A multi-functional pipeline cleaning robot

Abstract

The present application belongs to the technical field of pipeline cleaning equipment, and particularly relates to a multifunctional pipeline cleaning robot. The multifunctional pipeline cleaning robot can automatically adapt to different pipe diameters, has strong walking ability in a pipeline with changing pipe diameter, and can provide a counterforce for the robot system while adapting to the pipe diameter, so as to ensure the stable work of the system. The pipe diameter restoring mechanism can clean the residual blocking substances of the wall breaking mechanism, ensure the smoothness of the pipe wall, slow down the secondary blocking caused by the uneven pipe wall, and adjust the angle of the cleaning drill bit facing the blocking position in all directions, so as to improve the cleaning efficiency, realize the variable-diameter cleaning work, and realize the real-time transmission of the image data in the pipeline, thereby providing convenience for the pipeline cleaning work. The wall breaking mechanism adopts multiple combination modes for cleaning work, and multiple sets of cleaning combinations can improve the adaptability of the robot system to various blocking substances and improve the cleaning efficiency.

Description

Technical Field

[0001] This invention belongs to the technical field of pipeline cleaning equipment, specifically relating to a multifunctional pipeline cleaning robot. Background Technology

[0002] With the continuous development of human society, the types and numbers of underground pipelines are increasing, and their functions and roles are becoming more and more important. These include urban water supply pipelines; drainage pipelines for domestic sewage, industrial wastewater, and water conservancy projects; and industrial pipelines used to transport various industrial media. Underground pipelines are diverse, numerous, and intricately interconnected. These pipelines play a crucial role in transmitting energy, information, and matter.

[0003] In recent years, urban underground pipelines, water conservancy hub pipelines, and industrial pipelines constructed in earlier years have experienced blockages due to various factors such as the transmission media and working environment, leading to serious consequences. The blockage substances are diverse, including silt, weeds, soft materials like clothing, and even concrete. While there are various methods for cleaning these pipe blockages, traditional methods are no longer sufficient for the vast and complex underground pipe networks. This necessitates the development and application of pipeline cleaning robots for regular cleaning. However, existing pipeline cleaning equipment often lacks versatility, has a limited diameter range, and cannot adapt well to pipes of different diameters and shapes. Different blockage substances require different cleaning tools, and the lack of efficient and specialized cleaning tools results in low cleaning efficiency and poor effectiveness. Furthermore, automation is low, with most pipeline cleaning still relying on manual operation. This is not only labor-intensive but also poses safety risks in complex environments and hazardous areas, such as pipelines containing toxic or harmful gases. Additionally, manual operation makes it difficult to ensure the uniformity and stability of the cleaning process.

[0004] Existing pipeline cleaning equipment has poor stability during operation and movement, and its adaptability to changes in pipeline environment and diameter is relatively weak. It also has limited methods for cleaning various blockage substances, resulting in low adaptability. Summary of the Invention

[0005] The purpose of this invention is to overcome the aforementioned problems in traditional technologies and provide a multifunctional pipeline cleaning robot that can efficiently and quickly clean complex blockages in underground pipelines. It has the functions of adapting to different pipe diameters and different blockage substances, ensuring smooth pipe walls, restoring pipe diameter, and moving inside the pipeline.

[0006] To achieve the above-mentioned technical objectives and effects, the present invention is implemented through the following technical solution:

[0007] This invention provides a multifunctional pipe cleaning robot, comprising:

[0008] An automatic diameter-changing propulsion mechanism, which is connected to an automatic diameter-changing support mechanism, is used to propel the main body of the equipment to move forward or backward along the pipeline;

[0009] An automatic diameter-changing support mechanism is rotatably connected to a pipe diameter restoration mechanism. After reaching the dredging location, it can support the pipe wall, provide reverse torque for the pipe diameter restoration mechanism and reverse support force for the wall-breaking mechanism.

[0010] Pipe diameter restoration mechanism, which is rotatably connected to the middle of the automatic diameter changing support mechanism, is used to clean the blockage material remaining in the wall breaking mechanism and restore the pipe diameter;

[0011] An automatic diameter-changing balancing mechanism is connected to an automatic diameter-changing support mechanism. It is used to balance the center of gravity of the main body of the equipment and drive the main body of the equipment to move backward or forward along the pipeline, so as to ensure the smoothness of the main body of the equipment's forward and backward movements.

[0012] The directional mechanism is connected to the automatic diameter-changing balancing mechanism, which can drive the main drill bit telescopic mechanism to generate multiple degrees of angular displacement, thereby adjusting the angle of the wall-breaking mechanism facing the blockage position, so as to achieve the effect of diameter-changing dredging.

[0013] The main drill bit extension mechanism is connected to the directional mechanism by a ball joint and is used to control the extension length of the main drill bit to achieve deep cleaning of different blockage thicknesses.

[0014] The wall-breaking mechanism is connected to the main drill bit extension mechanism and is used to clean the pipeline.

[0015] Furthermore, in the aforementioned multi-functional pipeline cleaning robot, the automatic diameter-changing propulsion mechanism includes a housing, a driven wheel bracket, a driven wheel, a driven diameter-adjusting spring, a pipeline joint, a first pipeline channel, a drive wheel, a wheel bridge, a transmission gear, a drive wheel shaft, a driven diameter-adjusting spring fixing protrusion, a driven diameter-adjusting spring, a cylinder, a drive gear, a transmission shaft, a driven diameter-adjusting spring fixing beam, a propulsion motor fixing bracket, a propulsion motor rotary bearing, a propulsion motor, and a transmission pin; the driven wheel bracket is movably connected to the housing, the driven wheel is movably connected to the driven wheel bracket, the driven diameter-adjusting spring is movably connected to both the driven wheel bracket and the housing, the pipeline joint and the driven diameter-adjusting spring fixing beam are fixedly connected to the housing, and the pipeline joint... The unit has a first pipeline channel. The drive wheel is movably connected to the wheel axle. The wheel axle has a drive adjustment spring fixing protrusion, which is fixedly connected to the drive adjustment spring. A cylinder is fixedly connected inside the drive adjustment spring. The drive wheel shaft is movably connected to the wheel axle. The drive gear is fixedly connected to the drive wheel shaft. The transmission gear meshes with the drive gear and is fixedly connected to the transmission shaft. The propulsion motor mounting bracket is fixedly connected to the housing. The propulsion motor rotary bearing is fixedly connected to the propulsion motor and the propulsion motor mounting bracket, respectively. The propulsion motor is movably connected to the housing through the cooperation with the propulsion motor rotary bearing. The propulsion motor is fixedly connected to the transmission shaft through a transmission pin.

