Intelligent pipeline cleaning robot

Abstract

The invention discloses an intelligent cleaning pipeline cleaning robot which comprises a telescopic device, a lifting device, a moving device, a top cleaning device, a garbage collecting device, a shell and a fixing piece. The telescopic device is fixedly connected to the lifting device through bolts and nuts, and the lifting device is connected to the moving device, so that the position of the cleaning brush head on the telescopic device can be adjusted up and down and left and right; the top cleaning device and the shell are fixedly connected to the moving device, and the top cleaning device can move left and right through the lead screw structure. And a side brush is arranged at the bottom of the moving device, cleaning of the bottoms of the pipelines is achieved, and the robot conducts multi-dimensional cleaning work on the pipelines with different pipe diameters. Meanwhile, the moving device is further provided with a garbage collecting device, dust and garbage swept down by the cleaning brush head are recycled and taken away, and secondary blockage of the pipeline is avoided. The robot is simple in structure, fast to control, high in cleaning capacity and suitable for cleaning pipelines with different pipe diameters and different shapes, manual adjustment is not needed, and the cleaning efficiency of the pipelines is greatly improved.

Description

Technical Field

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

[0002] With the extensive use of industrial pipelines, pipeline inspection, maintenance, cleaning and other issues need to be urgently addressed. Pipelines are a special environment, characterized by narrow spaces and a large number of special structures such as corners. Long-term use will cause blockage and require regular cleaning. Traditional manual cleaning and maintenance are inefficient, costly, and dangerous, making them extremely unrealistic. The application of pipeline robots in this regard is very necessary. Traditional pipeline cleaning robots can only clean one or both sides of the pipeline, resulting in incomplete pipeline cleaning. They are also difficult to cope with pipelines of different sizes and complex environments. After cleaning, they cannot effectively collect pipeline garbage, resulting in secondary blockage of the pipeline. Therefore, it is very necessary to develop a pipeline robot that can adapt to pipelines of different shapes and sizes to achieve multi-dimensional cleaning and can collect and remove garbage. Summary of the Invention

[0003] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a pipe cleaning robot with a simple structure, convenient control, and the ability to reliably and stably perform multi-dimensional cleaning and garbage collection on pipes of different sizes and shapes.

[0004] In order to achieve the above object, the present invention provides the following technical solutions: A smart pipe cleaning robot, comprising a telescopic device, a lifting device, a movement device, a top cleaning device, a garbage collection device, a shell and a windshield; The telescopic device is used to adjust the cleaning brush heads on the left and right sides of the cleaning pipe to adjust the cleaning position; The lifting device is used to adjust the cleaning brush heads on the left and right sides of the cleaning pipe to the upper and lower cleaning positions; The motion device is used to drive the robot to move forward and backward, turn left and right, and clean the dust and garbage at the bottom of the pipe; The top cleaning device is used to adjust the cleaning position of the cleaning brush head on the top of the cleaning pipe to the left and right; The garbage collection device is used to clean and collect dust and garbage dropped by the cleaning brush head of the lifting device, telescopic device and top cleaning device when cleaning the inside of the pipe; The lifting platform is made of acrylic plate.

[0005] The housing and windshield are used to connect the lifting device, telescopic device, top cleaning device, garbage collection device and movement device; Preferably, the telescopic device includes a telescopic module and a cleaning brush head, which can adjust the cleaning distance between the cleaning brush head and the left and right sides of the pipeline.

[0006] Preferably, the telescopic module includes a gearbox (containing a motor and a reducer), a transmission gear, a gear bar, and a pressure sensor; The gear box is connected to the transmission gear; The gear bar is meshed with the transmission gear; The cleaning brush head is connected to the gear bar through a slider; The rotation of the motor in the gear box drives the gear to rotate, and then drives the gear bar to move left and right, thereby driving the cleaning brush to move left and right in the pipe. In conjunction with the pressure sensor installed on the cleaning brush head, the distance from the left and right side cleaning inner walls can be adjusted according to the size of the pipe.

