Pipeline cleaning robot

Abstract

The invention discloses a pipeline cleaning robot which comprises an advancing body, a balance wheel part is arranged on the outer side of the advancing body, the balance wheel part comprises a swing arm and an advancing wheel which are hinged to the advancing body, the advancing body is connected with a first turning body, a turning gear is rotatably installed in the first turning body, the turning gear is connected with a driving motor, and the turning gear is hinged to a turning toothed belt. The two ends of the turning toothed belt are installed on the advancing body, a supporting spring is fixedly installed between the first turning body and the advancing body, the first turning body is connected with the second turning body and the driving motor, the cleaning device further comprises a connecting body and a cleaning body, the connecting body is used for connecting the second turning body with the cleaning body and the advancing body, and a plurality of high-pressure nozzles are installed on the outer side of the cleaning body in a circumferential array mode. According to the pipeline cleaning robot, by arranging the first turning body and the second turning body, the pipeline cleaning robot can control the advancing body located at the foremost end to swing to the branch pipeline needing to enter when entering the branch pipeline, and cleaning of the branch pipe part of the multi-branch pipeline is facilitated.

Description

Technical Field

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

[0002] Pipelines are conveying structures commonly used in daily life, including pipelines for various different usage environments such as liquid pipelines and gas pipelines. During the use of pipelines, the conveyed medium may leave attached residues inside the pipelines, such as scale in water pipelines and oil stains in fume pipelines, which are not easy to clean and adhere to the inner wall of the pipelines.

[0003] Currently, for pipelines with narrow spaces or difficult for people to enter, pipeline robots are usually used for cleaning. Pipeline robots mainly include a traveling part supported on the pipe wall and a cleaning part for cleaning. However, current pipeline robots are not easy to turn in pipelines with bifurcations. Summary of the Invention

[0004] In view of the above problems, the present invention provides a pipeline cleaning robot, which well solves the problems in the prior art.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A pipeline cleaning robot, comprising:

[0007] Traveling bodies, a plurality of the traveling bodies are provided, and a camera module is installed at the front end of the traveling body located at the forefront;

[0008] A swing wheel part, the swing wheel part includes a swing arm hinged to the traveling body, a traveling wheel is installed at one end of the swing arm away from the traveling body, the swing arm and the traveling wheel are respectively connected with a swing arm drive and a traveling drive, and at least three of the swing wheel parts are arranged in a circumferential array on the outer side of the traveling body;

[0009] A first turning body, one end center of the first turning body is hinged to the center of the rear end of the traveling body located at the forefront;

[0010] A turning gear, the turning gear is rotatably installed in the first turning body, and the turning gear is connected with a drive motor;

[0011] A turning toothed belt, the turning toothed belt meshes with the turning gear, both ends of the turning toothed belt are fixedly connected to the rear end of the traveling body located at the forefront, the central axis of the turning gear is parallel to the hinge axis of the first turning body and the traveling body, and both ends of the turning toothed belt are located on both sides of the hinge axis of the first turning body and the traveling body;

[0012] A support spring, both ends of the support spring are respectively fixedly connected to the first turning body and the traveling body;

[0013] A second turning body, the first turning body is rotatably installed on the second turning body, and a driving motor for driving the first turning body to rotate is installed on the second turning body;

[0014] A connecting body, the connecting body includes a connecting spring, and connecting pieces are fixedly installed at both ends of the connecting spring;

[0015] A cleaning body, a plurality of high-pressure nozzles are installed on the outer circumference of the cleaning body in an array, and the high-pressure nozzles are connected to a high-pressure water pump through a pipeline;

[0016] Wherein, the second turning body is fixedly connected to the cleaning body and the traveling body through the connecting body.

[0017] Optionally, a rotating column is fixedly connected to one end of the first turning body close to the second turning body, a driving gear ring is fixedly connected to the rotating column, the end face of the second turning body is located between the driving gear ring and the end face of the first turning body, plane bearings are installed between the end face of the second turning body and the driving gear ring and the end face of the first turning body, a driving gear ring meshes with a driving gear, and the driving gear is connected to the driving motor.

