Robot for removing foreign matters on surface of pipeline

Abstract

The invention relates to the technical field of pipeline cleaning, in particular to a pipeline surface foreign matter cleaning robot, a driving device for driving the whole device to move is arranged on the top surface of an outer frame, and the driving device comprises a frame connecting seat for connecting the outer frame and a crossing assembly for enabling the outer frame to cross an obstacle; the opening and closing assembly is used for controlling the pipeline clamping state of the outer frames, the connecting assembly is used for connecting the two outer frames, the pushing assembly is used for triggering the outer frames to be opened, closed and climbed over, rear moving wheels used for controlling the moving direction are arranged on one side, and front moving wheels used for advancing are arranged on the other side. The pipeline cleaning device can automatically separate the outer frame when cleaning the pipeline, and can move and climb over the surface of the pipeline, so that unstable factors caused by the uneven surface of the pipeline or obstacles are effectively reduced, the frequency of manual intervention is reduced, continuous cleaning of the surface of the pipeline can be achieved, and automatic adjustment can be achieved when the pipeline encounters the obstacles.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline cleaning, in particular to a robot for cleaning foreign matter on the surface of a pipeline. Background Art

[0002] Pipeline cleaning refers to a series of operations to clean the pipeline system to remove dirt, impurities, microorganisms and other contaminants on the pipeline surface.

[0003] Static electricity can accumulate on pipe surfaces, causing them to become charged and attract surrounding dust, impurities, and fine particles. These deposits gradually accumulate, forming a difficult-to-clean layer of dirt, reducing the pipe's lifespan and performance, and increasing cleaning difficulties. In pharmaceutical environments, where pipes may be transporting flammable gases, liquids, or dust, static electricity accumulation can generate sparks, potentially leading to fires or explosions. Therefore, static electricity removal is necessary during cleaning of the pipe surface.

[0004] During the installation process, the pipeline needs to be supported at regular intervals. When cleaning the pipeline surface, in order to ensure the cleaning range and efficiency, the entire pipeline needs to be wrapped. As a result, the cleaning device will be blocked when encountering other structures supported or installed on the pipeline, causing inconvenience in cleaning.

[0005] In view of this, we proposed a robot for removing foreign matter from the pipeline surface. Summary of the Invention

[0006] The present invention aims to provide a pipeline surface foreign matter removal robot to address the problem of existing pipeline surface removal devices, as discussed in the background art, in which the cleaning device may be blocked by other structures supported or mounted on the pipeline. To achieve the above-mentioned objective, the present invention provides the following technical solution: a pipeline surface foreign matter removal robot comprising an outer frame, the outer surface of the outer frame being fixedly connected to a grounding wire, the inner surface of the outer frame being provided with a cleaning belt, and the top surface of the outer frame being provided with a drive device.

[0007] Preferably, there are two outer frames, and both ends of the outer frames are fixedly connected with frame end faces.

[0008] Preferably, the cleaning belt includes a cleaning motor, the cleaning motor is fixedly connected to the inner surface of the outer frame, the inner surface of the outer frame is rotatably connected to a driven shaft, the outer surface of the output end of the cleaning motor is sleeved with a conveyor belt, and the outer surface of the conveyor belt is fixedly connected to a friction belt; The conveyor belt is sleeved on the outer surface of the driven shaft, and the friction belt is slidably connected to the inner surface of the outer frame.

[0009] Preferably, the driving device includes a frame connecting seat, the frame connecting seat is fixedly connected to the end face of the frame, the outer surface of the frame connecting seat is provided with a climbing component, the inner surface of the frame connecting seat is provided with an opening and closing component, the outer surface of the opening and closing component is provided with a connecting component, the outer surface of the connecting component is provided with a pushing component, and there are two frame connecting seats on each side of the outer frame, and one side is provided with a rear moving wheel, and the other side is provided with a front moving wheel.

[0010] Preferably, the turning assembly includes a rotating shaft, which is rotatably connected to the frame connecting seat, the outer surface of the frame connecting seat is fixedly connected with symmetrically distributed limiting protrusions, the outer surface of the rotating shaft is rotatably connected with a symmetrically distributed mounting seat, one end of the rotating shaft is fixedly connected to a driven worm gear, the outer surface of the driven worm gear is engaged with a driving worm, the outer surface of the driving worm is fixedly connected to a turning motor, the outer surface of the turning motor is fixedly connected to a motor bracket, and the motor bracket is fixedly connected to the outer surface of the mounting seat.

