Wall-climbing cleaning robot and control method

Abstract

The embodiment of the invention provides a wall-climbing cleaning robot and a control method. The wall-climbing cleaning robot is used for cleaning a pipeline and comprises a wall-climbing cleaning module and a winding stretching module. The wall-climbing cleaning module comprises a cleaning mechanism and a variable-diameter support assembly, and the variable-diameter support assembly can contract or stretch relative to the cleaning mechanism so that the wall-climbing cleaning module can adapt to pipelines of different specifications and inner diameters. A first winding device of the winding stretching module is connected with the dead center position of the first end of the wall-climbing cleaning module through a first steel cable, and a second winding device of the winding stretching module is connected with the dead center position of the second end of the wall-climbing cleaning module through a second steel cable. As the steel cables are connected to the dead center positions of the two ends of the wall-climbing cleaning module, in the turning process, driving force is relatively concentrated in the center of the wall-climbing cleaning module to maintain overall balance. The driving force guides the wall-climbing cleaning module to advance in the turning direction, and inclination, torsion or collision between the wall-climbing cleaning module and the pipeline caused by eccentric stress are reduced.

Description

Technical Field

[0001] The present application relates to the technical field of wall-climbing robots, and in particular to a wall-climbing cleaning robot and a control method thereof. Background Art

[0002] In the field of industrial production and infrastructure maintenance, pipeline cleaning and rust removal are extremely important, directly related to the service life of the pipeline, transportation efficiency and the safe and stable operation of the system. At present, pipeline cleaning and rust removal robots with mobile chassis and cleaning devices are usually used to perform such tasks.

[0003] These robots mainly rely on magnetic adsorption or vacuum adsorption technology for chassis wall climbing. The magnetic adsorption method uses the magnetic force generated by permanent magnets to make the robot adhere to the wall of the metal pipe. However, this method has significant limitations and can only be applied to pipes with metal walls. For pipes made of non-magnetic materials such as plastics and ceramics, magnetic adsorption robots are completely ineffective.

[0004] The vacuum adsorption robot can only work effectively on a flat inner wall. When there are unevenness such as bumps, depressions or cracks on the inner wall of the pipe, it is difficult for the suction cup to form a stable negative pressure and the robot cannot be stably adsorbed on the wall.

[0005] In addition, these robots are particularly weak when faced with vertical pipes with turns. Although they can barely operate in vertical pipes, when they encounter complex pipe structures with vertical turns, they have difficulty passing through the bends and cannot complete the cleaning task of the entire pipe. Summary of the invention

[0006] The embodiment of the present application provides a wall-climbing cleaning robot and a control method. The variable-diameter bracket assembly can be extended and retracted relative to the cleaning mechanism to adapt to pipes with different inner diameters, and the winch stretching module is reasonably connected to the wall-climbing cleaning module through a steel cable. When turning a corner, the driving force is maintained at the center of the module toward the direction of travel, which significantly improves the passability of the wall-climbing cleaning robot in vertical pipes with turns.

[0007] The embodiment of the present application provides a wall-climbing cleaning robot, which is used to clean pipelines. The wall-climbing cleaning robot includes:

[0008] A wall-climbing cleaning module, comprising a cleaning mechanism and a variable diameter bracket assembly, wherein the variable diameter bracket assembly can be contracted or extended relative to the cleaning mechanism to enable the wall-climbing cleaning module to adapt to pipes with different specifications of inner diameters;

[0009] The hoisting and stretching module includes a first hoisting device and a second hoisting device. The first hoisting device is connected to the exact center position of the first end of the wall-climbing cleaning module through a first steel cable, and the second hoisting device is connected to the exact center position of the second end of the wall-climbing cleaning module through a second steel cable. The hoisting and stretching module is used to drive the wall-climbing cleaning module to move.

[0010] In some embodiments, the wall-climbing cleaning robot comprises:

[0011] A first cable guide mechanism is installed at the exact center of the first end of the wall-climbing cleaning module, one end of the first steel cable is connected to the first cable guide mechanism, and the other end is connected to the first hoisting device;

[0012] The second cable guiding mechanism is installed at the exact center of the second end of the wall-climbing cleaning module; one end of the second steel cable is connected to the second cable guiding mechanism, and the other end is connected to the second winch device.

[0013] In some embodiments, the variable diameter bracket assembly includes:

[0014] a first mounting seat, one end of which is used to mount the cleaning mechanism and the first cable guide mechanism;

[0015] A second mounting seat, arranged opposite to the first mounting seat, one end of the second mounting seat being used for mounting the second cable guide mechanism;

[0016] A connecting rod assembly connected to the other end of the first mounting seat and the other end of the second mounting seat;

[0017] The first driving member is connected to the first mounting seat and the second mounting seat. The first driving member is used to drive the second mounting seat to move relative to the first mounting seat, so as to drive the connecting rod assembly to contract or extend relative to the first mounting seat.

[0018] In some embodiments, the connecting rod assembly includes:

[0019] A plurality of first support rods, wherein the plurality of first support rods are arranged at intervals along the circumference of the first mounting seat, and one end of the first support rod is rotatably connected to the first mounting seat via a first hinge shaft;

[0020] A plurality of second support rods are arranged at intervals along the circumference of the second mounting seat, one end of the second support rod is rotatably connected to the second mounting seat via a second hinge shaft, and the second support rod is rotatably connected to the first support rod via a third hinge shaft.

[0021] In some embodiments, the variable diameter bracket assembly includes:

[0022] A sliding wheel is arranged on a side of the connecting rod assembly away from the first mounting seat and the second mounting seat, and an outer peripheral surface of the sliding wheel contacts the inner wall of the pipe.

[0023] In some embodiments, the variable diameter bracket assembly includes:

[0024] The guide rod is connected to the first mounting seat and the second mounting seat. The second mounting seat is provided with a through hole for the guide rod to pass through. The second mounting seat can move on the guide rod relative to the first mounting seat.

[0025] In some embodiments, the cleaning mechanism comprises:

[0026] nozzle;

[0027] A driving assembly is connected to the nozzle and is located on the variable diameter bracket assembly, and the driving assembly is used to drive the nozzle to rotate.

[0028] In some embodiments, the drive assembly includes:

[0029] A rotating member, the rotating member is used to install the nozzle;

[0030] A second driving member, wherein the output shaft of the second driving member is connected to the rotating member, and the second driving member is used to drive the rotating member to rotate around the axis of the output shaft to drive the nozzle to rotate.

[0031] In some embodiments, the wall-climbing cleaning robot further comprises:

[0032] A pressure sensor is installed on the reducer support assembly and electrically connected to the reducer support assembly. The pressure sensor is used to measure the compression force between the reducer support assembly and the pipe wall of the pipe.

[0033] The present application also provides a control method for a wall-climbing cleaning robot, which is used to control the wall-climbing cleaning robot of any of the above embodiments. The control method includes:

[0034] According to the movement instruction, adjusting the pulling force and speed of the first hoisting device and the second hoisting device to drive the wall-climbing cleaning module to move in the pipeline;

[0035] Obtaining the pipe diameter information of the pipeline, and controlling the shrinkage or extension of the variable diameter bracket assembly according to the pipe diameter information;

[0036] The cleaning mechanism is controlled to move to clean the inner wall of the pipeline.

