A pipe cleaning robot

Abstract

The present invention discloses 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, the cleaning structure being arranged on the frame for cleaning the inner wall of the pipeline; the walking mechanism comprising a plurality of walking components arranged around the circumference of the frame, the inner end of each walking component being rotatably connected to the frame, and the outer end being used to support the frame for walking, and a connection point being formed at any position between the two ends of the walking components; 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 to adjust the opening and closing angle 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, which can adapt to variable terrain and pipeline conditions, and are also convenient for cleaning key dirty locations, thereby ensuring the stability and cleaning effect of the cleaning structure in the pipeline.

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] Deep-sea pipeline robots, ideal for deep-sea pipeline inspection and maintenance, are used for pipeline cleaning, significantly extending pipeline life and reducing the risk of accidents. Currently, after years of service, deep-sea oil pipelines experience significant reductions in flow area due to scaling and debris accumulation on the inner walls, severely impacting transportation efficiency. Furthermore, the long-term accumulation of deposits on the inner walls of pipelines can increase pump power, potentially damaging critical 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, patent publication number CN114197626A provides a sewage pipe cleaner, which 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 brushes is placed on the outer wall of the brush head, and the brush heads are 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 against the inner wall of the pipe. The telescopic rod under the top plate is controlled by a hydraulic pump to continuously extend and retract and gradually advance deeper into 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 propose a pipeline cleaning robot to solve the technical problem in the prior art that the cleaning device is unstable during movement, affecting the cleaning effect and operating stability.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0007] 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 connected to the frame for rotation, and the outer end is used to support the frame for movement, 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 point of each walking component to drive each walking component to rotate synchronously around its inner end to adjust the opening and closing angle 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 point.

[0008] 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.

[0009] In some embodiments, the central axis of the cleaning unit coincides with the central axis of the frame.

[0010] In some embodiments, the walking mechanism has an upright state and a low-lying 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 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 other walking parts, and the cleaning surface is offset to one side within the interval formed by the outer surface of the walking mechanism.

[0011] In some embodiments, several posture adjustment mechanisms include an adjusting screw and an adjusting nut block, the adjusting screw is rotatably connected to the frame, the adjusting nut block is sleeved on the outside of the adjusting screw and is threadedly connected to the adjusting screw, 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, and drive 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.

[0012] In some embodiments, the walking mechanism is provided in at least two groups, and at least two groups of the walking mechanism are arranged side by side on the outside of the frame.

[0013] In some embodiments, each of the walking components of the walking mechanism includes a first connecting rod, a wheel and a first drive 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 drive shaft of the first drive motor is connected to the wheel for driving the wheel to rotate and drive the frame to move in the pipeline.

[0014] 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. 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. The drive 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.

[0015] In some embodiments, the frame includes two base plates and several optical bars, and the several optical bars are arranged in parallel and spaced apart, with both ends 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.

[0016] In some embodiments, the pipe cleaning robot further 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.

[0017] 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. It can adapt to pipelines of different widths.

[0018] 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 the 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

[0019] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the pipeline cleaning robot provided by an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the overall main structure of the pipe cleaning robot provided by an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the three-dimensional structure of the connection between 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;

[0022] Figure 4 It is a schematic diagram of the main structure of the connection of the frame, walking mechanism, opening and closing adjustment mechanism and posture adjustment mechanism of the pipe cleaning robot provided by an embodiment of the present invention.

[0023] Description of reference numerals:

[0024] 1. Frame; 11. First base plate; 12. Second base plate; 13. Light bar; 14. Power supply; 15. Small round nut; 16. First fixing plate; 17. Second fixing plate;

[0025] 2. Cleaning structure; 21. Blade fan; 22. Connecting shaft; 23. Hexagonal nut; 24. Cleaning drive motor;

[0026] 3. Traveling mechanism; 31. First connecting rod; 32. Wheel; 33. First drive motor;

[0027] 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 drive motor; 47. Coupling;

[0028] 5. Posture adjustment mechanism; 51. Adjusting screw; 52. Adjusting nut block;

[0029] 6. Outer shell; 61. Movable slot. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to 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.

[0031] In order to solve the technical problem that the cleaning device is unstable during movement, 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, ensuring the stability and cleaning effect of the cleaning structure in the pipeline.

[0032] It should be noted that the pipe 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 pipe cleaning robot to deep-sea pipelines is used as an example. The principles of applying the pipe cleaning robot to other types of equipment are essentially the same as those applied to deep-sea pipelines, and will not be described in detail here.

