Robot for cleaning dirt on inner pipe wall

Abstract

The invention relates to the technical field of cleaning robots, and discloses an inner pipe wall dirt cleaning robot which comprises a robot fixing middle rod, an inner pipe wall moving mechanism and a rotary cleaning mechanism, a fixing disc is fixedly distributed at the front end of the robot fixing middle rod, and supporting rods are fixedly distributed on the outer side wall of the fixing disc; a mounting disc is fixedly arranged at the rear end of the robot fixing middle rod; the inner pipe wall moving mechanism comprises a transverse plate and a moving device, the transverse plate is fixedly arranged at the outer side end of the supporting rod, the moving device is installed at the outer end of the transverse plate, the moving device is sleeved with a moving crawler belt, the front end of the interior of the moving device is rotationally connected with a rotating shaft rod, and a moving control device is arranged at the rear end of the side of the moving device. The rotary cleaning mechanism is of a disc-shaped structure and is fixedly arranged at the front end of the inner pipe wall moving mechanism. The pipeline cleaning device can better adapt to various complex conditions of the inner wall of a pipeline to move forwards, the inner wall of the pipeline can be deeply and powerfully cleaned in the moving process, and dirt can be effectively removed conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, in particular to a robot for cleaning dirt on inner pipe walls. Background Art

[0002] After long-term use, stains will appear on the inner wall of the pipe, which needs to be cleaned. However, because the space inside the pipe is small, the inner wall of the pipe cannot be cleaned manually. Therefore, the help of a pipe inner wall cleaning robot is needed. It can enter the narrow pipe and clean the inner wall of the pipe.

[0003] After searching, the patent with Chinese patent authorization announcement number CN207521390U discloses a circular pipe cleaning robot, which includes a cleaning head, a cylinder and a brush. A fixed rod is provided inside the cleaning head, a chuck assembly is provided at the end of the fixed rod, a box is provided at the bottom end of the chuck assembly, front plates are provided on both sides of the box, a fixed plate is provided at the top of the front plate, a universal wheel is provided at the top of the fixed plate, an isolation plate is provided at the side end of the front plate, a handle is provided at the side end of the isolation plate, a brush handle is provided at the end of the handle, a brush is provided at the top of the brush handle, a rear plate is provided at the side end of the handle, a support frame is provided inside the box, a cylinder is provided at the end of the support frame, and a sleeve is provided inside the cylinder.

[0004] The circular pipe cleaning robot described in the above patent has the following shortcomings: the robot may lack stability in the pipe, has poor adaptability and versatility in different working environments, relies solely on universal wheels for movement, and may have insufficient grip on smooth, wet, or dirty pipe walls, making it prone to slipping. It also has poor flexibility and maneuverability when turning or passing through curved pipes. Furthermore, it is difficult to ensure uniform and thorough cleaning of the pipe wall during movement, cannot effectively cope with complex pipe wall conditions, and has difficulty effectively removing dirt. Therefore, a corresponding technical solution needs to be designed to address this issue. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides an inner pipe wall dirt cleaning robot to solve the technical problems.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a robot for cleaning dirt on inner pipe walls, comprising a robot fixed middle pole, an inner pipe wall moving mechanism, and a rotating cleaning mechanism, wherein a fixed plate is fixedly distributed at the front end of the robot fixed middle pole, a support rod is fixedly distributed on the outer side wall of the fixed plate, and a mounting plate is fixedly provided at the rear end of the robot fixed middle pole;

[0007] The inner tube wall moving mechanism includes a transverse plate and a moving device, wherein the transverse plate is fixed to the outer end of the support rod, and the moving device is installed on the outer end of the transverse plate. The outer surface of the moving device is provided with a moving crawler, and the inner front end of the moving device is rotatably connected to a rotating shaft rod. The side rear end of the moving device is provided with a moving control device, and the outer end of the moving control device is provided with a power output device;

[0008] The rotary cleaning mechanism is a disc-shaped structure fixedly arranged at the front end of the inner tube wall moving mechanism, and the interior of the rotary cleaning mechanism is a hollow structure.

[0009] Preferably, slots are provided at both ends of the front of the mobile device, and the rotating shaft rod is embedded and rotatably connected to the slots; support plates with a Z-shaped structure are installed on the front and rear ends on both sides of the mobile device and the front end of the horizontal plate; the rotating shaft rod is embedded in the slot and rotated and adjusted, so that the rotation is more stable and smooth, and the support plates with a Z-shaped structure are installed on the front and rear ends on both sides of the mobile device and the front end of the horizontal plate, and are movably adjusted. During the movement of the robot, the support plates can effectively disperse the pressure on the mobile device and the horizontal plate, prevent structural deformation or damage due to excessive local force, and ensure that the robot can operate smoothly and reliably.

[0010] Preferably, a support plate 1 is fixedly distributed on the rear outer end of the horizontal plate, and the upper end of the support plate 1 is movably connected to a shaft plate, and the front end of the shaft plate is fixedly provided with an electric telescopic device, and the front end of the electric telescopic device is connected to a telescopic rod, and the front end of the telescopic rod is fixedly distributed with a support plate 2, and a spring rod 1 is fixedly provided between the support plate 2 and the electric telescopic device, and the spring rod 1 is located on the outside of the telescopic rod, and the inner end of the support plate 2 is fixedly provided with a bracket, and the bracket is N-shaped and limitedly slidably connected to the outer end of the horizontal plate; a limited sliding groove 1 is provided inside the horizontal plate, and a limited sliding rod 1 is installed inside the bracket, and the limited sliding rod 1 is slidably connected to the inside of the limited sliding groove 1; the support plate 1 is used to move toward the rear upper end of the horizontal plate The connecting shaft plate is used to fix the electric telescopic device to the front end, and the electric telescopic device is used to telescopically adjust the telescopic rod and support plate 2. The spring rod 1 is used to elastically stretch the telescopic rod and support plate 2. The support plate 2 is used to stably control the forward and backward movement of the bracket. The limiting slide rod 1 is used to support the bracket to stably slide and adjust the limiting slide groove 1 inside the cross plate, so that the distance between the mobile device and the inner wall of the pipe can be automatically adjusted according to the size of the inner diameter of the pipe in combination with the side support structure. The spring rod 1 not only plays a buffering role, but also provides a certain amount of elastic support during the extension and retraction of the telescopic rod, so that the mobile device always maintains a suitable contact pressure with the inner wall of the pipe, ensuring that the mobile crawler can work normally, while also avoiding damage to the inner wall of the pipe due to excessive pressure.