[0018] Optionally, the swing wheel part includes a driving rod, a plurality of driving racks are slidably installed on the circumference of the driving rod in an array, a toothed ring section is fixedly installed on the outer side of the rotating end of the swing arm, the toothed ring sections are respectively meshed with the corresponding driving racks, the swing arm is driven by an electric screw rod, and the driving rod is threadedly connected to the output rod of the swing arm drive.

[0019] Optionally, sliding grooves are formed in the driving rod at positions corresponding to the driving racks, adapting springs are fixedly connected to both ends of the sliding grooves, and the driving racks are connected to one end of the adapting springs far from the end face of the sliding grooves.

[0020] Optionally, the traveling body includes a plurality of arc ring sections, the swing arm is installed between adjacent arc ring sections, and cover plates are bolted to both ends of the arc ring sections.

[0021] Optionally, a dirt blocking plate is inserted and installed between adjacent arc ring sections, and the bottom of the dirt blocking plate is provided with an arc shape at one end close to the swing arm.

[0022] Optionally, the cleaning body includes

[0023] An installation part, a driving motor is installed in the installation part;

[0024] An impact part, the impact part is rotatably installed at the end of the installation part, the impact part is connected to the driving motor in the installation part, and the high-pressure nozzle is connected to the outside of the impact part;

[0025] A cleaning part, the cleaning part is fixedly connected to the installation part;

[0026] The cleaning nozzles, a plurality of the cleaning nozzles are circumferentially arrayed and hinged to the outside of the cleaning part. A cleaning drive is installed inside the cleaning part, and the cleaning nozzles are connected to the high-pressure water pump.

[0027] Optionally, a hollow shaft is fixedly arranged at the end of the installation part. The impact part is rotatably installed on the hollow shaft. A driven gear is fixedly connected to one end of the impact part close to the installation part. A drive motor inside the installation part is connected with a drive gear meshing with the driven gear. The output pipeline of the high-pressure water pump accesses the impact part from inside the hollow shaft, and the inside of the impact part is an annular cavity.

[0028] Optionally, the cleaning drive is an electric lead screw. The output end of the cleaning drive is threadedly connected with a drive plate. One end of a telescopic rod is fixedly connected to the end of the cleaning nozzle, and the other end of the telescopic rod away from the cleaning nozzle is hinged to the drive plate.

[0029] Optionally, a rubber sleeve is sleeved outside the cleaning nozzle. One end of the rubber sleeve away from the cleaning nozzle is fixedly connected to the opening position of the cleaning part for placing the cleaning nozzle.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. By providing the first turning body and the second turning body parts, when the pipeline cleaning robot enters a bifurcated pipeline, it can control the traveling body at the forefront to swing to the branch pipeline to be entered, facilitating the cleaning of the branch pipe part of the multi-bifurcated pipeline;

[0032] 2. By providing the connecting body, on the one hand, it is convenient to adapt to the bending of the pipeline, and on the other hand, it is convenient for module expansion. A plurality of cleaning bodies and traveling bodies can be set according to actual needs, and the arrangement positions of the cleaning bodies and the traveling bodies can be adjusted as required;

[0033] 3. By providing the tooth ring section and the drive rack, the angle change of the swing arm can be synchronously controlled through the swing arm drive, so that the angles of each swing arm are kept unified, facilitating the installation and traveling in the circular pipeline;

[0034] 4. By providing a rotatable impact part, cooperating with the high-pressure nozzle to clean the pipeline wall, reducing the cleaning dead angle. The cleaning part is located at the rear end in the advancing direction. The pipeline wall is cleaned again through the cleaning nozzles, and at the same time, the residues cleaned out by the impact part are discharged through the water flow. At the same time, by providing the cleaning part, the forward movement of the cleaning robot can be assisted through the reverse push of the cleaning part. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is the overall structural schematic diagram of the embodiment of the present invention;

[0036] Figure 2 It is a schematic structural diagram of the first turning body part of the embodiment of the present invention;

[0037] Figure 3 It is a schematic structural diagram of the second turning body part of the embodiment of the present invention;

[0038] Figure 4 It is a schematic structural diagram of the traveling body part of the embodiment of the present invention;

[0039] Figure 5 is Figure 4 an enlarged schematic diagram of part A in

[0040] Figure 6 It is a schematic structural diagram of the cleaning body part of the embodiment of the present invention.

