A pipeline surface foreign matter removing robot

Abstract

The application relates to the technical field of pipeline cleaning, in particular to a pipeline surface foreign matter cleaning robot, the top surface of an outer frame is provided with a driving device for driving the movement of the whole device, the driving device comprises a frame connecting seat for connecting the outer frame, a crossing component for enabling the outer frame to cross over obstacles, an opening and closing component for controlling the clamping state of the outer frame, a connecting component for connecting two outer frames, and a pushing component for triggering the opening and closing and crossing of the outer frame, one side of the pushing component is provided with a rear moving wheel for controlling the moving direction, and the other side is provided with a front moving wheel for advancing, when obstacles on the pipeline surface, such as a pipeline support frame, are encountered, the outer frame can be automatically separated, the pipeline surface can be moved and crossed, the unstable factors caused by the unevenness or obstacles on the pipeline surface are effectively reduced, the frequency of manual intervention is reduced, the continuity of the pipeline surface can be continuously cleaned, and the pipeline surface can be automatically adjusted when obstacles are encountered.

Description

Technical Field

[0001] This invention relates to the field of pipeline cleaning technology, specifically to a robot for removing foreign objects from pipeline surfaces. Background Technology

[0002] Pipeline cleaning refers to a series of operations that clean pipeline systems to remove contaminants such as dirt, impurities, and microorganisms from the pipeline surface.

[0003] Static electricity may exist on the surface of pipelines. This static electricity can charge the pipeline surface, attracting surrounding dust, impurities, and fine particles. These deposits will gradually accumulate, forming a difficult-to-clean layer of dirt, reducing the service life and performance of the pipelines, and increasing the difficulty of cleaning. In pharmaceutical environments, pipelines may transport flammable gases, liquids, or dust. Static electricity accumulation may generate sparks, potentially causing fires or explosions. Therefore, it is necessary to perform static electricity removal treatment while cleaning the pipeline surface.

[0004] During the installation of pipes, supports need to be installed at intervals along the pipes. When cleaning the pipe surface, the entire pipe needs to be wrapped to ensure the cleaning range and efficiency. This results in the cleaning device being blocked when encountering supports or other structures installed on the pipe, causing inconvenience in cleaning.

[0005] In view of this, we propose a foreign object removal robot for pipeline surfaces. Summary of the Invention

[0006] The purpose of this invention is to provide a pipe surface foreign object removal robot to solve the problem mentioned in the background art where existing pipe surface removal devices are blocked when encountering other structures supported or installed on the pipe. To achieve the above objective, this invention provides the following technical solution: a pipe surface foreign object removal robot, comprising an outer frame, a grounding wire fixedly connected to the outer surface of the outer frame, a cleaning strip provided on the inner surface of the outer frame, and a driving device provided on the top surface of the outer frame.

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

[0008] Preferably, the cleaning belt includes a cleaning motor, which is fixedly connected to the inner surface of the outer frame. A driven shaft is rotatably connected to the inner surface of the outer frame. A conveyor belt is sleeved on the outer surface of the output end of the cleaning motor, and a friction belt is fixedly connected to the outer surface of the conveyor 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, which is fixedly connected to the end face of the frame. The outer surface of the frame connecting seat is provided with a vaulting 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, and the outer surface of the connecting component is provided with a pushing component. 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 overtaking assembly includes a rotating shaft, which is rotatably connected to a frame connecting seat. Symmetrically distributed limiting protrusions are fixedly connected to the outer surface of the frame connecting seat. Symmetrically distributed mounting seats are rotatably connected to the outer surface of the rotating shaft. A driven worm gear is fixedly connected to one end of the rotating shaft. A driving worm gear meshes with the outer surface of the driven worm gear. A overtaking motor is fixedly connected to the outer surface of the driving worm gear. A motor bracket is fixedly connected to the outer surface of the overtaking motor, 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 that are slidably connected to the outer surface of the rotating shaft. The outer surface of the side push block has a limiting groove. The outer surface of the rotating shaft is fitted with symmetrically distributed push block springs. The inner surface of the side push block is hinged to a hinge rod, and the outer surface of the hinge rod is fixedly connected to a driven protrusion. The number of side push blocks is two and symmetrically distributed. The limiting groove and the limiting protrusion are slidably connected. The radial dimension of the rotating shaft and the inscribed circle of the limiting groove are the same. The two ends of the push block spring are slidably connected to the frame connecting seat and the side push block, respectively.