[0007] Preferably, the lifting device includes a motor, a screw rod, a lifting unit, a lifting platform and several aluminum profiles, which can realize the upper and lower cleaning position adjustment of the cleaning brush head on the telescopic device.

[0008] Preferably, the telescopic structure (four telescopic modules) is fixed to the lifting platform by using bolts and nuts to fix the "X"-shaped fixing piece and the lifting platform, thereby fixing the telescopic mechanism (four telescopic modules) on the lifting platform.

[0009] Aluminum profiles are used to build a "rectangular" bracket as the main frame of the lifting device. The motor is connected to the screw rod. The lifting unit is connected to the screw rod slider at one end through a bolt, and the other end is connected to the lifting platform. The lifting unit includes a flange, a fixing part, a lifting wheel and a lifting shaft.

[0010] Preferably, the motor is required to have high power and heavy load, and be able to drive the screw rod to rotate while bearing the energy loss caused by transporting the telescopic mechanism.

[0011] Preferably, the top cleaning mechanism includes 2 cleaning brush heads, 2 stepper motors, 1 motor, 1 lead screw, and 1 slide.

[0012] Preferably, the motor is connected to the screw through a rigid coupling, the slide and the screw are fixed by bolts, the stepper motor is connected to the cleaning brush head to realize the rotation of the brush head (hereinafter referred to as the cleaning module), and the cleaning module is connected to the slide through a U-shaped fixing part and bolts and nuts.

[0013] Preferably, the motion mechanism includes a base plate, 4 motion units (including 4 wheels and 4 motors), a universal wheel, a battery module, 2 side brushes, and a side brush transmission module.

[0014] Preferably, the bottom plate is made of acrylic plate; the battery module is fixed on the bottom plate through a battery box; The side brush transmission module includes a stepper motor, a synchronous belt, a transmission shaft and two pairs of right-angle bevel gears; The stepper motor and the synchronous belt are connected through a coupling; The synchronous belt output steering wheel is connected to the transmission shaft, a bevel gear is installed at each end of the transmission shaft, and the other two bevel gears are installed on the bottom plate perpendicular to the bevel gear on the transmission shaft, and the two side brushes are fixed to the two bevel gears installed on the bottom plate; The motion unit control system uses a multi-modal wireless control module (Bluetooth + WiFi dual-mode communication), which is the first dual-mode intelligent switching mechanism to facilitate monitoring and control of the robot's movement. The universal wheel cooperates with the four motion units to achieve smooth linear and turning motion of the motion mechanism. The side brush uses a brushless DC motor with a pressure sensor, and the system monitors the brush head load status in real time.

[0015] Preferably, the garbage collection mechanism includes a fan, a dust box, an oblique inlet, an air guide plate and a dust box support frame.

[0016] Preferably, the fan comprises a high-speed rotating motor and fan blades; The dust box is made of wear-resistant and corrosion-resistant ABS plastic to ensure its durability and lightness. The interior of the box is designed with a smooth inner wall to reduce dust adhesion. The inclined entrance adopts a concave design to avoid the situation where garbage at the bottom needs to turn after entering, causing garbage to accumulate at the corner; The air guide plate is built with a filter made of washable material, which is convenient for reuse; The dust box support frame is made of ABS plastic and is fixed to the dust box through a snap-on structure to prevent it from shaking left and right with movement, making it replaceable multiple times and easy to disassemble and assemble.

[0017] The implementation of the present invention has the following beneficial effects: When the robot is cleaning different pipes, the telescopic device cooperates with the pressure sensor to control the left and right cleaning brush heads to achieve telescopic movements on the left and right sides. For pipes of different widths, the telescopic mechanism relies on gear racks to gradually extend from the shortest until the pressure sensor fixed on the cleaning brush head hits the pipe wall, causing the data to rise, thereby controlling the telescopic mechanism to stop moving. This can achieve cleaning of pipes of different widths. It has the advantages of simple structure, reliable and stable motion trajectory, good scene adaptability and easy control.