[0011] Preferably, the opening and closing assembly includes two side push blocks, which are slidably connected to the outer surface of the rotating shaft, the outer surface of the side push blocks is provided with a limiting groove, the outer surface of the rotating shaft is sleeved with symmetrically distributed push block springs, the inner surface of the side push blocks is hingedly connected to a hinge rod, and the outer surface of the hinge rod is fixedly connected to a driven protrusion; The number of the side push blocks is two and they are symmetrically distributed. The limiting groove is slidably connected to the limiting protrusion. The radial dimensions of the rotating shaft and the inscribed circle of the limiting groove are the same. The two ends of the push block spring are respectively slidably connected to the frame connecting seat and the side push block.

[0012] Preferably, the connecting assembly includes a connecting plate, the connecting plate is rotatably connected to the outer surface of the rotating shaft, the number of the connecting plates is two, and the outer surface of one of the connecting plates is fixedly connected to the connecting rod, and the inner surface of the other connecting plate is provided with a connecting groove, and the outer surface of the connecting plate is provided with symmetrically distributed protrusion moving grooves; The connecting plate is located between the mounting seats, the connecting rod is slidably connected to the connecting groove, and the convex block moving groove is slidably connected to the outer side surfaces of the hinge rod and the driven convex block.

[0013] Preferably, the pushing assembly includes a pushing plate, the pushing plate is hingedly connected to the outer surface of the connecting plate, a pushing groove is formed on the outer surface of the pushing plate, and a pushing spring is fixedly connected to the outer surface of the connecting plate; There are two push plates, and the directions of the two push plates are opposite. The driven protrusion is slidably connected to the inner surface of the push groove, and the two ends of the push spring are fixedly connected to the connecting plates on both sides.

[0014] Preferably, the rear movable wheel includes a rear wheel housing, the rear wheel housing is rotatably connected to a rotating shaft on one side, the inner surface of the rear wheel housing is fixedly connected to a rear wheel motor, the output end of the rear wheel motor is fixedly connected to a telescopic shaft, the outer surface of the telescopic shaft is fixedly connected to an input gear, the outer surface of the rear wheel housing is fixedly connected to a switching cylinder, the output end of the switching cylinder is fixedly connected to a pulling block, and the pulling block is fixedly connected to the outer surface of the telescopic shaft, the outer surface of the rear wheel housing is rotatably connected to a rear driven wheel, and one end of the rear driven wheel is fixedly connected to the output gear; There are two input gears, which are symmetrically distributed. The input gears are bevel gears. The output gears penetrate the inner surface of the rear wheel housing and mesh with the input gears.

[0015] Preferably, the front moving wheel includes a front wheel bracket, the front wheel bracket is rotatably connected to the rotating shaft on the other side, and the outer surface of the front wheel bracket is rotatably connected to the front driving wheel.

[0016] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, through the mutual cooperation of the two outer frames, the cleaning belt is used to effectively clean the surface of the pipeline, and the ground wire is used to connect with the ground pile to remove static electricity on the surface of the pipeline, thereby improving the cleaning effect. At the same time, when encountering obstacles on the surface of the pipeline, through the cooperation of the climbing component and the opening and closing component, one outer frame continues to clamp the pipeline, and the other outer frame can be separated and bypassed from above, so as to achieve continuous cleaning of the pipeline surface. When encountering obstacles, it can automatically adjust, and there is no need to frequently interrupt the cleaning work, which can significantly improve the efficiency of the cleaning operation.

[0017] The present invention can adapt to various complex pipeline environments and has a wide range of applicability. When the connecting component and the pushing component encounter obstacles on the pipeline surface, such as the pipeline support frame, the outer frame will automatically separate. By being able to move and climb over the pipeline surface, the instability factors caused by uneven pipeline surface or obstacles are effectively reduced, the frequency of manual intervention is reduced, the degree of automation of cleaning operations is improved, and the cleaning quality is guaranteed.

