Simulated kangaroo leg type pipeline dust collection robot

Abstract

The invention discloses a kangaroo-leg-imitated pipeline dust collection robot which is characterized by comprising kangaroo-leg-imitated modules, a front vehicle module, a steering module and a rear vehicle module, the kangaroo-leg-imitated modules are arranged on the two sides of the front vehicle module and the two sides of the rear vehicle module, the front vehicle module is arranged in the front, and the rear vehicle module is arranged in the rear; the steering module is arranged at the tail of the front vehicle module and the head of the rear vehicle module and used for steering and turning of the robot. The kangaroo-imitated legs can be driven by the driving wheels or jump so that the kangaroo-imitated legs can be in two states to adapt to the stable advancing in the pipeline and the two proceeding modes that branch pipelines exist and obstacles exist.

Description

Technical Field

[0001] The invention relates to the field of pipeline detection robots, and in particular to a kangaroo-leg-imitation pipeline dust-cleaning robot. Background Art

[0002] With the development of national industry, pipeline transportation of gas resources is becoming more and more widespread. Pipeline transportation of natural gas and other gas resources has the advantages of large transportation volume, strong continuity, small footprint, and low cost. After transporting gas resources, in order to ensure the normal use of the pipeline, it is necessary to confirm that the residual gas in the pipeline will not affect subsequent transportation. The pipeline detection and dust collection device can replace manual detection of pipeline gas concentration and absorb the residual gas.

[0003] At present, pipeline inspection robots have difficulty in simultaneously meeting the requirements of their ability to absorb gases of the same concentration and handle residues on the pipe wall after long-term work during the inspection process. In addition, they find it difficult to work normally when faced with obstacles, ruptured pipes, and multi-branch pipelines in the pipeline, resulting in the inability to successfully complete the inspection task. Summary of the Invention

[0004] In view of the problems of difficulty in absorbing residual gas and overcoming obstacles in the existing technology, the present invention designs a kangaroo-leg-like pipe vacuum cleaning robot, which can be used for the detection and absorption of gas transportation pipelines, and realize the tasks of passing through obstacles, broken pipelines, and multi-branch pipelines.

[0005] The technical solutions of the present invention are as follows:

[0006] A kangaroo-leg-like pipeline vacuuming robot comprises a kangaroo-leg-like module, a front vehicle module, a steering module, and a rear vehicle module. The kangaroo-leg-like modules are arranged on both sides of the front vehicle module and the rear vehicle module. The kangaroo leg modules contract or expand according to changes in pipeline conditions, satisfying the robot's two working states of walking and jumping in the pipeline. A first detection module is provided at the head of the front vehicle module, a second detection module is provided on the left side of the vehicle body, and a cleaning device and a water spraying device are provided inside the vehicle body; a third detection module is provided on both sides of the vehicle body of the rear vehicle module, and a vacuuming device is provided inside the vehicle body; the steering module connects the front and rear vehicle modules of the robot into one, and assists the robot in steering when encountering a curve.

[0007] Furthermore, the imitation kangaroo leg includes a rotating motor I, a connecting plate, an air pump I, a connecting shaft I, a connecting shaft II, a rotating shaft I, a connecting support, a spring buckle I, a connecting rod, a rotating shaft II, a rotating shaft III, a cylinder, a piston rod, a spring, a spring buckle II, a rotating shaft IV, a driving wheel, a rotating motor II, a kangaroo calf, and a kangaroo foot. The rotating motor I is fixedly installed on the lower half of the front and rear vehicle bodies, the air pump I is installed on the bottom of the front and rear vehicle bodies, the air pump I delivers gas to the cylinder through a hose, the connecting shaft I is connected to the rotating motor I, the connecting shaft II is rotatably connected to the connecting shaft I, the connecting shaft II is rotatably connected to the connecting plate, and the rotating shaft I is connected to the connecting plate. The plate is rotatably connected, the connecting support is welded to the top of the rotating shaft I, the spring buckle I is welded to the top of the connecting support, the connecting rod connects the rotating shaft I and the rotating shaft II, the rotating shaft III is rotatably connected to the connecting plate, the connecting rod connects the rotating shaft III and the rotating shaft IV, the rotating shaft IV is installed on the back of the kangaroo calf and is rotatably connected to the kangaroo calf, the cylinder is rotatably connected to the connecting support, the piston rod is connected to the cylinder piston, the kangaroo calf is rotatably connected to the piston rod, the spring connects the spring buckle I and the spring buckle II, the driving wheel is rotatably connected to the rotating shaft IV, the rotating motor II is fixedly installed on the outside of the driving wheel to rotate the driving wheel through the rotating shaft, and the kangaroo foot is welded to the kangaroo calf.