[0012] Preferably, the connecting assembly includes a connecting plate, which is rotatably connected to the outer surface of the rotating shaft. There are two connecting plates, one of which has a connecting rod fixedly connected to its outer surface, and the other connecting plate has a connecting groove on its inner surface. The outer surface of the connecting plate has symmetrically distributed protrusion moving grooves. The connecting plate is located between the mounting bases, the connecting rod is slidably connected to the connecting groove, and the protrusion moving groove is slidably connected to the outer surface of the hinge rod and the driven protrusion.

[0013] Preferably, the pushing assembly includes a pushing plate, which is hinged to the outer surface of the connecting plate. The outer surface of the pushing plate is provided with a pushing groove, and a pushing spring is fixedly connected to the outer surface of the connecting plate. The number of push plates is two, and the two push plates are in opposite directions. 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, a rear wheel motor is fixedly connected to the inner surface of the rear wheel housing, a telescopic shaft is fixedly connected to the output end of the rear wheel motor, an input gear is fixedly connected to the outer surface of the telescopic shaft, a switching cylinder is fixedly connected to the outer surface of the rear wheel housing, a pulling block is fixedly connected to the output end of the switching cylinder, and the pulling block is fixedly connected to the outer surface of the telescopic shaft, a rear driven wheel is rotatably connected to the outer surface of the rear wheel housing, and an output gear is fixedly connected to one end of the rear driven wheel; The number of input gears is two, and they are symmetrically distributed. The input gears are bevel gears. The output gear extends through to the inner surface of the rear wheel housing and meshes with the input gears.

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

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: In this invention, the two outer frames work together to effectively clean the pipe surface using a cleaning strip. By connecting the grounding wire to the ground stake, static electricity on the pipe surface is removed, improving the cleaning effect. When encountering obstacles on the pipe surface, the flipping component and the opening and closing component work together, with one outer frame continuing to clamp the pipe while the other outer frame can separate and pass around from above, enabling continuous cleaning of the pipe surface. It can automatically adjust when encountering obstacles, without frequently interrupting the cleaning work, which can significantly improve the efficiency of the cleaning operation.

[0017] This invention can adapt to various complex pipeline environments and has wide applicability. When the connecting component and the pushing component encounter obstacles on the pipeline surface, such as pipeline support frames, the outer frame will automatically separate. By being able to move and climb over the pipeline surface, it effectively reduces instability caused by uneven pipeline surfaces or obstacles, reduces the frequency of manual intervention, improves the automation level of cleaning operations, and ensures cleaning quality.

[0018] In this invention, the rear moving wheel and the front moving wheel work together to move the entire device, giving the clearing belt a large working range. The front moving wheel only needs to move forward, while the rear moving wheel switches between forward and backward depending on the position of the front moving wheel. This allows the outer frame to pass over the obstacle a second time after the first overturn, so that both outer frames pass the obstacle and the entire device returns to its initial position. Attached Figure Description

[0019] Figure 1 This is a side view of the overall structure of the present invention; Figure 2 This is a schematic diagram of the interlocking structure between the outer frame and the frame end face of the present invention; Figure 3 This is a schematic diagram of the structure in which the outer frame and the cleaning strip of the present invention cooperate. Figure 4 This is a schematic diagram of the interlocking structure of the various components of the cleaning belt according to the present invention; Figure 5 This is a schematic diagram A showing the interoperability of the various components of the drive device of the present invention; Figure 6 This is a schematic diagram (B) showing the interoperability of the various components of the drive device of the present invention; Figure 7 This is a schematic diagram of the interoperation structure of the frame connector, the overpass assembly, and the opening / closing assembly of the present invention. Figure 8 This is a schematic diagram of the cooperative structure of the connecting component and the pushing component of the present invention; Figure 9 This is a schematic diagram of the interaction structure between the rear wheel housing and the front moving wheel of 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 This is an exploded view of the motion flow of the present invention (Figure A). Figure 12 This is an exploded view of the motion flow of the present invention (B). Figure 13 This is an exploded view of the motion flow of the present invention, C; Figure 14 This is an exploded view of the motion flow of the present invention, shown in diagram D. Figure 15 This is an exploded view of the motion flow of the present invention, E. Figure 16 This is an exploded view of the motion flow of the present invention, F; Figure 17 This is the motion flow breakdown diagram G of the present invention; Figure 18 This is an exploded view of the motion flow of the present invention, H. Figure 19 This is a schematic diagram of the interlocking structure of the outer frame of the present invention.

