate to move, and drive the walking component to rotate around its inner end through the connecting rod structure.

[0014] In some embodiments, the frame includes two base plates and a plurality of optical bars, the plurality of optical bars are arranged in parallel and spaced apart, and the two ends are connected by two base plates respectively, the cleaning structure is installed on one of the base plates, and the walking mechanism, the opening and closing adjustment mechanism and the posture adjustment mechanism are all connected to the optical bars.

[0015] In some embodiments, the pipe cleaning robot further comprises an outer shell, wherein the outer shell is covered on the outside of the frame, and movable slots are provided on the outer side of the outer shell at positions corresponding to the walking parts.

[0016] Compared with the prior art, the pipeline cleaning robot provided by the present invention is provided with a frame, a cleaning structure, a walking mechanism, an opening and closing adjustment mechanism, and a plurality of posture adjustment mechanisms. The opening and closing adjustment mechanism can drive each walking component to rotate synchronously around its inner end, thereby adjusting the opening and closing angle of each walking component, so that the outer end of each walking component is stably supported in the pipeline, and it can adapt to pipelines of different widths; Multiple posture adjustment mechanisms can independently drive the inner ends of each walking component to rotate around the connection point, and can adjust the angles of the walking components to shrink inward or expand outward, so that the entire walking mechanism can adapt to changing terrain and pipeline conditions. At the same time, by adjusting the angles of individual walking components to shrink inward, the robot can achieve a low-lying posture, so that the structure can accurately adjust the position and posture of the robot. Through adjustment, the cleaning structure can be closer to key dirty locations so as to clean the key dirty locations, thereby ensuring the stability of the cleaning structure in the pipeline and the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1is a schematic diagram of the overall three-dimensional structure of the pipeline cleaning robot provided by an embodiment of the present invention; Figure 2 is a schematic diagram of the overall front view structure of the pipeline cleaning robot provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of the connection of the frame, walking mechanism, opening and closing adjustment mechanism and posture adjustment mechanism of the pipeline cleaning robot provided by an embodiment of the present invention; Figure 4 It is a schematic diagram of the connection main structure of the frame, walking mechanism, opening and closing adjustment mechanism and posture adjustment mechanism of the pipeline cleaning robot provided by an embodiment of the present invention.

[0018] Description of reference numerals: 1. frame; 11. first base plate; 12. second base plate; 13. optical bar; 14. power supply; 15. small round nut; 16. first fixing plate; 17. second fixing plate; 2. Cleaning structure; 21. Blade fan; 22. Connecting shaft; 23. Hexagonal nut; 24. Cleaning drive motor; 3. Traveling mechanism; 31. First connecting rod; 32. Wheel; 33. First driving motor; 4. Opening and closing adjustment mechanism; 41. Feed screw; 42. Movable mounting plate; 43. Second connecting rod; 44. Third connecting rod; 45. Connecting rod shaft; 46. Second driving motor; 47. Coupling; 5. Posture adjustment mechanism; 51. Adjustment screw rod; 52. Adjustment nut block; 6. Outer shell; 61. Movable slot hole. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0020] In order to solve the technical problem that the cleaning device is unstable when moving, which affects the cleaning effect and operating stability, the present invention provides a pipeline cleaning robot that can adapt to changing terrain and pipeline conditions, and is also convenient for cleaning key dirty locations, thereby ensuring the stability of the cleaning structure in the pipeline and the cleaning effect.

[0021] It should be noted that the pipeline cleaning robot described in the present invention is used for but not limited to deep-sea pipelines, etc. For the convenience of explanation, in the present invention, only the application of the pipeline cleaning robot to a deep-sea pipeline is taken as an example for explanation, and the principle of applying the pipeline cleaning robot to other types of equipment is essentially the same as the principle of applying it to a deep-sea pipeline, which will not be described one by one here.