[0008] Furthermore, the steering module includes a rotating handle, a long hydraulic pipe, a first sealing ring, a second sealing ring, a gasket, a long hydraulic cylinder, an oil outlet pipe, an oil inlet pipe, a long fixed shaft, a fixed sleeve, a spherical sleeve, a short hydraulic pipe, a short fixed shaft, a short hydraulic cylinder, and a fixed handle. The long hydraulic pipe is arranged on the rotating handle, and a gasket is arranged at the connection between the first sealing ring and the second sealing ring to prevent wear. The second sealing ring is arranged on the long hydraulic cylinder. The long hydraulic cylinder is connected to the long hydraulic pipe piston. An oil outlet pipe is arranged at the starting end of the long hydraulic cylinder, and an oil inlet pipe is arranged at the end. The long fixed shaft connects the long hydraulic cylinder and the fixed sleeve. The fixed sleeve is arranged on the spherical sleeve. The short hydraulic pipe is arranged on the rotating handle. A gasket is arranged at the connection between the first sealing ring and the second sealing ring to prevent wear. The short hydraulic cylinder is connected to the short hydraulic pipe piston. An oil outlet pipe is arranged at the starting end of the short hydraulic cylinder, and an oil inlet pipe is arranged at the end. The short fixed shaft connects the short hydraulic cylinder and the fixed sleeve. The fixed sleeve is arranged on the spherical sleeve, and a fixed handle is arranged at the end of the spherical sleeve.

[0009] Furthermore, the front vehicle module includes a front vehicle body, a first detection device, a rotating brush device, a water spray device, a second detection device, and a central control device.

[0010] Furthermore, the first detection module includes a fixed platform, a rotating base, and a camera. The fixed platform is welded to the front vehicle head, the rotating base is rotatably connected to the fixed platform, and the camera is rotatably connected to the rotating base.

[0011] Furthermore, the cleaning device includes a motor II, a gear I, a gear II, a cleaning rotating shaft I, a cleaning device base, a conveyor belt, an electric telescopic rod, and a rotating brush. The motor II is arranged on the storage layer of the front vehicle body, the gear I is fixed on the motor II, the gear II is fixed on the cleaning rotating shaft I, the cleaning rotating shaft I is connected to the cleaning device base, the cleaning device base is welded to the front vehicle body, the conveyor belt transmits the cleaning rotating shaft I, the electric telescopic rod is rotatably connected to the cleaning rotating shaft I, the rotating brush is rotatably connected to the electric telescopic rod bearing, and the motor II rotates the cleaning rotating shaft I to control the electric telescopic rod to rotate within a range of 45° left and right.

[0012] Furthermore, the water spray device includes a water spray turntable, an adjustable nozzle, a motor III, a first water pipe, a second water pipe, a water pump, a third water pipe, and a water tank. The water spray turntable is surrounded by four fixed nozzles and four adjustable nozzles. The water spray turntable is arranged on both sides of the front vehicle body. The motor III drives the water spray turntable. The first water pipe and the second water pipe transport the water sucked out of the water tank by the third water pipe to the water spray turntable through the water pump. The water pump is arranged on the upper side of the water tank, and the water tank is installed inside the front vehicle body.

[0013] Furthermore, the second detection device is a temperature and humidity sensor and a display screen integrated and installed on the left side of the front exterior of the vehicle body.

[0014] Furthermore, the rear vehicle module includes a rear vehicle body, a dust collection device, a third detection module, a central control device, and a waste storage box.

[0015] Furthermore, the third detection module is a dust sensor, which detects the concentration of various dusts in the pipeline.

[0016] Furthermore, the dust collection device includes a first end cover, a first ventilation pipe, a conversion valve, a second end cover, a hose end cover, a second ventilation pipe, a third ventilation pipe, a first fixing frame, a motor IV, a first fan, a ventilation grille, a jet power supply, an air pump II, a solenoid valve, and a jet nozzle. The first end cover is on the rear side of the rear vehicle body, the first end cover is fixedly connected to the first ventilation pipe, the first ventilation pipe is fixedly connected to the conversion valve, a second end cover is provided on the rear side of the rear vehicle body, the second end cover is detachably connected to the rear vehicle body, the second end cover is fixedly connected to the middle section of the second ventilation pipe, the hose end cover is fixedly connected to the front end of the second ventilation pipe, and the hose An injection device is provided on the rear side of the end cover, which consists of a jet power supply, an air pump II, an electromagnetic valve, and an injection nozzle. The end of the second ventilation pipe is fixedly connected to the conversion valve. The second ventilation pipe is a hose, and its length is greater than the distance between the conversion valve and the second end cover. The ventilation grille is installed at the front end of the first end cover and the hose end cover. The third ventilation pipe is fixedly connected to the conversion valve. A first fixing frame is provided in the third ventilation pipe. The first fixing frame is provided with small holes to allow dust and gas to pass through. A motor IV is provided on the first fixing frame. The output shaft of the motor IV is provided with a first fan, and the absorbed dust is discharged into the waste storage box through the third ventilation pipe.

[0017] Furthermore, the jet device includes a jet power supply, an air pump II, a solenoid valve, and a jet nozzle; the jet nozzle is arranged on the air pump II, and a solenoid valve is provided between the air pump II and the jet nozzle, and the jet power supply is connected to the air pump II and the solenoid valve circuit.