[0016] Furthermore, in the aforementioned multi-functional pipeline cleaning robot, the variable diameter support mechanism includes a variable diameter support joint, variable diameter support joint fixing bolts, a variable diameter hydraulic cylinder, a variable diameter support arm, a support block, a support soft body, a second pipeline channel, and a variable diameter hydraulic cylinder rotary bearing. The variable diameter support joint is fixedly connected to the housing via the variable diameter support joint fixing bolts. The variable diameter hydraulic cylinder is movably connected to the variable diameter support arm. The variable diameter support arm is movably connected to both the housing and the support block. The support soft body is fixedly connected to the support block. The variable diameter hydraulic cylinder rotary bearing is fixedly connected to both the variable diameter hydraulic cylinder and the variable diameter support joint, thereby achieving a movable connection between the variable diameter hydraulic cylinder and the variable diameter support joint. The variable diameter hydraulic cylinders are evenly distributed on the variable diameter support joint, and a second pipeline channel is provided on the variable diameter support joint, which is alternately distributed with the variable diameter hydraulic cylinders.

[0017] Furthermore, in the aforementioned multifunctional pipeline cleaning robot, the pipe diameter restoration mechanism includes a hollow motor stator, a third pipeline channel, threads, a hollow motor rotor, a motor boss, a steel cable, and a rotating scraper; the hollow motor stator has a third pipeline channel inside and threads at both ends on the outer diameter side, which achieve a fixed connection with the shell through the threads at both ends; the hollow motor rotor has a motor boss, which is movably connected to the steel cable, and the steel cable is fixedly connected to the rotating scraper.

[0018] Furthermore, in the aforementioned multi-functional pipeline cleaning robot, the automatic diameter-changing balancing mechanism and the automatic diameter-changing propulsion mechanism have basically the same structural form.

[0019] Furthermore, in the aforementioned multifunctional pipeline cleaning robot, the steering mechanism includes a steering joint, a fourth pipeline channel, a camera limiting boss, a camera, a pressure cap fixing threaded blind hole, a steering hydraulic cylinder outer cylinder sleeve, a steering hydraulic cylinder inner push rod, a steering ball, a pressure cap, a steering hydraulic cylinder inner push rod through hole, and a pressure cap fixing threaded through hole; the steering joint is fixedly connected to the housing, the steering joint has a fourth pipeline channel inside, a camera limiting boss on the outside, and multiple pressure cap fixing threaded blind holes evenly distributed on the upper part; the camera is fixedly connected to the camera limiting boss; the steering hydraulic cylinder outer cylinder sleeve is fixedly connected to the steering joint through the pressure cap; the steering hydraulic cylinder inner push rod is movably connected to the steering hydraulic cylinder outer cylinder sleeve; the steering ball is fixedly connected to the steering hydraulic cylinder inner push rod; the pressure cap is fixedly connected through bolts, a pressure cap fixing threaded through hole, and a pressure cap fixing threaded blind hole; the diameter of the steering hydraulic cylinder inner push rod through hole is larger than the outer diameter of the steering hydraulic cylinder inner push rod and smaller than the outer diameter of the steering hydraulic cylinder outer cylinder sleeve.

[0020] Furthermore, in the aforementioned multi-functional pipeline cleaning robot, the main drill bit telescopic mechanism includes a main drill bit telescopic mechanism housing, a directional ball socket, a fifth pipeline channel, an outer cylinder sleeve of the main drill bit telescopic hydraulic cylinder, an inner push rod of the main drill bit telescopic hydraulic cylinder, a main drill bit telescopic joint, and a sixth pipeline channel; the bottom of the main drill bit telescopic mechanism housing is evenly provided with multiple directional ball sockets, which are connected to the directional small ball by ball hinges; the main drill bit telescopic mechanism housing is provided with a fifth pipeline channel inside; the outer cylinder sleeve of the main drill bit telescopic hydraulic cylinder is fixedly connected to the main drill bit telescopic mechanism housing; the inner push rod of the main drill bit telescopic hydraulic cylinder is movably connected to the outer cylinder sleeve of the main drill bit telescopic hydraulic cylinder; the inner push rod of the main drill bit telescopic hydraulic cylinder is fixedly connected to the main drill bit telescopic joint; and the main drill bit telescopic joint is provided with multiple sixth pipeline channels.

[0021] Furthermore, in the aforementioned multi-functional pipeline cleaning robot, the wall-breaking mechanism includes a wall-breaking mechanism housing, a wall-breaking mechanism top cover, a main drill bit, an auxiliary drill bit, an auxiliary drill bit fixing screw, a high-pressure nozzle, a wall-breaking mechanism top cover fixing blind hole, an auxiliary drill bit assembly limiting channel, a high-pressure water channel, an auxiliary drill bit assembly pipeline channel, a main drill bit telescopic channel, an impactor limiting channel, an auxiliary drill bit assembly through hole, a high-pressure nozzle fixing threaded hole, a threaded through hole, a main drill bit through hole, an auxiliary drill bit motor, an auxiliary drill bit ultrasonic generator, an auxiliary drill bit telescopic hydraulic cylinder inner push rod, an auxiliary drill bit telescopic hydraulic cylinder outer cylinder sleeve, and an impactor; the wall-breaking mechanism housing is fixedly connected to the main drill bit telescopic mechanism housing, the wall-breaking mechanism top cover is fixedly connected to the wall-breaking mechanism housing, the main drill bit is movably connected to the wall-breaking mechanism top cover and the wall-breaking mechanism housing, the auxiliary drill bit is movably connected to the wall-breaking mechanism top cover, the auxiliary drill bit fixing screw is fixedly connected to the auxiliary drill bit, and the high-pressure nozzle is... The top cover of the cell-breaking mechanism is fixedly connected; the housing of the cell-breaking mechanism is provided with multiple blind holes for fixing the top cover; multiple auxiliary drill bit combination limiting channels, high-pressure water channels, and auxiliary drill bit combination pipeline channels are distributed circumferentially on the housing of the cell-breaking mechanism; the upper part of the inner side of the housing of the cell-breaking mechanism is provided with a main drill bit telescopic channel, and the lower part of the inner side is provided with an impactor limiting channel; multiple auxiliary drill bit combination through holes and high-pressure nozzle fixing threaded holes are distributed circumferentially on the upper part of the top cover of the cell-breaking mechanism; multiple threaded through holes are provided circumferentially on the outer side of the top cover of the cell-breaking mechanism; the middle part of the top cover of the cell-breaking mechanism is provided with a main drill bit through hole; the main drill bit is fixedly connected to the impactor; the auxiliary drill bit is fixedly connected to the auxiliary drill bit motor through the auxiliary drill bit fixing screw; the auxiliary drill bit motor is fixedly connected to the auxiliary drill bit ultrasonic generator; the auxiliary drill bit ultrasonic generator is fixedly connected to the inner push rod of the auxiliary drill bit telescopic hydraulic cylinder; the inner push rod of the auxiliary drill bit telescopic hydraulic cylinder is movably connected to the outer cylinder sleeve of the auxiliary drill bit telescopic hydraulic cylinder.