[0018] In the present invention, the entire device is driven to move by the cooperation of the rear moving wheel and the front moving wheel, so that the cleaning belt has a larger working range. The front moving wheel only needs to move forward, and the rear moving wheel switches forward or backward according to the position of the front moving wheel, so that after the outer frame flips over for the first time, it flips over for the second time so that both outer frames pass the obstacle, and the entire device is restored to its initial position. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic side view of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the outer frame and the frame end surface cooperating with each other in the present invention; Figure 3 This is a schematic diagram of the structure of the outer frame and the cleaning belt cooperating with each other in the present invention; Figure 4 This is a schematic diagram of the structure of the cleaning belt components cooperating with each other in the present invention; Figure 5 A is a schematic diagram of the structure of the various components of the driving device of the present invention cooperating with each other; Figure 6 Schematic diagram B of the structure of the mutual cooperation of the components of the driving device of the present invention; Figure 7 This is a schematic diagram of the structure of the frame connecting seat, the climbing assembly and the opening and closing assembly cooperating with each other in the present invention; Figure 8 This is a schematic diagram of the structure of the connection component and the pushing component cooperating with each other in the present invention; Figure 9 This is a schematic diagram of the structure of the rear wheel housing and the front moving wheel cooperating with each other in the present invention; Figure 10 This is a schematic diagram of the internal structure of the rear wheel housing of the present invention; Figure 11 It is the motion process decomposition diagram A of the present invention; Figure 12 It is the motion process decomposition diagram B of the present invention; Figure 13 It is the motion process decomposition diagram C of the present invention; Figure 14 It is the motion process decomposition diagram D of the present invention; Figure 15 It is the motion process decomposition diagram E of the present invention; Figure 16 It is the motion process decomposition diagram F of the present invention; Figure 17 It is the motion process decomposition diagram G of the present invention; Figure 18 It is the motion process decomposition diagram H of the present invention; Figure 19 This is a schematic diagram of the outer frames of the present invention cooperating with each other.

[0020] In the figure: 1. outer frame; 11. frame end face; 2. grounding wire; 3. cleaning belt; 31. cleaning motor; 311. driven shaft; 32. transport belt; 33. friction belt; 4. driving device; 41. frame connecting seat; 42. overturning assembly; 421. rotating shaft; 422. limiting protrusion; 423. mounting seat; 424. driven worm gear; 425. driving worm; 426. overturning motor; 4261. motor bracket; 43. opening and closing assembly; 431. side push block; 4311. limiting groove; 432. push block spring; 433. hinged rod; 433 1. Driven protrusion; 44. Connecting assembly; 441. Connecting plate; 4411. Connecting rod; 4412. Connecting slot; 442. Protrusion moving slot; 45. Pushing assembly; 451. Pushing plate; 452. Pushing slot; 453. Pushing spring; 46. Rear moving wheel; 461. Rear wheel housing; 462. Rear wheel motor; 4621. Telescopic shaft; 4622. Input gear; 463. Switching cylinder; 4631. Pulling block; 464. Rear driven wheel; 4641. Output gear; 47. Front moving wheel; 471. Front wheel bracket; 472. Front driving wheel. DETAILED DESCRIPTION

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0022] See also Figures 1 to 19 The present invention provides a technical solution: a pipeline surface foreign body removal robot, comprising an outer frame 1, the outer surface of the outer frame 1 is fixedly connected to a grounding wire 2, the inner surface of the outer frame 1 is provided with a cleaning belt 3, and the top surface of the outer frame 1 is provided with a driving device 4.

[0023] There are two outer frames 1 , and both ends of the outer frames 1 are fixedly connected with frame end surfaces 11 .

[0024] The cleaning belt 3 includes a cleaning motor 31, which is fixedly connected to the inner surface of the outer frame 1. The inner surface of the outer frame 1 is rotatably connected to a driven shaft 311. The outer surface of the output end of the cleaning motor 31 is sleeved with a conveyor belt 32, and the outer surface of the conveyor belt 32 is fixedly connected to the friction belt 33. The conveyor belt 32 is sleeved on the outer surface of the driven shaft 311, and the friction belt 33 is slidably connected to the inner surface of the outer frame 1; An engaging groove is provided on the inner side of the conveyor belt 32, and an engaging groove that engages with the conveyor belt 32 is also provided on the outer surface of the output end of the cleaning motor 31 and the driven shaft 311, thereby improving transmission stability. The conveyor belt 32 is relatively large and is confined inside the outer frame 1 to form an arc along the outer frame 1. The friction belt 33 is thicker and smaller than the conveyor belt 32, and can extend from the gap of the outer frame 1 to contact the pipeline surface.

[0025] The driving device 4 includes a frame connecting seat 41, which is fixedly connected to the frame end face 11. The outer surface of the frame connecting seat 41 is provided with a climbing component 42, the inner surface of the frame connecting seat 41 is provided with an opening and closing component 43, the outer surface of the opening and closing component 43 is provided with a connecting component 44, and the outer surface of the connecting component 44 is provided with a pushing component 45. There are two frame connecting seats 41 on each side of the outer frame 1, and a rear moving wheel 46 is provided on one side of the outer frame 1, and a front moving wheel 47 is provided on the other side of the outer frame 1.