[0018] The beneficial effects of the present invention are:

[0019] 1) The kangaroo-like legs provided in the present invention can drive the wheels forward and jump. The kangaroo-like legs present two states to adapt to the two travel modes of the detection robot in normal road conditions in the pipeline and in the presence of multi-branch pipelines, obstacles, pipeline damage, etc.

[0020] 2) The dust collection equipment and cleaning equipment provided by the present invention, when there are gases of different concentrations in the pipeline, the fixed end and the mobile end of the dust collection equipment work, when dealing with stubborn residues on the pipe wall, the cleaning equipment softens and breaks them, and after the task is completed, the mobile end of the dust collection equipment absorbs them.

[0021] 3) The present invention connects the front and rear bodies of the detection robot by setting front and rear connection modules. When the robot needs to turn, the angle of the universal ball can be changed by adjusting the hydraulic push rod to make turning easier.

[0022] 4) The kangaroo-like legs provided in the present invention can be driven by driving wheels or kangaroo-like legs can be jumped, so that the kangaroo-like legs can present two states to adapt to the two modes of smooth progress in the pipeline and the presence of branch pipelines and obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the kangaroo leg-like driving wheel of the present invention driving forward;

[0024] Figure 2 A schematic diagram of the kangaroo-like leg jump of the present invention;

[0025] Figure 3 Schematic diagram of the driving motor of the kangaroo leg imitation device of the present invention;

[0026] Figure 4 A schematic diagram of a control air pump for imitating a kangaroo leg of the present invention;

[0027] Figure 5 This is a schematic diagram of the kangaroo-like leg of the present invention;

[0028] Figure 6 This is a schematic diagram of the kangaroo-like leg of the present invention;

[0029] Figure 7 This is a schematic diagram of the steering module of the present invention;

[0030] Figure 8 This is a schematic diagram of the front vehicle module of the present invention;

[0031] Figure 9 This is a schematic diagram of a first detection module of a preceding vehicle module of the present invention;

[0032] Figure 10 Schematic diagram of the cleaning device of the front vehicle module of the present invention;

[0033] Figure 11 Schematic diagram of the water spray device of the front vehicle module of the present invention;

[0034] Figure 12 This is a schematic diagram of the rear vehicle module of the present invention;

[0035] Figure 13 This is a schematic diagram of the dust collection device of the rear vehicle module of the present invention;

[0036] Figure 14 A schematic diagram of the position of the dust collection fan of the dust collection device of the present invention;

[0037] Figure 15 A detailed schematic diagram of the dust collection fan of the dust collection device of the present invention;

[0038] Figure 16 This is a schematic diagram of the mobile end of the dust collection device of the present invention;

[0039] Figure 17 This is a schematic diagram of the overall structure of the present invention moving forward in a pipeline;

[0040] Figure 18 It is a schematic diagram of the overall structure of the present invention jumping in a pipeline. DETAILED DESCRIPTION

[0041] The present invention will be further described below with reference to the accompanying drawings.

[0042] like Figure 1 、 Figure 2 As shown, the present invention provides a kangaroo-leg-like pipe vacuum cleaning robot comprising four kangaroo-like legs 100, a steering module 200, a front vehicle module 300, and a rear vehicle module 400; the kangaroo-like legs 100 are installed on both sides of the front vehicle module 300 and the rear vehicle module 400; the steering module 200 is used to connect the tail of the front vehicle module 300 and the head of the rear vehicle module 400 and provide steering and turning.

[0043] The kangaroo-like legs 100 can be driven forward by driving wheels or by jumping forward by kangaroo legs according to the situation in the pipeline. The steering module 200 is used to rotate the direction. In the steering module 200, the hydraulic system is connected to the respective hole shafts to achieve stable steering. The steering module 200 is bolted to the tail of the front car model 300 and the head 400 of the rear car module.