[0022] Furthermore, in the aforementioned multi-functional pipeline cleaning robot, the automatic diameter-changing propulsion mechanism is driven by a propulsion motor to drive the transmission shaft. Through the meshing of the active gear and the power transmission gear, the power is transmitted to the active wheel, thereby enabling the robot body to move forward and backward along the pipeline. The driven diameter-adjusting spring, the active diameter-adjusting spring, and the cylinder automatically adapt to the pipe diameter through the compression and extension of the springs during the pipe diameter change process.

[0023] The variable diameter support joint of the automatic variable diameter support mechanism is fixed to the housing by the variable diameter support joint fixing bolt. The lifting height of the variable diameter support arm is adjusted by the extension and retraction of the variable diameter hydraulic cylinder to adapt to the pipe diameter. During the extension and retraction process, the angle of the variable diameter hydraulic cylinder is adjusted by the variable diameter hydraulic cylinder rotary bearing. After the support soft body contacts the pipe wall, the pressure of the variable diameter hydraulic cylinder is adjusted to control the friction force between the support soft body and the pipe wall, providing reverse torque for the pipe diameter restoration mechanism and reverse support force for the wall breaking mechanism. The shape and size of the support soft body are designed according to parameters such as pipe wall strength and shape.

[0024] Furthermore, in the aforementioned multi-functional pipeline cleaning robot, the hollow motor rotor of the pipe diameter restoration mechanism drives the rotating scraper connected to the steel cable to rotate at high speed, which is used to clean the blockage material remaining in the wall breaking mechanism, ensure the smoothness of the pipe wall, reduce secondary blockage caused by uneven pipe walls, and is connected in the middle of the automatic diameter changing support mechanism to improve the stability of the robot system.

[0025] The beneficial effects of this invention are:

[0026] This invention's functional pipeline cleaning robot can automatically adapt to different pipe diameters and has strong mobility within pipes with varying diameters. The automatic diameter-changing support mechanism provides reaction force to the robot system while adapting to different pipe diameters, ensuring stable operation. The pipe diameter restoration mechanism removes residual blockages from the wall-breaking mechanism, ensuring smooth pipe walls and mitigating secondary blockages caused by uneven pipe walls. The orientation mechanism allows for flexible adjustment of the cleaning drill bit's angle towards the blockage location, improving cleaning efficiency while enabling diameter-changing cleaning operations. It also provides real-time transmission of images of the pipeline interior, facilitating pipeline cleaning. The wall-breaking mechanism employs a combination of high-pressure water jet, ultrasonic drilling, and impact drilling for cleaning. These multiple cleaning combinations enhance the robot system's adaptability to various blockages and improve cleaning efficiency.

[0027] Of course, any product implementing this invention does not necessarily need to achieve all of the above advantages at the same time. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0030] Figure 2 This is a schematic diagram of a three-dimensional partial cross-sectional structure of the present invention. Figure 1 ;

[0031] Figure 3 This is a schematic diagram of a three-dimensional partial cross-sectional structure of the present invention. Figure 2 ;

[0032] Figure 4 This is a partial three-dimensional structural diagram of the present invention. Figure 1 ;

[0033] Figure 5 This is a partial three-dimensional structural diagram of the present invention. Figure 2 ;

[0034] Figure 6 This is a partial three-dimensional structural diagram of the present invention. Figure 3 ;

[0035] Figure 7 This is a schematic diagram of a three-dimensional partial cross-sectional structure of the present invention. Figure 3 ;

[0036] Figure 8 This is a schematic diagram of a three-dimensional partial cross-sectional structure of the present invention. Figure 4 ;

[0037] Figure 9 This is a partial three-dimensional structural diagram of the present invention. Figure 4 ;

[0038] Figure 10 This is a schematic diagram of the three-dimensional cross-sectional structure of the present invention;

[0039] Figure 11 This is a partial three-dimensional structural diagram of the present invention. Figure 5 ;

[0040] Figure 12 This is a partial three-dimensional structural diagram of the present invention. Figure 6 . Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Figures 1-12This invention provides a technical solution: a multi-functional pipeline cleaning robot, comprising an automatic diameter-changing propulsion mechanism 1, an automatic diameter-changing support mechanism 2, a pipe diameter restoration mechanism 3, an automatic diameter-changing balancing mechanism 4, a steering mechanism 5, a main drill bit telescopic mechanism 6, and a wall-breaking mechanism 7. The automatic diameter-changing propulsion mechanism 1 is connected to the automatic diameter-changing support mechanism 2, used to propel the main body of the equipment forward (backward) along the pipeline; the automatic diameter-changing support mechanism 2 is rotatably connected to the pipe diameter restoration mechanism 3, and upon reaching the dredging location, supports the pipe wall, providing reverse torque to the pipe diameter restoration mechanism 3 and reverse support force to the wall-breaking mechanism 7; the pipe diameter restoration mechanism 3 is rotatably connected in the middle of the automatic diameter-changing support mechanism 2, used to clean the residual blockage material from the wall-breaking mechanism 7 and restore the pipe diameter; the automatic diameter-changing balancing mechanism 4 is connected to the automatic diameter-changing support mechanism 2, used to balance the center of gravity of the main body of the equipment and drive the equipment... The main body of the equipment moves backward (forward) along the pipeline to ensure smooth advancement and retraction. The directional adjustment mechanism 5 is connected to the automatic diameter-changing balancing mechanism 4, which can drive the main drill bit extension mechanism 6 to generate multiple degrees of angular displacement, thereby adjusting the angle of the wall-breaking mechanism 7 facing the blockage position to achieve the effect of diameter-changing dredging. The main drill bit extension mechanism 6 is connected to the directional adjustment mechanism 5 by a ball joint to control the extension length of the main drill bit 703, so as to achieve deep cleaning for different blockage thicknesses and achieve more flexible cleaning of pipeline blockages. The wall-breaking mechanism 7 is connected to the main drill bit extension mechanism 6 to clean the pipeline.