[0026] The turning assembly 42 includes a rotating shaft 421, which is rotatably connected to the frame connecting seat 41. The outer surface of the frame connecting seat 41 is fixedly connected to symmetrically distributed limiting protrusions 422. The outer surface of the rotating shaft 421 is rotatably connected to symmetrically distributed mounting seats 423. One end of the rotating shaft 421 is fixedly connected to a driven worm gear 424. The outer surface of the driven worm gear 424 is meshed with a driving worm 425. The outer surface of the driving worm gear 425 is fixedly connected to a turning motor 426. The outer surface of the turning motor 426 is fixedly connected to a motor bracket 4261, and the motor bracket 4261 is fixedly connected to the outer surface of the mounting seat 423. The frame connecting seat 41 and the climbing assembly 42 connect the two parts of the outer frame 1 on each side in the middle, and can separate the outer frame 1 in the middle. When the separated outer frame 1 moves, it will not contact the frame connecting seat 41 and the climbing assembly 42 in the middle and other parts in the middle, nor will it contact the outer frame 1 in the closed state in the middle. The outer frames 1 on both sides are respectively climbed over, while the other outer frame 1 continues to be clamped on the surface of the pipeline, so that the device is stably installed on the pipeline; The turning motor 426 drives the driven worm gear 424 to rotate through the active worm 425 , and reduces the rotation speed and increases the torque by increasing the transmission ratio to achieve the turning effect. The mounting seat 423 rotates along with the rotating shaft 421 .

[0027] The opening and closing assembly 43 includes two side pushers 431, which are slidably connected to the outer surface of the rotating shaft 421. The outer surface of the side pushers 431 defines a limiting groove 4311. The outer surface of the rotating shaft 421 is sleeved with symmetrically distributed pusher springs 432. The inner surface of the side pushers 431 is hingedly connected to a hinge rod 433, and the outer surface of the hinge rod 433 is fixedly connected to a driven protrusion 4331. There are two side pushers 431 symmetrically distributed. The limiting groove 4311 is slidably connected to the limiting protrusion 422. The radial dimensions of the inscribed circle of the rotating shaft 421 and the limiting groove 4311 are the same. The two ends of the pusher spring 432 are slidably connected to the frame connecting seat 41 and the side pusher 431, respectively. The opening and closing assembly 43 achieves different effects depending on its state. Since the side push block 431 is pushed to both sides by the pushing assembly 45, according to the position of the side push block 431, if it is in the middle, the limiting groove 4311 engages with the limiting protrusion 422, and the rotation of the rotating shaft 421 drives the side push block 431 to rotate. However, when it is at both sides, it does not engage with the limiting protrusion 422 and does not rotate with the rotating shaft 421. Since the radial dimensions of the inscribed circle of the rotating shaft 421 and the limiting groove 4311 are the same, the rotating shaft 421 and the side push block 431 can maintain a coaxial state, and the rotating shaft 421 is always in contact with the six sides of the limiting groove 4311. When the side push block 431 is pushed to the sides, the push block spring 432 is squeezed. As the distance between the side push blocks 431 increases, the included angle of the hinge rod 433 increases. When the distance between the two sides is reached, the included angle of the hinge rod 433 becomes 180 degrees. The push block spring 432 needs to be reset, pushing the frame connecting seat 41 and the side push block 431. At this time, the thrust generated by the side push block 431 is parallel to the hinge rod 433, and the torque is zero and cannot be pushed, so the side push block 431 is maintained at the two sides. Since the side push block 431 is in contact with the frame connecting seat 41 , the side push block 431 cannot be reset and the frame connecting seat 41 cannot be reset either, so that the frame end surface 11 and the outer frame 1 on this side maintain an open state.

[0028] The connecting assembly 44 includes a connecting plate 441 that is rotatably connected to the outer surface of the rotating shaft 421. There are two connecting plates 441, and a connecting rod 4411 is fixedly connected to the outer surface of one of the connecting plates 441. The inner surface of the other connecting plate 441 is provided with a connecting groove 4412. The outer surface of the connecting plate 441 is provided with symmetrically distributed protrusion movement grooves 442. The connecting plate 441 is located between the mounting seats 423 , the connecting rod 4411 is slidably connected to the connecting groove 4412 , and the protrusion moving groove 442 is slidably connected to the outer surfaces of the hinge rod 433 and the driven protrusion 4331 ; The frame connecting seats 41 on the front and rear outer frames 1 are both installed with connecting plates 441, and the two connecting plates 441 are connected by connecting rods 4411 and connecting grooves 4412, so that the distance between the two connecting plates 441 can be adjusted to adapt to the different spacings of the two outer frames 1, and when one of the connecting plates 441 rotates, it will drive the connecting plate 441 on the other side to rotate, so that the front and rear order of the two connecting plates 441 can be interchanged by rotation.