[0044] like Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 As shown, the imitation kangaroo leg 100 includes a rotating motor I 101, a connecting plate 102, an air pump I 103, a connecting shaft I 104, a connecting shaft II 105, a rotating shaft I 106, a connecting support 107, a spring buckle I 108, a connecting rod 109, a rotating shaft II 110, a rotating shaft III 111, a cylinder 112, a piston rod 113, a spring 114, a spring buckle II 115, a rotating shaft IV 116, a driving wheel 117, a rotating motor II 118, a kangaroo calf 119, and a kangaroo foot 120. The rotating motor I 101 is fixedly connected to the connecting plate 102 and the left and right kangaroo legs. The rotating motor I 101 rotates the connecting plate 102 to cooperate with the extension and retraction of the kangaroo calf 120 to complete the driving wheel driving state or pre-jump. 103 is installed on the bottom of the front and rear vehicle bodies, the rotating motor Ⅰ101 rotates the connecting shaft Ⅰ104, the connecting shaft Ⅱ105 is rotatably connected to the connecting shaft Ⅰ104 to stabilize the kangaroo legs, the connecting shaft Ⅱ105 is rotatably connected to the connecting plate 102, the rotating shaft Ⅰ106 is rotatably connected to the connecting plate 102, the connecting bracket 107 is welded to the top of the rotating shaft Ⅰ106, the spring buckle Ⅰ108 is welded to the top of the connecting bracket 107, the connecting rod 109 connects the rotating shaft Ⅰ106 and the rotating shaft Ⅱ110, the rotating shaft Ⅲ111 is rotatably connected to the connecting plate 102, the connecting rod 109 connects the rotating shaft Ⅲ111 and the rotating shaft Ⅳ116, the cylinder 112 is rotatably connected to the connecting bracket 107, the piston rod 113 is connected to the piston of the cylinder 112, and the gas Pump I 103 delivers gas to cylinder 112 through a hose to control the extension and contraction of piston rod 113 and thus control the movement of kangaroo calf 119. Kangaroo calf 119 is rotatably connected to piston rod 113. Spring buckle II 115 is welded to kangaroo calf 119. Spring connecting spring buckle I 108 and spring buckle II 115 is used to control kangaroo calf 119 to stabilize it. Drive wheel 117 is rotatably connected to kangaroo calf 119. Rotating motor II 118 is installed on the outside of drive wheel 117. The rotating shaft of drive wheel 117 rotates drive wheel 119. Kangaroo foot 120 is welded to kangaroo calf 119. When the drive wheel is driven, rotating motor I 101 rotates in coordination with rotating connecting shaft I 104 and connecting shaft II 105. The connecting plate 102 places the driving wheel 119 directly below it, and the air pump I 103 controls the kangaroo calf 119 to cooperate with the piston stretching movement to make it retract upward to the set angle. The rotating motor II 118 drives the driving wheel 117 forward. In the pre-jumping state, the rotating motor I 101 rotates the connecting shaft I 104 and the connecting shaft II 105 to cooperate with the rotating connecting plate 102 to restore it to its initial position. The air pump I 103 controls the rotating kangaroo calf 120 to cooperate with the piston stretching movement to make the kangaroo foot 121 contact with the pipe wall, completing the pre-jumping state. In the jumping state, the rotating motor I 101 and the air pump I 103 control the required angle of the kangaroo calf 120 to cooperate with the piston compression movement. The pre-jump is the energy stored for it to complete the jumping state.

[0045] Working principle of kangaroo leg simulation module 100:

[0046] 1. Jumping exercise

[0047] 1. Landing phase

[0048] 1) Preparation

[0049] The process is that the motor I101 rotates the connecting shaft I104, and the connecting shaft I104 drives the connecting shaft II105 to move the connecting plate 102. The air pump 103 delivers gas to the cylinder 112 to control the piston rod 113 to drive the kangaroo calf 119 so that the kangaroo foot 120 is parallel to the ground.

[0050] 2) Compression stage

[0051] The process is that the rotating motor I101 rotates the connecting shaft I104, and the connecting shaft I104 drives the connecting shaft II105 to move the connecting plate 102 backward and downward until the angle between the connecting shafts I104 and II105 expands to the required angle. The air pump 103 inputs gas to the cylinder 112 to extend the piston rod 113 outward, causing the support mechanism composed of the rotating shaft II110, the connecting rod 109, and the rotating shaft I106 to tilt forward, and the spring 114 is stretched.

[0052] 3) Take-off phase

[0053] The process starts with the rotating motor Ⅰ101 rotating the connecting shaft 104, and the connecting shaft Ⅰ104 drives the connecting shaft Ⅱ105 to move the connecting plate 102 forward and rise until the angle between the connecting shaft Ⅰ104 and the connecting shaft Ⅱ105 shrinks to the required angle. The air pump 103 outputs the gas in the cylinder 112 to make the piston rod 113 shrink inward, driving the kangaroo calf 120 to swing backward, and the spring 114 returns to its original length, pushing the entire robot to jump diagonally upward.

[0054] 2. Takeoff and landing phase

[0055] The process is that the motor I101 rotates the connecting shaft I104, and the connecting shaft I104 drives the connecting shaft II105 to move the connecting plate 102 to restore it to its initial state. The air pump 103 supplies gas to the cylinder 112 to control the piston rod 113 to drive the kangaroo calf 120 so that the kangaroo foot 121 also returns to its initial state and is parallel to the ground.

[0056] 2. Wheel Movement

[0057] The process is that the rotating motor I 101 rotates the connecting shaft I 104, the connecting shaft II 105 cooperates to drive the connecting plate 102, and the air pump I 103 drives the kangaroo calf 120 to lift up so that the driving wheel 119 contacts the ground. The spring 115 is stretched to the maximum length so that the kangaroo leg module 100 is perpendicular to the ground, and the rotating motor II 118 drives the driving wheel 117 to move.