[0033] 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. 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 side of 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 to walk, 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 point 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 the plurality of walking parts, and are used to drive the inner ends of the walking parts to rotate around the connection points.

[0034] In this device, the walking mechanism 3 is composed of multiple walking components arranged around the circumference of the frame 1. The inner end of each walking component is rotatably connected to the frame 1, while the outer end is responsible for supporting the frame 1 to ensure its stable movement. The opening and closing adjustment mechanism 4 is connected to the connection point on each walking component and is responsible for providing power to 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 within the pipeline, which can adapt to pipelines of different widths. In addition, each posture adjustment mechanism 5 can independently adjust each walking component, allowing each walking component to adjust its angle according to actual conditions, achieving inward contraction or outward expansion. This design makes the entire walking mechanism 3 highly adaptable and can easily cope with various complex and changing terrain and pipeline conditions. At the same time, by adjusting the angle of individual walking components to retract them inward, the robot can achieve a low-lying posture, thereby accurately adjusting the robot's position and posture, allowing the cleaning structure 2 to be closer to key dirty locations for cleaning, ensuring the stability and cleaning effect of the cleaning structure 2 within the pipeline.

[0035] Preferably, in this embodiment, see Figure 3 and Figure 4The frame 1 includes two base plates and a plurality of optical bars 13. The plurality of optical bars 13 are arranged in parallel and spaced apart. The two base plates are respectively arranged at both ends of the plurality of optical bars 13. Small round nuts 15 are provided at the ends of the optical bars 13 to achieve a fixed connection between them and the two base plates. For ease of introduction, the two base plates are defined as a first base plate 11 and a second base plate 12. The cleaning structure 2 is mounted 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 bars 13.

[0036] Further, in some possible embodiments, see Figures 1 to 4 The pipe cleaning robot also includes an outer shell 6, which is mounted on the exterior of the frame 1 and provides an additional layer of protection. To ensure coordinated operation with the walking components, the outer surface of the outer shell 6 is provided with movable slots 61 at positions corresponding to the walking components. These slots 61 allow the robot's walking components to flexibly move and adjust during pipe cleaning. Furthermore, the outer shell 6 is fixedly connected to the first and second base plates 11 and 12, ensuring the structural stability and integrity of the entire robot. This not only enhances the robot's durability but also improves its adaptability and cleaning efficiency in complex pipe environments. The frame 1 is also provided with a power supply 14, which is used to power the motor and other drive components.

[0037] 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 outer portion forms a cleaning surface for cleaning. The cleaning drive unit is interconnected with the cleaning unit and is primarily used to drive the cleaning unit to rotate. Through this rotational motion, the cleaning surface can effectively clean the inner wall of the pipeline, thereby achieving the purpose of removing dirt and impurities from the pipeline.

[0038] For some specific examples, see Figure 1 and Figure 2 The cleaning unit includes a blade fan 21 and a connecting shaft 22. 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 via a hexagonal nut 23. The cleaning drive motor 24 is fixedly mounted on the second base plate 12 and connected to the blade fan 21 via the connecting shaft 22. It can drive the blade fan 21 to rotate at high speed. The rotation action can effectively blow and scrape away dirt on the inner wall of the pipeline, as well as various debris accumulated in the pipeline, ensuring that the pipeline is unobstructed. During the exit of the deep-sea pipeline cleaning robot, a force along the axis of the connecting shaft 22 is applied to the blade fan 21. The fixing method of the hexagonal nut 23 prevents the applied force from pushing the hexagonal nut 23, thereby achieving the effect of fixing the blade fan 21.

[0039] 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.

[0040] In this embodiment, the walking mechanism 3 has an upright state and a crouched state. Specifically, when the walking mechanism 3 is in the upright state, the opening and closing angles of all the walking components 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 pipe 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, making it impossible for the cleaning surface to completely cover the inner wall of the pipe. As a result, there is a situation where the cleaning surface does not contact the inner wall of the pipe. Only when the diameter of the pipe is smaller than the diameter of the cleaning surface and the walking mechanism 3 is in the upright state can the cleaning surface effectively clean the inner wall of the pipe. 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 on 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 the key dirty positions, and these key dirty positions can be cleaned more effectively, thereby ensuring the cleanliness of the inside of the pipeline.