[0037] In some embodiments, controlling the shrinkage or extension of the variable diameter support assembly according to the pipe diameter information includes:

[0038] The first driving member of the variable diameter bracket assembly is controlled to drive the second mounting seat to move relative to the first mounting seat, so as to drive the connecting rod assembly to contract or extend.

[0039] In some embodiments, the control method includes:

[0040] When the wall-climbing cleaning robot performs a turning operation, the pressure sensor measures the pressing force between the variable diameter bracket assembly and the inner wall of the pipeline;

[0041] The variable diameter bracket assembly is controlled to contract or extend according to the pressing force.

[0042] In the wall-climbing cleaning robot and control method of the present application, through the unique wall-climbing cleaning module design, the variable diameter bracket assembly can shrink or stretch relative to the cleaning mechanism, so that it can adapt to pipes with different specifications of inner diameter. At the same time, the winch stretching module can keep the driving force at the center of the device and in the direction of travel when the wall-climbing cleaning module turns a corner through a reasonably set steel cable connection method, which not only ensures that the wall-climbing cleaning module will not hit the inner wall of the pipeline when turning, protecting the pipeline and the wall-climbing cleaning module, but also greatly improves the passability of the wall-climbing cleaning module in the vertical belt turning pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0044] Figure 1 A schematic diagram of the structure of the wall-climbing cleaning robot provided in an embodiment of the present application.

[0045] Figure 2 Schematic diagram of the wall-climbing cleaning robot provided in the embodiment of the present application working in a pipeline

[0046] Figure 3 A schematic diagram of the partial structure of the wall-climbing cleaning robot provided in an embodiment of the present application.

[0047] Figure 4 A schematic diagram of an exploded view of the wall-climbing cleaning module provided in an embodiment of the present application.

[0048] Description of reference numerals:

[0049] A wall-climbing cleaning robot 100, a wall-climbing cleaning module 10, a first end portion 101, and a second end portion 102;

[0050] Cleaning mechanism 11, nozzle 111, driving assembly 112, rotating member 1121, second driving member 1122;

[0051] The variable diameter bracket assembly 12, the first mounting seat 121, the second mounting seat 122, the connecting rod assembly 123, the first support rod 1231, the second support rod 1232, the first hinge shaft 1233, the second hinge shaft 1234, the third hinge shaft 1235, the first driving member 124, the sliding wheel 125, and the guide rod 126;

[0052] A hoisting and stretching module 20, a first hoisting device 21, and a second hoisting device 22;

[0053] The first steel cable 31 , the second steel cable 32 , the first cable guiding mechanism 41 , and the second cable guiding mechanism 42 . DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0055] Please also read Figure 1-Figure 3 , Figure 1 A schematic diagram of the structure of the wall-climbing cleaning robot 100 provided in an embodiment of the present application. Figure 2 This is a schematic diagram of the wall-climbing cleaning robot 100 provided in an embodiment of the present application working in a pipeline. Figure 3 A partial structural schematic diagram of the wall-climbing cleaning robot 100 provided in an embodiment of the present application.

[0056] The wall-climbing cleaning robot 100 provided in the embodiment of the present application is used for cleaning pipes, and the wall-climbing cleaning robot 100 comprises a wall-climbing cleaning module 10 and a hoisting and stretching module 20. The wall-climbing cleaning module 10 comprises a cleaning mechanism 11 and a variable diameter bracket assembly 12, and the variable diameter bracket assembly 12 can be retracted or extended relative to the cleaning mechanism 11 so that the wall-climbing cleaning module 10 can adapt to pipes of different specifications of inner diameters.

[0057] The cleaning mechanism 11 is used to remove dirt or impurities attached to the inner wall of the pipe. The cleaning mechanism 11 can adopt a variety of cleaning methods. For example, the cleaning mechanism 11 can include a high-pressure water spray device to flush away the dirt on the inner wall of the pipe through the impact force of the high-pressure water flow.

[0058] Alternatively, the cleaning mechanism 11 may also be in the form of a rotating brush disc, which is driven by a motor to rotate at high speed, and the brush disc is in direct contact with the inner wall of the pipe to remove dirt by friction.

[0059] Alternatively, the cleaning mechanism 11 can also use an ultrasonic generator to generate a high-frequency electrical signal, and the transducer can convert the high-frequency electrical signal into a high-frequency mechanical vibration and transmit it to the cleaning liquid in the pipe. The tiny bubbles in the cleaning liquid produce a cavitation effect under the action of ultrasound, and the strong impact force generated by the instantaneous rupture of the bubbles can effectively remove the dirt on the inner wall of the pipe.

[0060] It is understandable that the cleaning mechanism 11 can also use a combined cleaning method to efficiently clean the inner wall of the pipeline. For example, the cleaning mechanism 11 includes a high-pressure water spray device, a rotating brush disc, and an ultrasonic cleaning component. The high-pressure water spray device is first used to flush most of the dirt on the inner wall of the pipeline, and then the rotating brush disc is used to mechanically rub and clean the remaining stubborn dirt, and finally the ultrasonic cleaning component is turned on to further remove fine impurities.

[0061] The variable diameter bracket assembly 12 can adopt a retractable mechanical structure design, for example, it is composed of a plurality of bracket segments that can be nested with each other. When it is necessary to adapt to a pipeline with a larger inner diameter, each bracket segment is extended outward by means of motor drive or hydraulic drive, thereby expanding the outer diameter of the entire variable diameter bracket assembly 12 until the outermost side of the bracket segment is tightly fitted with the inner wall of the pipeline. When it is necessary to adapt to a pipeline with a smaller inner diameter, the drive device controls the bracket segment to shrink inward to reduce the outer diameter.

[0062] The variable diameter stent assembly 12 can also be made of elastic materials to make stent segments (such as spring steel sheets). The stent segments are connected by movable hinges to form a foldable structure. In the initial state, the stent is in a contracted state. When it is necessary to adapt to a pipeline with a larger diameter, pressure is applied to the inside of the stent through an expansion device (such as an airbag) so that the stent segments overcome the elastic force and stretch outward; when the diameter of the pipe becomes smaller, the stent segments automatically contract along the pipe diameter direction under the action of their own elastic force.

[0063] The variable diameter bracket assembly 12 can also use an electric lead screw as a driving component. An electric lead screw is installed on each support arm, and the nut of the lead screw is connected to the movable end of the support arm. When the motor drives the lead screw to rotate, the nut drives the support arm along the axial direction of the lead screw, thereby realizing the extension or contraction of the support arm. Since the pipeline is a circular structure,

[0064] It should be noted that no matter what implementation method the variable diameter bracket assembly 12 adopts, in order to adapt well to the inner wall of the pipe with different diameters, the telescopic direction of the variable diameter bracket assembly 12 is along the pipe diameter direction of the pipe, so as to ensure that it can play a supporting and positioning role in pipes with different inner diameters.

[0065] In addition, in the process of adapting to pipes with different diameters, the variable diameter bracket assembly 12 always maintains a stable connection with the cleaning mechanism 11, ensuring that the cleaning mechanism 11 can still clean the inner wall of the pipe in pipes with different inner diameters.