[0011] Preferably, the moving device is connected to both sides of the bracket with a side support structure, and the side support structure includes an axis plate 1, an extension column 1, an axis plate 2, an extension column 2 and a pillar. The extension column 1 is fixedly arranged on the side end of the bracket, and the extension column 2 is fixedly arranged on the side end of the moving device. The axis plate 1 is rotatably connected to the outer end of the extension column 1, and the axis plate 2 is rotatably connected to the outer end of the extension column 2. A spring rod 2 is fixed between the axis plate 1 and the axis plate 2, and the pillar is fixedly arranged on the upper end of the axis plate 1 and passes through the interior of the axis plate 2. A limited sliding groove 2 is provided on both sides of the axis plate 2, and a limited sliding groove is fixed on both sides of the upper end of the pillar Rod two, the limiting slide rod two is slidably connected to the inside of the limiting slide groove two; the spring rod two is used to elastically support the shaft plate one and the shaft plate two, the pillar is used to telescopically slide to the inside of the shaft plate two, the limiting slide rod two is used to limit to the internal auxiliary pillar of the limiting slide groove two for stable telescopic adjustment, the extension column one and the extension column two are used to movably support the shaft plate one and the shaft plate two, and the side support structure provides additional lateral support for the inner tube wall moving mechanism. During the movement of the robot, the side support structure can effectively prevent the moving device from lateral deviation or shaking, thereby improving the movement stability and straight-line driving accuracy of the robot, and ensuring that the cleaning work can be carried out accurately and efficiently.

[0012] Preferably, the rotary cleaning mechanism includes a fixed disk, a driving motor 1, a driving gear, a driving shaft, a cleaning roller brush structure and a limiting ring plate, the outer wall of the fixed disk is provided with a ring groove near the outer end, and the inner end of the ring groove is provided with a limiting groove; the limiting ring plate is annularly structured and slidably connected to the inside of the limiting groove, and the cleaning roller brush structure is fixedly distributed on the outer wall of the limiting ring plate; the driving motor 1 is located in the middle of the front end of the fixed disk, and the inner end of the driving motor 1 is fixed with a support rod, the support rod is fixedly provided in the middle of the fixed disk near the upper end, the driving shaft is connected to the output end of the driving motor 1, the driving gear is fixedly provided at the outer end of the driving shaft, and the external rotation connection of the driving shaft is distributed with a bearing plate, and the bearing plate is fixedly distributed on the outer wall of the fixed disk; the outer side of the fixed disk is provided with a The through hole is used to pass through the driving gear to engage with the fixed gear ring, thereby driving the limiting ring plate with an annular structure to rotate. The limiting groove is used to stably rotate the embedded limiting ring plate to prevent shaking. The annular groove is used to drive the cleaning roller brush structure to rotate and adjust. The transmission method has a simple structure and high transmission efficiency. It can accurately control the rotation speed and direction of the cleaning roller brush structure to ensure uniformity and thoroughness of the cleaning work.

[0013] Preferably, the cleaning roller brush structure includes a cleaning brush rod, an extension sleeve and a brush head. The cleaning brush rod is fixedly distributed on the outer side wall of the limiting ring plate, the extension sleeve is slidably connected to the outer end of the cleaning brush rod, and the side end of the extension sleeve is connected with an adjusting locking bolt through a thread, and the brush head is installed at the outer end of the extension sleeve; the adjusting locking bolt is used to adjust the length of the extension sleeve and the cleaning brush rod, and can be flexibly adjusted according to the size of the inner diameter of the pipe, and can adapt to the cleaning needs of pipes of different specifications. In actual application, it is only necessary to loosen the adjusting locking bolt, adjust the extended length of the extension sleeve, and then re-lock it. The operation is convenient and quick, which greatly improves the versatility and practicality of the robot. The brush head directly contacts the inner pipe wall to fully clean the dirt.

[0014] Preferably, the front end of the extension sleeve is fixed with an extension rod 1, and the end of the extension rod 1 is fixed with a positioning ball; the front end of the extension sleeve is also fixed with an extension rod 2, the outer end of the extension rod 2 is fixed with an end plate, the outer end of the end plate is fixed with a double-layer spring coil, the upper end of the spring coil is fixed with a positioning column, the cross-section of the positioning column is a T-shaped structure, the outer end of the positioning column is fixed with a limiting ball, and the limiting ball is a semicircular structure; the extension rod 1 is used to fix the positioning ball to the front inner end of the extension sleeve, and the positioning ball is used to limit the sliding to the outer side wall of the fixed disk, which not only assists the sliding The second extension rod is used to fix the end plate to the outer end of the front of the extension sleeve. The double-layer spring coil is used to stably support the end plate and the positioning column with high elasticity and cushioning, and the positioning column with a T-shaped cross-section is used to be embedded in the spring coil for stable expansion and contraction. The semicircular limiting ball is used to contact the inner wall of the pipe to provide certain support and guidance for the cleaning roller brush, ensuring that the cleaning roller brush can always maintain a suitable contact angle and pressure with the inner wall of the pipe; at the same time, the elastic effect of the spring coil enables the limiting ball to adapt to the unevenness of the inner wall of the pipe to a certain extent, further improving the uniformity and thoroughness of cleaning.