[0022] See also Figures 1 to 4 The pipeline cleaning robot includes: a frame 1, a cleaning structure 2, a walking mechanism 3, an opening and closing adjustment mechanism 4 and a plurality of posture adjustment mechanisms 5, wherein the cleaning structure 2 is arranged on the frame 1 for cleaning the inner wall of the pipeline; the walking mechanism 3 includes a plurality of walking parts arranged around the frame 1, the inner end of each walking part is rotatably connected to the frame 1, and the outer end is used to support the frame 1 for walking, and a connection point is formed at any position between the two ends of the walking part; the opening and closing adjustment mechanism 4 is connected to the connection points of each walking part to drive each walking part to rotate synchronously around its inner end to adjust the opening and closing angle of each walking part; a plurality of posture adjustment mechanisms 5 are respectively connected to the frame 1 and the inner ends of a plurality of walking parts, and are used to drive the inner ends of the walking parts to rotate around the connection points.

[0023] In the present device, the walking mechanism 3 is composed of a plurality of walking parts arranged around the frame 1. The inner end of each walking part is rotatably connected to the frame 1, while the outer end is responsible for supporting the frame 1 to ensure its stable walking; the opening and closing adjustment mechanism 4 is connected to the connection points on each walking part, responsible for providing power, driving each walking part to rotate synchronously around its inner end, thereby adjusting the opening and closing angles of each walking part, so that the outer end of each walking part can be stably supported in the pipeline, and it can adapt to pipelines of different widths; in addition, each posture adjustment mechanism 5 can independently adjust each walking part, so that each walking part can adjust the angle according to the actual situation, and realize the action of shrinking inward or expanding outward. This design makes the entire walking mechanism 3 highly adaptable and can easily cope with various complex and changeable terrains and pipeline conditions. At the same time, by adjusting the angle of individual walking parts to shrink inward, the robot can achieve a low posture, thereby accurately adjusting the position and posture of the robot, so that the cleaning structure 2 can be closer to the key dirty position, so as to clean the key dirty position, and ensure the stability and cleaning effect of the cleaning structure 2 in the pipeline.

[0024] Preferably, in this embodiment, please refer to Figure 3 and Figure 4 The frame 1 includes two base plates and a plurality of optical rods 13. The plurality of optical rods 13 are arranged in parallel and spaced apart. The two base plates are respectively arranged at the two ends of the plurality of optical rods 13. The ends of the optical rods 13 are provided with small round nuts 15 to realize the fixed connection between the two base plates. For the convenience of introduction, the two base plates are respectively defined as the first base plate 11 and the second base plate 12. The cleaning structure 2 is installed on the second base plate 12. The walking mechanism 3, the opening and closing adjustment mechanism 4 and the posture adjustment mechanism 5 are all connected to the optical rods 13.

[0025] Further, in some possible embodiments, see Figures 1 to 4The pipeline cleaning robot also includes an outer shell 6, which is covered on the outside of the frame 1 to provide an additional layer of protection; in order to ensure coordinated operation with the walking parts, the outer side of the outer shell 6 is provided with movable slots 61 at positions corresponding to the walking parts. When cleaning the pipeline, the movable slots 61 allow the robot's walking parts to be flexibly moved and adjusted. In addition, the outer shell 6 is fixedly connected to the first substrate 11 and the second substrate 12 to ensure the structural stability and integrity of the entire robot, which not only enhances the durability of the robot, but also improves its adaptability and cleaning efficiency in complex pipeline environments. A power supply 14 is also provided on the frame 1, and the power supply 14 is used to provide power for driving components such as motors.

[0026] In this embodiment, the cleaning structure 2 includes a cleaning unit and a cleaning drive unit. The cleaning unit is rotatably mounted at one end of the frame 1, and its peripheral portion forms a cleaning surface for cleaning. The cleaning drive unit is connected to the cleaning unit, and the cleaning drive unit is mainly used to drive the cleaning unit to perform rotational motion. Through the rotational motion, the cleaning surface can effectively clean the inner wall of the pipeline, thereby achieving the purpose of removing dirt and impurities inside the pipeline.

[0027] For some specific examples, see Figure 1 and Figure 2 The cleaning unit includes a blade fan 21 and a connecting shaft 22, and the cleaning drive unit includes a cleaning drive motor 24. The outer peripheral surface of the blade fan 21 forms the cleaning surface, which is fixed to the end of the connecting shaft 22 by a hexagonal nut 23. The cleaning drive motor 24 is fixedly mounted on the second substrate 12 and connected to the blade fan 21 by the connecting shaft 22, and can drive the blade fan 21 to rotate at high speed. The rotating action can effectively blow and scrape away the dirt on the inner wall of the pipeline, as well as various debris accumulated in the pipeline, to ensure that the pipeline is unobstructed. During the exit of the deep-sea pipeline cleaning robot, a force along the axis direction of the connecting shaft 22 will be applied to the blade fan 21. Through the fixing method of the hexagonal nut 23, the force cannot push the hexagonal nut 23, thereby achieving the effect of fixing the blade fan 21.