[0066] The hoisting and stretching module 20 may include a first hoisting device 21 and a second hoisting device 22. The first hoisting device 21 is connected to the center position of the first end 101 of the wall-climbing cleaning module 10 through a first steel cable 31, and the second hoisting device 22 is connected to the center position of the second end 102 of the wall-climbing cleaning module 10 through a second steel cable 32. The hoisting and stretching module 20 is used to drive the wall-climbing cleaning module 10 to move.

[0067] When a pipeline needs to be cleaned and rust-removed, the first hoisting device 21 and the second hoisting device 32 are first installed at the outlet and the inlet of the pipeline, and the first steel cable 31 and the second steel cable 32 are correspondingly connected to the first cable guide mechanism 41 and the second cable guide mechanism 42 of the wall-climbing cleaning module 10, and the other ends of the first steel cable 31 and the second steel cable 32 are respectively wound around the first hoisting device 21 and the second hoisting device 32.

[0068] When the wall-climbing cleaning module 10 needs to be driven to move, the first hoisting device 21 and the second hoisting device 22 are controlled in linkage, and the wall-climbing cleaning module 10 is driven to move along the axial direction of the pipeline by retracting and releasing the first steel cable 31 and the second steel cable 32 .

[0069] For example, when the wall-climbing cleaning module 10 is driven to move upward in the pipeline, the first hoisting device 21 can drive the drum through the motor to gradually reel in the first steel cable 31. Since the first steel cable 31 is connected to the center of the first end 101 of the wall-climbing cleaning module 10, the reeling action will generate an upward pulling force, thereby driving the wall-climbing cleaning module 10 to move upward. At the same time, the second hoisting device 22 will release the second steel cable 32 accordingly to ensure that the wall-climbing cleaning module 10 remains balanced during the movement and avoids displacement or tilting due to uneven force. If the wall-climbing cleaning module 10 is to move downward, the working principle is the opposite. The second hoisting device 22 reels the second steel cable 32, generates a downward pulling force, and drives the second end 102 of the wall-climbing cleaning module 10 to move downward, while the first hoisting device 21 synchronously releases the first steel cable 31 to ensure that the wall-climbing cleaning module 10 remains balanced during the movement.

[0070] The hoisting and stretching module 20 may also include a remote control device, through which the first hoisting device 21 and the second hoisting device 22 may be controlled respectively, such as buttons, joysticks and other control elements on the remote control. The operator may perform wireless control through the remote control device to achieve automated operation.

[0071] In some embodiments, the first hoisting device 21 and the second hoisting device 22 are controlled in linkage, and are centrally controlled on a remote control device, so that one remote control device can simultaneously operate two sets of hoisting devices. For example, the hoisting device 21 performs the extension action, and the second hoisting device 22 performs the retraction action, and they cooperate with each other.

[0072] In some embodiments, the winch stretching module 20 may include an automatic control module, which, through built-in programs and algorithms, can automatically coordinate the operation of the first winch device 21 and the second winch device 22 according to preset cleaning task parameters, such as pipeline length, cleaning path planning, and the moving speed of the wall-climbing cleaning module 10.

[0073] Among them, along the first direction, the first end 101 and the second end 102 are respectively located at the two ends of the wall-climbing cleaning module 10. The first direction is the front-to-back direction of the wall-climbing cleaning module 10 (for example, the Z direction in the figure), which is also the moving direction of the wall-climbing cleaning module 10.

[0074] Along the second direction, the first hoisting device 21 is connected to the center position of the wall-climbing cleaning module 10 through the first steel cable 31, that is, the connection point is in the middle of the width direction of the wall-climbing cleaning module 10 (for example, the X direction in the figure) in the second direction. When the first hoisting device 21 is started and the first steel cable 31 is wound or unwound, the tension on the wall-climbing cleaning module 10 is evenly distributed in the second direction, thereby preventing the wall-climbing cleaning module 10 from being offset in the second direction. Similarly, the second hoisting device 22 is connected to the first end 101 of the wall-climbing cleaning module 10 at the center position in the second direction through the second steel cable 32, thereby ensuring that the tension on the wall-climbing cleaning module 10 in the second direction is balanced and its stable posture is maintained.

[0075] Along the third direction, the first hoisting device 21 is connected to the center of the wall-climbing cleaning module 10 through the first steel cable 31, and the connection point is located in the middle of the height direction of the wall-climbing cleaning module 10 (for example, the Y direction in the figure). This ensures that in the third direction, no matter how the first hoisting device 21 operates the first steel cable, the wall-climbing cleaning module 10 will not be offset or twisted. The second hoisting device 22 also follows the same connection method in the third direction, and is connected to the second end 102 of the wall-climbing cleaning module 10 at the center of the third direction through the second steel cable 32, ensuring that the force of the wall-climbing cleaning module 10 is balanced in the third direction.

[0076] The second direction is perpendicular to the third direction, and a plane (pipeline cross section) enclosed by the second direction and the third direction is perpendicular to the first direction.

[0077] The first hoisting device 21 is connected to the center of the first end 101 of the wall-climbing cleaning module 10 through the first steel cable 31. This connection mode ensures that during the traction process, the first hoisting device 21 can provide a stable and centered pulling force for one end of the wall-climbing cleaning module 10. Similarly, the second hoisting device 22 is connected to the center of the second end 102 of the wall-climbing cleaning module 10 through the second steel cable 32, providing a stable pulling force for the wall-climbing cleaning module 10 from the other end.

[0078] The first hoisting device 21 is connected to the first end 101 of the wall-climbing cleaning module 10 at the center of the second direction and the third direction respectively through the first steel cable 31, and the second hoisting device 22 is connected to the second end 102 of the wall-climbing cleaning module 10 at the center of the second direction and the third direction respectively through the second steel cable 32. This arrangement ensures that the wall-climbing cleaning module 10 can also be subjected to balanced force in a plane perpendicular to the first direction, so that the wall-climbing cleaning module 10 can move forward stably in the pipeline.

[0079] In the wall-climbing cleaning robot 100 provided in the embodiment of the present application, the installation positions of the first hoisting device 21 and the second hoisting device 22 enable the driving force of the wall-climbing cleaning module 10 to always remain at the center of the wall-climbing cleaning module 10 and toward the direction of travel even when the wall-climbing cleaning module 10 is turning a corner, which not only ensures that the wall-climbing cleaning module 10 will not hit the inner wall of the pipe when turning, thereby protecting the pipe and the wall-climbing cleaning module 10, but also greatly improves the passability of the wall-climbing cleaning module 10 in the vertical turning pipe. In addition, the hoisting and stretching module 20 can cooperate with the variable diameter bracket assembly 12, so that the wall-climbing cleaning module 10 can adapt to pipes with different specifications of inner diameters. The wall-climbing cleaning robot 100 can efficiently and flexibly adapt to the cleaning of pipes with different specifications of inner diameters, greatly improving the efficiency and quality of pipe cleaning.

[0080] In some embodiments, the wall-climbing cleaning robot 100 also includes a pressure sensor (not shown), which is installed on the variable diameter bracket assembly 12 and electrically connected to the variable diameter bracket assembly 12. The pressure sensor is used to measure the compression force between the variable diameter bracket assembly 12 and the pipe wall of the pipe.