[0015] Preferably, auxiliary cleaning mechanisms are provided on both sides of the mobile device, and the auxiliary cleaning mechanisms include an extension plate, a slide, an electric hydraulic device, an axle seat, a rotating column and a brush disc, the extension plate is fixedly arranged on the outer end of the mobile device, the slide passes through and is fixedly arranged on the inner near outer end of the extension plate, the electric hydraulic device is fixedly arranged below the extension plate, the upper end of the electric hydraulic device is connected to a hydraulic column, the hydraulic column passes through and is connected to the interior of the slide, the axle seat is fixedly arranged on the upper end of the hydraulic column, the rotating column is rotatably connected to the upper end of the axle seat, and the brush disc is installed on the upper end of the rotating column; the auxiliary cleaning mechanism is used to clean the inner pipe wall in a linked manner during movement, the electric hydraulic device is used to automatically control the lifting and lowering adjustment of the hydraulic column and the axle seat, rotating column and brush disc, and the slide is used to stably support the hydraulic column to slide up and down.

[0016] Preferably, a convex plate is fixed to the outer end of the shaft seat, a limiting rod is fixed to the inner end of the convex plate, a limiting hole is provided near the outer end of the inner part of the extension plate, and the limiting rod passes through and is connected to the inside of the limiting hole; the convex plate is used to fix the limiting rod to the outer end of the shaft seat, and the limiting rod is used to limit the sliding to the inside of the limiting hole, thereby driving the shaft seat to rise and fall stably and prevent shaking, effectively limiting the shaking of the brush disc during the up and down movement, ensuring that the brush disc can be raised and lowered smoothly and accurately, and improving the working stability and cleaning accuracy of the brush disc.

[0017] Preferably, a fixed gear disc is fixed at the middle of the rotating column, and the side end of the fixed gear disc is meshed with a driving gear disc, and a driving shaft is fixed to the inner end of the driving gear disc, and the inner end of the driving shaft is connected to driving motor 2, and a connecting plate 1 is fixed between driving motor 2 and the outer wall of the shaft seat; the external rotation of the driving shaft is connected to the shaft ring, and a connecting plate 2 is fixed between the shaft ring and the outer wall of the shaft seat; driving motor 2 is used to drive and control the rotation of the driving shaft and the driving gear disc, and the driving gear disc is used to mesh with the fixed gear disc, thereby driving the rotating column to rotate, and connecting plate 1 is used to fix and support driving motor 2 to the outer wall of the shaft seat, and connecting plate 2 is used to fix and support the shaft ring to the outer wall of the shaft seat, and the shaft ring is used to provide stable support for the driving shaft, thereby reducing vibration and noise during transmission.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] (1) By fixing the support rods, fixed plates and robot fixed middle rods between multiple groups of inner pipe wall moving mechanisms, a stable support structure is provided for the entire robot, ensuring that the robot can maintain a stable posture during movement and cleaning in the pipeline. The mounting plate facilitates the connection and fixation of the robot with other equipment or pipelines, thereby improving the adaptability and versatility of the robot in different working environments;

[0020] (2) By setting a moving crawler on the outside of the moving device of the multiple sets of inner pipe wall moving mechanisms, the robot can better adapt to various complex conditions of the inner wall of the pipeline. Compared with the traditional wheeled movement method, the crawler movement has a larger contact area and better grip, and can move stably on the smooth, wet or dirty inner wall of the pipeline without slipping, which effectively improves the movement efficiency and reliability of the robot, making it more flexible when turning or passing through curved pipelines, and enabling the robot to easily cope with pipelines with different curvatures, greatly improving the robot's passability in complex pipeline systems, and can automatically adjust the distance between the moving device and the inner wall of the pipeline according to the pipeline diameter within a certain range;

[0021] (3) By setting a disc-shaped rotating cleaning mechanism at the front end of the inner pipe wall moving mechanism, the rotation adjustment of the limit ring plate can be automatically controlled, and at the same time, multiple groups of cleaning roller brush structures can be driven to rotate back and forth, which can adapt to the unevenness of the inner wall of the pipe to a certain extent, improve the uniformity and thoroughness of cleaning, and can perform deep and powerful cleaning on the inner wall of the pipe during the movement, facilitating the effective removal of dirt. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall front viewing angle structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the overall rear perspective structure of the present invention;

[0024] Figure 3 It is a schematic diagram of the rear structure of the inner tube wall moving mechanism and the auxiliary cleaning mechanism of the present invention;

[0025] Figure 4 This is a schematic diagram of the front structure of the inner tube wall moving mechanism and the auxiliary cleaning mechanism of the present invention;

[0026] Figure 5 This is a schematic structural diagram of the inner tube wall moving mechanism of the present invention from a front lower perspective;

[0027] Figure 6 This is a schematic structural diagram of the inner tube wall moving mechanism of the present invention from an upper rear perspective;

[0028] Figure 7 For the present invention Figure 6 A in the middle is an enlarged structural diagram;

[0029] Figure 8 This is a front structural diagram of the rotary cleaning mechanism of the present invention;

[0030] Figure 9 This is a schematic diagram of the rear structure of the rotary cleaning mechanism of the present invention;

[0031] Figure 10 This is a schematic diagram of the driving structure of the rotary cleaning mechanism of the present invention;

[0032] Figure 11 This is an enlarged structural diagram of the driving gear ring cross section of the present invention;

[0033] Figure 12 This is a schematic diagram of the enlarged internal cross-section of the cleaning limit ring plate of the present invention;

[0034] Figure 13 This is a schematic diagram of the local adjustment structure of the cleaning brush rod of the present invention;

[0035] Figure 14 For the present invention Figure 13The enlarged structural diagram at B in the middle;

[0036] Figure 15 This is a schematic diagram of the overall structure of the auxiliary cleaning mechanism of the present invention;

[0037] Figure 16 It is a schematic diagram of the partial structure of the auxiliary cleaning mechanism of the present invention.

