Multi-modular telescopic pipeline cleaning robot

Abstract

The multi-modular telescopic pipeline cleaning robot comprises a cleaning mechanism, a dust collection mechanism, a spraying mechanism and a plurality of driving devices, a conductive sliding ring control cleaning assembly is arranged in the cleaning mechanism, the distance between a cleaning brush head and a columnar shell can be adjusted in real time, and the multi-modular telescopic pipeline cleaning robot is suitable for pipelines with different pipe diameters; unnecessary energy consumption and abrasion are avoided while the cleaning effect is guaranteed, after cleaning work is completed, the cleaning brush head can retract into the robot, the overall structure is more compact, the planetary gear train is adopted to drive the columnar shell to rotate, the cleaning brush head has a large cleaning range, energy loss is reduced, and the cleaning efficiency is improved. The stability of the whole structure is enhanced; and the driving device can be matched with any mechanism of cleaning, dust collection and spraying, the modular effect is achieved, the cleaning efficiency and the maintenance efficiency of the pipeline cleaning robot are improved, the use cost and the maintenance cost are reduced, and the practicability and the economical efficiency of the pipeline cleaning robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline cleaning robots, and in particular to a multi-modular retractable pipeline cleaning robot. Background Art

[0002] Traditional manual pipeline cleaning methods generally have problems such as low efficiency, high labor costs and major safety hazards, which are difficult to meet the needs of modern urban pipeline maintenance. Therefore, the development of pipeline cleaning robot technology has been promoted.

[0003] Compared with traditional manual pipe cleaning methods, existing pipe cleaning robots have advantages such as high cleaning efficiency and reduced safety hazards. However, the pipe cleaning robots currently commonly used also have many shortcomings. For example, the diameter range of applicable pipes is narrow, which makes it difficult to meet the cleaning needs of a larger pipe diameter range, limiting their application scenarios and functionality to a certain extent. Some pipe cleaning robots can achieve intelligent and automated cleaning and repair, but they are expensive and complex to operate. Professional training is required for operation, and the technical requirements for operators are high, which increases the threshold for use and there is also the problem of high maintenance costs.

[0004] Therefore, it is necessary to improve the existing pipe cleaning robots so that they can not only adapt to pipes of different diameters and complex pipe environments and independently complete cleaning and maintenance operations, but also improve the safety of various operations, improve the cleaning efficiency and maintenance efficiency of pipe cleaning robots, reduce use and maintenance costs, and further improve the practicality and economy of pipe cleaning robots. Summary of the Invention

[0005] In view of the shortcomings of current pipe cleaning robots, the purpose of the present invention is to provide a multi-modular retractable pipe cleaning robot that can not only adapt to pipes of different diameters and complex pipe environments, and independently complete cleaning and maintenance operations, but also improve the safety of various operations, improve the cleaning efficiency and maintenance efficiency of the pipe cleaning robot, reduce the cost of use and maintenance, and further improve the practicality and economy of the pipe cleaning robot.

[0006] To achieve the purpose of the invention, the present invention provides a multi-modular retractable pipe cleaning robot, comprising a cleaning mechanism, a dust collection mechanism, a spraying mechanism, and several drive devices. The cleaning mechanism comprises a central axis group, a cylindrical shell, and several cleaning components distributed along the circumference of the cylindrical shell;

[0007] The cylindrical housing is rotatably fitted around the central shaft assembly; the cleaning assembly includes a cleaning brush head and an X-shaped rocker mechanism, the X-shaped rocker mechanism including a rocker I and a rocker II, with an X-shaped hinge formed between the rocker I and the rocker II; one end of the rocker I is axially slidable with the cleaning brush head, and the other end is hinged and axially fixed to the cylindrical housing; one end of the rocker II is hinged and axially fixed to the cleaning brush head, and the other end can be driven to slide axially, so that the distance between the cleaning brush head and the cylindrical housing is adjustable;

[0008] The driving device is installed between the cleaning mechanism and the dust suction mechanism and between the dust suction mechanism and the spraying mechanism.

[0009] Furthermore, the central axis group includes a central axis and an expanded column bottom structure, wherein a generator is provided in the expanded column bottom structure, and the generator is fixedly connected to the bottom groove of the expanded column bottom structure;

[0010] A transmission mechanism is provided between the cylindrical housing and the central axis group, and the transmission mechanism includes a conductive slip ring and a planetary gear train. The conductive slip ring can be driven to slide axially along the central axis, so that the pendulum rod I and the pendulum rod II slide axially along the cylindrical housing; the planetary gear train can be driven to drive the cylindrical housing to rotate.

[0011] Furthermore, the conductive slip ring is rotatably fitted around the central shaft and is located inside the cylindrical shell. The conductive slip ring includes a stop plate, a rotor conductor and a stator conductor. The stop plate is connected to the cylindrical shell, the stator conductor is connected to the generator, and the rotor conductor is connected to several double-track slides provided on the cylindrical shell.

[0012] Furthermore, the dual-track slide is distributed along the circumferential direction of the cylindrical shell and is fixed to the cylindrical shell in the axial direction. The dual-track slide includes a slide body, and the slide body is provided with a stepper motor, a slider and a ball screw. The slider is connected to the rocker arm II, and the stepper motor is connected to the rotor wire and drives the slider to move on the ball screw, thereby driving the rocker arm I and the rocker arm II to slide.

