Pipeline cleaning robot

Abstract

The invention relates to the technical field of pipeline cleaning robots, and discloses a pipeline cleaning robot which comprises a frame. The cleaning mechanism comprises a transmission part and a scraping part, the transmission part is fixedly connected with the frame body, the scraping part is rotationally connected with the transmission part, and the transmission part is used for driving the scraping part to rotate while revolving along with the transmission part; the walking mechanism comprises a walking driving part and a plurality of walking assemblies, the walking assemblies are arranged on the peripheral side of the frame body, the walking driving part is fixedly connected with the walking assemblies, and the walking driving part is located on one side of the walking assemblies and used for driving the walking assemblies to move; and the adjusting mechanism is located between the frame body and the walking mechanism, the adjusting mechanism is fixedly connected with the frame body, and the adjusting mechanism is rotationally connected with the walking mechanism and used for adjusting the angle of the walking mechanism. The cleaning effect on the inner wall of the pipeline is improved.

Description

Technical Field

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

[0002] With the acceleration of urbanization and the continuous improvement of infrastructure, pipeline systems, as an important part of urban infrastructure, undertake multiple functions such as water supply, drainage, and gas transportation. However, the long-term use of pipelines will inevitably lead to the accumulation of dirt, sediment, foreign matter, and other problems, which in turn affect the normal operation of the pipelines and even cause serious problems such as blockages and leaks. Traditional pipeline cleaning relies on manual (such as high-pressure water gun flushing and mechanical dredging) or chemical methods, which have problems such as low efficiency, high cost, safety hazards (such as the risk of working in confined spaces), and environmental pollution. Therefore, pipeline cleaning robots have become the key to solving this problem.

[0003] For example, the patent with publication number CN119608695A discloses a pipe cleaning robot, which includes a frame, a cleaning structure, a walking mechanism, an opening and closing adjustment mechanism, and several posture adjustment mechanisms. The opening and closing adjustment mechanism and the posture adjustment mechanism are used to adjust and drive the walking mechanism, and the cleaning mechanism is used to clean the inner wall of the pipe, ensuring the stability and cleaning effect of the cleaning structure in the pipe. However, this technical means relies on the rotation of the cleaning unit for cleaning, but the cleaning effect of the cleaning unit of this technical means is not high, and its cleaning structure is similar to a fan blade. In order to generate sufficient cleaning force, the fan blade needs to rotate at high speed, resulting in a significant increase in motor power consumption. In long-distance or large-diameter operations, energy consumption is too fast, and frequent charging or battery replacement is required, affecting the continuity of operation. Summary of the Invention

[0004] The purpose of the present invention is to provide a pipeline cleaning robot to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above objectives, the present invention provides the following solution: The present invention provides a pipeline cleaning robot, comprising:

[0006] frame;

[0007] The cleaning mechanism includes a transmission part and a scraping part, wherein the transmission part is fixedly connected to the frame, and the scraping part is rotatably connected to the transmission part, and the transmission part is used to drive the scraping part to rotate while revolving with the transmission part;

[0008] The walking mechanism includes a walking drive unit and a walking assembly. The walking assembly is provided with a plurality of walking assemblies, and the plurality of walking assemblies are arranged around the frame. The walking drive unit is fixedly connected to the walking assembly, and the walking drive unit is located on one side of the walking assembly for driving the walking assembly to move.

[0009] The adjusting mechanism is located between the frame and the walking mechanism. The adjusting mechanism is fixedly connected to the frame and is rotatably connected to the walking mechanism for adjusting the angle of the walking mechanism.

[0010] Furthermore, the transmission part includes a motor base, a cleaning drive motor, a driving shaft, a coupling and a gear drive assembly. The motor base is fixedly connected to the frame. A cleaning drive motor is arranged in the motor base. The cleaning drive motor is connected to the driving shaft through the coupling. The driving shaft is rotationally connected to the gear drive assembly.

[0011] Furthermore, the gear drive assembly includes an internally meshing planetary transmission member and a planetary gear train transmission member, the planetary gear train transmission member is rotatably connected to the driving shaft, and the planetary gear train transmission member is located on the side close to the driving motor, the internally meshing planetary transmission member is rotatably connected to the driving shaft, and the internally meshing planetary transmission member is located on the side of the driving shaft away from the driving motor.

[0012] Furthermore, the planetary gear train transmission includes planetary gears, a sun gear, a gear train ring gear and a first planetary carrier. The planetary gears are meshed with the surface of the sun gear and the inner wall of the gear train ring gear. Multiple planetary gears can be provided. The planetary gears are fixedly connected to the top of the scraping part. The sun gear is fixedly connected to the driving shaft and rotates with the driving shaft. The gear train ring gear is fixedly connected to one end of the motor base. The inner side of the first planetary carrier is connected to the driving shaft, and the outer side of the first planetary carrier is connected to the top of the scraping part.