[0081] A pressure sensor is installed at the part where the variable diameter bracket assembly 12 contacts the inner wall of the pipe. When the variable diameter bracket assembly 12 contacts the inner wall of the pipe, the pressure sensor detects the contact pressure. When the pipe diameter changes, the pressure on the variable diameter bracket assembly 12 will also change accordingly. Through the preset pressure threshold range, the pressure value fed back by the pressure sensor is used to determine whether the pipe diameter increases or decreases, and then the variable diameter bracket assembly 12 is controlled to make corresponding extension or contraction actions along the pipe diameter direction.

[0082] In some embodiments, a laser distance measuring sensor may be provided on the variable diameter bracket assembly 12, and the laser distance measuring sensor is installed at the center position or a specific position of the variable diameter bracket. The laser distance measuring sensor emits a laser beam and measures the time from the emission of the laser beam to the reflection of the laser beam by the inner wall of the pipe, thereby calculating the distance between the bracket and the inner wall of the pipe. When the pipe diameter changes, the distance measured by the laser distance measuring sensor will also change. The control system of the wall-climbing cleaning robot 100 accurately controls the variable diameter bracket assembly 12 to shrink or stretch along the pipe diameter direction of the pipe according to the change in distance to adapt to the new pipe diameter.

[0083] In some embodiments, a camera or other visual sensor may also be provided on the variable diameter bracket assembly 12 for capturing images of the interior of the pipe. The relative positional relationship between the inner wall of the pipe and the variable diameter bracket assembly 12 and the characteristic information of the pipe diameter in the captured image are analyzed through an image processing algorithm. When the pipe diameter changes, the visual recognition system can promptly identify these changes and transmit the information to the control system of the wall-climbing cleaning robot 100, thereby controlling the variable diameter bracket assembly 12 to make corresponding adjustments along the pipe diameter direction. Among them, auxiliary lighting equipment (such as LED lights) can be installed near the camera or other visual sensors, and the lighting equipment can emit light to illuminate the inner wall area of ​​the pipe, providing a clear shooting environment for the camera.

[0084] In some embodiments, the wall-climbing cleaning robot 100 includes a first cable guiding mechanism 41 and a second cable guiding mechanism 42 .

[0085] The first cable guide mechanism 41 is installed at the exact center of the first end portion 101 of the wall-climbing cleaning module 10 . One end of the first steel cable 31 is connected to the first cable guide mechanism 41 , and the other end is connected to the first hoisting device 21 .

[0086] The second cable guide mechanism 42 is installed at the exact center of the second end portion 102 of the wall-climbing cleaning module 10 ; one end of the second steel cable 32 is connected to the second cable guide mechanism 42 , and the other end is connected to the second hoisting device 22 .

[0087] The first cable guide mechanism 41 and the second cable guide mechanism 42 can adjust the direction of the steel cable according to the movement direction of the steel cable, ensuring that the steel cable always remains in the best stress state during operation and is always placed in the center, avoiding twisting or entanglement of the first steel cable 31 and the second steel cable 32.

[0088] In the embodiments of the present application, Figure 3The first cable guide mechanism 41 can be a lifting ring, and a mounting piece is provided at one end of the lifting ring. The mounting piece is located at the exact center of the first end 101 of the wall-climbing cleaning module 10. The first steel cable 31 passes through the lifting ring and is connected to the first hoisting device 21. When the first hoisting device 21 pulls the first steel cable 31, the first steel cable 31 can slide relatively freely in the lifting ring, and the lifting ring can adapt to the force changes of the steel cable in different directions to a certain extent, so as to avoid the first steel cable 31 from being entangled. The second cable guide mechanism 42 can adopt the same lifting ring structure, and play the same guiding role for the second steel cable 32.

[0089] In some embodiments, the first cable guide mechanism 41 may further include a roller, which is mounted at the exact center of the first end 101 of the wall-climbing cleaning module 10. The first steel cable 31 passes through the rollers, and when the first steel cable 31 moves, the roller rolls accordingly. The second cable guide mechanism 42 may adopt the same roller structure, which is mounted at the center of the second end 102 of the wall-climbing cleaning module 10, and plays the same guiding role for the second steel cable 32.

[0090] In some embodiments, the first cable guide mechanism 41 may also include a universal joint structure having multiple movable joints, and the universal joint structure connects the first steel cable 31 to the center of the first end 101 of the wall-climbing cleaning module 10. The universal joint structure can rotate flexibly in multiple directions, so as to adjust the connection angle of the first steel cable 31 in real time according to the movement direction of the first steel cable 31 and the posture change of the wall-climbing cleaning module 10, so as to ensure that the steel cable is always in the best stress state. The second cable guide mechanism 42 adopts the same universal joint structure and is installed at the second end 102 of the wall-climbing cleaning module 10 for connecting and guiding the second steel cable 32.

[0091] See also Figure 3 and Figure 4 , Figure 4 Schematic diagram of an exploded view of a wall-climbing cleaning module 10 provided in an embodiment of the present application. In some embodiments, the variable diameter bracket assembly 12 includes a first mounting seat 121, a second mounting seat 122, a connecting rod assembly 123 and a first driving member 124. One end of the first mounting seat 121 is used to mount the cleaning mechanism 11 and the first cable guide mechanism 41. The second mounting seat 122 is arranged opposite to the first mounting seat 121, and one end of the second mounting seat 122 is used to mount the second cable guide mechanism 42. The connecting rod assembly 123 is connected to the other end of the first mounting seat 121 and the other end of the second mounting seat 122.

[0092] The cleaning mechanism 11 and the first cable guide mechanism 41 are both installed at the same end of the first mounting seat 121 (the end away from the connecting rod assembly 123), so that the installation and arrangement of the first steel cable 31 are more convenient, and the first steel cable 31 will not be hindered by the connecting rod assembly 123 when it is led out and connected to the first hoisting device 21, thereby reducing the risk of cable entanglement. Similarly, the arrangement of the second cable guide mechanism 42 will not be hindered by the connecting rod assembly 123, thereby reducing the risk of cable entanglement.

[0093] The cleaning mechanism 11 is installed at one end of the first mounting seat 121 away from the connecting rod assembly 123, which can reduce the obstruction of the connecting rod assembly 123 to the cleaning operation and ensure that the cleaning range of the cleaning mechanism 11 is not affected by the connecting rod assembly 123, thereby more comprehensively covering the pipe wall to improve the cleaning efficiency.

[0094] The first driving member 124 is connected to the first mounting seat 121 and the second mounting seat 122 . The first driving member 124 is used to drive the second mounting seat 122 to move relative to the first mounting seat 121 , so as to drive the connecting rod assembly 123 to contract or extend relative to the first mounting seat 121 .

[0095] When the variable diameter bracket assembly 12 needs to be adjusted to adapt to pipes of different diameters, for example, when facing a pipe with an increased diameter, the first driving member 124 drives the second mounting seat 122 to move in a direction away from the first mounting seat 121. In this process, the connecting rod assembly 123 connected between the first mounting seat 121 and the second mounting seat 122 will be gradually stretched open as the second mounting seat 122 moves, thereby achieving the extension of the variable diameter bracket assembly 12 to fit the inner wall of the pipe with a larger diameter.