[0043] The automatic diameter-changing propulsion mechanism 1 includes a housing 101, a driven wheel bracket 102, a driven wheel 103, a driven diameter-adjusting spring 104, a pipeline connector 105, a first pipeline channel 106, a driving wheel 107, a wheel axle 108, a transmission gear 109, a driving wheel shaft 110, a driving diameter-adjusting spring fixing protrusion 111, a driving diameter-adjusting spring 112, a cylinder 113, a driving gear 114, a transmission shaft 115, a driving diameter-adjusting spring fixing beam 116, a propulsion motor fixing bracket 117, a propulsion motor rotary bearing 118, a propulsion motor 119, and a transmission pin 120.

[0044] Driven wheel bracket 102 is movably connected to housing 101, driven wheel 103 is movably connected to driven wheel bracket 102, driven adjusting spring 104 is movably connected to driven wheel bracket 102 and housing 101 respectively, pipeline connector 105 and active adjusting spring fixing beam 116 are fixedly connected to housing 101, a first pipeline channel 106 is opened in the middle of pipeline connector 105, active wheel 107 is movably connected to wheel axle 108, active adjusting spring fixing protrusion 111 is provided on wheel axle 108, active adjusting spring fixing protrusion 111 is fixedly connected to active adjusting spring 112, cylinder 113 is fixedly connected inside active adjusting spring 112, active wheel shaft 110 is movably connected to wheel axle 108, active gear 114 is fixedly connected to active wheel shaft 110, transmission gear 109 meshes with active gear 114, transmission gear 109 is fixedly connected to transmission shaft 115.

[0045] The propulsion motor mounting bracket 117 is fixedly connected to the housing 101. The propulsion motor rotary bearing 118 is fixedly connected to the propulsion motor 119 and the propulsion motor mounting bracket 117 respectively. The propulsion motor 119 is movably connected to the housing 101 through cooperation with the propulsion motor rotary bearing 118. The propulsion motor 119 is fixedly connected to the drive shaft 115 through the drive pin 120.

[0046] The variable diameter support mechanism 2 includes a variable diameter support joint 201, a variable diameter support joint fixing bolt 202, a variable diameter hydraulic cylinder 203, a variable diameter support arm 204, a support block 205, a support soft body 206, a second pipeline channel 207, and a variable diameter hydraulic cylinder rotary bearing 208.

[0047] The variable diameter support joint 201 is fixedly connected to the housing 101 by the variable diameter support joint fixing bolt 202, the variable diameter hydraulic cylinder 203 is movably connected to the variable diameter support arm 204, the variable diameter support arm 204 is movably connected to the housing 101 and the support block 205 respectively, and the support soft body 206 is fixedly connected to the support block 205.

[0048] The rotary bearing 208 of the variable diameter hydraulic cylinder is fixedly connected to the variable diameter hydraulic cylinder 203 and the variable diameter support joint 201 respectively, so as to realize the movable connection between the variable diameter hydraulic cylinder 203 and the variable diameter support joint 201. The three sets of variable diameter hydraulic cylinders 203 are evenly distributed on the variable diameter support joint 201. The variable diameter support joint 201 is provided with three second pipeline channels 207, which are alternately distributed with the variable diameter hydraulic cylinders 203.

[0049] The pipe diameter restoration mechanism 3 includes a hollow motor stator 301, a third pipeline channel 302, a thread 303, a hollow motor rotor 304, a motor boss 305, a steel cable 306, and a rotating scraper 307.

[0050] The hollow motor stator 301 has a third pipeline channel 302 inside, and threads 303 are provided at both ends of the outer diameter side. The fixed connection with the housing 101 is achieved through the threads 303 at both ends. The hollow motor rotor 304 has a motor boss 305, which is movably connected to the steel cable 306. The steel cable 306 is fixedly connected to the rotating scraper 307.

[0051] The automatic diameter changing balancing mechanism 4 and the automatic diameter changing propulsion mechanism 1 have basically the same structural form.

[0052] The directional adjustment mechanism 5 includes a directional adjustment joint 501, a fourth pipeline channel 502, a camera limiting boss 503, a camera 504, a pressure cap fixing thread blind hole 505, a directional adjustment hydraulic cylinder outer cylinder sleeve 506, a directional adjustment hydraulic cylinder inner push rod 507, a directional adjustment ball 508, a pressure cap 509, a directional adjustment hydraulic cylinder inner push rod through hole 510, and a pressure cap fixing thread through hole 511.

[0053] The directional connector 5 is fixedly connected to the housing 101. The directional connector 5 has a fourth pipeline channel 502 inside and a camera limiting boss 503 outside. Multiple pressure cap fixing thread blind holes 505 are evenly distributed on the upper part. The camera 504 is fixedly connected to the camera limiting boss 503. The outer cylinder sleeve 506 of the directional hydraulic cylinder is fixedly connected to the directional connector 501 through the pressure cap 509. The inner push rod 507 of the directional hydraulic cylinder is movably connected to the outer cylinder sleeve 506 of the directional hydraulic cylinder. The directional ball 508 is fixedly connected to the inner push rod 507 of the directional hydraulic cylinder. The pressure cap 509 is fixedly connected by bolts, pressure cap fixing thread through hole 511 and pressure cap fixing thread blind hole 505. The diameter of the inner push rod through hole 510 of the directional hydraulic cylinder is larger than the outer diameter of the inner push rod 507 of the directional hydraulic cylinder and smaller than the outer diameter of the outer cylinder sleeve 506 of the directional hydraulic cylinder.