[0013] Furthermore, when the slider is in working state, it moves on the ball screw in the direction close to the stepping motor, driving the rocker rod I and the rocker rod II to slide outside the cylindrical housing, thereby increasing the distance between the cleaning brush head and the cylindrical housing;

[0014] When the slider is not in operation, it moves on the ball screw in a direction away from the stepping motor, driving the rocker rod I and the rocker rod II to slide into the cylindrical housing, thereby reducing the distance between the cleaning brush head and the cylindrical housing.

[0015] Furthermore, the transmission mechanism further comprises a rotating shaft, a driving end of the rotating shaft is connected to the generator, a driven end of the rotating shaft is connected to a planetary gear train, and the planetary gear train is connected to the cylindrical housing;

[0016] A planet carrier is provided on the protruding portion of the enlarged column base structure, and the planet carrier is used to support a planetary gear train.

[0017] Furthermore, the planetary gear train includes a sun gear, planetary gears and a ring gear. The sun gear is connected to the driven end of the rotating shaft and drives the planetary gears to rotate. The planetary gears drive the ring gear to rotate and then drive the cylindrical housing to rotate.

[0018] Furthermore, the cleaning brush head includes a brush and a chute, wherein the brush is fixedly mounted at the bottom of the chute and connected to the rocker arm II via a base fixed to the chute, and a chute slider is provided on the chute, and the chute slider is connected to the rocker arm I;

[0019] A detachable rotating cover is provided on the top of the columnar housing, and a bearing connection device I for fixedly connecting the detachable rotating cover and the central shaft is provided between the detachable rotating cover and the top of the central shaft.

[0020] Furthermore, the bearing cover in the bearing connection device I is provided with a fixed connection component I that matches the driving device.

[0021] Furthermore, a bearing connection device II for fixedly connecting the detachable rotating cover and the fan motor is provided between the detachable rotating cover at the top and bottom of the cylindrical housing of the dust suction mechanism and the top of the fan motor of the dust suction mechanism, and the bearing cover in the bearing connection device II is provided with a fixed connection component II that matches the drive device;

[0022] A bearing connection device III for fixedly connecting the detachable rotating cover and the spray motor is provided between the detachable rotating cover at the bottom of the cylindrical shell of the spray mechanism and the top of the spray motor of the spray mechanism. The bearing cover in the bearing connection device III is provided with a fixed connection component III that matches the drive device.

[0023] The beneficial effects of the present invention are as follows: a multi-modular retractable pipe cleaning robot of the present invention comprises a cleaning mechanism, a dust suction mechanism, a spraying mechanism and several driving devices; a conductive slip ring is provided in the cleaning mechanism to control the cleaning assembly, which can adjust the distance between the cleaning brush head and the cylindrical shell in real time to adapt to pipes of different diameters, ensuring the cleaning effect while avoiding unnecessary energy consumption and wear; after the cleaning work is completed, the cleaning brush head can be retracted into the inside of the robot, making the overall structure more compact; a planetary gear system is also adopted to drive the cylindrical shell to rotate, so that the cleaning brush head has a larger cleaning range, reduces energy loss, and enhances the stability of the overall structure; the driving device can also be matched with any of the three mechanisms of cleaning, dust suction and spraying to achieve a modular effect, improve the cleaning efficiency and maintenance efficiency of the pipe cleaning robot, reduce the use cost and maintenance cost, and improve the practicality and economy of the pipe cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic structural diagram of the multi-modular retractable pipe cleaning robot of the present invention;

[0025] Figure 2 It is a structural diagram of the cleaning mechanism;

[0026] Figure 3 It is a longitudinal cross-sectional view of the cleaning mechanism along the length direction;

[0027] Figure 4 It is a structural diagram of a conductive slip ring;

[0028] Figure 5 Schematic diagram of the structure of the planetary gear train;

[0029] Figure 6 It is a structural diagram of a double-track slide;

[0030] Figure 7 It is a structural diagram of the dust collection mechanism;

[0031] Figure 8 It is a structural diagram of the spraying mechanism;

[0032] Figure 9 This is a structural diagram of the multi-modular retractable pipe cleaning robot in a non-working state.

[0033] Figure numerals: 1, cleaning mechanism; 2, central axis group; 201, central axis; 202, expanded column base structure; 3, columnar shell; 4, cleaning assembly; 5, cleaning brush head; 501, brush; 502, chute; 503, chute base; 504, chute slider; 6, X-shaped rocker mechanism; 601, rocker I; 602, rocker II; 7, generator; 8, conductive slip ring; 801, anti-rotation plate; 802, rotor wire; 803, stator wire; 9, planetary gear train; 901, sun gear; 902, planetary gear; 903, ring gear; 10, Double-track slide; 1001, slide body; 1002, stepper motor; 1003, slider; 1004, ball screw; 11, rotating shaft; 12, planetary carrier; 13, detachable rotating cover; 14, bearing connection device I; 1401, bearing; 1402, gasket; 1403, bearing cover I; 15, fixed connection component I; 16, driving device; 17, dust collection mechanism; 1701, bearing connection device II; 1702, fixed connection component II; 18, spraying mechanism; 1801, bearing connection device III; 1802, fixed connection component III. DETAILED DESCRIPTION

[0034] The following is combined with Figure 1-9 The present invention is described in further detail.