[0041] Reference numerals: 1, traveling body; 11, arc ring section; 12, cover plate; 13, dirt retaining plate; 101, camera module; 2, pendulum wheel part; 21, pendulum arm; 22, traveling wheel; 23, pendulum arm drive; 24, traveling drive; 251, drive rod; 252, drive rack; 253, tooth ring section; 261, sliding groove; 262, adapting spring; 3, first turning body; 31, turning gear; 32, turning toothed belt; 33, support spring; 35, drive gear ring; 351, driving gear; 4, second turning body; 5, connecting body; 51, connecting spring; 52, connecting member; 6, cleaning body; 61, high-pressure nozzle; 62, mounting part; 621, hollow shaft; 622, driven gear; 63, impact part; 64, cleaning part; 65, cleaning nozzle; 651, rubber sleeve; 66, cleaning drive; 661, drive piece; 662, telescopic rod. Detailed implementation manners

[0042] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0043] Please refer to Figures 1 to 6, a pipeline cleaning robot disclosed in an embodiment of the present invention, includes a traveling body 1. There are multiple traveling bodies 1. A camera module 101 is installed at the front end of the traveling body 1 located at the forefront. At least three swing wheel parts 2 are arranged in a circumferential array on the outer side of the traveling body 1. The swing wheel part 2 includes a swing arm 21 hinged to the traveling body 1. A traveling wheel 22 is installed at one end of the swing arm 21 away from the traveling body 1. The swing arm 21 and the traveling wheel 22 are respectively connected with a swing arm drive 23 and a traveling drive 24. The first turning body 3 is connected to the traveling body 1 located at the forefront. One end center of the first turning body 3 is hinged to the rear end center of the traveling body 1 located at the forefront. A turning gear 31 is rotatably installed in the first turning body 3. The turning gear 31 is connected with a drive motor. The turning gear 31 is hinged with a turning tooth belt 32. Both ends of the turning tooth belt 32 are fixedly connected to the rear end of the traveling body 1 located at the forefront. The central axis of the turning gear 31 is parallel to the hinge axis of the first turning body 3 and the traveling body 1. Both ends of the turning tooth belt 32 are located on both sides of the hinge axis of the first turning body 3 and the traveling body 1. A support spring 33 is fixedly installed between the first turning body 3 and the traveling body 1. A second turning body 4 is installed at one end of the first turning body 3 away from the traveling body 1. The first turning body 3 is rotatably installed in the second turning body 4. The second turning body 4 is equipped with a drive motor for driving the first turning body 3 to rotate. It also includes a connecting body 5 and a cleaning body 6. The connecting body 5 includes a connecting spring 51. Connecting pieces 52 are fixedly installed at both ends of the connecting spring 51. The connecting body 5 is used for connecting the second turning body 4, the cleaning body 6 and the traveling body 1. A plurality of high-pressure nozzles 61 are installed in a circumferential array on the outer side of the cleaning body 6. The high-pressure nozzles 61 are connected with a high-pressure water pump through a pipeline.

[0044] Specifically, by setting the first turning body 3 and the second turning body 4 parts, by controlling the rotation of the turning gear 31, the turning tooth belt 32 is made to pull the traveling body 1 to tilt to one side, and the drive motor in the second turning body 4 is used to drive the first turning body 3 and the traveling body 1 to rotate, so that the traveling body 1 swings to the pipeline to be entered.

[0045] In this way, by setting the first turning body 3 and the second turning body 4 parts, the pipeline cleaning robot can control the traveling body 1 located at the forefront to swing to the branch pipeline to be entered when entering a bifurcated pipeline, which is convenient for cleaning the branch pipe part of the multi-bifurcated pipeline.