[0054] The main drill bit telescopic mechanism 6 includes a main drill bit telescopic mechanism housing 601, a directional ball socket 602, a fifth pipeline channel 603, an outer cylinder liner of the main drill bit telescopic hydraulic cylinder 604, an inner push rod of the main drill bit telescopic hydraulic cylinder 605, a main drill bit telescopic joint 606, and a sixth pipeline channel 607.

[0055] The bottom of the main drill bit telescopic mechanism housing 601 is evenly provided with multiple directional ball sockets 602, which are connected to the directional ball 508 by ball hinges. The main drill bit telescopic mechanism housing 601 is provided with a fifth pipeline channel 603. The outer cylinder sleeve 604 of the main drill bit telescopic cylinder is fixedly connected to the main drill bit telescopic mechanism housing 601. The inner push rod 605 of the main drill bit telescopic cylinder is movably connected to the outer cylinder sleeve 604 of the main drill bit telescopic cylinder. The inner push rod 605 of the main drill bit telescopic cylinder is fixedly connected to the main drill bit telescopic joint 606. The main drill bit telescopic joint 606 is provided with multiple sixth pipeline channels 607.

[0056] The cell wall breaking mechanism 7 includes a cell wall breaking mechanism housing 701, a cell wall breaking mechanism top cover 702, a main drill bit 703, an auxiliary drill bit 704, an auxiliary drill bit fixing screw 705, a high-pressure nozzle 706, a cell wall breaking mechanism top cover fixing blind hole 707, an auxiliary drill bit assembly limiting channel 708, a high-pressure water channel 709, an auxiliary drill bit assembly pipeline channel 710, a main drill bit telescopic channel 711, an impactor limiting channel 712, an auxiliary drill bit assembly through hole 713, a high-pressure nozzle fixing threaded hole 714, a threaded through hole 715, a main drill bit through hole 716, an auxiliary drill bit motor 717, an auxiliary drill bit ultrasonic generator 718, an auxiliary drill bit telescopic hydraulic cylinder inner push rod 719, an auxiliary drill bit telescopic hydraulic cylinder outer cylinder liner 720, and an impactor 721.

[0057] The cell wall breaking mechanism housing 701 is fixedly connected to the main drill bit telescopic mechanism housing 601. The cell wall breaking mechanism top cover 702 is fixedly connected to the cell wall breaking mechanism housing 701. The main drill bit 703 is movably connected to the cell wall breaking mechanism top cover 702 and the cell wall breaking mechanism housing 701. The auxiliary drill bit 704 is movably connected to the cell wall breaking mechanism top cover 702. The auxiliary drill bit fixing screw 705 is fixedly connected to the auxiliary drill bit 704. The high-pressure nozzle 706 is fixedly connected to the cell wall breaking mechanism top cover 702.

[0058] The wall-breaking mechanism housing 701 is provided with multiple wall-breaking mechanism top cover fixing blind holes 707. The wall-breaking mechanism housing 701 is circumferentially distributed with multiple auxiliary drill bit combination limiting channels 708, high-pressure water channels 709 and auxiliary drill bit combination pipeline channels 710. The upper part of the wall-breaking mechanism housing 701 is provided with a main drill bit telescopic channel 711, and the lower part of the interior is provided with an impactor limiting channel 712.

[0059] The top cover 702 of the wall-breaking mechanism has multiple auxiliary drill bit combination through holes 713 and high-pressure nozzle fixing threaded holes 714 distributed circumferentially on the upper end. The top cover 702 of the wall-breaking mechanism has multiple threaded through holes 715 on the outer circumferential side. The top cover 702 of the wall-breaking mechanism has a main drill bit through hole 716 in the middle.

[0060] The main drill bit 703 is fixedly connected to the impactor 712. The auxiliary drill bit 704 is fixedly connected to the auxiliary drill bit motor 717 via the auxiliary drill bit fixing screw 705. The auxiliary drill bit motor 717 is fixedly connected to the auxiliary drill bit ultrasonic generator 718. The auxiliary drill bit ultrasonic generator 718 is fixedly connected to the inner push rod 719 of the auxiliary drill bit telescopic hydraulic cylinder. The inner push rod 719 of the auxiliary drill bit telescopic hydraulic cylinder is movably connected to the outer cylinder sleeve 720 of the auxiliary drill bit telescopic hydraulic cylinder.

[0061] like Figures 1 to 3 , Figures 5 to 8 As shown, the first pipeline channel 106, the second pipeline channel 207, the third pipeline channel 302, the fourth pipeline channel 502, the fifth pipeline channel 603, and the sixth pipeline channel 607 together form a structure that is connected in the middle, providing channels for various pipelines in the robot system, facilitating signal transmission, pressure delivery, and energy transfer.

[0062] like Figures 1 to 3 The automatic diameter-changing propulsion mechanism 1 shown is driven by a propulsion motor 119 driving a transmission shaft 115. Through the meshing of the drive gear 114 and the power transmission gear 109, the power is transmitted to the drive wheel 107, thereby enabling the robot body to move forward (backward) along the pipe. The driven diameter-adjusting spring 104, the drive diameter-adjusting spring 112, and the cylinder 113 can automatically adapt to the pipe diameter through the compression and extension of the springs during the pipe diameter change process.

[0063] like Figure 1 , Figure 3 and Figure 5 The automatic diameter-changing support mechanism 2 shown is fixed to the housing 101 by the diameter-changing support joint 201 through the diameter-changing support joint fixing bolt 202. The lifting height of the diameter-changing support arm 204 is adjusted by the extension and retraction of the diameter-changing hydraulic cylinder 203, thereby adapting to the pipe diameter. During the extension and retraction process, the angle of the diameter-changing hydraulic cylinder 203 can be adjusted by the diameter-changing hydraulic cylinder rotary bearing 208. After the support soft body 206 contacts the pipe wall, the pressure of the diameter-changing hydraulic cylinder 203 can be adjusted to control the friction force between the support soft body 206 and the pipe wall, providing reverse torque for the pipe diameter restoration mechanism 3 and reverse support force for the wall breaking mechanism 7. The shape and size of the support soft body can be designed according to parameters such as pipe wall strength and shape.