[0058] like Figure 7 As shown, the steering module 200 includes a rotating handle 201, a long hydraulic pipe 202, a first sealing ring 203, a second sealing ring 205, a gasket 204, a long hydraulic cylinder 207, an oil outlet pipe 206, an oil inlet pipe 210, a long fixed shaft 208, a fixed sleeve 209, a spherical sleeve 211, a short hydraulic pipe 212, a short fixed shaft 213, a short hydraulic cylinder 214, and a fixed handle 215. The long hydraulic pipe 202 is arranged on the rotating handle 201, a gasket 204 is arranged at the connection between the first sealing ring 203 and the second sealing ring 205 to prevent wear, the second sealing ring 205 is arranged on the long hydraulic cylinder 207, the long hydraulic cylinder 207 is connected to the long hydraulic pipe 202 piston, the oil outlet pipe 206 is arranged at the beginning of the long hydraulic cylinder 207, the oil inlet pipe 210 is arranged at the end, and the long fixed The fixed shaft 208 connects the long hydraulic cylinder 207 and the fixed sleeve 209, the fixed sleeve 209 is arranged on the spherical sleeve 211, the short hydraulic pipe 212 is arranged on the rotating handle 201, and a gasket 204 is provided at the connection between the first sealing ring 203 and the second sealing ring 205 to prevent wear, the short hydraulic cylinder 214 is connected to the short hydraulic pipe 212 piston, the short hydraulic cylinder 214 is provided with an oil outlet pipe 206 at the beginning and an oil inlet pipe 210 at the end, the short fixed shaft 213 connects the short hydraulic cylinder 214 and the fixed sleeve 209, the fixed sleeve 209 is arranged on the spherical sleeve 211, and a fixed handle 215 is provided at the end of the spherical sleeve 211. In the steering state, the oil inlet pipe 210 and the oil outlet pipe 206 of the long and short hydraulic cylinders are externally connected to the oil pipeline, and the steering function is realized by external operation of the oil inlet and outlet.

[0059] Working principle of steering module 200:

[0060] In this process, the oil pump inputs hydraulic oil to the oil inlet pipe 210 on the side of the long hydraulic cylinder 207, and the oil outlet pipe 206 is connected to the oil pipeline to output hydraulic oil, so that the long hydraulic pipe 202 can be extended and retracted, and the rotating handle 201 can be rotated left and right. The oil inlet pipe 210 on the side of the short hydraulic cylinder 214 inputs hydraulic oil, and the oil outlet pipe 206 is connected to the oil pipeline to output hydraulic oil, so that the short hydraulic pipe 212 can be extended and retracted, and the rotating handle 201 can be rotated up and down. The external system controls the flow of hydraulic oil on both sides to achieve multi-angle movement.

[0061] like Figure 8 As shown, the front vehicle module includes a front vehicle body 301 , a first detection module 302 , a cleaning device 303 , a water spraying device 304 , a second detection module 305 , and a central control device 306 .

[0062] like Figure 9As shown, the first detection module 302 includes a fixed platform 3021, a rotating base 3022, and a camera 3023. The fixed platform 3021 is welded to the head of the front body 301, the rotating base 3022 is rotatably connected to the fixed platform 3021, and the camera 3023 is rotatably connected to the rotating base 3022.

[0063] like Figure 10 As shown, the cleaning device 303 includes a motor II 3032, a gear I 3031, a gear II 3033, a cleaning rotating shaft I 3034, a cleaning device base 3035, a conveyor belt 3036, an electric telescopic rod 3037, and a rotating brush 3038. The motor II 3032 is set on the front vehicle body storage layer, the gear I 3031 is fixed on the motor II 3032, the gear II 3033 is fixed on the cleaning rotating shaft I 3034, the cleaning rotating shaft I 3034 and the cleaning device base 3035 are welded to the front vehicle body 301, the conveyor belt 3036 drives the cleaning rotating shaft I 3034, and the electric telescopic rod 3037 is fixed on the rotating brush 3038. The retractable rod 3037 is rotatably connected to the cleaning rotating shaft I 3034, and the rotating brush 3038 is connected to the piston of the electric telescopic rod 3037. In the cleaning state, the motor II 3032 rotates the gear I 3031, gear I 3031, gear I 3031 and gear II 3033 engage to rotate the cleaning rotating shaft I 3034, and the conveyor belt 3036 drives the other side to rotate at the same time. The motor II 3032 rotates the cleaning rotating shaft I 3034 to control the electric telescopic rod 3037 to rotate within a range of 45° left and right. The electric telescopic rod 3037 can adjust the rotating brush 3038 to the set position, and the rotating brush 3038 performs functions such as cleaning and crushing.

[0064] like Figure 11 As shown, the water spraying device includes a water spraying turntable 3041, an adjustable nozzle 3042, a motor III 3043, a first water pipe 3044, a second water pipe 3045, a water pump 3046, a third water pipe 3047, and a water tank 3048. The water spraying turntable 3041 has four fixed nozzles around it, an adjustable nozzle 3042, the water spraying turntable 3041 is set on both sides of the front body 301, the motor III 3043 drives the water spraying turntable 3041, the first water pipe 3044 and the second water pipe 3045 to pump the third water pipe 3047 through the water pump 3046. The water sucked out from the water tank 3048 by 3047 is transported to the water spray turntable 3041, the water pump 3046 is arranged on the upper side of the water tank 3048, and the water tank 3048 is installed inside the front vehicle body. In the water spraying state, the water pump 3046 draws water from the water tank 3048 and transports it to the water spray turntable 3041. The motor III 3043 drives the water spray turntable 3041 to rotate. The water spray turntable 3041 includes a fixed nozzle that can perform large-area stain cleaning tasks, and the adjustable nozzle 3042 can perform cleaning tasks for fewer stains or special locations.