[0028] In some possible embodiments, the central axis of the cleaning unit, that is, the central axis of the blade 21, coincides with the central axis of the frame 1.

[0029] In this embodiment, the walking mechanism 3 has an upright state and a low-lying state. Specifically, when the walking mechanism 3 is in the upright state, the opening and closing angles of all the walking parts remain consistent, and the cleaning surface and the interval formed by the outer surface of the walking mechanism remain coaxial. In this state, if the diameter of the pipeline is larger than the diameter of the cleaning surface, the interval formed by the outer surface of the walking mechanism will be larger than the cleaning surface, so that the cleaning surface cannot completely cover the inner wall of the pipeline. Therefore, there is a situation where the cleaning surface cannot contact the inner wall of the pipeline. Only when the diameter of the pipeline is smaller than the diameter of the cleaning surface and the walking mechanism 3 is in the upright state, the cleaning surface can effectively clean the inner wall of the pipeline. When the walking mechanism 3 is in a low-lying state, the opening and closing angle of at least one of the walking parts is smaller than the opening and closing angles of the other walking parts, and the cleaning surface is offset to one side within the interval formed by the outer surface of the walking mechanism. In this state, when the diameter of the pipeline is larger than the diameter of the cleaning surface, by adjusting the walking mechanism 3 to a low-lying state, the cleaning surface can be offset to one side of the interval, so that it can contact and clean the inner wall of the pipeline. In addition, by adjusting the walking mechanism 3 to a low-lying state, the cleaning structure 2 can be closer to key dirty positions, and these key dirty positions can be cleaned more effectively, thereby ensuring the cleanliness of the inside of the pipeline.

[0030] It should be noted that when a set of walking mechanisms has three or four walking parts, and the opening and closing angle of one walking part is smaller than the opening and closing angles of other walking parts, the walking mechanism 3 is in a low-lying state. When a set of walking mechanisms has five or more walking parts, and the opening and closing angles of more than one of the continuously arranged walking parts 3 are smaller than the opening and closing angles of other walking parts, the walking mechanism 3 is in a low-lying state.

[0031] In some possible embodiments, see Figures 1 to 4 Each of the walking components of the walking mechanism 3 includes a first connecting rod 31, a wheel 32 and a first driving motor 33. One end of the first connecting rod 31 is rotatably connected to the frame 1, and the other end of the first connecting rod 31 is provided with the wheel 32. The first driving motor 33 is installed at the outer end of the first connecting rod 31, and its driving shaft is fixedly connected to the wheel 32 for driving the wheel 32 to rotate, so that the wheel 32 automatically rolls on the inner wall of the pipe, so as to drive the frame 1 to move and walk in the pipe.

[0032] See also Figure 4The opening and closing adjustment mechanism 4 includes a feed screw 41, a movable mounting plate 42, a connecting rod structure and a second drive motor 46. The feed screw 41 is rotatably mounted in the frame 1, and its two ends are rotatably connected with the first base plate 11 and the first fixing plate 16 arranged on the optical bar 13 respectively. The optical bar 13 passes through the movable mounting plate 42, so that the movable mounting plate 42 is slidably connected with the optical bar 13. The movable mounting plate 42 is sleeved on the feed screw 41 and is threadedly connected with the feed screw 41. The outer side of the movable mounting plate 42 and the corresponding position of the walking part are rotatably provided with a connecting rod structure. A connection point is formed on the first connecting rod 31. The connecting rod structure is rotatably connected to the connection point of the first connecting rod 31, and the second driving motor 46 is installed on the second fixed plate 17 set on the optical bar 13, and its driving shaft is connected to the feed screw 41 through the coupling 47. When the second driving motor 46 is started, it can drive the feed screw 41 to rotate, thereby driving the movable mounting plate 42 to move backward or forward, and push the connection point of the first connecting rod 31 through the connecting rod structure, thereby causing the first connecting rod 31 to rotate around its inner end, driving the first connecting rod 31 to contract or expand, thereby realizing the adjustment of the opening and closing angle of the walking mechanism 3, so that the deep-sea pipeline cleaning robot body can adapt to pipelines of different diameters.