[0035] The embodiment of the present invention discloses a multi-modular retractable pipe cleaning robot, comprising a cleaning mechanism 1, a dust collection mechanism 17, a spraying mechanism 18 and a plurality of driving devices 16. The cleaning mechanism 1 comprises a central axis group 2, a cylindrical shell 3 and a plurality of cleaning components 4 distributed along the circumferential direction of the cylindrical shell 3. Figure 1 As shown, the pipeline robot integrates three functions of cleaning, vacuuming and spraying, which does not require frequent equipment replacement, improves work efficiency, and has good practicality. I will not go into details here;

[0036] The cylindrical shell 3 is rotatably fitted around the central shaft assembly 2; the cleaning assembly 4 includes a cleaning brush head 5 and an X-shaped rocker mechanism 6, the X-shaped rocker mechanism 6 including a rocker I 601 and a rocker II 602, an X-shaped hinge being formed between the rocker I 601 and the rocker II 602; one end of the rocker I 601 is axially slidable with the cleaning brush head 5, and the other end is hinged and axially fixed to the cylindrical shell 3; one end of the rocker II 602 is hinged and axially fixed to the cleaning brush head 5, and the other end can be driven to slide along the axial direction, so that the distance between the cleaning brush head 5 and the cylindrical shell 3 is adjustable, as shown in FIG. Figure 2As shown, the central shaft group 2 is a fixed structure, and the cylindrical shell 3 is rotatably matched through the bearing and is sheathed on the central shaft group 2, which can ensure that the cylindrical shell 3 can rotate flexibly relative to the central shaft group 2, and the rotation process is smooth. At the same time, the existing technology can also be used to set limit bosses at both ends of the central shaft group 2 to prevent the cylindrical shell 3 from moving in the axial direction. The bearing is selected with a sealing structure to avoid the entry of dust and impurities, etc., which affect the rotation performance. No more details are given here; the X-shaped rocker mechanism 6 is composed of a rocker I 601 and a rocker II 602. The intersection of the two is hinged in an X shape through a pin shaft. One end of the rocker I 601 and the cleaning brush head 5 can be slidably matched in the axial direction in the form of a dovetail groove. The dovetail groove can ensure that the cleaning brush head 5 slides stably in the axial direction, and the other end can be hinged to the mounting seat preset in the cylindrical shell 3 by a U-shaped connector. The mounting seat is connected to the cylindrical shell 3 by welding or bolts and is fixed in the axial direction; one end of the rocker II 602 can be hinged to the side of the cleaning brush head 5 by a T-shaped connector. The T-shaped connector is fixedly connected to the cleaning brush head 5 and is fixed in the axial direction. A slide groove and a slider can be provided at the connection between the other end and the cylindrical shell 3. The slider is embedded in the slide groove opened in the axial direction on the outer surface of the cylindrical shell 3. When the slider slides in the slide groove, the rocker II 602 drives the cleaning brush head 5 to change the distance between it and the cylindrical shell 3, thereby realizing the cleaning of pipes with different diameters;

[0037] The driving device 16 is installed between the cleaning mechanism 1 and the dust collection mechanism 17 and between the dust collection mechanism 17 and the spraying mechanism 18. The driving device 16 is located between the two functional mechanisms and can provide power support for the two adjacent mechanisms simultaneously or separately, reducing power transmission loss and ensuring efficient linkage of each mechanism. The operation sequence of cleaning, dust collection and spraying is usually continuous. The driving device 16 can quickly respond to the start or stop signal of the adjacent mechanism in the middle position, avoiding delays caused by the long power transmission path and improving operation efficiency. It will not be repeated here.

[0038] In this embodiment, the central axis group 2 includes a central axis 201 and an expanded column base structure 202. A generator 7 is provided in the expanded column base structure 202. The generator 7 is fixedly connected to the bottom groove of the expanded column base structure 202. The central axis 201 serves as the core supporting component of the entire device and is made of high-strength alloy steel to ensure that the central axis 201 can withstand a certain external force and torque during the pipeline cleaning operation. The central axis 201 can adopt a hollow structure, which not only reduces its own weight, but also provides space for the installation of internal wiring and transmission components, which will not be repeated here; the bottom of the expanded column base structure 202 is disc-shaped, and its diameter is larger than the central axis 2 01 in diameter, a groove is provided at the bottom of the expanded column base structure 202 for installing the generator 7, which serves as the power source of the entire cleaning mechanism 1. The top of the generator 7 can be fixedly connected to the bottom groove of the expanded column base structure 202 by a bolt group. Before installation, the mounting surface of the top of the generator 7 and the corresponding mounting position of the bottom groove of the expanded column base structure 202 are flattened to ensure that the two fit tightly. When tightening the bolts, the principle of diagonal tightening should be followed to ensure uniform force and prevent the generator 7 from loosening or deflecting during operation, thereby ensuring the stability of the operation of the generator 7 and the reliability of the power output. I will not go into details here.