[0038] In the figure: 1, robot fixed middle pole; 10, support pole; 101, fixed plate; 102, mounting plate;

[0039] 2. Inner tube wall moving mechanism; 21. Horizontal plate; 211. Limiting slideway 1; 22. Moving device; 221. Moving control device; 222. Power output device; 223. Slot; 224. Rotating shaft rod; 225. Moving track; 23. Electric telescopic device; 231. Telescopic rod; 232. Spring rod 1; 233. Support plate 1; 234. Shaft plate; 235. Support plate 2; 24. Bracket; 241. Limiting slideway 1; 25. Side support structure; 251. Shaft plate 1; 2511. Extension column 1; 252. Shaft plate 2; 2521. Extension column 2; 2522. Limiting slideway 2; 253. Support column; 2531. Limiting slideway 2; 254. Spring rod 2; 26. Support plate;

[0040] 3. Rotating cleaning mechanism; 31. Fixed plate; 311. Ring groove; 3111. Limiting groove; 312. Through hole; 32. Driving motor 1; 321. Driving gear; 322. Driving shaft; 323. Support rod; 324. Bearing plate; 33. Cleaning roller brush structure; 331. Cleaning brush rod; 332. Extension sleeve; 3321. Adjusting locking bolt; 333. Brush head; 334. Extension rod 1; 335. Limiting ball; 336. Extension rod 2; 3361. End plate; 337. Spring ring; 338. Positioning column; 339. Positioning ball; 34. Limiting ring plate; 341. Fixed gear ring;

[0041] 4. Auxiliary cleaning mechanism; 41. Extension plate; 411. Slide; 412. Limiting hole; 42. Electric hydraulic device; 421. Hydraulic column; 43. Shaft seat; 431. Convex plate; 432. Limiting rod; 44. Rotating column; 441. Brush plate; 442. Fixed gear plate; 45. Driving gear plate; 451. Driving motor 2; 4511. Connecting plate 1; 452. Driving shaft; 453. Shaft collar; 4531. Connecting plate 2. DETAILED DESCRIPTION

[0042] 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0043] See also Figures 1-16 The embodiment of the present invention provides a technical solution: a robot for cleaning dirt on the inner pipe wall, comprising a robot fixed middle pole 1, an inner pipe wall moving mechanism 2, and a rotating cleaning mechanism 3. A fixed plate 101 is fixedly distributed at the front end of the robot fixed middle pole 1, a support rod 10 is fixedly distributed on the outer wall of the fixed plate 101, and a mounting plate 102 is fixedly distributed at the rear end of the robot fixed middle pole 1;

[0044] The inner tube wall moving mechanism 2 includes a transverse plate 21 and a moving device 22. The transverse plate 21 is fixed to the outer end of the support rod 10, and the moving device 22 is installed on the outer end of the transverse plate 21. The outer end of the moving device 22 is provided with a moving crawler 225. The inner front end of the moving device 22 is rotatably connected to a rotating shaft rod 224. The side rear end of the moving device 22 is provided with a moving control device 221. The outer end of the moving control device 221 is provided with a power output device 222.

[0045] The rotary cleaning mechanism 3 is a disc-shaped structure fixedly arranged at the front end of the inner tube wall moving mechanism 2 , and the interior of the rotary cleaning mechanism 3 is a hollow structure.

[0046] Further improvement, such as Figure 3-Figure 6 As shown, the front ends of the mobile device 22 are provided with slots 223 , and the shaft rod 224 is embedded and rotatably connected to the slots 223 ;

[0047] Support plates 26 with a Z-shaped structure are installed on the front and rear ends of both sides of the moving device 22 and the front end of the horizontal plate 21;

[0048] The rotating shaft rod 224 is embedded in the card slot 223 and can be rotated and adjusted, so that the rotation is more stable and smooth. The support plate 26 with a Z-shaped structure is installed on the front and rear ends of both sides of the mobile device 22 and the front end of the cross plate 21, and can be adjusted movably. During the movement of the robot, the support plate 26 can effectively disperse the pressure borne by the mobile device 22 and the cross plate 21, preventing structural deformation or damage due to excessive local force, and ensuring that the robot can operate smoothly and reliably.

[0049] Further improvement, such as Figure 3-Figure 6As shown, a support plate 1 233 is fixedly distributed on the rear outer end of the horizontal plate 21, and the upper end of the support plate 1 233 is movably connected to a shaft plate 234. The front end of the shaft plate 234 is fixedly provided with an electric telescopic device 23, and the front end of the electric telescopic device 23 is connected to a telescopic rod 231. The front end of the telescopic rod 231 is fixedly distributed with a support plate 235. A spring rod 1 232 is fixedly provided between the support plate 235 and the electric telescopic device 23. The spring rod 1 232 is located outside the telescopic rod 231. The inner end of the support plate 235 is fixedly provided with a bracket 24. The bracket 24 is an N-shaped structure and is limitedly slidably connected to the outer end of the horizontal plate 21.

[0050] A limiting sliding groove 211 is provided inside the horizontal plate 21, and a limiting sliding rod 241 is installed inside the bracket 24. The limiting sliding rod 241 is slidably connected to the inside of the limiting sliding groove 211;

[0051] The support plate 233 is used to movably connect the shaft plate 234 to the rear upper end of the cross plate 21, and the shaft plate 234 is used to fix the electric telescopic device 23 to the front end. The electric telescopic device 23 is used to telescopically adjust the telescopic rod 231 and the support plate 235. The spring rod 1 232 is used to elastically stretch the telescopic rod 231 and the support plate 235. The support plate 235 is used to stably control the forward and backward movement of the bracket 24. The limiting slide rod 1 241 is used to support the bracket 24 to be located in the limiting slide groove 1 211 inside the cross plate 21 for stable sliding adjustment, so that the distance between the moving device 22 and the inner wall of the pipeline can be automatically adjusted according to the size of the inner diameter of the pipeline in combination with the side support structure 25. The spring rod 1 232 not only plays a buffering role, but also provides a certain amount of elastic support during the extension and retraction of the telescopic rod 231, so that the moving device 22 always maintains a suitable contact pressure with the inner wall of the pipeline, ensuring that the moving crawler 225 can work normally, while also avoiding damage to the inner wall of the pipeline due to excessive pressure.