[0029] The pushing assembly 45 includes a pushing plate 451 , which is hingedly connected to the outer surface of the connecting plate 441 . A pushing groove 452 is formed on the outer surface of the pushing plate 451 , and a pushing spring 453 is fixedly connected to the outer surface of the connecting plate 441 . There are two push plates 451, and the two push plates 451 are in opposite directions. The driven protrusion 4331 is slidably connected to the inner surface of the push groove 452, and the two ends of the push spring 453 are fixedly connected to the connecting plates 441 on both sides. The push spring 453 is installed between the connecting plates 441. When the connecting plates 441 are close to each other, the push spring 453 can restore the connecting plates 441. The two push plates 451 are used to push the driven protrusion 4331, driving the hinge rod 433 to rotate and the side push block 431 to move. The push plates 451 are hinged and rotatable, and are located at the upper and lower sides respectively. The maximum rotation angle is 30 degrees. They will flip down under the influence of gravity. In this way, the upper push plate 451 will be sheathed on the surface of the driven protrusion 4331, while the lower push plate 451 flips down and does not contact the driven protrusion 4331 and does not work. When the front outer frame 1 is blocked and cannot move, the connecting plate 441 on it cannot move either, while the rear outer frame 1 and the connecting plate 441 continue to move. At this time, the pushing plate 451 of the front outer frame 1 is at the top and connected to the driven protrusion 4331 above the rear outer frame 1. The continued movement of the connecting plate 441 pushes the driven protrusion 4331 at the rear, causing the side pushing block 431 to move to the sides to the maximum. As the distance between the connecting plates 441 decreases, the pushing spring 453 is also compressed. When the rear outer frame 1 starts to flip over, the two connecting plates 441 become inclined from their original horizontal state. The gravity generated by the outer frame 1 can be decomposed into horizontal and longitudinal forces. As the angle increases, the longitudinal force becomes greater, and the longitudinal force will drive the connecting plates 441 connected to it to squeeze the connecting plates 441 below, so that the pushing springs 453 continue to maintain a compressed state. When the rear outer frame 1 flips over to the top of the front outer frame 1, the two connecting plates 441 are vertical. At this time, the force pressing down on the pushing springs 453 is the largest, and then gradually decreases until the original rear outer frame 1 flips over to the front of the original front outer frame 1. At this time, the two connecting plates 441 return to a horizontal state, and there is no longer a force squeezing the connecting plates 441 below. When the original upper pushing plate 451 just comes out from the bottom, since the pushing groove 452 is long and narrow, with small dimensions on both sides and long dimensions front and back, the driven protrusions 4331 will press against the pushing plate from both sides. The push plate 451 is affected by gravity and flips downward, no longer restricting the driven protrusion 4331, so that the side push block 431 resets the outer frame 1 and returns to the clamped state again. The push plate 451 that is now at the top has just completed its flipping, and because the push groove 452 is at a rear position, it does not contact the driven protrusion 4331 that is now at the top. As the connecting plate 441 separates, the push groove 452 will be stuck in the driven protrusion 4331 again due to its long size.

[0030] The rear movable wheel 46 includes a rear wheel housing 461, which is rotatably connected to the rotating shaft 421 on one side. The inner surface of the rear wheel housing 461 is fixedly connected to a rear wheel motor 462, the output end of the rear wheel motor 462 is fixedly connected to a telescopic shaft 4621, the outer surface of the telescopic shaft 4621 is fixedly connected to an input gear 4622, the outer surface of the rear wheel housing 461 is fixedly connected to a switching cylinder 463, the output end of the switching cylinder 463 is fixedly connected to a pulling block 4631, and the pulling block 4631 is fixedly connected to the outer surface of the telescopic shaft 4621. The outer surface of the rear wheel housing 461 is rotatably connected to a rear driven wheel 464, and one end of the rear driven wheel 464 is fixedly connected to an output gear 4641; There are two input gears 4622 symmetrically distributed. The input gears 4622 are bevel gears. The output gear 4641 extends through the inner surface of the rear wheel housing 461 and meshes with the input gear 4622 . The rear moving wheel 46 is connected to the rear overtaking assembly 42 through the rear wheel housing 461. The rear driven wheel 464 cannot rotate actively and is driven by the rear wheel motor 462. The rear wheel motor 462 first drives the retractable telescopic shaft 4621 to rotate, and then the input gear 4622 at the other end engages with the output gear 4641 to transmit the rotation to the rear driven wheel 464. The input gear 4622 has a certain gap on both sides of the output gear 4641. At the same time, the inner output gear 4641 is only engaged with one of the input gears 4622. Depending on which input gear 4622 is engaged, the inner output gear 4641 rotates in different directions, causing the rear driven wheel 464 to drive the climbing assembly 42 forward or backward. The switching cylinder 463 controls the movement of the pulling block 4631 and pushes or pulls the telescopic shaft 4621 to switch different input gears 4622 to mesh with the output gear 4641 to control the movement direction.