[0046] In some feasible ways, please refer to Figure 1 , the traveling body 1 is circular tubular. The camera module 101 is bolted to the end face of the traveling body 1, which is used to provide the operator with the vision inside the pipeline. The swing arm 21 is rectangular rod-shaped. A double-shaft output motor is fixedly installed at the position where the swing arm 21 installs the traveling wheel 22. The traveling wheels 22 are fixedly installed at both ends of the motor. A motor is installed at the hinged end of the swing arm 21, which is used to drive the swing arm 21 to rotate to adapt to pipelines with different diameters.

[0047] Please refer toFigure 2 , the first turning body 3 is tubular. A hinge is installed between the first turning body 3 and the traveling body 1, enabling the first turning body 3 and the traveling body 1 to rotate relative to each other. The turning toothed belt 32 is a flexible belt. For ease of adjustment, the two ends of the turning toothed belt 32 can also be hinged to the traveling body 1. The support spring 33 is used on the one hand to maintain the relative angle between the first turning body 3 and the traveling body 1, preventing the first turning body 3 and the traveling body 1 from swinging randomly, and on the other hand, facilitating adaptation to the curved part of the pipeline. For the self-adjustment of the first turning body 3 and the traveling body 1, the driving motor of the turning gear 31 does not have a self-locking function.

[0048] Please refer to Figure 3 , for the relative rotation between the first turning body 3 and the second turning body 4, a rotating column is fixedly connected to one end of the first turning body 3 close to the second turning body 4. A driving gear ring 35 is fixedly connected to the rotating column. The end face of the second turning body 4 is located between the driving gear ring 35 and the end face of the first turning body 3. Plain bearings are installed between the end face of the second turning body 4 and both the driving gear ring 35 and the end face of the first turning body 3. The driving gear ring 35 meshes with a driving gear 351, and the driving gear 351 is connected to a driving motor. For ease of disassembly and assembly, internal threads are provided at one end of the rotating column away from the first turning body 3. The driving gear ring 35 is sleeved on the end face of the rotating column and is key-connected to the rotating column. A bolt passing through the driving gear ring 35 is threadedly connected to the rotating column for fixing the driving gear ring 35.

[0049] Please refer to Figure 1 , the connecting body 5 is used for connecting different modules. The connecting pieces 52 are multiple rectangular sheets provided with through holes. The rectangular sheets are circumferentially and arrayedly installed inside the connecting spring 51. Bolts are provided in the through holes. Threaded holes are provided on the end faces of the second turning body 4, the cleaning body 6, the traveling body 1, etc. The bolts are rotated through the gaps of the connecting spring 51 for disassembly and assembly. By providing the connecting body 5, on the one hand, it is convenient to adapt to the curvature of the pipeline, and on the other hand, it is convenient for module expansion. Multiple cleaning bodies 6 and traveling bodies 1 can be provided according to actual needs, and the arrangement positions of the cleaning bodies 6 and the traveling bodies 1 can be adjusted as required.

[0050] As a specific implementation manner of a pipeline cleaning robot provided by the application, please refer to Figure 4 and Figure 5 , the swing wheel part 2 includes a driving rod 251. A plurality of driving racks 252 are slidably installed on the driving rod 251 in a circumferential array. A toothed ring section 253 is fixedly installed on the outer side of the rotating end of the swing arm 21. The toothed ring section 253 meshes with the corresponding driving racks 252 respectively. The swing arm drive 23 is an electric screw rod. The driving rod 251 is threadedly connected to the output rod of the swing arm drive 23.

[0051] Overall, the toothed ring section 253 and the drive rack 252 are arranged such that the angular change of the swing arm 21 can be synchronously controlled through the swing arm drive 23, so that the angles of each swing arm 21 are kept uniform, which is convenient for installation and movement in a circular pipeline.