[0039] A transmission mechanism is provided between the cylindrical housing 3 and the central shaft group 2, and the transmission mechanism includes a conductive slip ring 8 and a planetary gear train 9. The conductive slip ring 8 can be driven to slide along the axial direction of the central shaft 201, so that the pendulum rod I 601 and the pendulum rod II 602 slide along the axial direction of the cylindrical housing 3; the planetary gear train 9 can be driven to drive the cylindrical housing 3 to rotate. The conductive slip ring 8 is provided on the central shaft 201 and can slide along the axial direction of the central shaft 201 with power provided by the generator 7. The conductive slip ring 8 is provided with multiple layers of conductive rings and brushes inside, which can not only realize the axial sliding function, but also transmit the electric energy generated by the generator 7 to the cleaning component 4 on the cylindrical housing 3. When the conductive slip ring 8 slides , connected to the rocker arm I 601 and the rocker arm II 602 through a double-track slide or a connecting rod, driving the rocker arm I 601 and the rocker arm II 602 to slide along the axial direction of the cylindrical shell 3, thereby adjusting the distance between the cleaning brush head 5 and the cylindrical shell 3; the planetary gear system 9 mainly includes a sun gear, planetary gears, an inner ring gear and a planetary carrier. The sun gear is usually installed on the output shaft of the power source, and the inner ring gear is fixedly connected to the inner wall of the cylindrical shell 3. As the power source drives the sun gear to rotate, the planetary gear rotates around its own axis and revolves along the inner ring gear under the drive of the sun gear, thereby driving the inner ring gear and the cylindrical shell 3 to rotate together. The planetary gear system 9 has the characteristics of high transmission efficiency and strong load-bearing capacity, and can stably drive the cylindrical shell 3 to rotate.

[0040] In this embodiment, the conductive slip ring 8 is rotatably fitted around the central shaft 201 and is located inside the cylindrical housing 3. The conductive slip ring 8 includes a stopper 801, a rotor conductor 802 and a stator conductor 803. The stopper 801 is connected to the cylindrical housing 3, the stator conductor 803 is connected to the generator 7, and the rotor conductor 802 is connected to a plurality of double-track slides 10 provided on the cylindrical housing 3. The conductive slip ring 8 is rotatably fitted around the central shaft 201 and is located inside the cylindrical housing 3. The housing of the conductive slip ring 8 is made of wear-resistant and insulating engineering plastic material to protect the internal conductive structure, which will not be described in detail here. The stopper 801 is connected to the cylindrical housing 3 by welding or bolting to ensure that the stopper 801 can limit the rotor part of the conductive slip ring 8 from rotating with the cylindrical housing 3 during operation, so that the rotor part and the stator part of the conductive slip ring 8 can be connected. Generate relative motion to realize the transmission of electric energy; one end of the stator wire 803 is connected to the stator part of the conductive slip ring 8, which can be connected by welding, crimping or plug-in connection. The other end of the stator wire 803 is connected to the corresponding terminal of the generator 7. After the connection is completed, the connection part is insulated, such as wrapped with insulating tape to prevent leakage; one end of the rotor wire 802 is connected to the rotor part of the conductive slip ring 8, and the other end is connected to the power input terminal of the double-track slide 10 to ensure that electric energy can be stably transmitted from the generator 7 to the double-track slide 10 through the conductive slip ring 8, thereby driving the pendulum rod I 601 and the pendulum rod II 602 to slide along the axial direction of the cylindrical shell 3, thereby realizing the adjustment of the distance between the cleaning brush head 5 and the cylindrical shell 3. At the same time, in order to prevent the rotor wire 802 from shaking or pulling during operation, the wire can be fixed by means of cable ties or wire troughs, which will not be repeated here.

[0041] In this embodiment, the dual-track slide 10 is distributed along the circumferential direction of the cylindrical housing 3 and is fixed to the cylindrical housing 3 in the axial direction. The dual-track slide 10 includes a slide body 1001, and the slide body 1001 is provided with a stepper motor 1002, a slider 1003 and a ball screw 1004. The slider 1003 is connected to the rocker II 602. The stepper motor 1002 is connected to the rotor wire 802 and drives the slider 1003 to move on the ball screw 1004, thereby driving the rocker I 601 and the rocker II 602 to slide. The axis of the cylindrical housing 3 The cleaning brush head 5 usually has a certain length, and the coverage of a single cleaning brush head 5 is limited. Several double-track slides 10 distributed axially along the cylindrical shell 3 can carry multiple cleaning brush heads 5, so that cleaning operations can be performed at different axial positions, thereby expanding the overall cleaning range, reducing the ineffective movement time during the cleaning process, and improving the cleaning efficiency. According to the working requirements and design layout of the cleaning component 4, the installation positions of the rocker rod I 601 and the rocker rod II 602 on the double-track slide 10 are determined, and no further details are given here; the ball screw 1004 is set on the slide body 1001 The screw rod installation groove is then placed on the slider 1003 on the ball screw 1004, ensuring that the nut inside the slider 1003 is correctly matched with the screw rod, and then the stepper motor 1002 is installed on the motor mounting seat of the slide body 1001 and fixed with screws. The output shaft of the stepper motor 1002 is connected to the ball screw 1004 through a coupling to ensure a firm connection and good concentricity to avoid vibration and noise during operation. I will not go into details here; the rotor wire 802 is connected to the terminal of the stepper motor 1002. Pay attention to the polarity to prevent reverse connection, which may cause the stepper motor 1002 to malfunction. At the same time, insulate the connection parts, such as wrapping them with insulating tape to prevent leakage. The pendulum II 602 is installed on the slider 1003, and can be connected by bolts or welding to ensure a firm connection. Adjust the position and angle of the pendulum II 602 so that the pendulum I 601 and the pendulum II 602 can slide toward the outside / inside of the cylindrical shell 3 as the slider 1003 moves, so that the distance between the cleaning brush head 5 and the cylindrical shell 3 can be adjusted to meet the working requirements of the cleaning component 4.