[0018] When the robot of the present invention cleans pipes at different heights, the height of the telescopic device is adjusted by the movable range of the four screw rods in the lifting device to clean pipes at different heights; in addition, the cleaning range of the top cleaning brush head on the top surface of the pipe can also be adjusted by adjusting the screw slide of the top cleaning mechanism, thereby increasing the cleaning area of a single work, improving cleaning efficiency, and saving a lot of manpower and material resources.

[0019] When the two sides and bottom of the pipe are being cleaned, the side brush in the motion mechanism at the bottom will be driven by the motor to rotate the synchronous belt and bevel gear to realize the side brush's rotation, thereby cleaning the bottom of the pipe from dust and garbage. In addition, the garbage collection mechanism at the bottom of the robot causes a pressure difference through the rapid movement of the fan blades driven by the fan. The dust and garbage adhering to the pipe are swept by the brush heads around the robot and fall on the bottom of the pipe. Then, under the action of the pressure difference, they enter the garbage collection mechanism through the inclined entrance, avoiding the situation of inadequate cleaning caused by garbage scattered everywhere, thereby avoiding secondary blockage of the pipe, and realizing complete, dead-angle-free, multi-dimensional cleaning and garbage recycling of the pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 This is a schematic diagram of the structure of the intelligent pipeline cleaning robot of the present invention; Figure 2 This is a schematic structural diagram of the telescopic device of the intelligent pipe cleaning robot of the present invention; Figure 3 This is a schematic structural diagram of the lifting device of the intelligent pipe cleaning robot of the present invention; Figure 4 This is a schematic structural diagram of the top cleaning device of the intelligent pipeline cleaning robot of the present invention; Figure 5 This is a schematic diagram of the structure of the motion device of the intelligent pipe cleaning robot of the present invention; Figure 6 It is a structural schematic diagram of the garbage collection device of the intelligent pipeline cleaning robot of the present invention. DETAILED DESCRIPTION

[0022] 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. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0023] In the present invention, terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "center," "vertical," "horizontal," "transverse," and "longitudinal" indicate positions or locations based on the positions or locations shown in the accompanying drawings. These terms are primarily intended to better describe the present invention and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed or operated in a specific orientation.

[0024] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0025] Furthermore, the terms "installed," "disposed," "provided with," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0026] Furthermore, the terms "first," "second," and the like are primarily used to distinguish different devices, elements, or components (which may or may not be the same in type and configuration) and are not intended to indicate or imply the relative importance or quantity of the devices, elements, or components indicated. Unless otherwise specified, "plurality" means two or more.

[0027] It should also be understood that the terms used in the present specification are only for the purpose of describing particular embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0028] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0029] In order to make the purpose, technical solutions and advantages of the present invention clearer and more specific, the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0030] like Figures 1 to 6As shown, this embodiment discloses a smart pipe cleaning robot, comprising a telescopic device 1, a lifting device 2, a top cleaning device 3, a motion device 4, a garbage collection device 5, a housing 6, and a windshield 39. The telescopic device is used to adjust the left and right cleaning positions of the cleaning brush heads on the left and right sides of the cleaning pipe; the lifting device is used to adjust the vertical cleaning positions of the cleaning brush heads on the left and right sides of the cleaning pipe; the motion device is used to drive the robot to move forward and backward, turn left and right, and clean dust and garbage at the bottom of the pipe; the top cleaning device is used to adjust the left and right cleaning positions of the cleaning brush heads at the top of the cleaning pipe; and the garbage collection device is used to clean and collect dust and garbage dropped by the lifting device, the telescopic device, and the cleaning brush heads of the top cleaning device when cleaning the interior of the pipe.

[0031] Specifically, the outer shell, windshield, and lifting device are connected to the bottom plate of the moving mechanism with angle brackets; the telescopic device and garbage collection device are fixed to the bottom plate of the moving device using an X-shaped fixing part 10 through bolts and nuts; the top cleaning device is fixed to the windshield 19 through a bolt and nut structure.

[0032] like Figure 2 As shown, the telescopic device includes a telescopic module and a cleaning brush head, which can adjust the cleaning distance for different pipe sizes.