[0013] Furthermore, the internally meshing planetary transmission component includes a first pinion, a ring gear and a second planet carrier, the first pinion is meshed with the inner wall of the ring gear, multiple first pinions can be provided, the first pinion is fixedly connected to the top of the scraping part, the ring gear is fixedly connected to the inner wall of the adjusting mechanism, the inner side of the second planet carrier is connected to the driving shaft, and the outer side of the second planet carrier is connected to the top of the scraping part.

[0014] Furthermore, the scraping part includes a driven shaft, a scraping edge and a scraper. The two ends of the driven shaft are fixedly connected to the first pinion and the planetary gear respectively. The surface of the driven shaft is axially provided with multiple cutting edges, and the scraper is fixedly connected to the driving shaft.

[0015] Furthermore, the walking assembly includes a walking connecting rod and a walking wheel. The walking connecting rod is rotatably connected to the adjusting mechanism, and one end of the walking connecting rod away from the frame is rotatably connected to the walking wheel.

[0016] Furthermore, the walking drive part includes a walking drive motor, a first bevel gear and a second bevel gear. The walking drive motor is located on one side of the walking connecting rod, and the walking drive motor is fixedly connected to the walking connecting rod. The output end of the walking drive motor is fixedly connected to the first bevel gear, and the first bevel gear rotates coaxially with the walking drive motor. The second bevel gear is fixedly connected to the walking wheel through the walking connecting rod, and the second bevel gear is meshed with the first bevel gear.

[0017] Furthermore, the adjusting mechanism includes an adjusting motor, an adjusting screw, an adjusting nut, a driven adjusting part, a speed-changing gear and a speed-changing pinion. The adjusting motor is located in the middle of the frame body, and the adjusting motor is fixedly connected to the frame body. The output end of the adjusting motor is fixedly connected to the adjusting screw, and the adjusting nut is rotatably connected to the adjusting screw, and a speed-changing gear is provided on one side of the adjusting nut near both sides of the adjusting motor. The speed-changing gear is fixedly connected to the adjusting screw, and the speed-changing gear engages with the speed-changing pinion, and the driven adjusting part is rotatably connected to the walking connecting rod and the adjusting nut respectively.

[0018] Furthermore, the driven adjustment part includes a driven adjustment rod and a driven adjustment slot, and a plurality of driven adjustment slots are provided on the adjustment nut near both sides of the adjustment motor. The walking connecting rod is located in the driven adjustment slot and is rotatably connected to the driven adjustment slot. One end of the driven adjustment rod is rotatably connected to the middle part of the walking connecting rod, and the other end of the driven adjustment rod is rotatably connected to the adjustment nut.

[0019] The present invention discloses the following technical effects: the scraping part is driven by the transmission part, that is, the scraping part revolves around the pipeline axis and rotates at the same time, thereby expanding the effective working trajectory of the scraping part. The revolution ensures that the scraping part can sweep the entire circumference of the inner wall of the pipe to avoid cleaning dead corners; the self-rotation makes the scraping part rotate itself. On the one hand, it can change the contact angle and direction with the pipe wall, and more effectively remove stubborn dirt (such as coking, sludge, scale, etc.) attached in different directions. On the other hand, it can avoid continuous wear of the scraping part in a single direction and extend its service life. The self-rotation characteristic enables the scraping part to "slide" or change the cutting angle to a certain extent when encountering local protrusions, depressions or harder dirt, rather than being rigidly stuck, which improves the tolerance to irregularities of the inner wall of the pipe and makes the scraping force more evenly distributed on the pipe wall, avoiding the problem of local excessive wear or uneven cleaning that may be caused by scraping in a single direction, and ensuring the consistency of cleaning quality of the entire pipe section. Multiple walking components are arranged circumferentially around the frame to form a multi-point support structure, which increases the contact area and the number of support points between the robot and the inner wall of the pipe, disperses the weight of the robot and the reaction force generated by the cleaning operation, and improves the robot's operation in various pipe diameters and different interiors. In pipes with smooth walls, the robot is less likely to tilt, shake or slip when walking, and maintains a stable body posture. Multiple walking components jointly provide driving force, which enhances the overall traction capacity of the robot and ensures that the robot can reliably move forward and backward to complete the cleaning task. The adjustment mechanism serves as the hub connecting the frame and the walking mechanism. Its rotational connection with the walking mechanism is key, which allows the walking mechanism to adjust its angle relative to the frame. When the robot travels on a slope or the inner diameter of the pipe changes, the adjustment mechanism can dynamically adjust the posture of the walking component to ensure that all walking wheels always maintain good contact with the pipe wall and provide sufficient adhesion. When passing through complex pipe sections, the angle compensation function of the adjustment mechanism can isolate the impact of changes in the pipe geometry on the posture of the frame and the cleaning mechanism on it. Even when the walking mechanism needs to adjust its angle to adapt to the pipe wall, it can maintain the horizontal or preset working posture of the frame and the cleaning mechanism to the greatest extent, ensuring that the revolution and rotation motion planes of the scraping part remain relatively stable relative to the axis of the pipe wall, thereby ensuring the continuity and consistency of the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. In the accompanying drawings:

[0021] Figure 1 An overall schematic diagram of a pipe cleaning robot provided by an embodiment of the present invention;

[0022] Figure 2A side view of the walking mechanism of the pipe cleaning robot provided in an embodiment of the present invention;

[0023] Figure 3 A side view of an internally meshing planetary transmission component in a pipe cleaning robot provided by an embodiment of the present invention;

[0024] Figure 4 A side view of a planetary gear train transmission component in a pipe cleaning robot provided by an embodiment of the present invention.

[0025] In the figure: 1, frame; 2, cleaning mechanism; 210, transmission part; 211, motor seat; 212, cleaning drive motor; 213, driving shaft; 214, coupling; 215, internal meshing planetary transmission member; 2151, first pinion; 2152, ring gear; 2153, second planetary carrier; 216, planetary gear train transmission member; 2161, planetary gear; 2162, sun gear; 2163, first planetary carrier; 2164, gear train ring gear; 220, scraping part; 2201, driven shaft; 2 202. Scraping blade; 2203. Scraping knife; 3. Traveling mechanism; 310. Traveling drive unit; 3101. Traveling drive motor; 3102. First bevel gear; 3103. Second bevel gear; 320. Traveling assembly; 3201. Traveling connecting rod; 3202. Traveling wheel; 4. Adjusting mechanism; 401. Adjusting motor; 402. Adjusting screw; 403. Adjusting nut; 404. Speed changing gear; 405. Speed changing gear; 406. Driven adjusting rod; 407. Driven adjusting slot. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, unless there is a conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0029] In some embodiments of this application, see Figure 1 As shown, a pipeline cleaning robot includes:

[0030] Frame 1.

[0031] The cleaning mechanism 2 includes a transmission part 210 and a scraping part 220. The transmission part 210 is fixedly connected to the frame 1, and the scraping part 220 is rotatably connected to the transmission part 210. The transmission part 210 is used to drive the scraping part 220 to rotate while revolving with the transmission part 210.

[0032] The walking mechanism 3 includes a walking drive unit 310 and a walking component 320. The walking component 320 is provided with several walking components 320. Several walking components 320 are arranged on the side of the frame 1. The walking drive unit 310 is fixedly connected to the walking component 320, and the walking drive unit 310 is located on one side of the walking component 320 for driving the walking component 320 to move.

[0033] The adjusting mechanism 4 is located between the frame 1 and the traveling mechanism 3 . The adjusting mechanism 4 is fixedly connected to the frame 1 , and the adjusting mechanism 4 is rotatably connected to the traveling mechanism 3 for adjusting the angle of the traveling mechanism 3 .

[0034] Specifically, a number of adjustment mechanisms 4 are provided on the circumferential side of the outer surface of the frame 1, the adjustment mechanisms 4 are fixedly connected to the outer surface of the frame 1, the adjustment mechanisms 4 are rotatably connected to the walking mechanism 3, and the walking mechanism 3 drives the frame 1 to move under the drive of the walking drive part 310. During the walking process, the opening and closing angles of the several walking mechanisms 3 can be adjusted by the adjustment mechanism 4 to adapt to pipes of different diameters. A cleaning mechanism 2 is provided on one side of the frame 1, and the cleaning mechanism 2 includes a transmission part 210 and a scraping part 220. The transmission part 210 is responsible for driving the scraping part 220 to revolve while rotating.