[0020] In the diagram: 1. Outer frame; 11. Frame end face; 2. Grounding wire; 3. Cleaning belt; 31. Cleaning motor; 311. Driven shaft; 32. Conveyor belt; 33. Friction belt; 4. Drive unit; 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. Hinge rod; 433 1. Driven protrusion; 44. Connecting assembly; 441. Connecting plate; 4411. Connecting rod; 4412. Connecting groove; 442. Protrusion moving groove; 45. Pushing assembly; 451. Pushing plate; 452. Pushing groove; 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 Implementation

[0021] 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.

[0022] Please see Figures 1 to 19 The present invention provides a technical solution: a foreign object removal robot for pipeline surfaces, including an outer frame 1, a grounding wire 2 fixedly connected to the outer surface of the outer frame 1, a removal strip 3 provided on the inner surface of the outer frame 1, and a driving device 4 provided on the top surface of the outer frame 1.

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

[0024] The cleaning belt 3 includes a cleaning motor 31, which is fixedly connected to the inner surface of the outer frame 1. A driven shaft 311 is rotatably connected to the inner surface of the outer frame 1. A conveyor belt 32 is sleeved on the outer surface of the output end of the cleaning motor 31, and a friction belt 33 is fixedly connected to the outer surface of the conveyor belt 32. The conveyor belt 32 is fitted onto 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. The inner side of the conveyor belt 32 is provided with a meshing groove. The outer surface of the output end of the cleaning motor 31 and the driven shaft 311 is also provided with a meshing groove that meshes with the conveyor belt 32, 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 out from the gap of the outer frame 1 to contact the pipe surface.

[0025] The drive device 4 includes a frame connecting seat 41, which is fixedly connected to the end face 11 of the frame. A vaulting component 42 is provided on the outer surface of the frame connecting seat 41, an opening and closing component 43 is provided on the inner surface of the frame connecting seat 41, a connecting component 44 is provided on the outer surface of the opening and closing component 43, and a pushing component 45 is provided on the outer surface of the connecting component 44. 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 overpass assembly 42 includes a rotating shaft 421, which is rotatably connected to a frame connecting seat 41. Symmetrically distributed limiting protrusions 422 are fixedly connected to the outer surface of the frame connecting seat 41. Symmetrically distributed mounting seats 423 are rotatably connected to the outer surface of the rotating shaft 421. A driven worm gear 424 is fixedly connected to one end of the rotating shaft 421. A driving worm gear 425 meshes with the outer surface of the driven worm gear 424. A overpass motor 426 is fixedly connected to the outer surface of the driving worm gear 425. A motor bracket 4261 is fixedly connected to the outer surface of the overpass motor 426. The motor bracket 4261 is fixedly connected to the outer surface of the mounting seat 423. The frame connecting seat 41 and the overturning component 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 overturning component 42 in the middle or other parts in the middle, nor will it contact the outer frame 1 in the middle closed state. The outer frames 1 on both sides are flipped over, while at the same time the other outer frame 1 continues to clamp on the pipe surface, so that the device is stably installed on the pipe; The overturning motor 426 drives the driven worm wheel 424 to rotate through the active worm gear 425. By increasing the transmission ratio, the speed is reduced and the torque is increased to achieve the overturning effect. The mounting base 423 will rotate with the rotating shaft 421.