[0052] Further improvement, such as Figure 3-Figure 7 As shown, the side support structure 25 is connected to both sides of the mobile device 22 and the bracket 24. The side support structure 25 includes an axis plate 1 251, an extension column 1 2511, an axis plate 252, an extension column 2521 and a support column 253. The extension column 1 2511 is fixed to the side end of the bracket 24, and the extension column 2521 is fixed to the side end of the mobile device 22. The axis plate 1 251 is rotatably connected to the outer end of the extension column 1 2511, and the axis plate 252 is rotatably connected to the outer end of the extension column 1 2511. Connected to the outer end of the second extension column 2521, a second spring rod 254 is fixedly disposed between the first and second shaft plates 251 and 252. A support column 253 is fixedly disposed at the upper end of the first shaft plate 251 and extends through the interior of the second shaft plate 252. Second limiting grooves 2522 are defined on both sides of the second shaft plate 252. Second limiting slide bars 2531 are fixedly disposed on both sides of the upper end of the support column 253. The second limiting slide bars 2531 extend through and slide into the interior of the second limiting grooves 2522.

[0053] The spring rod 254 is used to elastically support the shaft plate 1 251 and the shaft plate 2 252, the pillar 253 is used to telescopically slide to the inside of the shaft plate 2 252, the limiting slide rod 2531 is used to limit the internal auxiliary pillar 253 of the limiting slide groove 2522 to stabilize the telescopic adjustment, the extension column 1 2511 and the extension column 2 2521 are used to movably support the shaft plate 1 251 and the shaft plate 2 252, and the side support structure 25 provides additional lateral support for the inner tube wall moving mechanism 2. During the movement of the robot, the side support structure 25 can effectively prevent the moving device 22 from lateral deviation or shaking, thereby improving the movement stability and straight-line driving accuracy of the robot, and ensuring that the cleaning work can be carried out accurately and efficiently.

[0054] Further improvement, such as Figures 8-12 As shown, the rotary cleaning mechanism 3 includes a fixed disk 31, a drive motor 32, a drive gear 321, a drive shaft 322, a cleaning roller brush structure 33 and a limiting ring plate 34. The outer wall of the fixed disk 31 is provided with a ring groove 311 near the outer end, and the inner end of the ring groove 311 is provided with a limiting groove 3111;

[0055] The limiting ring plate 34 is annular in structure and is slidably connected to the inside of the limiting groove 3111. The cleaning roller brush structure 33 is fixedly distributed on the outer wall of the limiting ring plate 34.

[0056] The driving motor 1 32 is located in the middle of the front end of the fixed disk 31, and a support rod 323 is fixed to the inner end of the driving motor 1 32. The support rod 323 is fixed to the middle of the fixed disk 31 near the upper end. The driving shaft 322 is connected to the output end of the driving motor 1 32. The driving gear 321 is fixed to the outer end of the driving shaft 322. The outer rotation connection of the driving shaft 322 is distributed with a bearing plate 324, and the bearing plate 324 is fixed to the outer wall of the fixed disk 31.

[0057] A through hole 312 is formed on the outer side of the fixed plate 31, and a fixed gear ring 341 is fixed around the front end of the limiting ring plate 34. The driving gear 321 passes through the through hole 312 and is meshed with the fixed gear ring 341.

[0058] The support rod 323 is used to fix the driving motor 32 toward the middle of the fixed disk 31 near the upper end. The driving motor 32 is used to drive and control the rotation of the driving shaft 322 and the driving gear 321. The bearing plate 324 is used to stably support the driving shaft 322 to rotate smoothly, reducing vibration and noise during the transmission process, and improving the working stability and reliability of the robot. The through hole 312 is used to pass through the driving gear 321 to engage with the fixed gear ring 341, thereby driving the limiting ring plate 34 with an annular structure to rotate. The limiting groove 3111 is used to embed the limiting ring plate 34 for stable rotation to prevent shaking. The ring groove 311 is used to drive the cleaning roller brush structure 33 to rotate and adjust. The transmission method has a simple structure and high transmission efficiency. It can accurately control the rotation speed and direction of the cleaning roller brush structure 33 to ensure the uniformity and thoroughness of the cleaning work.

[0059] Further improvement, such as Figure 8 、 9 As shown in Figure 13, the cleaning roller brush structure 33 includes a cleaning brush rod 331, an extension sleeve 332 and a brush head 333. The cleaning brush rod 331 is fixedly distributed on the outer side wall of the limiting ring plate 34, the extension sleeve 332 is slidably connected to the outer end of the cleaning brush rod 331, and the side end of the extension sleeve 332 is threadedly connected to an adjustment locking bolt 3321, and the brush head 333 is installed on the outer end of the extension sleeve 332;

[0060] The adjusting locking bolt 3321 is used to adjust the length of the extension sleeve 332 and the cleaning brush rod 331. It can be flexibly adjusted according to the size of the inner diameter of the pipe and can adapt to the cleaning needs of pipes of different specifications. In actual application, it is only necessary to loosen the adjusting locking bolt, adjust the extended length of the extension sleeve 332, and then re-tighten it. The operation is convenient and quick, which greatly improves the versatility and practicality of the robot. The brush head 333 directly contacts the inner pipe wall to fully clean the dirt.