[0065] like Figure 8As shown, the second detection module 305 temperature and humidity sensor and the display screen are integrated and installed on the left side of the front vehicle body.

[0066] like Figure 12 、 Figure 13 As shown, the rear vehicle module includes a rear vehicle body 401 , a dust collection device 402 , a third detection module 403 , a central control device 404 , and a waste storage box 405 .

[0067] like Figure 12 As shown, the third detection module 403 is a dust sensor, which detects the concentration of various dusts in the pipeline.

[0068] Figure 13 、 Figure 14 、 Figure 15 、 Figure 16As shown, the dust collection device includes a first end cover 4021, a first ventilation pipe 4022, a conversion valve 4023, a second end cover 4024, a ventilation grille 4025, a hose end cover 4026, a second ventilation pipe 4027, a third ventilation pipe 4028, a first fixing frame 4028B, a motor IV 4028C, a first fan 4028A, a jet power supply 4029A, an air pump II 4029B, a solenoid valve 4029C, and a jet nozzle 4029D. The first end cover 4021 is on the rear side of the rear body 401, the first end cover 4021 is fixedly connected to the first ventilation pipe 4022, the first ventilation pipe 4022 is fixedly connected to the conversion valve 4023, and the rear body 401 is provided with a first end cover 4021. The second end cover 4024 is detachably connected to the rear body 401, the second end cover 4024 is fixedly connected to the middle section of the second ventilation pipe 4027, the hose end cover 4026 is fixedly connected to the front end of the second ventilation pipe 4027, and a jet device is provided on the rear side of the hose end cover 4026. The jet device is composed of a jet power supply 4029A, an air pump II 4029B, a solenoid valve 4029C, and a jet nozzle 4029D. The jet power supply 4029A provides power for the jet device, the air pump II 4029B provides gas, and the solenoid valve 4029C controls its jet rate and direction. The gas is ejected from the jet nozzle 4029D to move the second ventilation pipe 4027 to the set position. The end of the second ventilation pipe 4027 is fixedly connected to the conversion valve 4023. The second ventilation pipe 4027 is a hose, and its length is greater than the distance between the conversion valve 4023 and the second end cover 4024. The ventilation grille 4025 is installed at the front end of the first end cover 4021 and the hose end cover 4026. The third ventilation pipe 4028 is fixedly connected to the conversion valve 4023. A first fixing bracket 4028B is provided in the third ventilation pipe 4028. A motor IV 4028C is provided on the first fixing bracket 4028B. The output shaft of the motor IV 4028C is provided with a first fan 4028A. The absorbed dust is discharged into the waste storage box 405 through the third ventilation pipe 4028. In the fixed-end dust suction state, the conversion valve 4023 is adjusted to the first ventilation pipe 4022, and the motor IV 4028C drives the first fan 4028A to rotate to absorb the dust or gas with a larger amount in the absorption pipe through the small holes of the first fixed frame 4028B by inertia, and the absorbed dust or gas is discharged into the waste storage box 405 through the third ventilation pipe 4028. In the fixed-end dust suction state, the conversion valve 4023 is adjusted to the second ventilation pipe 4027, and the jet nozzle 4029 moves the second ventilation pipe 4027 to a position with higher gas or dust concentration. The motor IV 4028C drives the first fan 4028A to rotate to absorb gas, dust, and waste after the water spraying device and the cleaning device have cleaned it.

[0069] Working principle of the jet device:

[0070] The jet device consists of an air pump II 4029A, an electromagnetic valve 4029B, and an air jet nozzle 4029C. The air pump II 4029A provides gas, and the electromagnetic valve 4029B controls its jet rate and direction. The gas is ejected from the air jet nozzle 4029C to move the second ventilation pipe 4027 to the set position.

[0071] like Figure 17 As shown, the robot is moving forward in a straight pipe. The kangaroo leg 120 of the kangaroo leg module 100 is retracted to a suitable angle according to the pipe size, environment and other conditions, so that the driving wheel 119 contacts the inner wall of the pipe, and the robot is driven forward by the driving wheel 119.

[0072] like Figure 18 As shown, the robot is in a jumping state with a branched pipe. The kangaroo calf 120 of the kangaroo leg module 100 expands to a pre-jumping state according to the pipe size, gap size, environment, etc. The kangaroo foot 121 contacts the inner wall of the pipe, and the kangaroo calf 120 continues to expand to cooperate with other parts to achieve jumping.