[0064] like Figure 1 and Figure 6 The pipe diameter restoration mechanism 3 shown is driven by a hollow motor rotor 301 to rotate a rotating scraper 307 connected to a steel cable 306 at high speed. It is used to clean the blockage material remaining in the wall breaking mechanism 7, ensure the smoothness of the pipe wall, reduce secondary blockage caused by uneven pipe walls, and is connected in the middle of the automatic diameter changing support mechanism 2 to improve the stability of the robot system.

[0065] like Figure 1 As shown, the automatic diameter changing balancing mechanism 4 and the automatic diameter changing propulsion mechanism 1 have basically the same structure. They are used to balance the center of gravity of the robot system and drive the main body of the equipment to move backward (forward) along the pipeline, so as to ensure the smoothness of the propulsion and retraction of the main body of the equipment.

[0066] like Figure 1 and Figure 7 As shown, the combination of the directional joint 501 and the pressure cap 509 of the directional mechanism 5 can limit the outer cylinder sleeve 506 of the directional hydraulic cylinder. The ball joint connection between the directional ball 508 and the directional ball socket 602 can realize the steering of multiple degrees of freedom. By controlling different commands for pressurizing, depressurizing, and maintaining pressure of the directional hydraulic cylinder, the extension, retraction, and stabilization of the push rod 507 inside the directional hydraulic cylinder can be achieved, thereby realizing the angle of the main drill bit telescopic mechanism 6 and the wall breaking mechanism 7 facing the pipe wall, as well as the state of maintaining the angle facing the pipe wall, thus realizing the variable diameter cleaning operation. Multiple cameras 504 are equipped on the outside of the directional joint 501. The camera 504 has directions including looking forward and looking backward at the pipe wall, which can provide timely feedback on the pipe blockage status and the status after pipe cleaning.

[0067] like Figure 1 and Figure 8As shown, the simultaneous extension and retraction of the outer cylinder sleeves 604 and inner push rods 605 of the multiple sets of main drill bit telescopic hydraulic cylinders in the main drill bit telescopic mechanism 6 can control the extension and retraction state of the impactor 721 through the main drill bit telescopic joint 606, thereby controlling the extension length of the main drill bit 703. While providing pressure to the main drill bit 703, the extension length of the main drill bit 703 can be adjusted according to the different thicknesses of the blockage, improving cleaning efficiency. Moreover, the combination of multiple main drill bit telescopic hydraulic cylinders to disperse stress can make the main drill bit 703 work more stably and the robot system work more smoothly.

[0068] like Figure 1 , Figures 9 to 12 As shown, the wall-breaking mechanism 7 consists of multiple cleaning assemblies, capable of clearing blockages of varying strengths. The assembly formed by the high-pressure nozzle 706 and the high-pressure water channel 709 not only cools the main drill bit 703 and the auxiliary drill bit 704, but also achieves efficient and rapid cleaning of relatively soft materials such as silt, clothing, and weeds through high-pressure water jets. The auxiliary drill bit assembly consists of the auxiliary drill bit 704, the auxiliary drill bit fixing screw 705, the auxiliary drill bit motor 710, the auxiliary drill bit ultrasonic generator 718, the inner push rod 719 of the auxiliary drill bit telescopic hydraulic cylinder, and the outer cylinder sleeve 720 of the auxiliary drill bit telescopic hydraulic cylinder. The auxiliary drill bit motor 710 can drive the auxiliary drill bit 704 to rotate at high speed. The ultrasonic generator 718 in the auxiliary drill bit improves the drilling efficiency of the auxiliary drill bit. Ultrasonic waves generate high-frequency vibrations, causing fatigue cracks within hard blocks, thus reducing strength and increasing efficiency. Ultrasonic vibrations also reduce friction between the drill bit and the blockage material, decreasing drill bit wear and extending its lifespan. This reduces the frequency of drill bit replacements and lowers drilling costs. Ultrasonic waves are adaptable to different types of blockage materials and even rock. The auxiliary drill bit extension hydraulic cylinder controls the extension length of the auxiliary drill bit, improving adaptability to blockage material thickness. The impactor 721 drives the main drill bit 703 for impact drilling to clear blockage materials. When facing hard blockage materials, the auxiliary drill bit assembly can be used for drilling first, followed by large-area cleaning with the main drill bit 703. Multiple cleaning assemblies enhance the robot system's adaptability to various blockage materials and improve cleaning efficiency.

[0069] The specific application of this embodiment is as follows: The automatic diameter-changing propulsion mechanism 1 and the automatic diameter-changing balancing mechanism 4 can provide forward and backward power for the robot system. With the help of the camera 504 on the directional mechanism 5, the location of the pipe blockage can be accurately determined. After reaching the blockage location, the automatic diameter-changing support mechanism 2, under the action of the diameter-changing hydraulic cylinder 203, brings the support soft body 206 close to the pipe wall, providing reverse torque for the pipe diameter recovery mechanism 3 and reverse support force for the wall-breaking mechanism 7, thereby ensuring the stability of the system. In addition, the directional mechanism 5 can realize the angle adjustment of the main drill bit extension mechanism 6 and the wall-breaking mechanism 7, thereby adapting to different pipe diameters. During operation, the main drill bit extension mechanism 6 can control the extension length of the main drill bit 703, and the wall-breaking mechanism 7 can control the extension length of the auxiliary drill bit 704, thereby better adapting to the blockage thickness and improving the cleaning efficiency. The wall-breaking mechanism 7 can realize the cooperation of multiple cleaning combinations to clean the pipe wall, achieving the purpose of efficient and rapid cleaning.