[0033] For further information, see Figure 4 In some embodiments, the walking mechanism 3 is provided with two groups, and the two groups of the walking mechanisms 3 are arranged side by side on the outside of the frame 1. The stability and flexibility of the walking mechanism 3 in the pipeline can be ensured, thereby improving the efficiency and reliability of the entire device operating inside the pipeline. In order to achieve the synchronous movement of the two groups of walking mechanisms 3, the connecting rod structure design includes a second connecting rod 43 and a third connecting rod 44. One end of the second connecting rod 43 is rotatably connected to the outer position of the movable mounting plate 42, and the other end is rotatably connected to the corresponding first connecting rod 31 connection point. The two parallel first connecting rod 31 connection points are connected to the two ends of the third connecting rod 44 through the connecting rod shaft 45 to form a rotational fit. During the operation, the movement of the movable mounting plate 42 will push the first connecting rod 31 to rotate around the inner end through the second connecting rod 43. At the same time, the third connecting rod 44 connecting the two first connecting rods 31 drives the parallel first connecting rods 31 to move synchronously, thereby realizing the synchronous adjustment of the walking parts on the same side of the robot.

[0034] In some possible embodiments, see Figure 4, several posture adjustment mechanisms 5 all include an adjustment screw 51 and an adjustment nut block 52, and several posture adjustment mechanisms 5 are used to individually and accurately control the opening and closing angles of the first connecting rod 31. Specifically, a first fixed plate 16 and a second fixed plate 17 are set at the positions corresponding to the posture adjustment mechanism 5 on the outside of the optical bar 13, and the two ends of the adjustment screw 51 are rotatably connected to the first fixed plate 16 and the second fixed plate 17 respectively. This design allows the adjustment screw 51 to rotate freely on the frame 1, and the adjustment nut block 52 is sleeved on the outside of the adjustment screw 51 and is threadedly connected to the adjustment screw 51 so that the nut block can move along the axial direction of the adjustment screw 51 while maintaining a stable connection. In order to achieve linkage with the walking part, one side of the adjustment nut block 52 is movably connected to the inner end of the first connecting rod 31, so that when the adjustment screw 51 is rotated, the adjustment nut block 52 can be driven to move along the adjustment screw 51, thereby driving the inner end of the first connecting rod 31 to rotate around the connection point to achieve precise position adjustment.

[0035] In order to meet the rotation requirements of the first connecting rod 31, a long slot is provided on one side of the adjusting nut block 52. The design of the long slot allows the inner end of the first connecting rod 31 to be connected to the long slot through a connecting shaft, so that the first connecting rod 31 can rotate around the connection point under the push of the adjusting nut block 52. It increases the flexibility of the mechanism and allows the first connecting rod 31 to rotate freely within a certain range to adapt to different working environments and requirements.

[0036] It should be noted that the rotation drive mode of the adjustment screw 51 mentioned above can be manual operation or electric drive. When the manual mode is adopted, the operator must manually operate the adjustment screw 51 to adjust the position of the first connecting rod 31 according to the specific conditions inside the pipeline. When the electric drive mode is adopted, one side of the adjustment screw 51 will be equipped with a motor and connected to a controller. In this way, in the actual working process, the operator can flexibly control the movement of the first connecting rod 31 through the controller to achieve precise adjustment.

[0037] Further, the walking mechanism 3 is arranged into two groups, each group includes three first connecting rods 31, and the inner end of each first connecting rod 31 is equipped with a posture adjustment mechanism 5, allowing each first connecting rod 31 to be adjusted separately. The first fixing plate 16 and the second fixing plate 17 are also arranged in two groups, which are used to install the posture adjustment mechanism 5 connected to the two groups of walking mechanisms 3. When the adjustment nut block 52 moves, the two first connecting rods 31 on the same side will rotate accordingly to reduce the opening and closing angle between them, and the walking mechanism 3 will be in a low-lying state. In the low-lying state, the blade fan 21 can be deflected to one side of the inner wall of the pipeline, thereby effectively cleaning the pipeline. On the other hand, when the angle of each first connecting rod 31 is adjusted to the same opening and closing angle by adjusting the nut block 52, the walking mechanism 3 is in an upright state. If the diameter of the pipeline is larger than the diameter of the blade fan 21, and the blade fan 21 needs to be withdrawn from the pipeline, the walking mechanism 3 can be adjusted to an upright state to make the blade fan 21 away from the inner wall of the pipeline, thereby facilitating the withdrawal operation. In addition, through the posture adjustment mechanism 5, one of the first connecting rods 31 located on one side can be adjusted separately, so that the distance between the wheels 32 connected to the two first connecting rods 31 on the same side and the frame 1 is different. This adjustment method enables the two wheels 32 on one side to rest against the inclined or tapered pipe wall, allowing the robot to adapt to and fit the inclined or tapered pipes, thereby maintaining good mobility and cleaning efficiency in pipes of different shapes and angles.