[0027] The opening and closing assembly 43 includes two side push blocks 431, which are slidably connected to the outer surface of the rotating shaft 421. A limit groove 4311 is formed on the outer surface of the side push block 431. A push block spring 432 is symmetrically distributed on the outer surface of the rotating shaft 421. A hinge rod 433 is hinged to the inner surface of the side push block 431. A driven protrusion 4331 is fixedly connected to the outer surface of the hinge rod 433. There are two side push blocks 431, which are symmetrically distributed. The limiting groove 4311 is slidably connected to the limiting protrusion 422. The radial dimension of the inner circle of the rotating shaft 421 and the limiting groove 4311 is the same. The two ends of the push block spring 432 are slidably connected to the frame connecting seat 41 and the side push block 431, respectively. The opening and closing component 43 achieves different effects depending on the state. Since the side push block 431 is pushed to both sides by the pushing component 45, depending on 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 will drive the side push block 431 to rotate. When it is on both sides, it does not engage with the limiting protrusion 422 and does not follow the rotation of the rotating shaft 421. Since the radial dimensions of the inscribed circles of the rotating shaft 421 and the limiting groove 4311 are the same, the rotating shaft 421 and the side push block 431 can remain coaxial, and the rotating shaft 421 is always in contact with the six sides of the limiting groove 4311. As the side push block 431 is pushed to both sides, it will compress the push block spring 432. As the distance between the side push blocks 431 increases, the included angle of the hinge rod 433 increases until the extreme distance between the two sides is reached. When the included angle of the hinge rod 433 becomes 180 degrees, the push block spring 432 needs to be reset, so it pushes 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 it cannot be pushed. Thus, the side push block 431 is maintained in the state of both 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 therefore the frame connecting seat 41 cannot be reset either, so that the frame end face 11 and the outer frame 1 on this side remain in an open state.

[0028] The connecting assembly 44 includes a connecting plate 441, which 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. A connecting groove 4412 is opened on the inner surface of the other connecting plate 441, and symmetrically distributed protrusion moving grooves 442 are opened on the outer surface of the connecting plate 441. The connecting plate 441 is located between the mounting bases 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 surface of the hinge rod 433 and the driven protrusion 4331. The frame connecting seats 41 on the front and rear outer frames 1 are each equipped with a connecting plate 441, and the two connecting plates 441 are connected by a connecting rod 4411 and a connecting groove 4412. In this way, the distance between the two connecting plates 441 can be adjusted to accommodate different spacings of the two outer frames 1. When one connecting plate 441 rotates, it will drive the other connecting plate 441 to rotate. In this way, 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 hinged to the outer surface of the connecting plate 441. A pushing groove 452 is provided 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. The two ends of the push spring 453 are fixedly connected to the connecting plates 441 on both sides. Push spring 453 is installed between connecting plates 441. When the connecting plates 441 come close to each other, push spring 453 can restore the connecting plates 441. The two push plates 451 are used to push the driven protrusion 4331, drive the hinge rod 433 to rotate and the side push block 431 to move. The push plates 451 are hinged and can rotate, and are located at the top and bottom respectively. The maximum rotation angle is thirty degrees. They will be affected by gravity and flip down. In this way, the upper push plate 451 will be sleeved 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 has no effect. When the front outer frame 1 is blocked and cannot move, the connecting plate 441 on it also cannot move. Meanwhile, the rear outer frame 1 and the connecting plate 441 continue to move. At this time, the push plate 451 of the front outer frame 1 is on top and connected to the driven protrusion 4331 on the top of the rear outer frame 1. The continued movement of the connecting plate 441 will push the driven protrusion 4331 in the rear, causing the side push block 431 to move to both sides until the maximum. As the distance between the connecting plates 441 decreases, the push spring 453 will also be compressed. As the rear outer frame 1 begins to flip, the two connecting plates 441 tilt from their original horizontal state. The gravity generated by the outer frame 1 can be decomposed into horizontal and vertical forces. The vertical force increases with the angle, causing the connecting plate 441 connected to it to press against the lower connecting plate 441, keeping the push spring 453 compressed. When the rear outer frame 1 flips to the top of the front outer frame 1, the two connecting plates 441 are perpendicular, at which point the force pressing down on the push spring 453 is at its maximum, gradually decreasing until the original rear outer frame 1 flips to the front of the original front outer frame 1. At this point, the two connecting plates 441 return to a horizontal state, and there is no longer any force pressing against the lower connecting plate 441. When the original upper push plate 451 just emerges from below, because the push groove 452 is long and narrow with small dimensions on both sides and a long front and back dimension, the driven protrusion 4331 will abut against the push plate from both sides. The moving groove 452 is perpendicular to the side of the pushing groove 452, so that the pushing plate 451 is still connected to the driven protrusion 4331. At this time, the weight of the outer frame 1 does not pass through the pushing spring 453. The pushing spring 453 pushes the two connecting plates 441 apart. After being pushed apart, the pushing plate 451 drives the pushing groove 452 to pull the driven protrusion 4331. The hinge rod 433 gradually tilts and is no longer collinear. The pushing spring 453 pushes the side push block 431 to reset. The two connecting plates 441 return to their original separated state. At this time, the direction of the force applied by the driven protrusion 4331 is tilted. It no longer completely abuts against the pushing groove 452 from the side. Part of the force makes the driven protrusion 4331 slide in the pushing groove 452. It no longer abuts against the pushing groove 452. Then the pushing plate 451 flips downward under the influence of gravity and no longer restricts the driven protrusion 4331. Then the side push block 431 resets and the outer frame 1 returns to the clamped state. Now, the push plate 451, which is currently on top, will not contact the driven protrusion 4331 above it because the push groove 452 is in a rear position after the flipping is completed. As the connecting plate 441 separates, the push groove 452 will be long enough to be engaged with the driven protrusion 4331 again.