[0073] The present invention can be used for detecting and vacuuming large-diameter pipelines, realizes forward movement of the pipeline driving wheels and kangaroo leg jumping, and realizes flexible turning.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A kangaroo-leg-like pipe vacuum cleaning robot, characterized by: The vehicle comprises an imitation kangaroo leg (100), a steering module (200), a front vehicle module (300), and a rear vehicle module (400), wherein the imitation kangaroo leg (100) is arranged at two outer sides of the front vehicle module (300) and the rear vehicle module (400), and the steering module (200) is used to connect the rear end of the front vehicle module (300) and the head end of the rear vehicle module (400) and perform steering and turning; The kangaroo-like leg (100) comprises a rotating motor I (101), a connecting plate (102), an air pump I (103), a connecting shaft I (104), a connecting shaft II (105), a rotating shaft I (106), a connecting support (107), a spring buckle I (108), a connecting rod (109), a rotating shaft II (110), a rotating shaft III (111), an air cylinder (112), a piston rod (113), a spring (114), a spring buckle II (115), a rotating shaft IV (116), a driving wheel (117), a rotating shaft Motor II (118), kangaroo calf (119), kangaroo foot (120), the rotating motor I (101) is fixedly installed on the lower half of the front and rear vehicle bodies, the air pump I (103) is installed on the bottom of the front and rear vehicle bodies, the air pump I (103) delivers gas to the cylinder (112) through a hose, the connecting shaft I (104) is connected to the rotating motor I (101), the connecting shaft II (105) is rotatably connected to the connecting shaft I (104), the connecting shaft II (105) is rotatably connected to the connecting plate (102), and the rotating shaft I (106) is connected to the connecting plate (106). The plate (102) is rotatably connected, the connecting bracket (107) is welded to the top of the rotating shaft I (106), the spring buckle I (108) is welded to the top of the connecting bracket (107), the connecting rod (109) connects the rotating shaft I (106) and the rotating shaft II (110), the rotating shaft III (111) is rotatably connected to the connecting plate (102), the connecting rod (109) connects the rotating shaft III (111) and the rotating shaft IV (116), and the rotating shaft IV (116) is installed at the rear of the kangaroo calf (119) and is rotatably connected to the kangaroo calf (119) The cylinder (112) is rotatably connected to the connecting support (107), the piston rod (113) is connected to the piston of the cylinder (112), the kangaroo calf (119) is rotatably connected to the piston rod (113), the spring connects the spring buckle I (108) and the spring buckle II (115), the driving wheel (117) is rotatably connected to the rotating shaft IV (116), the rotating motor II (118) is fixedly installed on the outside of the driving wheel (117) and rotates the driving wheel (117) through the rotating shaft, and the kangaroo foot (121) is welded to the kangaroo calf (120).

2. The kangaroo-legged pipe vacuum cleaning robot according to claim 1, characterized in that: The steering module (200) comprises a rotating handle (201), a long hydraulic pipe (202), a first sealing ring (203), a second sealing ring (205), a gasket (204), a long hydraulic cylinder (207), an oil outlet pipe (206), an oil inlet pipe (210), a long fixed shaft (208), a fixed sleeve (209), a spherical sleeve (211), a short hydraulic pipe (212), a short fixed shaft (213), a short hydraulic cylinder (214), and a fixed handle (215). The rotating handle (201) is connected to the spherical sleeve (211) by a ball joint, the long hydraulic pipe (202) is arranged on the rotating handle (201), the long hydraulic cylinder (207) is connected to the piston of the long hydraulic pipe (202), the long hydraulic cylinder (207) is provided with an oil outlet pipe (206) at the beginning and an oil inlet pipe (210) at the end, the long fixed shaft (208) connects the long hydraulic cylinder (207) and the fixed sleeve (209), and the fixed sleeve (209) is arranged on the spherical sleeve (211); A short hydraulic pipe (212) is arranged on a rotating handle (201); a short hydraulic cylinder (214) is connected to a piston of the short hydraulic pipe (212); an oil outlet pipe (206) is arranged at the beginning of the short hydraulic cylinder (214); and an oil inlet pipe (210) is arranged at the end; a short fixed shaft (213) connects the short hydraulic cylinder (214) and a fixed sleeve (209); the fixed sleeve (209) is arranged on a spherical sleeve (211); and a fixed handle (215) is arranged at the end of the spherical sleeve (211).

3. The kangaroo-leg-like pipe vacuum cleaning robot according to claim 1, characterized in that: The front vehicle module (300) comprises a front vehicle body (301), a first detection device (302), a cleaning device (303), a water spraying device (304), a second detection device (305), and a central control device (306). The first detection device (302) is arranged at the front end of the front vehicle body (301), the cleaning device (303) is arranged at the front end of the front vehicle body (301), the water spraying device (304) is arranged at both sides of the middle of the front vehicle body (301), the second detection device (305) is arranged at the side of the front vehicle body (301), and the central control device (306) is arranged in the front vehicle body (301). The first detection device (302), the cleaning device (303), the water spraying device (304), and the second detection device (305) are respectively connected to the central control device (306) via electrical signals.

4. The kangaroo-leg-like pipe vacuum cleaning robot according to claim 3, characterized in that: The first detection device (302) comprises a fixed platform (3021), a rotating base (3022), and a camera (3023); the fixed platform (3021) is welded to the head of the front vehicle body (301); the rotating base (3022) is rotatably connected to the fixed platform (3021); and the camera (3023) is rotatably connected to the rotating base (3022).