[0052] Further, a sliding groove 261 is formed in the drive rod 251 corresponding to the position of the drive rack 252. Two ends of the sliding groove 261 are fixedly connected with a fitting spring 262, and the drive rack 252 is connected to one end of the fitting spring 262 away from the end face of the sliding groove 261.

[0053] It should be understood that by providing the sliding groove 261 and the fitting spring 262, the swing arm 21 has a certain self - adaptive adjustment space when the swing arm drive 23 is not operating, which is convenient for the swing arm 21 to adapt to the uneven positions of the pipeline wall.

[0054] Further, the traveling body 1 includes a plurality of arc ring sections 11. The swing arms 21 are installed between adjacent arc ring sections 11. Bolts are connected to both ends of the arc ring section 11 with cover plates 12.

[0055] It should be understood that by providing a plurality of arc ring sections 11 and cover plates 12, it is convenient for the disassembly and assembly of each component.

[0056] Further, a dirt - retaining plate 13 is inserted and installed between adjacent arc ring sections 11. An arc shape is provided at one end of the bottom of the dirt - retaining plate 13 close to the swing arm 21.

[0057] It should be understood that by providing the dirt - retaining plate 13, it is convenient to block some of the debris in the pipeline from entering the traveling body 1.

[0058] In some feasible ways, the drive rod 251 is cylindrical. An installation groove can be provided on the outer side of the drive rod 251 for installing the drive rack 252. A rectangular groove is formed at the bottom of the installation groove for installing the fitting spring 262. A rectangular block is installed in the middle of one side of the rectangular groove for the drive rack 252. Two ends of the rectangular block are fixedly connected with the fitting spring 262. Both ends of the rectangular groove are fixed by bolts or inserted - installed stoppers, and the fitting spring 262 abuts against the stoppers.

[0059] A threaded through-hole is provided in the middle of the drive rod 251. Both ends of the output screw rod of the swing arm drive 23 are fixed to the cover plate 12. The drive rod 251 is key-connected to at least one arc ring segment 11. There is a rectangular gap between adjacent arc ring segments 11 facing the drive rack 252. The width of the drive rack 252 is greater than the rectangular gap, so that the drive rack 252 will not escape from the rectangular gap. Coaxial countersunk through-holes are provided in adjacent arc ring segments 11. A cylindrical rod with threaded holes at both ends passes through the swing arm 21 and the two through-holes to form a hinge shaft of the swing arm 21. Both ends of the cylindrical rod are fixed by countersunk bolts. The toothed ring segment 253 is arranged with the cylindrical rod as the axis. The central angle of the toothed ring segment 253 is set according to the swing angle of the swing arm 21. The dirt-proof plate 13 is in the shape of a rectangular plate. A rectangular groove is provided between adjacent arc ring segments 11. The dirt-proof plate 13 is inserted and installed. The installation position of the dirt-proof plate 13 should not affect the rotation of the toothed ring segment 253. The cover plate 12 is in the shape of a circular plate and is bolted to the arc ring segment 11 to fix the position of the arc ring segment 11.

[0060] As another specific embodiment of the pipeline cleaning robot provided by the application, please refer to Figure 6 , the cleaning body 6 includes an installation part 62, an impact part 63, a cleaning part 64 and a cleaning nozzle 65. A drive motor is installed in the installation part 62. The impact part 63 is rotatably installed at the end of the installation part 62. The impact part 63 is connected to the drive motor in the installation part 62. The high-pressure nozzle 61 is connected to the outside of the impact part 63. The cleaning part 64 is fixedly connected to the installation part 62. A plurality of cleaning nozzles 65 are circumferentially arrayed and hinged to the outside of the cleaning part 64. A cleaning drive 66 is installed in the cleaning part 64. The cleaning nozzle 65 is connected to a high-pressure water pump.

[0061] Combined with the specific use scenario, by setting the rotatable impact part 63 and cooperating with the high-pressure nozzle 61 to clean the pipeline wall, the cleaning dead angle is reduced. The cleaning part 64 is located at the rear end in the forward direction, and the pipeline wall is cleaned again through the cleaning nozzle 65. At the same time, the slag cleaned out by the impact part 63 is discharged through the water flow.