[0030] The rear movable wheel 46 includes a rear wheel housing 461, which is rotatably connected to a rotating shaft 421 on one side. A rear wheel motor 462 is fixedly connected to the inner surface of the rear wheel housing 461. A telescopic shaft 4621 is fixedly connected to the output end of the rear wheel motor 462. An input gear 4622 is fixedly connected to the outer surface of the telescopic shaft 4621. A switching cylinder 463 is fixedly connected to the outer surface of the rear wheel housing 461. A pulling block 4631 is fixedly connected to the output end of the switching cylinder 463, and the pulling block 4631 is fixedly connected to the outer surface of the telescopic shaft 4621. A rear driven wheel 464 is rotatably connected to the outer surface of the rear wheel housing 461, and an output gear 4641 is fixedly connected to one end of the rear driven wheel 464. There are two input gears 4622, which are symmetrically distributed. The input gears 4622 are bevel gears. The output gear 4641 extends through to the inner surface of the rear wheel housing 461 and meshes with the input gears 4622. The rear moving wheel 46 is connected to the rear overturning assembly 42 via the rear wheel housing 461. The rear driven wheel 464 cannot rotate actively; it is driven by the rear wheel motor 462. The rear wheel motor 462 first drives the retractable telescopic shaft 4621 to rotate, and then transmits the rotation to the rear driven wheel 464 through the input gear 4622 and the output gear 4641 at the other end. The input gear 4622 is on both sides of the output gear 4641 with a certain gap. At any given time, the output gear 4641 only meshes with one of the input gears 4622. Depending on the input gear 4622 that is meshed, the rotation direction of the inner output gear 4641 is different, which causes the rear driven wheel 464 to drive the overturning assembly 42 to move 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 between different input gears 4622 and output gears 4641 to control the direction of movement.