[0096] On the contrary, when encountering a pipe with a smaller diameter, the first driving member 124 drives the second mounting seat 122 to move toward the first mounting seat 121. At this time, the connecting rod assembly 123 is squeezed and shrinks relative to the first mounting seat 121, so that the variable diameter bracket assembly 12 can adapt to the pipe with a smaller diameter.

[0097] By controlling the movement of the second mounting seat 122 through the first driving member 124, thereby driving the connecting rod assembly 123 to contract or extend, the variable diameter bracket assembly 12 can quickly and accurately adapt to pipes of various different diameters, thereby providing a guarantee for the stable operation of the wall-climbing cleaning module 10 in different pipeline environments.

[0098] In some embodiments, the first driving member 124 may include a cylinder, one end of the cylinder body of the cylinder is connected to the first mounting seat 121 through a flange or a connecting seat, and the end of the piston rod of the cylinder is connected to the second mounting seat 122. When compressed air enters one side of the cylinder body of the cylinder through the air path, the piston and the piston rod are pushed to move, thereby driving the movement of the second mounting seat 122. When the cylinder pushes the second mounting seat 122 to move in a direction away from the first mounting seat 121, the connecting rod assembly 123 is stretched open, and the diameter-reducing bracket assembly 12 is extended; when the cylinder pulls the second mounting seat 122 to move in a direction close to the first mounting seat 121, the connecting rod assembly 123 is squeezed, and the diameter-reducing bracket assembly 12 is contracted.

[0099] In some embodiments, the first driving member 124 may also include an electric push rod, a hydraulic cylinder, or a gear rack mechanism that cooperates with a motor, etc., which is not limited here. An appropriate driving mode can be selected according to the specific working requirements, pipe diameter range, working environment and other factors of the wall-climbing cleaning robot 100 to ensure that the variable diameter bracket assembly 12 can work stably and efficiently.

[0100] See also Figure 3 and Figure 4 In some embodiments, the connecting rod assembly 123 includes a plurality of first support rods 1231 and a plurality of second support rods 1232 .

[0101] A plurality of first support rods 1231 are arranged at intervals along the circumference of the first mounting seat 121 , and one end of the first support rod 1231 is rotatably connected to the first mounting seat 121 via a first hinge shaft 1233 .

[0102] A plurality of second support rods 1232 are arranged at intervals along the circumference of the second mounting seat 122 , one end of the second support rod 1232 is rotatably connected to the second mounting seat 122 via a second hinge shaft 1234 , and the second support rod 1232 is rotatably connected to the first support rod 1231 via a third hinge shaft 1235 .

[0103] When the wall-climbing cleaning module 10 enters a pipe with a larger diameter, the first driving member 124 drives the second mounting seat 122 away from the first mounting seat 121, and the second support rod 1232, driven by the second mounting seat 122, rotates outward with the second hinge shaft 1234 as the axis. Since the second support rod 1232 is connected to the first support rod 1231 through the third hinge shaft 1235, when the second support rod 1232 rotates, the first support rod 1231 is driven to rotate outward with the first hinge shaft 1233 as the center, thereby realizing the extension of the connecting rod assembly 123.

[0104] On the contrary, when the wall-climbing cleaning module 10 enters a pipe with a smaller diameter, the first driving member 124 pulls the second mounting seat 122 close to the first mounting seat 121, and the second support rod 1232 rotates inward at the second hinge shaft 1234. At the same time, the first support rod 1231 is driven to rotate outward with the first hinge shaft 1233 as the center through the third hinge shaft 1235, thereby realizing the contraction of the connecting rod assembly 123.

[0105] The extension or contraction action is achieved through the synchronous movement of multiple first support rods 1231 and multiple second support rods 1232. They will gradually extend or contract under the constraints of each hinge axis according to the movement of the second mounting seat 122, so that the diameter of the cylindrical space where the variable diameter bracket assembly 12 is located increases or decreases to adapt to pipes with larger or smaller diameters.

[0106] The second hinge shaft 1234 provides a rotation center for the second support rod 1232 relative to the second mounting seat 122, ensuring that the second support rod 1232 can rotate accordingly following the movement of the second mounting seat 122. The first hinge shaft 1233 provides a rotation center for the first support rod 1231 relative to the first mounting seat 121, ensuring that the first support rod 1231 can flexibly adjust its position and angle during the diameter change process to avoid being stuck or unable to rotate.

[0107] The third hinge shaft 1235 connects the first support rod 1231 and the second support rod 1232 and is the key to achieve coordinated movement between the two. It enables the first support rod 1231 and the second support rod 1232 to transmit movement and force to each other to form an organic whole to achieve the linkage action of the connecting rod assembly 123.

[0108] In some embodiments, the variable diameter bracket assembly 12 may include a sliding wheel 125. The sliding wheel 125 is disposed on a side of the connecting rod assembly 123 away from the first mounting seat 121 and the second mounting seat 122, and the outer circumference of the sliding wheel 125 contacts the inner wall of the pipe.

[0109] The sliding wheel 125 can effectively reduce the friction force when the wall-climbing cleaning robot 100 moves in the pipeline, making the hoisting and stretching module 20 more labor-saving when pulling the wall-climbing cleaning module 10, thereby reducing energy consumption. Moreover, the rolling contact between the sliding wheel 125 and the pipe wall can reduce the degree of damage to the inner wall of the pipe. In addition, the sliding wheel 125 can also buffer the impact force generated by the uneven inner wall of the pipe on the wall-climbing cleaning robot 100 to a certain extent, and then other components of the wall-climbing cleaning robot 100.

[0110] Among them, there can be multiple sliding wheels 125, some of which are installed on the end of the first support rod 1231 away from the first mounting seat 121, and some of which are installed on the end of the second support rod 1232 away from the second mounting seat 122, so that the sliding wheels 125 can be in close contact with the inner wall of the pipe through multiple points after the connecting rod assembly 123 is extended or contracted.

[0111] Since the first support rod 1231 and the second support rod 1232 are respectively distributed at intervals along the circumference of the first mounting seat 121 and the second mounting seat 122, the multiple sliding wheels 125 can form a uniform support circle along the inner wall of the pipe, ensuring that in pipes of various diameters, the sliding wheels 125 can stably fit with the inner wall of the pipe in all directions.

[0112] In some embodiments, a pressure sensor may be installed on the sliding wheel 125, and the pressure sensor is electrically connected to the first driving member 124. When the wall-climbing cleaning module 10 approaches a bend, the pressure distribution generated by the inner wall of the pipeline on the sliding wheel 125 on the connecting rod assembly 123 will change significantly, and the pressure sensor detects the pressure change on the sliding wheel 125, and accurately converts the mechanical signal of the pressure on the sliding wheel 125 into an electrical signal. After receiving the electrical signal from the pressure sensor, the first driving member 124 will perform corresponding work according to the preset control logic to control the movement of the second mounting seat 122.

[0113] For example, when the first driving member 124 receives a pressure signal indicating that the wall-climbing cleaning module 10 is turning left, the first driving member 124 will drive the second mounting seat 122 to move, and then adjust the angle and position of the connecting rod assembly 123 to ensure that the sliding wheel 125 of the variable diameter bracket assembly 12 can always fit the inner wall of the pipe evenly, thereby maintaining the stability and balance of the wall-climbing cleaning module 10 during the turning process.