[0062] Furthermore, a hollow shaft 621 is fixedly provided at the end of the installation part 62. The impact part 63 is rotatably installed on the hollow shaft 621. A driven gear 622 is fixedly connected to one end of the impact part 63 close to the installation part 62. The drive motor in the installation part 62 is connected to a drive gear that meshes with the driven gear 622. The output pipeline of the high-pressure water pump is connected into the impact part 63 through the hollow shaft 621. The inside of the impact part 63 is an annular cavity.

[0063] It should be understood that by setting the impact part 63 as an annular cavity, it is convenient to disperse the water flow to each high-pressure nozzle 61 through the annular cavity.

[0064] Further, the cleaning drive 66 is an electric lead screw. A drive piece 661 is threadedly connected to the output end of the cleaning drive 66. One end of a telescopic rod 662 is fixedly connected to the end of the cleaning nozzle 65, and the other end of the telescopic rod 662 away from the cleaning nozzle 65 is hinged to the drive piece 661.

[0065] It should be understood that by providing the cleaning nozzle 65 with an adjustable angle, it is convenient to adapt to different pipe diameters. At the same time, through the angle adjustment during use, it is convenient to better wash.

[0066] Further, a rubber sleeve 651 is sleeved outside the cleaning nozzle 65. One end of the rubber sleeve 651 away from the cleaning nozzle 65 is fixedly connected to the opening position of the cleaning part 64 for placing the cleaning nozzle 65.

[0067] It should be understood that by providing the rubber sleeve 651, a seal is formed for part of the cleaning nozzle 65 to reduce the entry of sundries.

[0068] In some feasible ways, the installation part 62 is cylindrical. Circular plates are bolted to both ends of the installation part 62. The hollow shaft 621 and the drive motor are fixedly connected to one of the circular plates. The end of the hollow shaft 621 is provided with a threaded shape. A plain bearing is sleeved on the hollow shaft 621, and then a driven gear 622 and part of the impact part 63 are sleeved. After sleeving the plain bearing again, it is tightened by a nut. The impact part 63 is cylindrical. Both ends of the impact part 63 are connected to the hollow shaft 621 through a dynamic seal with a sealing ring. The water pipe is connected to the impact part 63 from inside the hollow shaft 621. For the convenience of setting and sealing, the impact part 63 can also be replaced by a liquid slip ring.

[0069] The impact part 63 is cylindrical. Circular plates are bolted to both ends of the impact part 63. A sleeve is fixedly connected to the upper end of the impact part 63. The sleeve is sleeved outside the hollow shaft 621 and fixed by a radial bolt. Through holes are opened on the outside of the impact part 63. Rectangular plates are fixedly installed on both sides inside the through holes. A rotating shaft is rotatably installed in the middle of the rectangular plates. The cleaning nozzle 65 is fixed to the rotating shaft. The drive piece 661 is a circular plate, and through holes are opened on the drive piece 661 to facilitate the threading of pipelines. Through holes or plug connectors are also provided at both ends of other modules for connecting circuits.

[0070] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A pipeline cleaning robot, characterized in that, Comprising: Moving bodies, a plurality of which are provided, and a camera module is installed at the front end of the moving body located at the foremost end; Balanced wheel parts, each of the balanced wheel parts includes a swing arm hinged to the moving body, a moving wheel is installed at one end of the swing arm away from the moving body, the swing arm and the moving wheel are respectively connected with a swing arm drive and a moving drive, and at least three of the balanced wheel parts are arranged in a circumferential array on the outer side of the moving body; A first turning body, one end center of which is hinged to the rear end center of the moving body located at the foremost end; A turning gear, which is rotatably installed in the first turning body, and the turning gear is connected with a driving motor; A turning toothed belt, which is meshed with the turning gear, both ends of the turning toothed belt are fixedly connected to the rear end of the moving body located at the foremost end, the central axis of the turning gear is parallel to the hinge axis of the first turning body and the moving body, and both ends of the turning toothed belt are located on both sides of the hinge axis of the first turning body and the moving body; A support spring, both ends of which are respectively fixedly connected to the first turning body and the moving body; A second turning body, the first turning body is rotatably installed in the second turning body, and the second turning body is installed with a driving motor for driving the first turning body to rotate; A connecting body, which includes a connecting spring, and connecting pieces are fixedly installed at both ends of the connecting spring; A cleaning body, a plurality of high-pressure nozzles are installed in a circumferential array on the outer side of the cleaning body, and the high-pressure nozzles are connected with a high-pressure water pump through pipelines; Wherein, the second turning body is fixedly connected to the cleaning body and the moving body through the connecting body.