[0031] The front moving wheel 47 includes a front wheel bracket 471, which is rotatably connected to the rotating shaft 421 on the other side. The outer surface of the front wheel bracket 471 is rotatably connected to the front driving wheel 472; The front wheel bracket 471 is used to connect the front driving wheel 472 to the front overtaking assembly 42. The front driving wheel 472 is driven by the internal motor to rotate to achieve the effect of moving forward.

[0032] In this embodiment, Figure 1 As shown, the two outer frames 1 are divided into two left and right parts, which are connected by a driving device 4 in the middle; In this embodiment, Figure 2 、 Figure 19 As shown, both outer frames 1 can be separated to both sides, and the separated outer frames 1 can be passed through from outside the outer frames 1; In this embodiment, Figure 3 、 Figure 4 As shown, the cleaning belt 3 is installed inside the outer frame 1, and the friction belt 33 is extended to remove foreign matter; In this embodiment, Figure 5 、 Figure 6 As shown, the driving device 4 is connected to the outer frame 1 by a frame connecting seat 41, and the climbing component 42, the opening and closing component 43, the connecting component 44 and the pushing component 45 are used to clamp and climb over obstacles. The rear moving wheels 46 and the front moving wheels 47 are used to drive the entire device to move; In this embodiment, Figure 7As shown, the climbing assembly 42 and the opening and closing assembly 43 are installed on the frame connecting seat 41; In this embodiment, Figure 8 As shown, the gap between the connecting component 44 and the pushing component 45 is adjustable; In this embodiment, Figure 9 、 Figure 10 As shown, the front moving wheel 47 only needs to realize simple forward movement, and the rear moving wheel 46 can switch forward or backward movement as needed; In this embodiment, Figure 11 As shown, in the initial state, the front and rear outer frames 1 are separated, and the opening and closing assembly 43 is in a clamped state. At this time, the front moving wheel 47 and the rear moving wheel 46 drive the entire device to move; In this embodiment, Figure 12 As shown, the front outer frame 1 and the front moving wheel 47 are blocked and cannot move, while the rear outer frame 1 and the rear moving wheel 46 continue to move, and the side pushing blocks 431 on both sides are pushed away by the pushing plate 451 until the hinge rods 433 are collinear to maintain the current state, and the rear outer frame 1 is opened. At this time, the distance between the connecting plates 441 becomes smaller; In this embodiment, Figure 13 As shown, the front rotating shaft 421 rotates, and the front and rear side push blocks 431 rotate inwardly, driving the connecting plate 441 and the connecting plate 441 on the other side to rotate so that the rear frame end surface 11 (outer frame 1) passes through the top and reverses to the front. The mounting seat 423 is rotatably connected to the rotating shaft 421 and does not rotate accordingly. The front moving wheel 47 is also rotatably connected and does not follow. The rear hinge rod 433 maintains a collinear state, rotates upward and passes under the rotating shaft 421. The frame end surface 11 separates the middle connecting component 44 and the pushing component 45 and passes through the gap. In this embodiment, Figure 14 As shown, the frame end face 11 (outer frame 1) on which the rear moving wheel 46 was originally installed has flipped to the front. At this time, the lower push plate 451 is subjected to the force from the side and continues to maintain the current state, so that the front frame end face 11 (outer frame 1) is still separated, and the upper push plate 451 has not yet contacted the driven protrusion 4331 and is pushed up. In this embodiment, Figure 15 As shown, the connecting plate 441 is reset by the pushing spring 453. After the lower pushing plate 451 pulls the driven protrusion 4331 for a distance, the lower pushing plate 451 flips down. The side pushing block 431 is also reset under the action of the pushing block spring 432. The frame end face 11 (outer frame 1) returns to the clamped state. At this time, the front and rear frame end faces 11 (outer frame 1) are interchanged. At this time, the top of the connecting plate 441 is covered, and only the driven protrusion 4331 at the rear is pushed. In this embodiment, Figure 16As shown, the original rear frame end face 11 (outer frame 1) is in front and moves backward, and the original front frame end face 11 (outer frame 1) is in the back and moves forward, pushing the driven protrusion 4331 and separating the frame end faces 11 (outer frame 1); In this embodiment, Figure 17 As shown, the original front frame end face 11 (outer frame 1) passes over the original rear frame end face 11 (outer frame 1) from above; In this embodiment, Figure 18 As shown, the original front frame end face 11 (outer frame 1) is flipped to the front again, and the original rear frame end face 11 (outer frame 1) is at the rear again, and then the opening and closing assembly 43 is reset to clamp the pipe again and return to the initial state.