[0041] It should be noted that when a set of running mechanisms includes three or four running components, and the opening and closing angle of one running component is smaller than the opening and closing angles of the other running components, the running mechanism 3 is in the low-lying state. Furthermore, when a set of running mechanisms includes five or more running components, and the opening and closing angles of one or more consecutive running components are smaller than the opening and closing angles of the other running components, the running mechanism 3 is in the low-lying state.

[0042] 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, thereby driving the frame 1 to move and walk in the pipe.

[0043] See also Figure 4, the 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 to the first base plate 11 and the first fixed plate 16 provided on the optical bar 13, the optical bar 13 passes through the movable mounting plate 42, so that the movable mounting plate 42 is slidably connected to the optical bar 13, the movable mounting plate 42 is sleeved on the feed screw 41, and is threadedly connected to 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, and 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 drive motor 46 is installed on the second fixed plate 17 provided on the optical bar 13. Its drive shaft is connected to the feed screw 41 through a coupling 47. When the second drive 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.

[0044] Further, see Figure 4 In some embodiments, the walking mechanism 3 is provided in two groups, and the two groups of the walking mechanisms 3 are arranged side by side on the outside of the frame 1. This ensures the stability and mobility of the walking mechanism 3 within the pipeline, thereby improving the efficiency and reliability of the entire device operating inside the pipeline. 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 connection point of the first connecting rod 31. The two parallel connection points of the first connecting rod 31 are connected to the two ends of the third connecting rod 44 through the connecting rod shaft 45, forming a rotational fit. During 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, through the third connecting rod 44 connecting the two first connecting rods 31, the parallel first connecting rods 31 are driven to move synchronously, thereby achieving synchronous adjustment of the walking components on the same side of the robot.

[0045] In some possible embodiments, see Figure 4, several posture adjustment mechanisms 5 all include an adjusting screw 51 and an adjusting 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 corresponding positions of the posture adjustment mechanism 5 on the outside of the light bar 13, and the two ends of the adjusting screw 51 are rotatably connected to the first fixed plate 16 and the second fixed plate 17 respectively. This design allows the adjusting screw 51 to rotate freely on the frame 1, and the adjusting nut block 52 is sleeved on the outside of the adjusting screw 51 and is threadedly connected to the adjusting screw 51 so that the nut block can move along the axial direction of the adjusting screw 51 while maintaining a stable connection. In order to achieve linkage with the walking part, one side of the adjusting nut block 52 is movably connected to the inner end of the first connecting rod 31, so that when the adjusting screw 51 is rotated, the adjusting nut block 52 can be driven to move along the adjusting screw 51, thereby driving the inner end of the first connecting rod 31 to rotate around the connection point to achieve precise position adjustment.

[0046] To accommodate the rotational needs of the first connecting rod 31, a long slot is provided on one side of the adjustment nut block 52. This slot allows the inner end of the first connecting rod 31 to connect to the slot via a connecting shaft, enabling the first connecting rod 31 to rotate about the connection point under the push of the adjustment nut block 52. This increases the flexibility of the mechanism, allowing the first connecting rod 31 to rotate freely within a certain range to adapt to different working environments and requirements.

[0047] It should be noted that the rotational drive mode of the adjustment screw 51 can be manual or electric. When manual, 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 electric, the adjustment screw 51 is equipped with a motor on one side and connected to a controller. This allows the operator to flexibly control the movement of the first connecting rod 31 through the controller during actual operation, thereby achieving precise adjustment.

[0048] Furthermore, the running mechanism 3 is arranged in two groups, each group containing three first connecting rods 31. 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 individually. Two sets of first fixing plates 16 and second fixing plates 17 are also provided, for mounting the posture adjustment mechanisms 5 connected to the two sets of running mechanisms 3. When the adjustment nut block 52 is moved, the two first connecting rods 31 on the same side rotate accordingly, reducing the opening and closing angle between them, and the running mechanism 3 enters a lowered position. In this lowered position, the blades 21 can be tilted toward the inner wall of the pipe, effectively cleaning the pipe. 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 running mechanism 3 enters an upright position. If the diameter of the pipe is larger than that of the blades 21 and the blades 21 need to be removed from the pipe, the running mechanism 3 can be adjusted to an upright position, moving the blades 21 away from the inner wall of the pipe, facilitating the removal 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 conical pipe wall, allowing the robot to adapt to and fit the inclined or conical pipe, thereby maintaining good mobility and cleaning efficiency in pipes of different shapes and angles.