[0114] Through the electrical connection and cooperative work between the pressure sensor and the first driving member 124, the wall-climbing cleaning module 10 can achieve intelligent and adaptive adjustment during turning operations, which greatly improves the stability of the wall-climbing cleaning robot 100 in a complex pipeline environment.

[0115] In some embodiments, the variable diameter bracket assembly 12 may further include a guide rod 126. The guide rod 126 is connected to the first mounting seat 121 and the second mounting seat 122. The second mounting seat 122 is provided with a through hole (not shown) for the guide rod 126 to pass through. The second mounting seat 122 can move relative to the first mounting seat 121 on the guide rod 126.

[0116] During the extension or contraction of the connecting rod assembly 123, the guide rod 126 always guides the movement trajectory of the second mounting seat 122 to avoid possible deviation or shaking of the second mounting seat 122 during movement, thereby ensuring the linearity and stability of the movement of the second mounting seat 122, and making the telescopic action of the variable diameter bracket assembly 12 more precise.

[0117] When the variable diameter bracket assembly 12 needs to adapt to a pipe with an increased diameter, the first driving member 124 pushes the second mounting seat 122 to move along the axial direction of the guide rod 126 in a direction away from the first mounting seat 121; and when it needs to adapt to a pipe with a smaller diameter, the first driving member 124 pulls the second mounting seat 122 to move along the guide rod 126 in a direction close to the first mounting seat 121. The guide rod 126 not only provides guidance for the movement of the second mounting seat 122, but also enhances the structural strength of the entire variable diameter bracket assembly 12 to a certain extent.

[0118] The number of the guide rods 126 can be one, two, three, or more than three. Figure 3 The number of guide rods 126 is three, and three guide rods 126 are equidistantly arranged circumferentially on one end of the first mounting seat 121 close to the second mounting seat 122, and the three guide rods 126 are inserted into the through hole of the second mounting seat 122. This circumferentially uniform arrangement enables the second mounting seat 122 to be stably supported and accurately guided.

[0119] In some embodiments, the variable diameter bracket assembly 12 may further include a limiting device, which is installed on the guide rod 126. The limiting device can keep the movement of the second mounting seat 122 within a preset range, prevent the second mounting seat 122 from excessively moving to cause the connecting rod assembly 123 to be damaged or out of the normal working range, and avoid structural damage caused by excessive extension or contraction of the variable diameter bracket assembly 12.

[0120] The limiting device may include at least two limiting blocks, wherein the limiting blocks may be arranged at a first preset distance outward from the connection point between the guide rod 126 and the first mounting seat 121 (the first preset distance corresponds to the limit position of the second mounting seat 122 when the pipe diameter is the maximum). When the second mounting seat 122 moves outward on the guide rod 126 to the limit position, the edge of the second mounting seat 122 will contact the limiting blocks, thereby limiting its continued movement away from the first mounting seat 121.

[0121] Another stopper may be provided at a second preset distance (the second preset distance corresponds to the limit position of the second mount 122 when the minimum pipe diameter is reached) outward from the connection point between the guide rod 126 and the first mount 121. When the second mount 122 moves inward on the guide rod 126 to the limit position, the edge of the second mount 122 contacts the stopper, thereby limiting its further movement toward the first mount 121.

[0122] In some embodiments, the limit device may also include a travel switch and a control system. When the second mounting seat 122 moves to the extreme position, the travel switch will be triggered, and the travel switch will immediately transmit a signal to the control system. The control system will then control the first driving member 124 to stop working, thereby preventing the second mounting seat 122 from moving.

[0123] In some embodiments, the limiting device may also include a position sensor and a control system, which uses the position sensor to monitor the position information of the second mounting base 122 in real time and transmit the data to the control system. The control system can control the first driving member 124 to stop working, thereby preventing the second mounting base 122 from moving.

[0124] In some embodiments, the cleaning mechanism 11 includes a nozzle 111 and a driving assembly 112. The driving assembly 112 is connected to the nozzle 111 and is located on the variable diameter bracket assembly 12, and the driving assembly 112 is used to drive the nozzle 111 to rotate.

[0125] During the rotation of the nozzle 111, a cleaning medium, such as high-pressure water, chemical cleaning agent, etc., will be sprayed out from the inside of the nozzle 111. Due to the high-speed rotation of the nozzle 111, the cleaning medium will cover a large range of the inner wall of the pipeline in a fan-shaped or circular spray mode.

[0126] The nozzle 111 may be located on the first mounting seat 121 at one end away from the connecting rod assembly 123 , so that during the cleaning operation, the nozzle 111 will not be blocked by the connecting rod assembly 123 , so that the cleaning range of the nozzle 111 is not affected.

[0127] The first mounting seat 121 is provided with a receiving space for accommodating the driving assembly 112. The receiving space not only provides a stable installation base for the driving assembly 112, but also protects the driving assembly 112 from interference from external factors, such as splashes, dirt, and other impurities in the pipeline generated during the cleaning process.

[0128] In some embodiments, the driving assembly 112 may include a rotating member 1121 and a second driving member 1122. The rotating member 1121 is used to install the nozzle 111. The output shaft of the second driving member 1122 is connected to the rotating member 1121, and the second driving member 1122 is used to drive the rotating member 1121 to rotate around the axis of the output shaft to drive the nozzle 111 to rotate.

[0129] The rotating member 1121 can provide a stable mounting platform for the nozzle 111, ensuring that the nozzle 111 will not become loose or displaced due to high-speed rotation during the cleaning operation. The second driving member 1122 can be a high-performance motor, such as a DC motor or an AC motor, which can provide stable and powerful torque output.

[0130] In some embodiments, the cleaning mechanism 11 may further include a storage box and a delivery pipe. The storage box contains a specially configured chemical cleaning agent, and a suitable agent may be selected according to the type of dirt in the pipe, such as an alkaline cleaning agent for grease dirt. The agent is sprayed from the nozzle 111 to the inner wall of the pipe at a certain pressure through the delivery pipe, and the chemical reaction between the chemical agent and the dirt is used to dissolve or decompose the dirt, thereby achieving the purpose of cleaning.

[0131] The cleaning mechanism 11 can obtain cleaning water through an external water source pipeline, for example, by connecting external high-pressure water to the water inlet of the nozzle 111 through a high-pressure water pipe.

[0132] In some embodiments, a water tank is provided inside the wall-climbing cleaning robot 100, and water in the water tank is pumped out by a water pump and delivered to the nozzle 111. A liquid level sensor may be provided inside the water tank to monitor the water level in the water tank in real time, so that the user can replenish water for the wall-climbing cleaning robot 100 in time.

[0133] The embodiment of the present application further provides a control method for controlling the wall-climbing cleaning robot 100 of any of the above embodiments, and the control method includes:

[0134] S10: According to the movement instruction, the pulling force and speed of the first hoisting device 21 and the second hoisting device 22 are adjusted to drive the wall-climbing cleaning module 10 to move in the pipeline.

[0135] The preparation before the operation is as follows: when there is a pipeline that needs to be cleaned and rust-removed, the first hoisting device 21 and the second hoisting device 32 are first set up and installed at the outlet and inlet of the pipeline, and the first steel cable 31 and the second steel cable 32 are correspondingly connected to the first cable guide mechanism 41 and the second cable guide mechanism 42 of the wall-climbing cleaning module 10.