[0035] It is understandable that the structure of multiple circumferentially distributed adjustment mechanisms 4 and rotatably connected to the walking mechanism 3 enables the robot to have dynamic opening and closing adjustment capabilities. The walking component 320 can actively adjust the opening and closing angle according to the diameter change of the inner wall of the pipe, realizing a seamless transition from narrow to wide pipes, eliminating the dependence on fixed-size brackets, allowing a single robot to cover a wider range of pipe diameters, and reducing the risk of obstruction caused by changes in pipe diameter. When the robot encounters a bend, a reducer or a partially deformed pipe, each walking component 320 can adjust the contact angle differently to ensure that all walking units always fit the pipe wall. This local posture compensation capability avoids motion interference caused by the overall tilt of the walking mechanism 3 and improves smoothness in twisted pipes. Driven by the transmission part 210, the scraping part 220 performs simultaneous revolution and rotation, forming a composite motion trajectory. The revolution drives the scraping part 220 to scan along the circumference of the pipe, covering the entire circumference of the inner wall. The rotation causes the scraping part 220 to rotate itself, dynamically switching the contact direction between its cutting edge and the dirt. This motion superposition effect can peel off stubborn deposits of different directions (such as circumferential oil and axial scale), avoiding the cleaning blind spots caused by a single motion mode. The rotation characteristic enables the scraping part 220 to continuously change the cutting angle during the revolution. When encountering high-adhesion dirt, the rotating cutting edge can alternately cut into the weak points of the dirt to avoid tool overload caused by continuous unidirectional force. At the same time, the micro-vibration generated by the rotation helps to break up brittle dirt and reduce cleaning energy consumption. The rotation evenly distributes the wear surface of the scraping part 220, avoiding early failure caused by local excessive wear. The revolution motion ensures that the load is evenly distributed throughout the transmission structure, reducing fatigue damage to the mechanism. Several circumferentially evenly distributed walking components 320 form a distributed support network. Multi-point contact disperses the weight of the fuselage, reduces single-point pressure, and prevents depression on the inner wall of soft pipes (such as PVC). The side layout of the walking drive unit 310 directly drives the corresponding components, shortens the power transmission chain, and improves the response speed and traction efficiency.

[0036] In some embodiments of the present application, the transmission part 210 includes a motor base 211, a cleaning drive motor 212, a driving shaft 213, a coupling 214 and a gear drive assembly. The motor base 211 is fixedly connected to the frame 1, and a cleaning drive motor 212 is arranged in the motor base 211. The cleaning drive motor 212 is connected to the driving shaft 213 through the coupling 214, and the driving shaft 213 is rotationally connected to the gear drive assembly.

[0037] In some embodiments of this application, see Figure 3-Figure 4 As shown, the gear drive assembly includes an internally meshing planetary transmission member 215 and a planetary gear train transmission member 216. The planetary gear train transmission member 216 is rotationally connected to the driving shaft 213, and the planetary gear train transmission member 216 is located on the side close to the driving motor. The internally meshing planetary transmission member 215 is rotationally connected to the driving shaft 213, and the internally meshing planetary transmission member 215 is located on the side of the driving shaft 213 away from the driving motor.

[0038] Specifically, the motor seat 211 is fixedly connected to one side of the frame 1, and a driving motor is arranged in the motor seat 211. The driving motor drives the driving shaft 213 to rotate through the coupling 214, and then drives the planetary gear transmission member 216 to rotate, and the internally meshing planetary transmission member 215 rotates with the driving shaft 213, thereby realizing that the cleaning mechanism 2 rotates while revolving.

[0039] In some embodiments of the present application, the planetary gear train transmission member 216 includes a planetary gear 2161, a sun gear 2162, a gear train ring gear 2164 and a first planetary carrier 2163. The planetary gear 2161 is engaged with the surface of the sun gear 2162 and the inner wall of the gear train ring gear 2164. Multiple planetary gears 2161 can be provided. The planetary gear 2161 is fixedly connected to the top of the scraping part 220. The sun gear 2162 is fixedly connected to the driving shaft 213 and rotates with the driving shaft 213. The gear train ring gear 2164 is fixedly connected to one end of the motor base 211. The inner side of the first planetary carrier is connected to the driving shaft 213, and the outer side of the first planetary carrier is connected to the top of the scraping part 220.

[0040] In some embodiments of the present application, the internally meshing planetary transmission member 215 includes a first pinion 2151, a ring gear 2152 and a second planet carrier 2153. The first pinion 2151 is meshed with the inner wall of the ring gear 2152. Multiple first pinion 2151 can be provided. The first pinion 2151 is fixedly connected to the top of the scraping portion 220, the ring gear 2152 is fixedly connected to the inner wall of the adjusting mechanism 4, the inner side of the second planet carrier 2153 is connected to the driving shaft 213, and the outer side of the second planet carrier 2153 is connected to the top of the scraping portion 220.

[0041] In some embodiments of the present application, the scraping portion 220 includes a driven shaft 2201, a scraping edge 2202 and a scraper 2203. The two ends of the driven shaft 2201 are fixedly connected to the first pinion 2151 and the planetary gear 2161 respectively. Multiple cutting edges are axially arranged on the surface of the driven shaft 2201, and the scraper 2203 is fixedly connected to the driving shaft 213.