[0061] Further improvement, such as Figure 13-14 As shown, an extension rod 1 334 is fixed to the front end of the extension sleeve 332, and a positioning ball 339 is fixed to the end of the extension rod 1 334;

[0062] A second extension rod 336 is fixed to the front end of the extension sleeve 332. An end plate 3361 is fixed to the outer end of the second extension rod 336. A double-layer spring coil 337 is fixed to the outer end of the end plate 3361. A positioning column 338 is fixed to the upper end of the spring coil 337. The cross-section of the positioning column 338 is a T-shaped structure. A limiting ball 335 is fixed to the outer end of the positioning column 338. The limiting ball 335 has a semicircular structure.

[0063] The extension rod 1 334 is used to fix the positioning ball 339 to the front inner end of the extension sleeve 332. The positioning ball 339 is used to limit the sliding to the outer wall of the fixed plate 31, which not only assists the sliding, but also enhances the stable cleaning effect. The extension rod 2 336 is used to fix the end plate 3361 to the front outer end of the extension sleeve 332. The double-layer spring coil 337 is used to stably support the end plate 3361 and the positioning column 338 with high elasticity to buffer and reduce shock. The positioning column 338 with a T-shaped cross-section is used to be embedded in the spring coil 337 for stable expansion and contraction. The semicircular limiting ball 335 is used to contact the inner wall of the pipe, providing certain support and guidance for the cleaning roller brush, ensuring that the cleaning roller brush can always maintain a suitable contact angle and pressure with the inner wall of the pipe; at the same time, the elastic effect of the spring coil 337 enables the limiting ball 335 to adapt to the unevenness of the inner wall of the pipe to a certain extent, further improving the uniformity and thoroughness of cleaning.

[0064] Further improvement, such as Figure 1-Figure 4 、 Figure 15-16 As shown, auxiliary cleaning mechanisms 4 are provided on both sides of the mobile device 22, and the auxiliary cleaning mechanisms 4 include an extension plate 41, a slide 411, an electric hydraulic device 42, an axle seat 43, a rotating column 44 and a brush plate 441. The extension plate 41 is fixed to the outer end of the mobile device 22, the slide 411 is fixed to the inner near outer end of the extension plate 41, the electric hydraulic device 42 is fixed to the bottom of the extension plate 41, the upper end of the electric hydraulic device 42 is connected to the hydraulic column 421, the hydraulic column 421 is connected to the inner part of the slide 411, the axle seat 43 is fixed to the upper end of the hydraulic column 421, the rotating column 44 is rotatably connected to the upper end of the axle seat 43, and the brush plate 441 is installed on the upper end of the rotating column 44.

[0065] The auxiliary cleaning mechanism 4 is used to clean the inner pipe wall in a linked manner during movement. The electric hydraulic device 42 is used to automatically control the lifting and lowering adjustment of the hydraulic column 421 and the shaft seat 43, the rotating column 44 and the brush plate 441. The slide 411 is used to stably support the hydraulic column 421 to slide up and down.

[0066] Further improvement, such as Figure 15-16 As shown, a protruding plate 431 is fixed to the outer end of the shaft seat 43, a limiting rod 432 is fixed to the inner end of the protruding plate 431, a limiting hole 412 is defined near the outer end of the extension plate 41, and the limiting rod 432 is connected to the inner portion of the limiting hole 412;

[0067] The convex plate 431 is used to fix the limiting rod 432 to the outer end of the shaft seat 43, and the limiting rod 432 is used to limit the sliding to the inside of the limiting hole 412, thereby driving the shaft seat 43 to rise and fall stably and prevent shaking, effectively limiting the shaking of the brush plate 441 during the up and down movement, ensuring that the brush plate 441 can be raised and lowered smoothly and accurately, and improving the working stability and cleaning accuracy of the brush plate 441.

[0068] Specific improvements, such as Figure 15-16 As shown, a fixed gear disc 442 is fixedly provided in the middle of the rotating column 44, and the side end of the fixed gear disc 442 is meshedly connected with the driving gear disc 45. A driving shaft 452 is fixedly provided at the inner end of the driving gear disc 45, and a second driving motor 451 is connected to the inner end of the driving shaft 452. A connecting plate 1 4511 is fixedly provided between the second driving motor 451 and the outer side wall of the shaft seat 43;

[0069] The outer portion of the drive shaft 452 is rotatably connected to a shaft collar 453 , and a second connecting plate 4531 is fixed between the shaft collar 453 and the outer side wall of the shaft seat 43 ;

[0070] Drive motor 2 451 is used to drive and control the drive shaft 452 and the drive gear disc 45 to rotate. The drive gear disc 45 is used to engage with the fixed gear disc 442, thereby driving the rotating column 44 to rotate. The connecting plate 1 4511 is used to fix and support the drive motor 2 451 to the outer wall of the shaft seat 43. The connecting plate 2 4531 is used to fix and support the shaft ring 453 to the outer wall of the shaft seat 43. The shaft ring 453 is used to provide stable support for the drive shaft 452, thereby reducing vibration and noise during the transmission process.

[0071] The overall structure is designed to be modular, making each part relatively independent yet collaborative. During maintenance, if a module fails, it can be disassembled and repaired individually without the need for large-scale disassembly of the entire robot, greatly shortening maintenance time and reducing maintenance costs. At the same time, the modular design also facilitates subsequent functional upgrades. When new technologies or needs emerge, the robot's performance can be improved by simply improving or replacing the corresponding modules.