[0033] Specifically, the telescopic module includes a gearbox 9 containing a motor and a reducer, a transmission gear 7, a gear bar 8, and a pressure sensor; the gearbox 9 is connected to the transmission gear 7, the gear bar 8 is meshed with the transmission gear 7, and the cleaning brush head is connected to the gear bar 8 through a slider; the rotation of the motor in the gearbox 9 drives the transmission gear 7 to rotate, and then drives the gear bar 8 to move left and right, thereby driving the cleaning brush to move left and right in the pipe, and cooperates with the pressure sensor installed on the cleaning brush head to adjust the distance from the left and right side cleaning inner walls according to different pipe sizes.

[0034] Furthermore, in order to improve energy utilization and achieve energy conservation and environmental protection, the motor is connected to the reducer, and there are certain control accuracy requirements, which can reduce the wear between the gears and reduce energy loss.

[0035] like Figure 3 As shown, the lifting device includes a motor, a screw rod, a lifting unit, a lifting platform and several aluminum profiles, which can realize the upper and lower cleaning position adjustment of the cleaning brush head on the telescopic device.

[0036] Specifically, the aluminum profile is used to build a "rectangular" bracket as the main frame of the lifting mechanism, the motor is connected to the lead screw, and the lifting unit is connected to the lead screw slider at one end through a bolt, and the other end is connected to the lifting platform; the lifting unit includes a flange, a fixing part, a lifting wheel and a lifting shaft; the lifting platform is made of acrylic plate material; the telescopic structure is fixed to the "J-shaped" lifting platform by bolts and nuts.

[0037] Furthermore, the item lifted by the lifting device is the telescopic device. In order to ensure reliable and stable lifting during operation, the motor is required to have high power and large load, and be able to drive the screw rod to rotate while bearing the energy loss caused by transporting the telescopic mechanism.

[0038] like Figure 4 As shown, the top cleaning device includes two cleaning brush heads, a stepper motor, a screw rod, and a slide, which are used to adjust the cleaning position of the cleaning brush heads to achieve large-area cleaning of the top of the pipe.

[0039] Specifically, the motor is connected to the screw through a rigid coupling, the slide and the screw are fixed by bolts, and the stepper motor is connected to the cleaning brush head to realize the rotation of the brush head, which is called a cleaning module. The cleaning module is connected to the slide through a U-shaped fixing part 19 and bolts and nuts.

[0040] like Figure 5 As shown, the motion mechanism 4 includes a base plate, 4 motion units including 4 wheels and 4 motors, a universal wheel, a battery module, 2 side brushes, and a side brush transmission module, which are used to control the robot to achieve forward and backward linear motion and left and right turning motion.

[0041] Specifically, the side brush transmission module includes a stepper motor, a synchronous belt, a drive shaft and two pairs of right-angle bevel gears; the stepper motor is connected to the synchronous belt through a coupling; the output idler driven by the synchronous belt is connected to the drive shaft, and a bevel gear is installed at each end of the drive shaft. The other two bevel gears 31 and the bevel gear 30 on the drive shaft 29 are installed vertically on the base plate, and the two side brushes are fixed to the two bevel gears installed on the base plate; the control system adopts a multi-modal wireless control module Bluetooth + WiFi dual-mode communication, and the first dual-mode intelligent switching mechanism to facilitate monitoring and control of the robot's movement; the side brush adopts a brushless DC motor with a sensor to monitor the brush head load status in real time through the system.

[0042] like Figure 6As shown, the garbage collection device includes a fan 34, a dust box 35, an inclined inlet 36, an air deflector 37, and a dust box support frame 38. The fan includes a high-speed motor and fan blades. The dust box is made of ABS plastic, a wear-resistant and corrosion-resistant material, ensuring durability and lightweight. The interior is designed with a smooth inner wall to reduce dust adhesion. The inclined inlet adopts a concave design to prevent garbage from entering from the bottom and accumulating at the corner. The air deflector has a built-in filter made of water-washable material for easy reuse. The dust box support frame is made of ABS plastic and is fixed to the dust box 35 by a snap-fit structure to prevent it from shaking with movement, allowing for multiple replacements and convenient assembly and disassembly.