[0042] In this embodiment, when the slider 1003 is in the working state, it moves on the ball screw 1004 in the direction close to the stepping motor 1002, driving the pendulum rod I 601 and the pendulum rod II 602 to slide outward from the cylindrical housing 3, thereby increasing the distance between the cleaning brush head 5 and the cylindrical housing 3; when the slider 1003 is in the non-working state, it moves on the ball screw 1004 in the direction away from the stepping motor 1002, driving the pendulum rod I 601 and the pendulum rod II 602 to slide inward from the cylindrical housing 3, thereby decreasing the distance between the cleaning brush head 5 and ... increasing the distance between the cleaning brush head 5 and the cylindrical housing 3, thereby increasing the distance between the cleaning brush head 5 and the cylindrical housing 3, thereby increasing the distance between the cleaning brush head 5 and the cylindrical housing 3, thereby increasing the distance between the cleaning brush head 5 and the cylindrical housing 3, thereby increasing the distance between the cleaning brush head 5 and the cylindrical housing 3, thereby increasing the distance between the cleaning brush head 5 and the cylindrical housing 3, thereby increasing the distance between the cleaning brush head 5 and the cylindrical housing 3 002 controller parameter settings, determine the stepper motor 1002 forward rotation (corresponding to the slider 1003 moving closer to the stepper motor 1002) and the stepper motor 1002 reverse rotation (corresponding to the slider 1003 moving away from the stepper motor 1002) pulse frequency, pulse number and direction signal, when the stepper motor 1002 receives the forward rotation control signal, it starts to rotate, and drives the ball screw 1004 to rotate through the coupling, and the rotation of the ball screw 1004 will be converted into a linear motion of the slider 1003 on the ball screw 1004 along the ball screw 1004, the slider 1002 003 moves in the direction close to the stepping motor 1002. Since the pendulum rod II 602 is installed on the slider 1003, the movement of the slider 1003 drives the pendulum rod I 601 and the pendulum rod II 602 to slide outside the cylindrical shell 3, so that the cleaning brush head 5 reaches the working position and starts the cleaning operation; when the stepping motor 1002 receives the reverse control signal, it starts to rotate in the reverse direction, driving the ball screw 1004 to rotate in the reverse direction. The reverse rotation of the ball screw 1004 causes the slider 1003 to move in the direction away from the stepping motor 1002. The reverse rotation of the slider 1003 The movement drives the rocker arm I 601 and the rocker arm II 602 to slide into the cylindrical shell 3, so that the cleaning brush head 5 returns to the initial position and stops working; limit switches can also be installed at both ends of the slide body 1001. When the slider 1003 moves to the extreme position, the limit switch is triggered to stop the rotation of the stepper motor 1002 to prevent the slider 1003 from exceeding the stroke range and damaging the equipment, or a buffer device, such as a rubber buffer pad or a hydraulic buffer, can be set on the movement path of the slider 1003 to reduce the impact force of the slider 1003 when it reaches the extreme position, thereby reducing the vibration and noise of the equipment.

[0043] In this embodiment, the transmission mechanism also includes a rotating shaft 11, the driving end of the rotating shaft 11 is connected to the generator 7, the driven end of the rotating shaft 11 is connected to the planetary gear system 9, and the planetary gear system 9 is connected to the cylindrical housing 3. The driving end of the rotating shaft 11 is connected to the bottom of the generator 7 by an elastic coupling. The elastic coupling can not only compensate for the slight coaxiality deviation between the output shaft of the generator 7 and the rotating shaft 11, but also play a buffering role at the moment of starting and stopping the generator 7, reducing the damage to the generator 7 and the rotating shaft 11 caused by the impact. During the installation process, the two halves of the elastic coupling are first installed on the output shaft and the rotating shaft 11 of the generator 7 respectively, and then the locating pins are used to ensure that the two are accurately aligned. Finally, they are tightened by bolts to ensure the tightness of the connection and the high efficiency of the transmission; the driven end of the rotating shaft 11 and the planetary gear system 9 are generally splined. The driven end of the rotating shaft 11 is processed with an external spline, and the input component of the planetary gear train 9, such as the inner hole of the sun gear, is processed with an internal spline matching therewith. During assembly, the external spline of the rotating shaft 11 is inserted into the internal spline of the input component of the planetary gear train 9. To prevent axial movement, a retaining spring or a shaft shoulder can be used for axial positioning. This design can achieve effective torque transmission, high centering accuracy, and good centering. The planetary gear train 9 and the cylindrical housing 3 can usually be connected by bolts. Bolt holes are processed on the housing or bracket of the planetary gear train 9, and bolt holes are also processed at corresponding positions on the cylindrical housing 3. Bolts are passed through the bolt holes and fastened with nuts. In order to ensure the sealing and stability of the connection, a sealing gasket can also be added at the joint surface. During installation, the planetary gear train 9 is first placed in a suitable position in the cylindrical housing 3, and then the bolt holes are aligned. The bolts and nuts are installed in sequence and tightened according to the specified torque. No further details are given here.