[0042] Specifically, when the driving motor drives the active shaft 213 to rotate, the active shaft 213 synchronously drives the sun gear 2162 to rotate, and the sun gear 2162 and the planetary gear 2161 are engaged with the inner wall of the gear ring 2164, and then, while the sun gear 2162 rotates, the planetary gear 2161 begins to rotate while revolving along the gear ring 2164, and the planetary gear 2161 is fixedly connected to the driven shaft 2201, thereby driving the driven shaft 2201 and the first planetary carrier 2163 to revolve while rotating, and the surface of the driven shaft 2201 is axially provided with multiple cutting edges, which realize rotation, and the other end of the driven shaft 2201 is connected to the internally meshing planetary transmission member 215, and when the driven shaft 2201 rotates, it drives the second planetary carrier 2153 to rotate, and at the same time drives the first pinion 2151 to rotate along the inner wall of the gear ring 2152.

[0043] It can be understood that the sun gear 2162 is fixed to the driving shaft 213 to drive the planetary gear 2161 to rotate, the gear ring 2164 is fixed to the motor base 211 to provide a reaction fulcrum to ensure that the rotation speed is stable and controllable, the gear ring 2152 is fixed to the adjustment mechanism 4 to form a revolution reference plane, the first pinion 2151 moves along its inner wall to drive the scraping part 220 to revolve, and the revolution radius is guaranteed by the positioning accuracy of the gear ring 2152. The gear ring 2164 is fixedly connected to the motor base 211, and the gear ring 2152 is fixedly connected to the adjustment mechanism 4, so that the reference coordinate systems of rotation and revolution are anchored to the main structure of the robot. To eliminate the motion trajectory drift caused by the vibration of the frame 1, the first planetary carrier 2163 and the second planetary carrier 2153 connect the two ends of the scraping part 220 to form a closed-loop force flow transmission path, which suppresses the tool deflection during the scraping operation. Multiple planetary gears 2161 simultaneously engage the sun gear 2162 and the gear ring 2164 to disperse the scraping resistance to the tooth surfaces of all planetary gears 2161 to avoid single tooth overload. Multiple first pinions 2151 are evenly distributed circumferentially to engage the ring gear 2152, so that the revolution drive torque acts evenly on the entire circumference of the ring gear 2152, reducing local stress concentration and improving the transmission reliability under high torque conditions. The first planetary carrier 2163 connects the driving shaft 213 to the top of the scraping section 220, while the second planetary carrier 2153 connects the driving shaft 213 to the other end of the scraping section 220, forming a dual-support span structure. The driven shaft 2201 runs through the two planetary carriers and secures multiple cutting edges, making the scraping section 220 a box-shaped anti-torsion body that resists distortion caused by irregular reaction forces from the pipe wall. The axially multi-segmented cutting edges on the surface of the driven shaft 2201 rotate to form a rotating cutting surface, stripping away axially extended dirt (such as flow mark deposits). The revolution drives the entire cutting edge assembly to scan around the pipe axis, achieving full circumferential wall coverage. The combined rotation and revolution form a spiral propulsion pattern on the cutting edge trajectory, eliminating blind spots in cleaning. The axial distribution of the multiple cutting edges disperses the cleaning load along the length of the driven shaft 2201, reducing the risk of edge damage.

[0044] In some embodiments of this application, see Figure 2 As shown, the walking assembly 320 includes a walking connecting rod 3201 and a walking wheel 3202 . The walking connecting rod 3201 is rotatably connected to the adjustment mechanism 4 , and the end of the walking connecting rod 3201 away from the frame 1 is rotatably connected to the walking wheel 3202 .

[0045] In some embodiments of the present application, the walking drive unit 310 includes a walking drive motor 3101, a first bevel gear 3102 and a second bevel gear 3103. The walking drive motor 3101 is located on one side of the walking connecting rod 3201, and the walking drive motor 3101 is fixedly connected to the walking connecting rod 3201. The output end of the walking drive motor 3101 is fixedly connected to the first bevel gear 3102, and the first bevel gear 3102 rotates coaxially with the walking drive motor 3101. The second bevel gear 3103 is fixedly connected to the walking wheel 3202 through the walking connecting rod 3201, and the second bevel gear 3103 is meshed with the first bevel gear 3102.

[0046] Specifically, the walking connecting rod 3201 rotates and connects to the adjustment mechanism 4, and the opening and closing angle of the walking connecting rod 3201 can be adjusted through the adjustment mechanism 4. When the robot is operating, the walking drive motor 3101 works, driving the first bevel gear 3102 to rotate, and then driving the second bevel gear 3103 to rotate, and then the second bevel gear 3103 drives the walking wheel 3202 to rotate to realize forward or backward movement.