5. The kangaroo-leg-like pipe vacuum cleaning robot according to claim 3, characterized in that: The cleaning device (303) comprises a motor II (3032), a gear I (3031), a gear II (3033), a cleaning rotating shaft I (3034), a cleaning device base (3035), a conveyor belt (3036), an electric telescopic rod (3037), and a rotating brush (3038). The motor II (3032) is arranged on the front vehicle body storage layer, the gear I (3031) is fixed on the motor II (3032), and the gear II (3033) is fixed on the front vehicle body storage layer. The cleaning device is fixed on the cleaning rotating shaft I (3034), the cleaning rotating shaft I (3034) is connected to the cleaning device base (3035), the cleaning device base (3035) is welded to the front vehicle body (301), the conveyor belt (3036) transmits the cleaning rotating shaft I (3034), the electric telescopic rod (3037) is rotatably connected to the cleaning rotating shaft I (3034), and the rotating brush (3038) is rotatably connected to the bearing of the electric telescopic rod (3037).

6. The kangaroo-leg-like pipe vacuum cleaning robot according to claim 3, characterized in that: The water spraying device comprises a water spraying turntable (3041), an adjustable nozzle (3042), a motor III (3043), a first water pipe (3044), a second water pipe (3045), a water pump (3046), a third water pipe (3047), and a water tank (3048). The water spraying turntable (3041) is provided with four fixed nozzles and four adjustable nozzles (3042) around it. The water spraying turntable (3041) is arranged on the front of the vehicle. On both sides of the vehicle body (301), the motor III (3043) drives the water spray turntable (3041), the first water pipe (3044) and the second water pipe (3045) transport the water sucked out from the water tank (3048) by the third water pipe (3047) to the water spray turntable (3041) through the water pump (3046), the water pump (3046) is arranged on the upper side of the water tank (3048), and the water tank (3048) is installed inside the front vehicle body (301).

7. The kangaroo-leg-like pipe vacuum cleaning robot according to claim 3, characterized in that: The second detection device (305) includes a temperature and humidity sensor and a display screen which are integrated and installed on the outer side of the front vehicle body (301).

8. The kangaroo-leg-like pipe vacuum cleaning robot according to claim 1, characterized in that: The rear vehicle module (400) comprises a rear vehicle body (401), a dust collection device (402), a third detection module (403), a central control device (404), and a waste storage box (405); the dust collection device (402) is arranged at the rear end of the rear vehicle body (401), the third detection module (403) is arranged at the side of the rear vehicle body (401), and the third detection module (403) comprises a dust sensor, which is used to detect the concentration of various dusts in the pipeline; the central control device (404) and the waste storage box (405) are respectively arranged inside the rear vehicle body (401).

9. The kangaroo-leg-like pipe vacuum cleaning robot according to claim 8, characterized in that: The dust collecting device comprises a first end cover (4021), a first ventilation pipe (4022), a conversion valve (4023), a second end cover (4024), a ventilation grille (4025), a hose end cover (4026), a second ventilation pipe (4027), a third ventilation pipe (4028), a first fixing frame (4028B), a motor IV (4028C), and a first fan (4028A); The first end cover (4021) is located at the rear side of the rear body (401), the first end cover (4021) is fixedly connected to the first ventilation pipe (4022), the first ventilation pipe (4022) is fixedly connected to the conversion valve (4023), a second end cover (4024) is provided at the rear side of the rear body (401), the second end cover (4024) is detachably connected to the rear body (401), the second end cover (4024) is fixedly connected to the middle section of the second ventilation pipe (4027), the hose end cover (4026) is fixedly connected to the front end of the second ventilation pipe (4027), and a plurality of jet devices are provided at the rear side of the hose end cover (4026); The end of the second ventilation pipe (4027) is fixedly connected to the conversion valve (4023). The second ventilation pipe (4027) is a hose, and its length is greater than the distance between the conversion valve (4023) and the second end cover (4024). The ventilation grille (4025) is installed at the front end of the first end cover (4021) and the hose end cover (4026). The third ventilation pipe (4028) is fixedly connected to the conversion valve (4023). The third ventilation pipe (4028) is provided with a first fixing frame (4028B). The first fixing frame (4028B) is provided with a small hole to allow dust and gas to pass through. The first fixing frame (4028B) is provided with a motor IV (4028C). The output shaft of the motor IV (4028C) is provided with a first fan (4028A). The absorbed dust is discharged into the waste storage box (405) through the third ventilation pipe (4028).

10. The kangaroo-leg-like pipe vacuum cleaning robot according to claim 8, characterized in that: The jet device comprises a jet power supply (4029A), an air pump II (4029B), a solenoid valve (4029C), and a jet nozzle (4029D); the jet nozzle (4029D) is arranged on the air pump II (4029B), and a solenoid valve (4029C) is provided between the air pump II (4029B) and the jet nozzle (4029D); the jet power supply (4029A) is connected to the air pump II (4029B) and the solenoid valve (4029C) in an electrical circuit.

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