[0136] Then, a movement instruction is issued to the first hoisting device 21 and the second hoisting device 22. The movement instruction can be sent by the user through a remote control device, or can be automatically generated by a pre-set program. The movement instruction usually includes information such as the direction of movement (forward, backward, left, right or other custom movement directions) and the movement speed.

[0137] The pulling force and speed of the first hoisting device 21 and the second hoisting device 22 are usually determined by multiple factors, such as the material of the inner wall of the pipeline, the slope of the pipeline, the flatness of the inner wall of the pipeline, and the weight and load of the wall-climbing cleaning robot 100.

[0138] In the process of driving the wall-climbing cleaning module 10 to move in the pipeline, the first steel cable 31 and the second steel cable 32 play the role of transmitting power. In order to ensure the stability and safety of movement, the tension balance of the first steel cable 31 and the second steel cable 32 is more important. By adjusting the pulling force and speed of the first hoisting device 21 and the second hoisting device 22, the tension of the two steel cables is kept relatively balanced, preventing the wall-climbing cleaning module 10 from tilting or deflecting due to the imbalance of the steel cable tension.

[0139] In addition, during the entire movement process, the first cable guide mechanism 41 and the second cable guide mechanism 42 are used to accurately guide and limit the first steel cable 31 and the second steel cable 32, ensuring that the first steel cable 31 and the second steel cable 32 are always in the center position to avoid the first steel cable 31 and the second steel cable 32 from being entangled. At the same time, the cable guide mechanism can reduce the friction between the steel cable and the inner wall of the pipeline or other components to prevent the steel cable from being damaged due to excessive friction.

[0140] In addition, the first hoisting device 21 and the second hoisting device 22 are respectively installed at the center positions of the first end 101 and the second end 102 of the wall-climbing cleaning module 10, so that even when the wall-climbing cleaning module 10 turns a corner, the driving force can always be maintained at the center of the wall-climbing cleaning module 10 and in the direction of travel, ensuring that the wall-climbing cleaning module 10 will not hit the inner wall of the pipe when turning.

[0141] The wall-climbing cleaning robot 100 may further include a control system, which is electrically connected to the first hoisting device 21 and the second hoisting device 22. During the movement, the control system is used to monitor the operating status of the first hoisting device 21 and the second hoisting device 22 in real time, including parameters such as the current, speed, and temperature of the motor.

[0142] If the motor current is too large, it may mean that the pulling force is too large or the motor load is too heavy. At this time, the control system will adjust the pulling force of the first hoisting device 21 and the second hoisting device 22 to prevent the motor from overloading.

[0143] If the motor speed is abnormal, it may indicate that the wire rope is slipping or there is a problem with other transmission components. The control system will temporarily stop the movement of the first hoisting device 21 and the second hoisting device 22 and send out an alarm message to prompt the maintenance personnel to check and handle it.

[0144] S20: Obtain the pipe diameter information of the pipeline, and control the diameter-changing bracket assembly 12 to contract or extend according to the pipe diameter information.

[0145] In order to enable the wall-climbing cleaning robot 100 to adapt to pipelines of different diameters, it is necessary to obtain the diameter information of the pipeline. The diameter information can be obtained in a variety of ways, for example, it can be pre-measured by an external measuring device before the wall-climbing cleaning module 10 enters the pipeline and input into the control system of the wall-climbing cleaning robot 100, or a diameter measurement sensor can be installed on the wall-climbing cleaning module 10 to measure the diameter in real time after the wall-climbing cleaning module 10 enters the pipeline.

[0146] After obtaining the pipe diameter information, the control system can control the contraction or extension of the variable diameter bracket assembly 12 according to the pipe diameter information. Specifically, the required contraction or extension amount of the variable diameter bracket assembly 12 will be calculated according to the size of the pipe diameter. For example, when the pipe diameter increases, the control system will calculate the displacement amount of the variable diameter bracket assembly 12 extension, and control the variable diameter bracket assembly 12 to extend according to the displacement amount; when the pipe diameter decreases, the control system will calculate the displacement amount of the variable diameter bracket assembly 12 contraction, and control the variable diameter bracket assembly 12 to contract according to the displacement amount. In this way, it can be ensured that the variable diameter bracket assembly 12 of the wall climbing cleaning module 10 is always in close contact with the inner wall of the pipe.

[0147] In some embodiments, controlling the shrinkage or extension of the variable diameter support assembly 12 according to the pipe diameter information includes:

[0148] S21: Control the first driving member 124 of the variable diameter bracket assembly 12 to drive the second mounting seat 122 to move relative to the first mounting seat 121, so as to drive the connecting rod assembly 123 to contract or extend.

[0149] Specifically, the target displacement of the second mounting seat 122 relative to the first mounting seat 121 is calculated based on the pipe diameter information, and the target displacement is converted into a driving signal of the first driving member 124, and the driving signal may include a driving direction and a driving stroke; after receiving the driving signal, the first driving member 124 drives the second mounting seat 122 to move relative to the first mounting seat 121. During the movement, the guide rod 126 is used to guide the movement of the second mounting seat 122 to ensure linearity.

[0150] At the same time, the contraction or extension of the variable diameter bracket assembly 12 is achieved by rotating the multiple first support rods 1231 and the second support rods 1232 in the connecting rod assembly 123 around the corresponding hinge shaft; when the second mounting seat 122 reaches the position of the target displacement, the limiting device is used to prevent excessive movement of the second mounting seat 122, thereby ensuring that the variable diameter bracket assembly 12 is in a suitable telescopic range.

[0151] In addition, while the wall-climbing cleaning robot 100 is performing a diameter-changing operation, the pressure between the sliding wheel 125 on the diameter-changing bracket assembly 12 and the inner wall of the pipe can be monitored by a pressure sensor, and the driving amount of the first driving member 124 can be fine-tuned according to pressure feedback.

[0152] For example, when the pressure measured by the pressure sensor is too large, it indicates that the variable diameter bracket assembly 12 is too tight to the inner wall of the pipe, which may affect the movement and cleaning operation of the wall-climbing cleaning robot 100. At this time, the distance between the second mounting seat 122 and the first mounting seat 121 can be appropriately reduced.

[0153] When the pressure measured by the pressure sensor is too small, it indicates that the fit is insufficient, and it is necessary to appropriately increase the distance between the second mounting seat 122 and the first mounting seat 121. In this way, it is ensured that the variable diameter bracket assembly 12 can maintain proper fit with the inner wall of the pipeline under different pipe diameters, providing good support and a stable working platform for subsequent cleaning operations.

[0154] S30: Control the cleaning mechanism 11 to move to clean the inner wall of the pipeline.

[0155] The cleaning mechanism 11 is started and a driving instruction is sent to the driving component 112. The second driving member 1122 in the driving component 112 drives the rotating member 1121 to rotate the nozzle 111. At the same time, the high-pressure water source is turned on to make the nozzle 111 of the cleaning mechanism 11 spray high-pressure water. According to the requirements of the cleaning task, the rotation speed of the nozzle 111, the pressure and flow rate of the high-pressure water can be adjusted to achieve effective cleaning of the inner wall of the pipe.