[0072] Working principle: Connect the external device via the mounting plate 102 and adjust the robot to place it inside the pipe;

[0073] The electric telescopic devices 23 of the multiple sets of inner wall moving mechanisms 2 are activated to automatically control the telescopic rods 231 to adjust their lengths, so that the second support plate 235 drives the bracket 24 to slide stably through the limiting slide bar 1 241 at its inner end in the limiting slide groove 1 211, thereby driving the moving device 22 forward to expand the support spacing or backward to reduce the support spacing through the side support structure 25, and the moving device 22 is movably supported by the multiple sets of support plates 26;

[0074] Then connect the power output device 222 to start the movement control device 221, control the rotating shaft rod 224 to rotate steadily, so that the moving track 225 contacts the inner pipe wall and moves forward steadily;

[0075] The locking bolt 3321 is manually adjusted to adjust the length of the cleaning brush rod 331 and the extension sleeve 332 so that the brush head 333 contacts the inner pipe wall, and the driving motor 32 of the rotary cleaning mechanism 3 is started to automatically control the driving shaft 322 and the driving gear 321 to rotate. The driving gear 321 passes through the through hole 312 and engages with the fixed gear ring 341 to control the rotation of the limiting ring plate 34 at the limiting groove 3111, thereby driving the brush heads 333 of the multiple groups of cleaning roller brush structures 33 to clean the dirt on the inner pipe wall. During the movement, the inner wall of the pipe can be deeply and powerfully cleaned, which is convenient for effectively removing dirt;

[0076] At the same time, the electric hydraulic device 42 of the auxiliary cleaning mechanism 4 is started to automatically control the extension and contraction adjustment of the hydraulic column 421, so that the brush plate 441 contacts the inner tube wall, and the drive motor 2 451 is started to automatically control the rotation of the drive shaft 452 and the drive gear plate 45. The drive gear plate 45 engages with the fixed gear plate 442 to drive the rotating column 44 and the brush plate 441 to rotate, so that the brush plate 441 further cleans the dirt against the inner tube wall.

[0077] The robot of the present invention includes a fixed middle rod 1, a support rod 10, a fixed plate 101, a mounting plate 102, an inner tube wall moving mechanism 2, a horizontal plate 21, a limiting slide groove 1 211, a moving device 22, a moving control device 221, a power output device 222, a slot 223, a rotating shaft rod 224, a moving crawler 225, an electric telescopic device 23, a telescopic rod 231, a spring rod 1 232, a support plate 1 233, a shaft plate 234, a support plate 235, and a bracket 24. , limiting slide bar 1 241, side support structure 25, shaft plate 1 251, extension column 1 2511, shaft plate 2 252, extension column 2 2521, limiting slide groove 2 2522, pillar 253, limiting slide bar 2 2531, spring rod 2 254, support plate 26, rotary cleaning mechanism 3, fixed plate 31, annular groove 311, limiting groove 3111, through hole 312, drive motor 1 32, drive gear 321, drive shaft 322, support rod 3 23, bearing plate 324, cleaning roller brush structure 33, cleaning brush rod 331, extension sleeve 332, adjustment locking bolt 3321, brush head 333, extension rod 1 334, limiting ball 335, extension rod 2 336, end plate 3361, spring ring 337, positioning column 338, positioning ball 339, limiting ring plate 34, fixed gear ring 341, auxiliary cleaning mechanism 4, extension plate 41, slide cylinder 411, limiting hole 412, electric hydraulic device 4 2. The hydraulic column 421, the shaft seat 43, the convex plate 431, the limiting rod 432, the rotating column 44, the brush plate 441, the fixed gear plate 442, the driving gear plate 45, the second driving motor 451, the first connecting plate 4511, the driving shaft 452, the shaft ring 453, and the second connecting plate 4531 are all universal standard parts or parts known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods.

[0078] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, from all points of view, the embodiments should be regarded as illustrative and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and range of equivalents of the claims are included in the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

[0079] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A robot for cleaning dirt from inner pipe walls, comprising a robot fixed middle rod (1), an inner pipe wall moving mechanism (2) and a rotating cleaning mechanism (3), characterized in that: A fixing plate (101) is fixedly distributed on the front end of the robot fixed middle pole (1), a support rod (10) is fixedly distributed on the outer side wall of the fixing plate (101), and a mounting plate (102) is fixedly provided on the rear end of the robot fixed middle pole (1); The inner tube wall moving mechanism (2) comprises a transverse plate (21) and a moving device (22), wherein the transverse plate (21) is fixedly arranged at the outer end of the support rod (10), and the moving device (22) is installed at the outer end of the transverse plate (21). The outer portion of the moving device (22) is provided with a moving crawler (225), the inner front end of the moving device (22) is rotatably connected to a rotating shaft rod (224), and the side rear end of the moving device (22) is provided with a moving control device (221), and the outer end of the moving control device (221) is provided with a power output device (222); The rotary cleaning mechanism (3) is a disc-shaped structure fixedly arranged at the front end of the inner tube wall moving mechanism (2), and the interior of the rotary cleaning mechanism (3) is a hollow structure.

2. The inner pipe wall dirt cleaning robot according to claim 1, characterized in that: The front ends of the moving device (22) are provided with card slots (223), and the rotating shaft (224) is embedded and rotatably connected to the card slots (223); Support plates (26) with a Z-shaped structure are installed at the front and rear ends of both sides of the moving device (22) and the front end of the transverse plate (21).

3. The inner pipe wall dirt cleaning robot according to claim 2, characterized in that: A support plate 1 (233) is fixedly provided at the outer end of the rear portion of the transverse plate (21), and an upper end of the support plate 1 (233) is movably connected to an axis plate (234). An electric telescopic device (23) is fixedly provided at the front end of the axis plate (234), and a telescopic rod (231) is connected to the front end of the electric telescopic device (23). A support plate 2 (235) is fixedly provided at the front end of the telescopic rod (231). A spring rod 1 (232) is fixedly provided between the support plate 2 (235) and the electric telescopic device (23), and the spring rod 1 (232) is located outside the telescopic rod (231). A bracket (24) is fixedly provided at the inner end of the support plate 2 (235), and the bracket (24) is slidably connected to the outer end of the transverse plate (21) in an N-shaped structure. A limiting sliding groove (211) is provided inside the transverse plate (21), and a limiting sliding rod (241) is installed inside the bracket (24), and the limiting sliding rod (241) is slidably connected to the inside of the limiting sliding groove (211).