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

[0032] In this embodiment, as Figure 1 As shown, the two outer frames 1 are each divided into left and right parts, which are connected by the middle drive device 4; In this embodiment, as Figure 2 , Figure 19 As shown, both outer frames 1 can be separated to the sides, and the separated outer frames 1 can pass through the outside of the outer frame 1; In this embodiment, as Figure 3 , Figure 4 As shown, the cleaning belt 3 is installed inside the outer frame 1, and the friction belt 33 extends out to remove foreign objects; In this embodiment, as Figure 5 , Figure 6 As shown, the drive device 4 is connected to the outer frame 1 by the frame connecting seat 41. The overturning component 42, the opening and closing component 43, the connecting component 44 and the pushing component 45 are used to clamp and overturn obstacles. The rear moving wheel 46 and the front moving wheel 47 are used to drive the entire device to move. In this embodiment, as Figure 7As shown, the overturning component 42 and the opening / closing component 43 are mounted on the frame connecting seat 41; In this embodiment, as Figure 8 As shown, the gap between the connecting component 44 and the pushing component 45 is adjustable; In this embodiment, as Figure 9 , Figure 10 As shown, the front moving wheel 47 only needs to move forward, while the rear moving wheel 46 can switch between moving forward or backward as needed; In this embodiment, as Figure 11 As shown, in the initial state, the front and rear outer frames 1 are far apart, and the opening and closing component 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, as Figure 12 As shown, the front outer frame 1 and the front moving wheel 47 are blocked and cannot move. The rear outer frame 1 and the rear moving wheel 46 continue to move and push the side push blocks 431 on both sides through the push plate 451 until the hinge rod 433 is collinear and maintains the current state. The rear outer frame 1 opens, and at this time the distance between the connecting plates 441 becomes smaller. In this embodiment, as Figure 13 As shown, the front rotating shaft 421 rotates, and the front and rear push blocks 431 rotate inward, driving the connecting plate 441 and the connecting plate 441 on the other side to rotate, so that the rear frame end face 11 (outer frame 1) reverses from above to the front. The mounting base 423 is rotatably connected to the rotating shaft 421 and does not rotate with it. The front moving wheel 47 is also rotatably connected and does not rotate with it. The rear hinge rod 433 remains collinear, rotates to the top and passes under the rotating shaft 421. The frame end face 11 separates the middle connecting component 44 and the pushing component 45 and passes through the gap. In this embodiment, as Figure 14 As shown, the frame end face 11 (outer frame 1) with the rear movable wheel 46 installed at the rear flips 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 been pushed up by the driven protrusion 4331. In this embodiment, as Figure 15 As shown, the connecting plate 441 is reset by the push spring 453. After the lower push plate 451 pulls the driven protrusion 4331 a certain distance, the lower push plate 451 flips down, and the side push block 431 is also reset under the action of the push block spring 432. The frame end face 11 (outer frame 1) returns to the clamping state. At this time, the front and rear frame end faces 11 (outer frame 1) are interchanged. At this time, the connecting plate 441 is covered, and only the driven protrusion 4331 at the rear is pushed. In this embodiment, as Figure 16As shown, the original rear frame end face 11 (outer frame 1) is in front and moves backward, while the original front frame end face 11 (outer frame 1) is behind and moves forward, pushing the driven protrusion 4331 and separating the frame end face 11 (outer frame 1). In this embodiment, as 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, as Figure 18 As shown, the original front frame end face 11 (outer frame 1) flips to the front again, and the original rear frame end face 11 (outer frame 1) is back in the rear. Then the opening and closing component 43 resets and clamps the pipe again, returning to the initial state.