[0047] It is understandable that the travel drive motor 3101, the bevel gear set and the travel wheel 3202 form a compact power structure through the travel connecting rod 3201: the travel drive motor 3101 is placed on the side next to the connecting rod to avoid occupying the axial channel of the pipeline. The first bevel gear 3102 is directly connected to the output end of the motor, and the second bevel gear 3103 is coaxially fixed with the travel wheel 3202, reducing the loss transmission of the power path. The bevel gear set converts the axial rotation of the motor into the radial rotation of the travel wheel 3202, reducing the number of parts and reducing the mechanical complexity. The characteristic of the rotational connection between the travel connecting rod 3201 and the adjustment mechanism 4 gives each travel component 320 independent pitch adjustment freedom. When the single-sided travel wheel 3202 encounters a depression in the pipe wall, the connecting rod can adaptively swing to keep the wheel body against the wall. When the adjustment mechanism 4 controls the opening and closing angle of the connecting rod, the bevel gear set always maintains stable meshing, ensuring that all travel wheels 3202 are continuously grounded under complex pipe wall conditions.

[0048] In some embodiments of the present application, the adjustment mechanism 4 includes an adjustment motor 401, an adjustment screw 402, an adjustment nut 403, a driven adjustment part, a speed change gear 404 and a speed change pinion 405. The adjustment motor 401 is located in the middle of the frame 1, and the adjustment motor 401 is fixedly connected to the frame 1. The output end of the adjustment motor 401 is fixedly connected to the adjustment screw 402, and the adjustment nut 403 is rotatably connected to the adjustment screw 402, and a speed change gear 404 is provided on one side of the adjustment nut 403 near both sides of the adjustment motor 401. The speed change gear 404 is fixedly connected to the adjustment screw 402, and the speed change gear 404 engages with the speed change pinion 405, and the driven adjustment part is rotatably connected to the walking connecting rod 3201 and the adjusting nut 403 respectively.

[0049] In some embodiments of the present application, the driven adjustment part includes a driven adjustment rod 406 and a driven adjustment slot 407. Several driven adjustment slots 407 are opened on the adjustment nuts 403 near both sides of the adjustment motor 401. The traveling connecting rod 3201 is located in the driven adjustment slot 407 and is rotatably connected to the driven adjustment slot 407. One end of the driven adjustment rod 406 is rotatably connected to the middle part of the traveling connecting rod 3201, and the other end of the driven adjustment rod 406 is rotatably connected to the adjusting nut 403.

[0050] As can be understood, the adjustment motor 401 drives the screw to rotate, driving the adjustment nuts 403 on both sides to move synchronously toward and away from each other. The fine-tuning stroke is amplified by the speed change gear set. The small speed change gear 405 engages the large speed change gear 404, converting the high-speed rotation of the screw to a low-speed, high-torque output of the large gear, achieving precise control of the angle of the travel connecting rod 3201. The displacement of the adjustment nut 403 is amplified by the gear change to a change in the opening and closing amplitude of the travel wheel 3202, improving the response sensitivity to changes in pipe diameter. The driven adjustment slot 407 constrains the base of the travel connecting rod 3201, limiting its rotation around a fixed axis and ensuring a precise angle adjustment trajectory. The driven adjustment rod 406 rotates to connect the connecting rod and the adjustment nut 403, converting the nut's linear motion into a pitch swing of the connecting rod while allowing the connecting rod to slide slightly within the slot. This ensures that the travel wheel 3202 always automatically conforms to the pipe wall curvature during angle adjustment, eliminating poor grounding caused by mechanical clearance.

[0051] Operation process: through the rotation of the adjustment motor 401 in the frame 1, the adjustment screw 402 is driven to rotate through the large speed gear 404 and the small speed gear 405, and then the adjustment nut 403 and the driven adjustment rod 406 are driven to move, thereby realizing the change of the opening and closing angle of the walking connecting rod 3201. After the angle adjustment of the walking connecting rod 3201 of the cleaning robot is completed, the walking drive motor 3101 starts to operate, driving the first bevel gear 3102 to rotate, and then the first bevel gear 3102 drives the second bevel gear 3103 to rotate, and then the second bevel gear 3103 drives the walking wheel 3202 to rotate, realizing the forward or backward movement of the cleaning robot. When the cleaning robot moves forward or backward, the cleaning The driving motor 212 starts to run, driving the driving shaft 213 to rotate, and then the driving shaft 213 drives the sun gear 2162 to rotate, and the planetary gear 2161 is engaged with the sun gear 2162 and the inner wall of the gear ring 2164, and then the planetary gear 2161 rotates around the sun gear 2162 on the inner wall of the gear ring 2164, and then the planetary gear 2161 drives the driven shaft 2201 to revolve while rotating. When the driven shaft 2201 rotates, the cutting edge thereon rotates, and at the same time, the cutting blade on the driving shaft 213 rotates, and then the first pinion 2151 rotates around the ring gear 2152. When the driven shaft 2201 rotates, it drives the first planet carrier 2163 and the second planet carrier 2153 to rotate.