[0044] A planetary carrier 12 is provided on the protruding part of the expanded column base structure 202. The planetary carrier 12 is used to support the planetary gear train 9. The planetary carrier 12 is generally made of high-strength alloy steel material, has high strength and toughness, and can withstand large torque and impact force. The planetary carrier 12 and the expanded column base structure 202 can be fixedly connected by welding. The connection parts are cleaned to remove impurities such as oil and rust, and then a suitable welding process is selected, such as carbon dioxide gas shielded welding or manual arc welding, to firmly weld the planetary carrier 12 to the protruding part of the expanded column base structure 202. During the welding process, attention should be paid to controlling the welding parameters to avoid welding defects such as pores and cracks, which will not be repeated here. The support method of the planetary gear train 9 on the planetary carrier 12 is generally sliding bearing support and rolling bearing support. The sliding bearing support refers to The purpose is to process a hole for installing a sliding bearing on the planetary carrier 12, install the sliding bearing in the hole, and install the shaft of the planetary gear in the sliding bearing, and realize the rotation of the planetary gear through the sliding bearing. The sliding bearing has the advantages of simple structure and low cost, but the friction coefficient is relatively large, which is suitable for planetary gear systems with low speed and small load; the rolling bearing support generally uses a suitable type of rolling bearing, such as deep groove ball bearings or cylindrical roller bearings, and installs the rolling bearing in the corresponding position of the planetary carrier 12, and the shaft of the planetary gear is installed in the rolling bearing. The rolling bearing has a small friction coefficient and high rotation efficiency, can withstand high speed and load, and is suitable for the support of most planetary gear systems; in the actual implementation process, the above support methods are comprehensively considered according to factors such as specific application scenarios, load requirements and speed to ensure that the planetary carrier 12 can stably support the planetary gear system 9 and achieve reliable transmission.

[0045] In this embodiment, the planetary gear system 9 includes a sun gear 901, planetary gears 902 and a ring gear 903. The sun gear 901 is connected to the driven end of the rotating shaft 11 and drives the planetary gears 902 to rotate. The planetary gears 902 drive the ring gear 903 to rotate and thus drive the cylindrical housing 3 to rotate. When the rotating shaft 11 transmits the electric energy provided by the generator 7 and drives the sun gear 901 to rotate, the rotation of the sun gear 901 drives the planetary gears 902 meshing therewith to rotate. Since the other side of the planetary gears 902 is meshed with the fixed ring gear 903, the planetary gears 902 rotate while revolving around the sun gear 901, thereby driving the cylindrical housing 3 to rotate. By reasonably designing the sun gear 901, The gear ratio of the planetary gear 902 and the ring gear 903 changes the rotation speed and torque of the cleaning brush head 5 to meet the cleaning needs of pipes with different diameters and dirt degrees, which will not be repeated here; the ring gear 903 is connected to the cylindrical shell 3 by bolts, and corresponding bolt holes are pre-processed on the ring gear 903 and the cylindrical shell 3. The position and size of the bolt holes are set according to actual needs. At the same time, in order to improve the reliability of the connection between the ring gear 903 and the cylindrical shell 3, positioning pin holes can also be provided around the bolt holes for installing positioning pins to ensure that the relative position of the ring gear 903 and the cylindrical shell 3 is accurate, clean the mounting surfaces of the ring gear 903 and the cylindrical shell 3, and apply an appropriate amount of sealant to prevent dust and moisture from entering the interior of the planetary gear train 9.

[0046] In this embodiment, the cleaning brush head 5 includes a brush 501 and a chute 502. The brush 501 is fixedly mounted at the bottom of the chute 502 and is connected to the rocker II 602 through a base 503 fixed to the chute. A chute slider 504 is provided on the chute 502. The chute slider 504 is connected to the rocker I 601. The brush 501 is generally made of high-strength and corrosion-resistant materials, which will not be described here. The shape and size of the base 503 of the chute should be compatible with the rocker II 602 and the chute 502, and the drilling and passing of the existing technology can be adopted. Fix it to the slide 502 by screws or bolts to ensure that the pendulum rod II 602 is firmly installed without loosening; corresponding bolt holes are respectively processed on the slide slider 504 and the pendulum rod I 601, and bolts of appropriate specifications are selected. The diameter and length of the bolts are determined according to the required strength of the connection and the force condition of the pendulum rod I 601. During installation, the bolts are passed through the bolt holes on the slide slider 504 and the pendulum rod I 601, and then the nuts are tightened. To prevent the bolts from loosening, spring washers or lock nuts can be used. This connection method is simple to operate and easy to disassemble and maintain.