[0043] like Figure 1 As shown, the housing is connected to the vertical area of the chassis in the motion device by angle brackets; the windshield is fixed to the top surface of the housing by angle brackets; and the lifting device is connected to the housing and the windshield by bolts and nuts.

[0044] The specific process and principle of the present invention are as follows: when the robot enters the pipeline, the motor 22 in the four motion units in the motion device rotates to drive the wheels 23 to realize rotational motion in the same direction and speed, and the robot will realize forward and backward linear motion; if the left wheel and the right wheel of the robot have differential motion: if the speed of the left wheel is greater than the speed of the right wheel, the robot will turn right; if the speed of the right wheel is greater than the speed of the left wheel, the robot will turn left; in particular, the greater the differential speed of the left and right wheels, the smaller the steering angle, and vice versa. At the same time, the stepper motor in the bottom motion mechanism will start at the same time, driving the steering wheel and the synchronous belt to move, and the rotational motion is output from the steering wheel to the drive shaft. The bevel gear installed on the drive shaft will rotate at the same time, and the other two bevel gears installed perpendicular to it will also rotate, and finally drive the two side brushes under the bottom plate to rotate, thereby cleaning the dust at the bottom of the pipeline.

[0045] In an embodiment of the present invention, when the robot moves forward along the pipeline, the two cleaning brush heads of the top cleaning device and the four cleaning brush heads of the telescopic device are driven by the connected motors to realize rotational motion to clean the dust on the top and left and right sides of the pipeline; at the same time, the gear box 9 in the telescopic device is started, driving the gear 7 and the gear bar 8 to move in the opposite direction, until the pressure sensor fixed on the cleaning brush head touches the two side walls of the pipeline and there is a signal feedback, and then the motor is controlled to stop through the multi-modal wireless control module Bluetooth + WiFi dual-mode communication, ensuring that the cleaning brush head can contact the side wall in pipelines of different shapes and sizes, and under the action of the gear bar, the cleaning brush head will not shake left and right during the cleaning process, thereby achieving effective cleaning. After the motor in the top cleaning device is started, it controls the screw to rotate, and the upper slide of the screw will generate linear motion in the axial direction of the screw, and the U-shaped fixing part fixed to the slide will follow the movement, thereby controlling the lateral movement of the cleaning brush head in the width direction of the pipeline and adjusting the cleaning range of the top of the pipeline.

[0046] In the embodiment of the present invention, dust and garbage generated when the robot cleans along the pipe will be scattered on the bottom of the pipe. The fan 34 in the robot's garbage collection device 5 will drive the fan blades and airflow inside to rotate rapidly, thereby generating a large pressure difference between the inside and outside of the dust box 35. With the cooperation of the two side brushes 32, dust and garbage will enter the dust box 32 from the inclined entrance 36. The inclined entrance prevents the bottom garbage from turning outward after entering, causing garbage to accumulate at the corner. The collection of dust and garbage also avoids secondary blockage caused by dust residue in the pipe.

[0047] In the embodiment of the present invention, after the robot has walked along the pipeline once, the corresponding cleaning brush heads and the top, bottom, left and right sides of the pipeline have been cleaned. At this time, the four motors in the lifting device can be started, and the pulleys in the lifting unit can be driven up and down by the screw rod, so that the lifting platform of the cleaning device carrying the telescopic device 1 can adjust its vertical position, so that the cleaning brush heads on the telescopic device reach the side areas that have not been cleaned yet, and the height of the cleaning brush heads must be ensured to be consistent. Combined with the change in the position of the cleaning brush heads in the top cleaning device, the robot re-enters the pipeline and walks to the other end; when the robot returns to the starting point of the first departure, the motor of the lifting device and the stepper motor of the top cleaning device are adjusted again, and the cleaning positions of the six brush heads are changed. The work is repeated until all the dust in the pipeline is cleaned and collected in the dust box, thereby achieving multi-dimensional cleaning of the pipeline, saving a lot of manpower and material resources, greatly improving cleaning efficiency, and ensuring the effectiveness of cleaning and adaptability to different cleaning scenarios.