4. The inner pipe wall dirt cleaning robot according to claim 3, characterized in that: The moving device (22) and the bracket (24) are connected to a side support structure (25) on both sides. The side support structure (25) includes an axis plate (251), an extension column (2511), an axis plate (252), an extension column (2521) and a support column (253). The extension column (2511) is fixed to the side end of the bracket (24), and the extension column (2521) is fixed to the side end of the moving device (22). The axis plate (251) is rotatably connected to the outer end of the extension column (2511). The axis plate (252) is fixed to the side end of the moving device (22). It is rotatably connected to the outer end of the second extension column (2521), and a spring rod (254) is fixed between the first shaft plate (251) and the second shaft plate (252). The pillar (253) is fixed to the upper end of the first shaft plate (251) and is connected to the interior of the second shaft plate (252). A limiting slide groove (2522) is provided on both sides of the second shaft plate (252). A limiting slide rod (2531) is fixed on both sides of the upper end of the pillar (253), and the limiting slide rod (2531) is slidably connected to the interior of the limiting slide groove (2522).

5. The inner pipe wall dirt cleaning robot according to claim 1, characterized in that: The rotary cleaning mechanism (3) comprises a fixed disk (31), a driving motor (32), a driving gear (321), a driving shaft (322), a cleaning roller brush structure (33) and a limiting ring plate (34); an outer wall of the fixed disk (31) is provided with an annular groove (311) near the outer end, and an inner end of the annular groove (311) is provided with a limiting groove (3111); The limiting ring plate (34) is annular in structure and is slidably connected to the interior of the limiting groove (3111), and the cleaning roller brush structure (33) is fixedly distributed on the outer side wall of the limiting ring plate (34); The driving motor (32) is located in the middle of the front end of the fixed disk (31), and a support rod (323) is fixedly provided at the inner end of the driving motor (32), and the support rod (323) is fixedly provided at the middle of the fixed disk (31) near the upper end, and the driving shaft (322) is connected to the output end of the driving motor (32), and the driving gear (321) is fixedly provided at the outer end of the driving shaft (322), and a bearing plate (324) is distributed on the outer rotation connection of the driving shaft (322), and the bearing plate (324) is fixedly distributed on the outer side wall of the fixed disk (31); A through hole (312) is provided on the outer side of the fixed disk (31), a fixed gear ring (341) is fixedly provided around the front end of the limiting ring plate (34), and the driving gear (321) passes through the through hole (312) and is meshedly connected to the fixed gear ring (341).

6. The inner pipe wall dirt cleaning robot according to claim 5, characterized in that: The cleaning roller brush structure (33) includes a cleaning brush rod (331), an extension sleeve (332) and a brush head (333), wherein the cleaning brush rod (331) is fixedly distributed on the outer side wall of the limiting ring plate (34), the extension sleeve (332) is slidably connected to the outer end of the cleaning brush rod (331), and the side end of the extension sleeve (332) is connected to an adjustment locking bolt (3321) through a thread, and the brush head (333) is installed on the outer end of the extension sleeve (332).

7. The inner pipe wall dirt cleaning robot according to claim 6, characterized in that: An extension rod (334) is fixedly provided at the front end of the extension sleeve (332), and a positioning ball (339) is fixedly provided at the end of the extension rod (334); The front end of the extension sleeve (332) is also fixed with an extension rod 2 (336), the outer end of the extension rod 2 (336) is fixed with an end plate (3361), the outer end of the end plate (3361) is fixed with a double-layer spring coil (337), the upper end of the spring coil (337) is fixed with a positioning column (338), the cross-section of the positioning column (338) is a T-shaped structure, and the outer end of the positioning column (338) is fixed with a limiting ball (335), and the limiting ball (335) is a semicircular structure.

8. The inner pipe wall dirt cleaning robot according to claim 1, characterized in that: Auxiliary cleaning mechanisms (4) are provided on both sides of the mobile device (22), and the auxiliary cleaning mechanisms (4) include an extension plate (41), a slide (411), an electric hydraulic device (42), an axle seat (43), a rotating column (44) and a brush plate (441). The extension plate (41) is fixed to the outer end of the mobile device (22), the slide (411) is fixed to the inner near outer end of the extension plate (41), the electric hydraulic device (42) is fixed below the extension plate (41), the upper end of the electric hydraulic device (42) is connected to a hydraulic column (421), the hydraulic column (421) is connected to the inner part of the slide (411), the axle seat (43) is fixed to the upper end of the hydraulic column (421), the rotating column (44) is rotatably connected to the upper end of the axle seat (43), and the brush plate (441) is installed on the upper end of the rotating column (44).

9. The inner pipe wall dirt cleaning robot according to claim 8, characterized in that: A convex plate (431) is fixedly provided at the outer end of the shaft seat (43), a limiting rod (432) is fixedly provided at the inner end of the convex plate (431), a limiting hole (412) is provided near the outer end of the inner portion of the extension plate (41), and the limiting rod (432) is connected to the inner portion of the limiting hole (412).

10. The inner pipe wall dirt cleaning robot according to claim 9, characterized in that: A fixed toothed disc (442) is fixedly provided in the middle of the rotating column (44), and a driving toothed disc (45) is meshedly connected to a side end of the fixed toothed disc (442), and a driving shaft (452) is fixedly provided at the inner end of the driving toothed disc (45), and a second driving motor (451) is connected to the inner end of the driving shaft (452), and a connecting plate (4511) is fixedly provided between the second driving motor (451) and the outer side wall of the shaft seat (43); The outer portion of the driving shaft (452) is rotatably connected to a shaft ring (453), and a second connecting plate (4531) is fixedly provided between the shaft ring (453) and the outer side wall of the shaft seat (43).

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