[0052] In summary, the present invention has the following beneficial effects: The scraping portion 220, driven by the transmission portion 210, simultaneously orbits around the pipe axis with the transmission portion 210 and rotates on its own, thereby extending the effective working path of the scraping portion 220. The orbital rotation ensures that the scraping portion 220 can sweep the entire circumference of the pipe inner wall, avoiding blind spots. The self-rotation makes the scraping part 220 rotate by itself. On the one hand, it can change the contact angle and direction with the pipe wall, more effectively peeling off stubborn dirt (such as coking, sludge, scale, etc.) attached in different directions. On the other hand, it can avoid continuous wear of the scraping part 220 in a single direction, thereby extending its service life. The self-rotation characteristic enables the scraping part 220 to "slide" or change the cutting angle to a certain extent when encountering local protrusions, depressions or harder dirt, rather than being rigidly stuck, thereby improving the tolerance to irregularities of the inner wall of the pipe and making the scraping force more evenly distributed on the pipe wall, avoiding the problem of local excessive wear or uneven cleaning caused by scraping in a single direction, and ensuring the consistency of cleaning quality of the entire pipe section. Multiple walking components 320 are arranged circumferentially around the frame 1 to form a multi-point support structure, which increases the contact area and the number of support points between the robot and the inner wall of the pipe, disperses the weight of the robot and the reaction force generated by the cleaning operation, and improves the robot in pipes with various pipe diameters and different inner wall conditions. The robot is not prone to tilting when walking. The robot can avoid shaking or slipping, and keep the body posture stable. Multiple walking components 320 jointly provide driving force, which enhances the overall traction ability of the robot and ensures that the robot can reliably move forward and backward to complete the cleaning task. The adjustment mechanism 4 serves as the hub connecting the frame 1 and the walking mechanism 3. Its rotational connection with the walking mechanism 3 is key, which allows the walking mechanism 3 to adjust its angle relative to the frame 1. When the robot travels on a slope or the inner diameter of the pipe changes, the adjustment mechanism 4 can dynamically adjust the posture of the walking component 320 to ensure that all walking wheels 3202 always maintain good contact with the pipe wall and provide sufficient adhesion. When passing through complex pipe sections, the angle compensation effect of the adjustment mechanism 4 can isolate the impact of changes in the pipe geometry on the posture of the frame 1 and the cleaning mechanism 2 thereon. Even when the walking mechanism 3 needs to adjust its angle to adapt to the pipe wall, it can maintain the horizontal or preset working posture of the frame 1 and the cleaning mechanism 2 to the greatest extent, ensuring that the revolution and rotation motion planes of the scraping part 220 remain relatively stable relative to the axis of the pipe wall, thereby ensuring the continuity and consistency of the cleaning effect.

[0053] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0054] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A pipe cleaning robot, characterized in that: include: Frame (1); The cleaning mechanism (2) comprises a transmission part (210) and a scraping part (220), wherein the transmission part (210) is fixedly connected to the frame (1), and the scraping part (220) is rotatably connected to the transmission part (210), and the transmission part (210) is used to drive the scraping part (220) to rotate while revolving along with the transmission part (210); A walking mechanism (3) comprises a walking drive unit (310) and a walking assembly (320), wherein the walking assembly (320) is provided in a plurality, and the plurality of walking assemblies (320) are arranged around the frame (1), the walking drive unit (310) is fixedly connected to the walking assembly (320), and the walking drive unit (310) is located on one side of the walking assembly (320) for driving the walking assembly (320) to move; The adjusting mechanism (4) is located between the frame (1) and the walking mechanism (3); the adjusting mechanism (4) is fixedly connected to the frame (1), and the adjusting mechanism (4) is rotatably connected to the walking mechanism (3) for adjusting the angle of the walking mechanism (3).

2. The pipe cleaning robot according to claim 1, characterized in that: The transmission part (210) comprises a motor base (211), a cleaning drive motor (212), a driving shaft (213), a coupling (214) and a gear drive assembly. The motor base (211) is fixedly connected to the frame (1). A cleaning drive motor (212) is arranged in the motor base (211). The cleaning drive motor (212) is connected to the driving shaft (213) via the coupling (214). The driving shaft (213) is rotationally connected to the gear drive assembly.