[0033] The use method and advantages of the present invention: The working process of the pipeline surface foreign body removal robot is as follows: like Figures 1 to 19 As shown, when in use, the two outer frames 1 are placed on the surface of the pipeline, the grounding wire 2 is connected to the ground pile, and the cleaning belt 3 is started to start cleaning; The cleaning motor 31 rotates, and together with the driven shaft 311, the conveyor belt 32 continuously drives within the outer frame 1. The protruding friction belt 33 pushes the surface of the pipe to polish and clean it to remove foreign matter on the surface. One end of the grounding wire 2 extends to the surface of the pipe, and the other end is connected to the floor tile to remove static electricity on the pipe surface. The rear moving wheel 46 and the front moving wheel 47 drive the entire device to move. At this time, the rear moving wheel 46 and the front moving wheel 47 move in the same direction, driving the entire device to move so that the cleaning belt 3 has a larger working range. When it touches the support or branch on the surface of the pipeline during movement, the entire device will be blocked. At this time, the climbing component 42 and the opening and closing component 43 drive the two outer frames 1 to separate. The two outer frames 1 are flipped once to overcome the obstacle. The first flip causes the outer frame 1 originally at the rear to flip to the front and overcome the obstacle. The second flip causes the outer frame 1 originally at the front to flip again to the front of the original rear and overcome the obstacle to return to the initial state. When the front outer frame 1 encounters an obstacle, it will be blocked and unable to move, while the rear outer frame 1 continues to move. The connecting plates 441 on the front and rear outer frames 1 approach each other, so that the front pushing plate 451 pushes the rear hinge rod 433. Through the action of the hinge rod 433, the side pushing block 431 moves to both sides, and separates the frame end face 11 and the outer frame 1 on that side. After reaching the maximum distance, the current state is maintained. In this way, the frame end face 11 and the outer frame 1 will not contact the middle part when flipping, and the separated outer frame 1 can pass directly from the outer frame 1 below. At this time, the side pushing block 431 is separated from the limiting protrusion 422. At this time, the rear overturning motor 426 drives the driven worm gear 424 and the rotating shaft 421 to rotate, and the rear side push block 431 is still in contact with the limiting protrusion 422 and will rotate with the rotating shaft 421. Since the hinge rod 433 of the side push block 431 is inserted into the connecting plate 441, it drives the connecting plate 441 to rotate, and drives the connecting plate 441 on the other side and the outer frame 1 to rotate around the rear rotating shaft 421 and from the rear to the front after passing through the top. Since the rear side push block 431 is not limited by the limiting protrusion 422 and can rotate freely, the frame connecting seat 41 is always kept in a vertical downward state under the influence of gravity, so that the outer frame 1 remains in a vertical downward and separated state, flipping from the original rear to the front; After the original rear outer frame 1 moves to the front, the rear driven wheel 464 reverses and moves backward, and the original front outer frame 1 is now at the rear and continues to move forward. The two outer frames 1 move relative to each other. Since the upper push plate 451 has been interchanged at this time, only the current front outer frame 1 can push the side push block 431 on the current rear outer frame 1 until the current rear outer frame 1 is separated, and the current rear outer frame 1 is driven to flip to the front again through the flipping assembly 42 on the current front outer frame 1. After two flips, the two outer frames 1 return to their initial state, and the rear driven wheel 464 rotates forward and continues to move forward.