[0038] In some possible embodiments, the opening and closing adjustment mechanism 4 further includes a control unit, which is connected to the second drive motor 46 and is used to control the start and stop of the second drive motor 46, and adjust the rotation speed and direction of the feed screw 41. The control unit can be a microprocessor or a microcontroller, which can automatically calculate the optimal opening and closing angle according to the diameter and shape of the pipeline, and realize automatic adjustment of the walking mechanism 3 by controlling the second drive motor 46. In addition, the control unit can also receive instructions from the operator, allowing the operator to manually adjust the opening and closing angle to adapt to specific cleaning tasks or solve emergencies.

[0039] In some possible embodiments, the posture adjustment mechanism 5 further includes a feedback system, which can monitor the real-time position of the first connecting rod 31 and feed back the position information to the control unit. The feedback system can be a position sensor, such as an encoder or a potentiometer, which can provide accurate position data to ensure that the posture adjustment mechanism 5 can accurately adjust the position of the first connecting rod 31. The control unit can adjust the position of the adjustment nut block 52 in real time according to the data provided by the feedback system to ensure that the first connecting rod 31 can reach a predetermined opening and closing angle, thereby ensuring that the cleaning structure 2 can efficiently clean the inner wall of the pipeline.

[0040] Working principle: When in use, the robot is placed in the opening of the submarine oil pipeline or other pipelines that need to be cleaned, and then the second drive motor 46 is started to adjust the outer diameter of the robot according to the diameter of the inner wall of the pipeline. After the second drive motor 46 is started, the feed screw 41 is rotated, and the movable mounting plate 42 is moved backward (or forward), thereby synchronously adjusting the opening and closing angle of the first connecting rod 31; then, according to the situation inside the pipe, the corresponding adjusting screw 51 is rotated to drive the adjusting nut block 52 to move, and the adjusting nut block 52 drives the inner end of the first connecting rod 31 to shrink (or expand) around the connecting end separately, thereby further changing the opening and closing angle of the first connecting rod 31, so that the wheel 32 can be kept in close contact with the pipe wall, and during the cleaning process, the cleaning drive motor 24 is started to drive the blade fan 21, and the high-speed rotating blade fan 21 is used to blow and scrape away the dirt on the inner wall of the pipeline and the debris accumulated in the pipeline. During the cleaning process, the first drive motor 33 drives the wheel 32 to move, so that the robot can move stably inside the pipeline.

[0041] The present invention is provided with a frame 1, a cleaning structure 2, a walking mechanism 3, an opening and closing adjustment mechanism 4 and a plurality of posture adjustment mechanisms 5. The opening and closing adjustment mechanism 4 can drive each walking component to rotate synchronously around its inner end, thereby adjusting the opening and closing angle of each walking component, so that the outer end of each walking component is stably supported in the pipeline, and it can adapt to pipelines of different widths; multiple posture adjustment mechanisms 5 can independently drive the inner end of each walking component to rotate around the connection point, and can adjust the angle of the walking component to shrink inward or expand outward, so that the entire walking mechanism 3 can adapt to changeable terrain and pipeline conditions. At the same time, by adjusting the angle of individual walking components to shrink inward, the robot can achieve a low-lying posture, so that the structure can accurately adjust the position and posture of the robot, and through adjustment, the cleaning structure 2 can be closer to the key dirty position, so as to clean the key dirty position, thereby ensuring the stability and cleaning effect of the cleaning structure 2 in the pipeline.