3. The pipe cleaning robot according to claim 2, characterized in that: The gear drive assembly comprises an inner meshing planetary transmission member (215) and a planetary gear train transmission member (216), wherein the planetary gear train transmission member (216) is rotationally connected to the driving shaft (213), and the planetary gear train transmission member (216) is located on a side close to the driving motor, and the inner meshing planetary transmission member (215) is rotationally connected to the driving shaft (213), and the inner meshing planetary transmission member (215) is located on a side of the driving shaft (213) away from the driving motor.

4. The pipe cleaning robot according to claim 3, characterized in that: The planetary gear train transmission element (216) comprises a planetary gear (2161), a sun gear (2162), a gear train ring gear (2164) and a first planet carrier (2163). The planetary gear (2161) is engaged with the surface of the sun gear (2162) and the inner wall of the gear train ring gear (2164). A plurality of planetary gears (2161) can be provided. The planetary gear (2161) is fixedly connected to the top of the scraping portion (220). The sun gear (2162) is fixedly connected to the driving shaft (213) and rotates with the driving shaft (213). The gear train ring gear (2164) is fixedly connected to one end of the motor base (211). The inner side of the first planet carrier is connected to the driving shaft (213), and the outer side of the first planet carrier is connected to the top of the scraping portion (220).

5. The pipe cleaning robot according to claim 4, characterized in that: The inner meshing planetary transmission member (215) comprises a first pinion (2151), a ring gear (2152) and a second planet carrier (2153), wherein the first pinion (2151) is meshed with the inner wall of the ring gear (2152), and a plurality of the first pinion (2151) can be provided, wherein the first pinion (2151) is fixedly connected to the top of the scraping portion (220), the ring gear (2152) is fixedly connected to the inner wall of the adjusting mechanism (4), the inner side of the second planet carrier (2153) is connected to the driving shaft (213), and the outer side of the second planet carrier (2153) is connected to the top of the scraping portion (220).

6. The pipe cleaning robot according to claim 5, characterized in that: The scraping portion (220) comprises a driven shaft (2201), a scraping edge (2202) and a scraper (2203); the two ends of the driven shaft (2201) are fixedly connected to the first pinion (2151) and the planetary gear (2161), respectively; a plurality of cutting edges are axially provided on the surface of the driven shaft (2201); and the scraper (2203) is fixedly connected to the driving shaft (213).

7. The pipeline cleaning robot according to claim 6, characterized in that: The walking assembly (320) comprises a walking connecting rod (3201) and a walking wheel (3202); the walking connecting rod (3201) is rotatably connected to the adjusting mechanism (4); and the end of the walking connecting rod (3201) away from the frame (1) is rotatably connected to the walking wheel (3202).

8. The pipeline cleaning robot according to claim 7, characterized in that: The walking drive unit (310) comprises a walking drive motor (3101), a first bevel gear (3102) and a second bevel gear (3103); the walking drive motor (3101) is located on one side of the walking connecting rod (3201), and the walking drive motor (3101) is fixedly connected to the walking connecting rod (3201); the output end of the walking drive motor (3101) is fixedly connected to the first bevel gear (3102); the first bevel gear (3102) rotates coaxially with the walking drive motor (3101); the second bevel gear (3103) is fixedly connected to the walking wheel (3202) via the walking connecting rod (3201), and the second bevel gear (3103) is meshed with the first bevel gear (3102).

9. The pipeline cleaning robot according to claim 8, characterized in that: The adjusting mechanism (4) comprises an adjusting motor (401), an adjusting screw (402), an adjusting nut (403), a driven adjusting portion, a speed-changing gear (404) and a speed-changing pinion (405). The adjusting motor (401) is located in the middle of the frame (1) and is fixedly connected to the frame (1). The output end of the adjusting motor (401) is fixedly connected to the adjusting screw (402). The adjusting nut (403) is rotatably connected to the adjusting screw (402). A speed-changing gear (404) is provided on one side of the adjusting nut (403) close to both sides of the adjusting motor (401). The speed-changing gear (404) is fixedly connected to the adjusting screw (402), and the speed-changing gear (404) engages with the speed-changing pinion (405). The driven adjusting portion is rotatably connected to the travel connecting rod (3201) and the adjusting nut (403).

10. The pipeline cleaning robot according to claim 9, characterized in that: The driven adjustment portion includes a driven adjustment rod (406) and a driven adjustment slot (407); a plurality of driven adjustment slots (407) are provided on the adjustment nut (403) near both sides of the adjustment motor (401); the travel connecting rod (3201) is located in the driven adjustment slot (407) and is rotationally connected to the driven adjustment slot (407); one end of the driven adjustment rod (406) is rotationally connected to the middle of the travel connecting rod (3201); and the other end of the driven adjustment rod (406) is rotationally connected to the adjustment nut (403).

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