[0034] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline surface foreign body removal robot, comprising an outer frame (1), wherein the outer surface of the outer frame (1) is fixedly connected to a grounding wire (2); Its characteristics are: The inner surface of the outer frame (1) is provided with a pipeline surface cleaning and removing belt (3), the top surface of the outer frame (1) is provided with a driving device (4) for driving the entire device to move, the driving device (4) includes a frame connecting seat (41) for connecting the outer frame (1), the frame connecting seat (41) is fixedly connected to the frame end face (11), the outer surface of the frame connecting seat (41) is provided with a climbing component (42) for enabling the outer frame (1) to cross obstacles, and the inner surface of the frame connecting seat (41) is provided with a control member for controlling the outer frame (1) An opening and closing component (43) in a clamping pipeline state, wherein the outer surface of the opening and closing component (43) is provided with a connecting component (44) for connecting two outer frames (1), and the outer surface of the connecting component (44) is provided with a pushing component (45) for triggering the opening and closing and flipping of the outer frames (1), and the number of the frame connecting seats (41) on each side of the outer frame (1) is two, and one side of the outer frame (1) is provided with a rear moving wheel (46) for controlling the reverse movement, and the other side of the outer frame (1) is provided with a front moving wheel (47) for moving forward.

2. A pipeline surface foreign body removal robot according to claim 1, characterized in that: There are two outer frames (1), and both ends of the outer frames (1) are fixedly connected with frame end surfaces (11).

3. The pipeline surface foreign body removal robot according to claim 2, characterized in that: The cleaning belt (3) includes a cleaning motor (31), the cleaning motor (31) is fixedly connected to the inner surface of the outer frame (1), the inner surface of the outer frame (1) is rotatably connected to a driven shaft (311), the outer surface of the output end of the cleaning motor (31) is sleeved with a conveyor belt (32), and the outer surface of the conveyor belt (32) is fixedly connected to a friction belt (33).

4. The robot for removing foreign matter from pipeline surfaces according to claim 3, characterized in that: The overturning assembly (42) includes a rotating shaft (421), the rotating shaft (421) is rotatably connected to the frame connecting seat (41), the outer surface of the rotating shaft (421) is rotatably connected to symmetrically distributed mounting seats (423), one end of the rotating shaft (421) is fixedly connected to a driven worm gear (424), and the outer surface of the driven worm gear (424) is meshed with a driving worm (425).

5. The robot for removing foreign matter from pipeline surfaces according to claim 4, characterized in that: The opening and closing assembly (43) includes a side push block (431), the side push block (431) is slidably connected to the outer surface of the rotating shaft (421), the outer surface of the rotating shaft (421) is sleeved with symmetrically distributed push block springs (432), the inner surface of the side push block (431) is hingedly connected to a hinge rod (433), and the outer surface of the hinge rod (433) is fixedly connected to a driven protrusion (4331).

6. The robot for removing foreign matter from pipeline surfaces according to claim 5, characterized in that: The connecting assembly (44) includes a connecting plate (441), the connecting plate (441) being rotatably connected to the outer surface of the rotating shaft (421), the number of the connecting plates (441) being two, and the outer surface of the connecting plate (441) being provided with symmetrically distributed protrusion moving grooves (442).

7. The robot for removing foreign matter from pipeline surfaces according to claim 6, characterized in that: The pushing assembly (45) includes a pushing plate (451), and the pushing plate (451) is hingedly connected to the outer surface of the connecting plate (441).

8. The robot for removing foreign matter from pipeline surfaces according to claim 7, characterized in that: The rear movable wheel (46) includes a rear wheel housing (461), the rear wheel housing (461) is rotatably connected to a rotating shaft (421) on one side, the inner surface of the rear wheel housing (461) is fixedly connected to a rear wheel motor (462), the output end of the rear wheel motor (462) is fixedly connected to a telescopic shaft (4621), the outer surface of the telescopic shaft (4621) is fixedly connected to an input gear (4622), the outer surface of the rear wheel housing (461) is fixedly connected to a switching cylinder (463), the output end of the switching cylinder (463) is fixedly connected to a pulling block (4631), and the pulling block (4631) is fixedly connected to the outer surface of the telescopic shaft (4621), the outer surface of the rear wheel housing (461) is rotatably connected to a rear driven wheel (464), and one end of the rear driven wheel (464) is fixedly connected to an output gear (4641).

9. The robot for removing foreign matter from pipeline surfaces according to claim 8, characterized in that: The front moving wheel (47) includes a front wheel bracket (471), the front wheel bracket (471) is rotatably connected to the rotating shaft (421) on the other side, and the outer surface of the front wheel bracket (471) is rotatably connected to the front driving wheel (472).

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