[0049] In some possible embodiments, the opening and closing adjustment mechanism 4 further includes a control unit connected to the second drive motor 46 for controlling the start and stop of the second drive motor 46 and adjusting the rotational speed and direction of the feed screw 41. The control unit can be a microprocessor or microcontroller, which can automatically calculate the optimal opening and closing angle based on the diameter and shape of the pipe and automatically adjust the travel 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 suit specific cleaning tasks or address unexpected situations.

[0050] In some possible embodiments, the position adjustment mechanism 5 further includes a feedback system capable of monitoring the real-time position of the first connecting rod 31 and feeding back the position information to the control unit. The feedback system can be a position sensor, such as an encoder or potentiometer, which can provide precise position data, ensuring that the position adjustment mechanism 5 can accurately adjust the position of the first connecting rod 31. Based on the data provided by the feedback system, the control unit can adjust the position of the adjustment nut block 52 in real time to ensure that the first connecting rod 31 reaches the predetermined opening and closing angle, thereby ensuring that the cleaning mechanism 2 can effectively clean the inner wall of the pipeline.

[0051] 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 rotates, and the movable mounting plate 42 moves 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) separately around the connecting end, 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. 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 blows and scrapes 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.

[0052] 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 make the angle of the walking component shrink inward or expand outward by adjustment, 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 and making them 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 positions, so as to clean the key dirty positions, thereby ensuring the stability and cleaning effect of the cleaning structure 2 in the pipeline.

[0053] In the description of this 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 this application and simplifying the description, and do not indicate or imply 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 this 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 an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0054] It should be noted that, in this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any 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 comprising 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, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0055] The specific embodiments of the present invention described above do not limit the scope of protection 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 scope of protection of the claims of the present invention.

Claims

1. A pipe cleaning robot, characterized in that: include: frame; A cleaning structure, provided on the frame, for cleaning the inner wall of the pipeline; The walking mechanism includes a plurality of walking components arranged around the circumference of the frame, wherein the inner end of each walking component is connected to the frame for rotation, and the outer end is used to support the frame for movement, and any position between the two ends of the walking component forms a connection point; An opening and closing adjustment mechanism, connected to the connection points of each traveling component, for driving 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, which 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; The walking mechanism is 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; the walking parts all include a first connecting rod, and one end of the first connecting rod is rotatably connected to the frame; the opening and closing adjustment mechanism includes a connecting rod structure and a movable mounting plate, and the outer side of the movable mounting plate and the corresponding position of the walking part are rotatably provided with a connecting rod structure, and the connecting rod structure is rotatably connected to the connection point of the walking part, and the connecting rod structure includes a second connecting rod and a third connecting rod, one end of the second connecting rod is rotatably connected to the outer position of the movable mounting plate, and the other end is rotatably connected to the corresponding first connecting rod connection point, and the two parallel first connecting rod connection points are connected to the two ends of the third connecting rod through a connecting rod shaft.

2. The pipe 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 pipe 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 pipe cleaning robot according to claim 3, characterized in that: The walking mechanism has an upright state and a lying state. When the walking mechanism is in the upright state, the opening and closing angles of all the walking components remain consistent, and the area formed by the cleaning surface and the outer surface of the walking mechanism remains 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 the 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 pipe cleaning robot according to claim 4, characterized in that: Several posture adjustment mechanisms each 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 outside 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 that the adjusting nut block is driven 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 traveling component to rotate and reduce the opening and closing angle, the traveling mechanism is in the low-lying state.

6. The pipe cleaning robot according to claim 1, characterized in that: Each of the walking components of the walking mechanism also includes a wheel and a first drive motor. The wheel is provided at the other end of the first connecting rod. The drive shaft of the first drive motor is connected to the wheel for driving the wheel to rotate and drive the frame to move in the pipeline.

7. The pipe cleaning robot according to claim 1, characterized in that: The opening and closing adjustment mechanism also includes a feed screw 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. The drive shaft of the second drive motor is connected to the feed screw, and is used to drive the feed screw to rotate and drive the movable mounting plate to move, and drive the walking part to rotate around its inner end through the connecting rod structure.

8. The pipe cleaning robot according to claim 1, characterized in that: The frame includes two base plates and several optical bars. The several 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.

9. The pipe cleaning robot according to claim 1, characterized in that: The pipeline cleaning robot further comprises 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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