2. The pipeline cleaning robot according to claim 1, wherein: A rotating column is fixedly connected to one end of the first turning body close to the second turning body, a driving gear ring is fixedly connected to the rotating column, the end face of the second turning body is located between the driving gear ring and the end face of the first turning body, plane bearings are installed between the end face of the second turning body and the driving gear ring and the end face of the first turning body respectively, the driving gear ring is meshed with a driving gear, and the driving gear is connected with the driving motor.

3. The pipeline cleaning robot according to claim 1, wherein: The balanced wheel part includes a driving rod, a plurality of driving racks are slidably installed in a circumferential array on the driving rod, a toothed ring section is fixedly installed on the outer side of the rotating end of the swing arm, the toothed ring section is respectively meshed with the corresponding driving racks, the swing arm drive is an electric screw rod, and the driving rod is in threaded connection with the output rod of the swing arm drive.

4. The pipeline cleaning robot according to claim 3, characterized in that: Sliding grooves are formed at the positions of the driving rod corresponding to the driving racks, adapting springs are fixedly connected to both ends of the sliding grooves, and the driving racks are connected to one end of the adapting springs away from the end face of the sliding grooves.

5. The pipeline cleaning robot according to claim 4, characterized in that: The moving body includes a plurality of arc ring sections, the swing arm is installed between adjacent arc ring sections, and cover plates are bolted to both ends of the arc ring sections.

6. The pipeline cleaning robot according to claim 5, wherein: A dirt blocking plate is inserted and installed between adjacent arc ring sections, and the bottom of the dirt blocking plate is provided with an arc shape at one end close to the swing arm.

7. The pipeline cleaning robot according to claim 1, wherein: The cleaning body includes An installation part, in which a driving motor is installed; An impact part, which is rotatably installed at the end of the installation part, the impact part is connected to the driving motor in the installation part, and the high-pressure nozzles are connected to the outside of the impact part; A cleaning part, which is fixedly connected to the installation part; Cleaning nozzles, a plurality of the cleaning nozzles are circumferentially arrayed and hinged to the outside of the cleaning part, a cleaning drive is installed inside the cleaning part, and the cleaning nozzles are connected to the high-pressure water pump.

8. The pipeline cleaning robot according to claim 7, characterized in that: A hollow shaft is fixedly arranged at the end of the installation part, the impact part is rotatably installed on the hollow shaft, a driven gear is fixedly connected to one end of the impact part close to the installation part, a drive motor inside the installation part is connected with a drive gear that meshes with the driven gear, the output pipeline of the high-pressure water pump is connected into the impact part from inside the hollow shaft, and the inside of the impact part is an annular cavity.

9. The pipeline cleaning robot according to claim 7, wherein: The cleaning drive is an electric screw rod, the output end of the cleaning drive is threadedly connected with a drive plate, one end of a telescopic rod is fixedly connected to the end of the cleaning nozzle, and the other end of the telescopic rod away from the cleaning nozzle is hinged to the drive plate.

10. The pipeline cleaning robot according to claim 9, characterized in that: A rubber sleeve is sleeved outside the cleaning nozzle, and one end of the rubber sleeve away from the cleaning nozzle is fixedly connected to the opening position of the cleaning part where the cleaning nozzle is placed.

Images