[0047] The top of the cylindrical shell 3 is provided with a detachable rotary cover 13, and a bearing connection device I14 is provided between the detachable rotary cover 13 and the top of the central shaft 201 for fixing the detachable rotary cover 13 and the central shaft 201. The detachable rotary cover 13 is disassembled and assembled with the top of the cylindrical shell 3 by bolt connection or snap connection, so that the components inside the cleaning mechanism 1 or the central shaft group 2 can be maintained, repaired or replaced, which reduces the maintenance difficulty and workload and improves the maintenance efficiency. At the same time, during operation, the detachable rotary cover 13 can be tightly connected to the cylindrical shell 3 to ensure the overall sealing and compactness of the device; the bearing connection device I14 is used to connect the detachable rotary cover 13 with the central shaft 201 to ensure the relative position of the central shaft 201 is stable. Since other rotating parts are also provided on the central shaft group 2, the bearings in the bearing connection device I14 can reduce the friction resistance during rotation, ensure the smooth rotation of the rotating parts, and improve the operation efficiency and service life of the device; the bearing connection device I14 includes a bearing 1 401, a gasket 1402 and a bearing cover 1403, the inner ring of the bearing 1401 is mounted on the journal at the top of the central shaft 201 and is fixed to the central shaft 201 by a key or interference fit, the outer ring of the bearing 1401 is mounted in the bearing hole of the detachable rotating cover 13, and a gasket 1402 is provided between the bearing 1401 and the bearing hole of the detachable rotating cover 13, the gasket 1402 can adjust the gap between the bearing 1401 and the detachable rotating cover 13, and can evenly distribute the pressure on the bearing 1401 The pressure on the bearing 1401 is dispersed to the components connected to it, avoiding deformation, damage and other problems caused by excessive local pressure on the bearing 1401, extending its service life, and absorbing vibrations and impacts generated during operation, which helps to reduce the additional stress on the bearing 1401, reduce noise, and improve its stability and comfort; the bearing cover 1403 fixes the bearing 1401 axially in a specific position through bolts or other connection methods, preventing the bearing 1401 from axially moving on the shaft, ensuring that the bearing 1401 can work normally, which will not be repeated here.

[0048] In this embodiment, the bearing cover 1403 in the bearing connection device Ⅰ14 is provided with a fixed connection component Ⅰ15 that matches the drive device 16. The fixed connection component Ⅰ15 generally adopts bolt connection, pin connection or snap connection and the like. The snap connection is quick to install and is suitable for occasions that require quick assembly and disassembly. The design of the snap must ensure sufficient clamping force to prevent the bearing connection device Ⅰ14 from loosening during walking. By calculating the impact force generated by the drive device 16 during movement, the size and material strength of the snap are determined. At the same time, the interfaces of the fixed connection component Ⅰ15 and the drive device 16 should match each other to ensure the tightness of the connection, which will not be repeated here.

[0049] In this embodiment, a bearing connection device II1701 for fixing the detachable rotating cover and the fan motor is provided between the detachable rotating cover at the top and bottom of the columnar shell of the dust suction mechanism 17 and the top of the fan motor of the dust suction mechanism. The bearing cover in the bearing connection device II1701 is provided with a fixed connection component II1702 that matches the drive device 16. The bearing connection device II1701 and the fixed connection component II1702 on the dust suction mechanism 17 have similar functions and effects as the bearing connection device I14 and the fixed connection component I15, so in this embodiment, No further details are given; a bearing connection device III1801 for fixedly connecting the detachable rotating cover and the spray motor is provided between the detachable rotating cover at the bottom of the cylindrical shell of the spray mechanism 18 and the top of the spray motor of the spray mechanism, and the bearing cover in the bearing connection device III1801 is provided with a fixed connection component III1802 that matches the drive device 16. The bearing connection device III1801 and the fixed connection component III1802 on the spray mechanism 18 have similar functions and effects as the bearing connection device I14 and the fixed connection component I15, so they are no longer described here.

[0050] In this embodiment, the driving device 16 can adopt the screw stepping motor in the prior art, which can adjust the overall diameter of the device in time according to the change of the inner diameter of the pipeline, so as to adapt to pipelines of different diameters; the cleaning mechanism 1, the dust collection mechanism 17 and the spraying mechanism 18 can not only independently complete the cleaning operation, the dust collection operation and the spraying repair operation when working, but also shrink to the minimum size as a whole when not working. The cleaning component 4, the suction nozzle of the dust collection mechanism 17 and the nozzle of the spraying mechanism 18 and other vulnerable parts are stored in the interior of the pipeline cleaning robot or in a protective shell to avoid long-term exposure to wear due to collision, oxidation and dust adhesion. At the same time, the precision structure at the telescopic joint reduces the intrusion of external impurities after contraction, reducing the probability of mechanical failure; it also has the advantages of saving storage space, easy to carry and avoiding accidental injury to the operator, which will not be repeated here; at the same time, the pipeline robot can realize the driving device 16 with any of the three mechanisms of cleaning, dust collection and spraying, thereby achieving a modular effect.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A multi-modular retractable pipe cleaning robot, characterized by: It includes a cleaning mechanism, a dust collection mechanism, a spraying mechanism and several driving devices. The cleaning mechanism includes a central shaft group, a cylindrical shell and several cleaning components distributed on the cylindrical shell along the circumferential direction. The cylindrical housing is rotatably fitted around the central shaft assembly; the cleaning assembly includes a cleaning brush head and an X-shaped rocker mechanism, the X-shaped rocker mechanism including a rocker I and a rocker II, with an X-shaped hinge formed between the rocker I and the rocker II; one end of the rocker I is axially slidable with the cleaning brush head, and the other end is hinged and axially fixed to the cylindrical housing; one end of the rocker II is hinged and axially fixed to the cleaning brush head, and the other end can be driven to slide axially, so that the distance between the cleaning brush head and the cylindrical housing is adjustable; The driving device is installed between the cleaning mechanism and the dust suction mechanism and between the dust suction mechanism and the spraying mechanism.