[0048] The above is merely a preferred embodiment of the present invention, and the scope of protection of this application is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A smart pipe cleaning robot, characterized in that: It includes a telescopic device (1), a lifting device (2), a top cleaning device (3), a moving device (4), a garbage collecting device (5), a shell (6) and a windshield (39); The telescopic device (1) comprises a telescopic platform (11) and a cleaning brush head (21), wherein the cleaning brush head is arranged at the end of the slide rail (8) and is used to adjust the cleaning distance according to the diameter of the pipeline; The lifting device (2) comprises a "F"-shaped fixing member (10), a lifting platform (11), a motor (12), a screw rod (13), a lifting unit (14) and an aluminum profile structure (15), and is used to adjust the cleaning position of the cleaning brush head on the telescopic device up and down; The top cleaning device (3) comprises a screw slide (18) and a cleaning brush head (21), and is used to adjust the cleaning distance between the cleaning brush head (21) and the left and right sides of the pipe; The motion device (4) comprises a motion mechanism and an intelligent control system, wherein the motion mechanism has a built-in side brush module (32); The garbage collection device (5) comprises a fan (34), a dust box (35), an oblique inlet (36), an air guide plate (37) and a dust box support frame (38); the bottom of the garbage collection device is fixed to the garbage collection device via a modular card slot, so that the collection device can be quickly disassembled and assembled; The windshield (39) is fixed to the top surface of the housing (6) by a fixed connection; and the lifting device is fixed to the windshield by bolts and nuts.

2. The intelligent pipeline cleaning robot according to claim 1, characterized in that: The telescopic device comprises a gear box (9), a transmission gear (7), a gear bar (8), and a pressure sensor; the gear box comprises a motor and a reducer, and is connected to the transmission gear; the gear bar is meshed with the transmission gear; the cleaning brush head is connected to the gear bar via a slider, and the cleaning brush head is provided with a pressure sensor.

3. The intelligent pipeline cleaning robot according to claim 1, characterized in that: The motion device comprises a motion unit, a chassis (33), a battery module (24), and a side brush (32); the housing is connected to a vertical area of the chassis by an angle code.

4. The intelligent pipeline cleaning robot according to claim 3, characterized in that: The side brush (32) is provided with a pressure sensor for real-time monitoring of the brush head load state.

5. The intelligent pipeline cleaning robot according to claim 1, characterized in that: The telescopic module is fixed on the lifting platform by bolts and nuts. The intelligent pipe cleaning robot according to claim 1 is characterized in that the motor in the lifting device is connected to the screw through a rigid coupling, the slide and the screw are fixedly connected by bolts, and the cleaning brush head is connected to the slide through a U-shaped fixing part (19), bolts and nuts.

6. The intelligent pipeline cleaning robot according to claim 1, characterized in that: The bottom plate is an acrylic plate; the stepping motor (25) is connected to the synchronous belt (27) through a coupling; bevel gears are respectively provided at both ends of the transmission shaft (29), and the bevel gear 1 (30) and the bevel gear 2 (31) on the transmission shaft (29) are vertically mounted on the bottom plate (33).

7. The intelligent pipeline cleaning robot according to claim 1, characterized in that: The intelligent control system is provided with a multi-modal wireless control module, which is used to monitor and control the movement of the robot through a dual-mode intelligent switching mechanism.

8. The intelligent pipeline cleaning robot according to claim 8, characterized in that: The multi-mode wireless control module is equipped with a Bluetooth and WIFI dual-mode communication mechanism.

9. The intelligent pipeline cleaning robot according to claim 1, characterized in that: The dust box (35) and the dust box support frame (38) are made of resin material, and the dust box and the support frame are fixed by snap fasteners; the oblique inlet (36) adopts a concave design; and the air guide plate (37) has a built-in filter screen made of a washable material.

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