[0070] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to specific implementations. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A multi-functional pipe cleaning robot, characterized in that, include: Automatic diameter changing propulsion mechanism (1), which is connected to automatic diameter changing support mechanism (2), is used to push the main body of the equipment to move forward or backward along the pipeline; Automatic diameter changing support mechanism (2), which is rotatably connected to pipe diameter restoration mechanism (3), can support the pipe wall after reaching the dredging location, and provide reverse torque for pipe diameter restoration mechanism (3) and reverse support force for wall breaking mechanism (7); Pipe diameter restoration mechanism (3), which is rotatably connected to the middle of the automatic diameter changing support mechanism (2), is used to clean the blockage material remaining in the wall breaking mechanism (7) and restore the pipe diameter; Automatic diameter changing balancing mechanism (4), which is connected to automatic diameter changing support mechanism (2), is used to balance the center of gravity of the main body of the equipment and drive the main body of the equipment to move backward or forward along the pipeline, so as to ensure the smoothness of the main body of the equipment's forward and backward movements; The directional adjustment mechanism (5) is connected to the automatic diameter changing balance mechanism (4), which can drive the main drill bit extension mechanism (6) to generate multiple degrees of angular displacement, thereby adjusting the angle of the wall breaking mechanism (7) facing the blockage position, so as to achieve the effect of diameter changing and dredging. The main drill bit telescopic mechanism (6) is ball-jointed with the directional mechanism (5) to control the extension length of the main drill bit (703) and achieve deep cleaning of different blockage thicknesses. The main drill bit telescopic mechanism (6) includes a main drill bit telescopic mechanism housing (601), a directional ball socket (602), an outer cylinder sleeve (604) of the main drill bit telescopic hydraulic cylinder, an inner push rod (605) of the main drill bit telescopic hydraulic cylinder, and a main drill bit telescopic joint (606). The bottom of the main drill bit telescopic mechanism housing (601) is evenly distributed with Multiple directional ball sockets (602) are provided. The directional ball sockets (602) are ball-jointed with the directional ball (508). The directional ball (508) is fixedly connected to the push rod (507) inside the directional hydraulic cylinder. The outer cylinder sleeve (604) of the main drill bit telescopic hydraulic cylinder is fixedly connected to the housing (601) of the main drill bit telescopic mechanism. The push rod (605) inside the main drill bit telescopic hydraulic cylinder is movably connected to the outer cylinder sleeve (604) of the main drill bit telescopic hydraulic cylinder. The push rod (605) inside the main drill bit telescopic hydraulic cylinder is fixedly connected to the main drill bit telescopic joint (606). A wall-breaking mechanism (7) is connected to the main drill bit telescopic mechanism (6) and is used to clean the pipeline. The wall-breaking mechanism (7) includes a wall-breaking mechanism housing (701), a wall-breaking mechanism top cover (702), a main drill bit (703), an auxiliary drill bit (704), an auxiliary drill bit fixing screw (705), a high-pressure nozzle (706), an auxiliary drill bit motor (717), an auxiliary drill bit ultrasonic generator (718), an inner push rod (719) of the auxiliary drill bit telescopic hydraulic cylinder, an outer cylinder sleeve (720) of the auxiliary drill bit telescopic hydraulic cylinder, and an impactor (721). The wall-breaking mechanism housing (701) is fixedly connected to the main drill bit telescopic mechanism housing (601), the wall-breaking mechanism top cover (702) is fixedly connected to the wall-breaking mechanism housing (701), and the main drill bit (703) is movably connected to the wall-breaking mechanism top cover (702) and the wall-breaking mechanism housing (701). The auxiliary drill bit (704) is movably connected to the top cover (702) of the wall-breaking mechanism, the auxiliary drill bit fixing screw (705) is fixedly connected to the auxiliary drill bit (704), and the high-pressure nozzle (706) is fixedly connected to the top cover (702) of the wall-breaking mechanism; the main drill bit (703) is fixedly connected to the impactor (721), the auxiliary drill bit (704) is fixedly connected to the auxiliary drill bit motor (717) through the auxiliary drill bit fixing screw (705), the auxiliary drill bit motor (717) is fixedly connected to the auxiliary drill bit ultrasonic generator (718), the auxiliary drill bit ultrasonic generator (718) is fixedly connected to the inner push rod (719) of the auxiliary drill bit telescopic hydraulic cylinder, and the inner push rod (719) of the auxiliary drill bit telescopic hydraulic cylinder is movably connected to the outer cylinder sleeve (720) of the auxiliary drill bit telescopic hydraulic cylinder; the main drill bit telescopic joint (606) controls the extension and retraction of the impactor (721).

2. The multifunctional pipe cleaning robot according to claim 1, characterized in that, The automatic diameter changing propulsion mechanism (1) includes a housing (101), a driven wheel bracket (102), a driven wheel (103), a driven diameter adjusting spring (104), a pipeline connector (105), a first pipeline channel (106), a drive wheel (107), a wheel axle (108), a transmission gear (109), a drive wheel shaft (110), a drive diameter adjusting spring fixing protrusion (111), a drive diameter adjusting spring (112), a cylinder (113), a drive gear (114), a transmission shaft (115), and a drive diameter adjusting spring fixing beam (116). The components include: a propulsion motor mounting bracket (117), a propulsion motor rotary bearing (118), a propulsion motor (119), and a transmission pin (120); the driven wheel bracket (102) is movably connected to the housing (101), the driven wheel (103) is movably connected to the driven wheel bracket (102), the driven adjusting spring (104) is movably connected to the driven wheel bracket (102) and the housing (101) respectively, the pipeline joint (105) and the active adjusting spring fixing beam (116) are fixedly connected to the housing (101), and the pipeline joint (105) is located in the middle. A first pipeline channel (106) is provided. The drive wheel (107) is movably connected to the wheel axle (108). The wheel axle (108) is provided with a drive adjustment spring fixing protrusion (111). The drive adjustment spring fixing protrusion (111) is fixedly connected to the drive adjustment spring (112). A cylinder (113) is fixedly connected inside the drive adjustment spring (112). The drive wheel shaft (110) is movably connected to the wheel axle (108). The drive gear (114) is fixedly connected to the drive wheel shaft (110). The transmission gear (109) is connected to the drive gear (113). 14) They mesh with each other, and the transmission gear (109) is fixedly connected to the transmission shaft (115); the propulsion motor fixing bracket (117) is fixedly connected to the housing (101), the propulsion motor rotary bearing (118) is fixedly connected to the propulsion motor (119) and the propulsion motor fixing bracket (117) respectively, the propulsion motor (119) is movably connected to the housing (101) through the cooperation with the propulsion motor rotary bearing (118), and the propulsion motor (119) is fixedly connected to the transmission shaft (115) through the transmission pin (120).