[0042] In the description of the present application, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0043] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0044] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A pipeline cleaning robot, characterized in that: include: Frame; A cleaning structure, arranged on the frame, for cleaning the inner wall of the pipeline; The walking mechanism includes a plurality of walking parts arranged around the frame, wherein the inner end of each walking part is connected to the frame for rotation, and the outer end is used to support the frame for walking, and any position between the two ends of the walking part forms a connection point; An opening and closing adjustment mechanism, which is connected to the connection points of each traveling component, and is used to drive each traveling component to rotate synchronously around its inner end to adjust the opening and closing angle of each traveling component; and A plurality of posture adjustment mechanisms are respectively connected to the frame body and the inner ends of a plurality of walking components, and are used to drive the inner ends of the walking components to rotate around the connection points.

2. The pipeline cleaning robot according to claim 1, characterized in that: The cleaning structure includes a cleaning unit and a cleaning drive unit. The cleaning unit is rotatably mounted at one end of the frame, and a cleaning surface is formed on its periphery. The cleaning drive unit is connected to the cleaning unit and is used to drive the cleaning unit to rotate so as to clean the inner wall of the pipeline through the rotating cleaning surface.

3. The pipeline cleaning robot according to claim 2, characterized in that: The central axis of the cleaning unit coincides with the central axis of the frame.

4. The pipeline cleaning robot according to claim 3, characterized in that: The walking mechanism has an upright state and a lowered state. When the walking mechanism is in the upright state, the opening and closing angles of all the walking parts remain consistent, and the cleaning surface and the interval formed by the outer surface of the walking mechanism remain coaxial; When the walking mechanism is in a low-lying state, the opening and closing angle of at least one of the walking components is smaller than the opening and closing angles of other walking components, and the cleaning surface is offset to one side within the interval formed by the outer surface of the walking mechanism.

5. The pipeline cleaning robot according to claim 4, characterized in that: Several posture adjustment mechanisms each include an adjustment screw and an adjustment nut block, wherein the adjustment screw is rotatably connected to the frame, the adjustment nut block is sleeved on the outer side of the adjustment screw and is threadedly connected to the adjustment screw, and one side of the adjustment nut block is connected to the inner end of the walking component, so that the adjustment nut block is driven to move by rotating the adjustment screw, thereby driving the inner end of the walking component to rotate around the connection point; When the adjusting nut block moves to cause at least one traveling component to rotate and reduce the opening and closing angle, the traveling mechanism is in the low-lying state.

6. The pipeline cleaning robot according to claim 1, characterized in that: The walking mechanisms are provided with at least two groups, and at least two groups of the walking mechanisms are arranged side by side on the outside of the frame.

7. The pipeline cleaning robot according to claim 6, characterized in that: Each of the walking components of the walking mechanism includes a first connecting rod, a wheel and a first driving motor. One end of the first connecting rod is rotatably connected to the frame, and the other end of the first connecting rod is provided with the wheel. The driving shaft of the first driving motor is connected to the wheel for driving the wheel to rotate and drive the frame to move in the pipeline.

8. The pipeline cleaning robot according to claim 1, characterized in that: The opening and closing adjustment mechanism includes a feed screw, a movable mounting plate, a connecting rod structure and a second drive motor. The feed screw is rotatably installed in the frame body, the movable mounting plate is sleeved on the feed screw and is threadedly connected to the feed screw, and the outer side of the movable mounting plate and the corresponding position of the walking component are rotatably provided with a connecting rod structure, the connecting rod structure is rotatably connected to the connection point of the walking component, and the driving shaft of the second drive motor is connected to the feed screw, which is used to drive the feed screw to rotate and drive the movable mounting plate to move, and drive the walking component to rotate around its inner end through the connecting rod structure.

9. The pipeline cleaning robot according to claim 1, characterized in that: The frame includes two base plates and a plurality of optical bars, wherein the plurality of optical bars are arranged in parallel and spaced apart, and both ends are connected through two base plates respectively. The cleaning structure is installed on one of the base plates, and the walking mechanism, the opening and closing adjustment mechanism and the posture adjustment mechanism are all connected to the optical bars.

10. The pipeline cleaning robot according to claim 1, characterized in that: The pipeline cleaning robot also includes an outer shell, which is covered on the outside of the frame, and has movable slots on its outer side corresponding to the positions of the walking parts.

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