[0156] In some embodiments, the control method includes:

[0157] S40: When the wall-climbing cleaning robot 100 performs a turning operation, the pressure sensor measures the pressing force between the variable diameter bracket assembly 12 and the inner wall of the pipeline;

[0158] S50: Controlling the diameter-variable support assembly 12 to contract or expand according to the pressing force.

[0159] The pressure sensor can be installed on the sliding wheel 125 of the variable diameter bracket assembly 12, and the pressure sensor is electrically connected to the first driving member 124. When the wall climbing cleaning module 10 approaches a curve and performs a turning operation, the pressure distribution generated by the inner wall of the pipeline on the sliding wheel 125 on the connecting rod assembly 123 will change significantly. The pressure sensor detects the pressure change on the sliding wheel 125 and accurately converts the mechanical signal of the pressure on the sliding wheel 125 into an electrical signal.

[0160] After receiving the electrical signal from the pressure sensor, the first driving member 124 will perform corresponding work according to the preset control logic to control the movement of the second mounting seat 122 to achieve the contraction or extension of the variable diameter bracket assembly 12, ensuring that the sliding wheel 125 can always fit the inner wall of the pipe evenly.

[0161] For example, when the first driving member 124 receives a pressure signal indicating that the wall-climbing cleaning module 10 is turning right, the first driving member 124 will drive the second mounting seat 122 to move along the guide rod 126, and then adjust the angle and position of the connecting rod assembly 123 to ensure that the sliding wheel 125 can always fit the inner wall of the pipe evenly, thereby maintaining the stability and balance of the wall-climbing cleaning module 10 during the turning process.

[0162] The wall-climbing cleaning robot 100 can achieve precise control of the variable diameter bracket assembly 12 according to the pressing force between the variable diameter bracket assembly 12 and the inner wall of the pipe when turning, ensuring that the wall-climbing cleaning robot 100 can operate stably during the turning process, avoid damage to the pipe, and maintain efficient cleaning operations.

[0163] In the description of this application, it should be understood that terms such as "first" and "second" are only used to distinguish similar objects and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0164] The wall-climbing cleaning robot and control method provided in the embodiments of the present application are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the present application. At the same time, for those skilled in the art, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present application.

Claims

1. A wall-climbing cleaning robot for cleaning pipelines, characterized in that: include: A wall-climbing cleaning module, comprising a cleaning mechanism and a variable diameter bracket assembly, wherein the variable diameter bracket assembly can be contracted or extended relative to the cleaning mechanism to enable the wall-climbing cleaning module to adapt to pipes with different specifications of inner diameters; The hoisting and stretching module includes a first hoisting device and a second hoisting device. The first hoisting device is connected to the exact center position of the first end of the wall-climbing cleaning module through a first steel cable, and the second hoisting device is connected to the exact center position of the second end of the wall-climbing cleaning module through a second steel cable. The hoisting and stretching module is used to drive the wall-climbing cleaning module to move.

2. The wall-climbing cleaning robot according to claim 1, characterized in that: The wall-climbing cleaning robot comprises: A first cable guide mechanism is installed at the exact center of the first end of the wall-climbing cleaning module, one end of the first steel cable is connected to the first cable guide mechanism, and the other end is connected to the first hoisting device; The second cable guiding mechanism is installed at the exact center of the second end of the wall-climbing cleaning module; one end of the second steel cable is connected to the second cable guiding mechanism, and the other end is connected to the second winch device.

3. The wall-climbing cleaning robot according to claim 2, characterized in that: The variable diameter bracket assembly comprises: a first mounting seat, one end of which is used to mount the cleaning mechanism and the first cable guide mechanism; A second mounting seat, arranged opposite to the first mounting seat, one end of the second mounting seat being used for mounting the second cable guide mechanism; a connecting rod assembly connected to the other end of the first mounting seat and the other end of the second mounting seat; The first driving member is connected to the first mounting seat and the second mounting seat. The first driving member is used to drive the second mounting seat to move relative to the first mounting seat, so as to drive the connecting rod assembly to contract or extend relative to the first mounting seat.

4. The wall-climbing cleaning robot according to claim 3, characterized in that: The connecting rod assembly includes: A plurality of first support rods, wherein the plurality of first support rods are arranged at intervals along the circumference of the first mounting seat, and one end of the first support rod is rotatably connected to the first mounting seat via a first hinge shaft; A plurality of second support rods are arranged at intervals along the circumference of the second mounting seat, one end of the second support rod is rotatably connected to the second mounting seat via a second hinge shaft, and the second support rod is rotatably connected to the first support rod via a third hinge shaft.

5. The wall-climbing cleaning robot according to claim 3, characterized in that: The variable diameter bracket assembly comprises: A sliding wheel is arranged on a side of the connecting rod assembly away from the first mounting seat and the second mounting seat, and an outer peripheral surface of the sliding wheel contacts the inner wall of the pipe.

6. The wall-climbing cleaning robot according to claim 3, characterized in that: The variable diameter bracket assembly comprises: The guide rod is connected to the first mounting seat and the second mounting seat. The second mounting seat is provided with a through hole for the guide rod to pass through. The second mounting seat can move on the guide rod relative to the first mounting seat.

7. The wall-climbing cleaning robot according to any one of claims 1 to 6, characterized in that: The cleaning mechanism comprises: nozzle; A driving assembly is connected to the nozzle and is located on the variable diameter bracket assembly, and the driving assembly is used to drive the nozzle to rotate.

8. The wall-climbing cleaning robot according to claim 7, characterized in that: The drive components include: A rotating member, the rotating member is used to install the nozzle; A second driving member, wherein the output shaft of the second driving member is connected to the rotating member, and the second driving member is used to drive the rotating member to rotate around the axis of the output shaft to drive the nozzle to rotate.

9. The wall-climbing cleaning robot according to any one of claims 1 to 6, characterized in that: The wall-climbing cleaning robot also includes: A pressure sensor is installed on the reducer support assembly and electrically connected to the reducer support assembly. The pressure sensor is used to measure the compression force between the reducer support assembly and the pipe wall of the pipe.

10. A control method for controlling the wall-climbing cleaning robot according to any one of claims 1 to 9, characterized in that: The control method comprises: According to the movement instruction, adjusting the pulling force and speed of the first hoisting device and the second hoisting device to drive the wall-climbing cleaning module to move in the pipeline; Obtaining the pipe diameter information of the pipeline, and controlling the shrinkage or extension of the variable diameter bracket assembly according to the pipe diameter information; The cleaning mechanism is controlled to move to clean the inner wall of the pipeline.

11. The control method according to claim 10, characterized in that: The step of controlling the shrinkage or extension of the variable diameter bracket assembly according to the pipe diameter information includes: The first driving member of the variable diameter bracket assembly is controlled to drive the second mounting seat to move relative to the first mounting seat, so as to drive the connecting rod assembly to contract or extend.

12. The control method according to claim 10, characterized in that: The control method comprises: When the wall-climbing cleaning robot performs a turning operation, the pressure sensor measures the pressing force between the variable diameter bracket assembly and the inner wall of the pipeline; The variable diameter bracket assembly is controlled to contract or extend according to the pressing force.

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