[0033] The method of use and advantages of this invention: The working process of the pipeline surface foreign object removal robot is as follows: like Figures 1 to 19 As shown, when in use, the two outer frames 1 are fitted onto the surface of the pipe, the grounding wire 2 is connected to the ground stake, and the cleaning belt 3 is started to begin cleaning; The cleaning motor 31 rotates and together with the driven shaft 311 drives the conveyor belt 32 to continuously transmit within the outer frame 1. The protruding friction belt 33 pushes the pipe surface to polish and clean it, so as to remove foreign objects from the surface. One end of the grounding wire 2 extends to the pipe surface and the other end is connected to the floor tile to remove static electricity from 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 large working range. When it touches the support or branch of the pipe surface during the movement, the entire device will be blocked. At this time, the overturning component 42 and the opening and closing component 43 drive the two outer frames 1 to separate. The two outer frames 1 flip once to overcome the obstacle. The first flip causes the original rear outer frame 1 to flip to the front and overcome the obstacle. The second flip causes the original front outer frame 1 to flip to the front of the original rear and overcome the obstacle, returning 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 move closer to each other, causing the front push plate 451 to push the rear hinge rod 433. Through the action of the hinge rod 433, the side push block 431 moves to both sides, and separates the frame end face 11 on that side from the outer frame 1. After reaching the maximum distance, it maintains the current state. In this way, the frame end face 11 and the outer frame 1 will not contact the middle component when flipping, and the separated outer frame 1 can pass directly through the lower outer frame 1. At this time, the side push block 431 disengages from the limiting protrusion 422. At this time, the rear flipping motor 426 drives the driven worm gear 424 and the rotating shaft 421 to rotate. 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 over 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 vertically downward due to gravity, so that the outer frame 1 is kept vertically downward and separated, 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 direction and moves to the rear, while the original front outer frame 1 is now in 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 swapped 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 separates. Then, the current rear outer frame 1 is flipped to the front again by the flipping component 42 on the current front outer frame 1. After two flips, the two outer frames 1 return to the initial state, and the rear driven wheel 464 rotates clockwise and continues to move forward.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline surface foreign object removal robot, comprising an outer frame (1), wherein a grounding wire (2) is fixedly connected to the outer surface of the outer frame (1). Its features are: The inner surface of the outer frame (1) is provided with a pipe surface cleaning strip (3), and the top surface of the outer frame (1) is provided with a drive device (4) for moving the entire device. The drive 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. The inner surface of the frame connecting seat (41) is provided with a control mechanism for the outer frame. (1) The opening and closing assembly (43) in the clamping pipe state is provided with a connecting assembly (44) connecting two outer frames (1) on the outer surface of the opening and closing assembly (43). The connecting assembly (44) is provided with a pushing assembly (45) that triggers the opening and closing and overturning of the outer frame (1) on the outer surface of the connecting assembly (44). There are two frame connecting seats (41) on each side of the outer frame (1). One side of the outer frame (1) is provided with a rear moving wheel (46) that controls the reverse movement, and the other side of the outer frame (1) is provided with a front moving wheel (47) for forward movement. The overpass assembly (42) includes a rotating shaft (421), which 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 engaged with a driving worm (425). The rear moving wheel (46) includes a rear wheel housing (461), which is rotatably connected to a rotating shaft (421) on one side. A rear wheel motor (462) is fixedly connected to the inner surface of the rear wheel housing (461). A telescopic shaft (4621) is fixedly connected to the output end of the rear wheel motor (462). An input gear (4622) is fixedly connected to the outer surface of the telescopic shaft (4621). A switching cylinder (463) is fixedly connected to the outer surface of the rear wheel housing (461). A pulling block (4631) is fixedly connected to the output end of the switching cylinder (463), and the pulling block (4631) is fixedly connected to the outer surface of the telescopic shaft (4621). A rear driven wheel (464) is rotatably connected to the outer surface of the rear wheel housing (461). An output gear (4641) is fixedly connected to one end of the rear driven wheel (464).

2. The pipeline surface foreign object removal robot according to claim 1, characterized in that: The number of outer frames (1) is two, and the two ends of the outer frames (1) are fixedly connected to frame end faces (11).

3. The pipeline surface foreign object removal robot according to claim 2, characterized in that: 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). A conveyor belt (32) is sleeved on the outer surface of the output end of the cleaning motor (31), and a friction belt (33) is fixedly connected to the outer surface of the conveyor belt (32).

4. The pipeline surface foreign object removal robot according to claim 3, characterized in that: The opening and closing assembly (43) includes a side push block (431), which is slidably connected to the outer surface of the rotating shaft (421). The outer surface of the rotating shaft (421) is fitted with symmetrically distributed push block springs (432). The inner surface of the side push block (431) is hinged to a hinge rod (433), and the outer surface of the hinge rod (433) is fixedly connected to a driven protrusion (4331).

5. A foreign object removal robot for pipeline surfaces according to claim 4, characterized in that: The connecting assembly (44) includes a connecting plate (441), which is rotatably connected to the outer surface of the rotating shaft (421). There are two connecting plates (441), and the outer surface of the connecting plate (441) is provided with symmetrically distributed protrusion moving grooves (442).

6. A foreign object removal robot for pipeline surfaces according to claim 5, characterized in that: The pushing assembly (45) includes a pushing plate (451) which is hinged to the outer surface of the connecting plate (441).

7. A foreign object removal robot for pipeline surfaces according to claim 6, characterized in that: The front moving wheel (47) includes a front wheel bracket (471), which is rotatably connected to a rotating shaft (421) on the other side, and a front driving wheel (472) is rotatably connected to the outer surface of the front wheel bracket (471).

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