3. The multifunctional pipe cleaning robot according to claim 1, characterized in that, The automatic variable diameter support mechanism (2) includes a variable diameter support joint (201), a variable diameter support joint fixing bolt (202), a variable diameter hydraulic cylinder (203), a variable diameter support arm (204), a support block (205), a support soft body (206), a second pipeline channel (207), and a variable diameter hydraulic cylinder rotary bearing (208). The variable diameter support joint (201) is fixedly connected to the housing (101) through the variable diameter support joint fixing bolt (202), and the variable diameter hydraulic cylinder (203) is movably connected to the variable diameter support arm (204). The variable diameter support arm (204) is respectively connected to... The housing (101) and the support block (205) are movably connected, and the support soft body (206) is fixedly connected to the support block (205); the rotary bearing (208) of the variable diameter hydraulic cylinder is fixedly connected to the variable diameter hydraulic cylinder (203) and the variable diameter support joint (201) respectively, so as to realize the movable connection between the variable diameter hydraulic cylinder (203) and the variable diameter support joint (201). The three sets of variable diameter hydraulic cylinders (203) are evenly distributed on the variable diameter support joint (201). The variable diameter support joint (201) is provided with three second pipeline channels (207), which are alternately distributed with the variable diameter hydraulic cylinders (203).

4. The multifunctional pipe cleaning robot according to claim 1, characterized in that, The pipe diameter restoration mechanism (3) includes a hollow motor stator (301), a third pipeline channel (302), a thread (303), a hollow motor rotor (304), a motor boss (305), a steel cable (306), and a rotating scraper (307). The hollow motor stator (301) has a third pipeline channel (302) inside and threads (303) at both ends on the outer diameter side. It is fixedly connected to the housing (101) through the threads (303) at both ends. The hollow motor rotor (304) has a motor boss (305), which is movably connected to the steel cable (306). The steel cable (306) is fixedly connected to the rotating scraper (307).

5. A multifunctional pipe cleaning robot according to claim 1, characterized in that, The directional adjustment mechanism (5) includes a directional adjustment joint (501), a fourth pipeline channel (502), a camera limiting boss (503), a camera (504), a pressure cap fixing threaded blind hole (505), a directional adjustment hydraulic cylinder outer cylinder sleeve (506), a directional adjustment hydraulic cylinder inner push rod (507), a directional adjustment ball (508), a pressure cap (509), a directional adjustment hydraulic cylinder inner push rod through hole (510), and a pressure cap fixing threaded through hole (511); the directional adjustment joint (501) is fixedly connected to the housing (101), the directional adjustment joint (501) has a fourth pipeline channel (502) inside, and a camera limiting boss (503) outside, with the upper part uniformly... Multiple pressure cap fixing thread blind holes (505) are distributed. The camera (504) is fixedly connected to the camera limiting boss (503). The outer cylinder sleeve (506) of the directional hydraulic cylinder is fixedly connected to the directional joint (501) through the pressure cap (509). The inner push rod (507) of the directional hydraulic cylinder is movably connected to the outer cylinder sleeve (506) of the directional hydraulic cylinder. The pressure cap (509) is fixedly connected by bolts, pressure cap fixing thread through hole (511) and pressure cap fixing thread blind hole (505). The diameter of the inner push rod through hole (510) of the directional hydraulic cylinder is larger than the outer diameter of the inner push rod (507) of the directional hydraulic cylinder and smaller than the outer diameter of the outer cylinder sleeve (506) of the directional hydraulic cylinder.

6. A multifunctional pipe cleaning robot according to claim 1, characterized in that, The main drill bit telescopic mechanism housing (601) is provided with a fifth pipeline channel (603), and the main drill bit telescopic joint (606) is provided with multiple sixth pipeline channels (607).

7. A multifunctional pipe cleaning robot according to claim 1, characterized in that, The wall-breaking mechanism housing (701) is provided with multiple wall-breaking mechanism top cover fixing blind holes (707). The wall-breaking mechanism housing (701) is circumferentially distributed with multiple auxiliary drill bit combination limiting channels (708), high-pressure water channels (709) and auxiliary drill bit combination pipeline channels (710). The upper end of the wall-breaking mechanism housing (701) is provided with a main drill bit telescopic channel (711), and the lower end of the interior is provided with an impactor limiting channel (712). The upper end of the wall-breaking mechanism top cover (702) is circumferentially distributed with multiple auxiliary drill bit combination through holes (713) and high-pressure nozzle fixing threaded holes (714). The outer side of the wall-breaking mechanism top cover (702) is provided with multiple threaded through holes (715). The middle part of the wall-breaking mechanism top cover (702) is provided with a main drill bit through hole (716).

8. A multi-functional pipe cleaning robot according to claim 1, characterized in that, The automatic diameter-changing propulsion mechanism (1) is driven by a propulsion motor (119) to drive a transmission shaft (115). The power is transmitted to the drive wheel (107) through the meshing of the drive gear (114) and the transmission gear (109), thereby enabling the robot body to move forward and backward along the pipeline. The driven diameter-adjusting spring (104), the active diameter-adjusting spring (112), and the cylinder (113) automatically adapt to the pipe diameter through the compression and extension of the springs during the pipe diameter change process. The variable diameter support joint (201) of the automatic variable diameter support mechanism (2) is fixed to the housing (101) by the variable diameter support joint fixing bolt (202). The lifting height of the variable diameter support arm (204) is adjusted by the extension and retraction of the variable diameter hydraulic cylinder (203) to adapt to the pipe diameter. During the extension and retraction process, the angle of the variable diameter hydraulic cylinder (203) is adjusted by the variable diameter hydraulic cylinder rotary bearing (208). After the support soft body (206) contacts the pipe wall, the pressure of the variable diameter hydraulic cylinder (203) is adjusted to control the friction force between the support soft body (206) and the pipe wall, providing reverse torque for the pipe diameter recovery mechanism (3) and reverse support force for the wall breaking mechanism (7). The shape and size of the support soft body are designed according to parameters such as pipe wall strength and shape.

9. A multifunctional pipe cleaning robot according to claim 1, characterized in that, The hollow motor rotor (304) of the pipe diameter restoration mechanism (3) drives the rotating scraper (307) connected to the steel cable (306) to rotate at high speed.

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