2. The multi-modular retractable pipe cleaning robot according to claim 1, characterized in that: The central axis group includes a central axis and an expanded column bottom structure, wherein a generator is provided in the expanded column bottom structure and the generator is fixedly connected to the bottom groove of the expanded column bottom structure; A transmission mechanism is provided between the cylindrical housing and the central axis group, and the transmission mechanism includes a conductive slip ring and a planetary gear train. The conductive slip ring can be driven to slide axially along the central axis, so that the pendulum rod I and the pendulum rod II slide axially along the cylindrical housing; the planetary gear train can be driven to drive the cylindrical housing to rotate.

3. The multi-modular retractable pipe cleaning robot according to claim 2, characterized in that: The conductive slip ring is rotatably fitted around the central shaft and is located inside the cylindrical shell. The conductive slip ring includes a stop plate, a rotor conductor and a stator conductor. The stop plate is connected to the cylindrical shell, the stator conductor is connected to the generator, and the rotor conductor is connected to several double-track slides provided on the cylindrical shell.

4. The multi-modular retractable pipe cleaning robot according to claim 3, characterized in that: The dual-track slide is distributed along the circumferential direction of the cylindrical shell and is fixed to the cylindrical shell in the axial direction. The dual-track slide includes a slide body, on which a stepping motor, a slider and a ball screw are provided. The slider is connected to the rocker arm II. The stepping motor is connected to the rotor wire and drives the slider to move on the ball screw, thereby driving the rocker arm I and the rocker arm II to slide.

5. The multi-modular retractable pipe cleaning robot according to claim 4, characterized in that: When in operation, the slider moves on the ball screw in a direction close to the stepping motor, driving the rocker rod I and the rocker rod II to slide outward of the cylindrical housing, thereby increasing the distance between the cleaning brush head and the cylindrical housing; When the slider is not in operation, it moves on the ball screw in a direction away from the stepping motor, driving the rocker rod I and the rocker rod II to slide into the cylindrical housing, thereby reducing the distance between the cleaning brush head and the cylindrical housing.

6. The multi-modular retractable pipe cleaning robot according to claims 2 and 3, characterized in that: The transmission mechanism further includes a rotating shaft, a driving end of the rotating shaft is connected to the generator, a driven end of the rotating shaft is connected to a planetary gear train, and the planetary gear train is connected to the cylindrical housing; A planet carrier is provided on the protruding portion of the enlarged column base structure, and the planet carrier is used to support a planetary gear train.

7. The multi-modular retractable pipe cleaning robot according to claim 2, characterized in that: The planetary gear train includes a sun gear, planetary gears and a ring gear. The sun gear is connected to the driven end of the rotating shaft and drives the planetary gears to rotate. The planetary gears drive the ring gear to rotate and then drive the cylindrical housing to rotate.

8. The multi-modular retractable pipe cleaning robot according to claim 1, characterized in that: The cleaning brush head includes a brush and a chute. The brush is fixedly mounted at the bottom of the chute and connected to the swing arm II via a base fixed to the chute. The chute is provided with a chute slider, which is connected to the swing arm I. A detachable rotating cover is provided on the top of the columnar housing, and a bearing connection device I for fixedly connecting the detachable rotating cover and the central shaft is provided between the detachable rotating cover and the top of the central shaft.

9. The multi-modular retractable pipe cleaning robot according to claim 8, characterized in that: The bearing cover in the bearing connection device I is provided with a fixed connection component I that matches the driving device.

10. The multi-modular retractable pipe cleaning robot according to claim 1, characterized in that: A bearing connection device II for fixedly connecting the detachable rotating cover and the fan motor is provided between the detachable rotating cover at the top and bottom of the cylindrical housing of the dust suction mechanism and the top of the fan motor of the dust suction mechanism. The bearing cover of the bearing connection device II is provided with a fixed connection component II that matches the drive device. A bearing connection device III for fixedly connecting the detachable rotating cover and the spray motor is provided between the detachable rotating cover at the bottom of the cylindrical shell of the spray mechanism and the top of the spray motor of the spray mechanism. The bearing cover in the bearing connection device III is provided with a fixed connection component III that matches the drive device.

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