Bent pipeline decontamination robot capable of being adaptively adjusted along with pipe diameter and decontamination method

Abstract

The invention relates to the technical field of pipeline cleaning equipment, in particular to a bent pipeline decontamination robot capable of being adaptively adjusted along with the pipe diameter and a decontamination method. The bent pipeline decontamination robot comprises a body supporting part of the bent pipeline decontamination robot, the front end of the body supporting part is provided with a scraping cleaning assembly capable of being adjusted in a self-adaptive mode along with the pipe diameter, the rear end of the body supporting part is movably connected with a rear end driving assembly through a connecting mechanism, and the rear end driving assembly freely bends relative to the body supporting part; a pulley assembly abutting against the inner wall of the pipeline is arranged on the periphery of the rear end driving assembly. By arranging the scraping cleaning assembly capable of being adjusted in a self-adaptive mode along with the pipe diameter, the connecting mechanism capable of being freely bent and the rear end driving assembly, stable movement and efficient dirt removal of the robot in bent pipes with different pipe diameters are achieved, and therefore the robot is more widely suitable for cleaning work of various bent pipes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline cleaning equipment, in particular to a curved pipeline decontamination robot capable of self-adapting adjustment with pipe diameter and a decontamination method. BACKGROUND

[0002] The front pipeline decontamination robot can be mainly divided into two categories according to the power source: passive pipeline decontamination robot and active pipeline decontamination robot. The passive pipeline decontamination robot adopts a passive design concept, and the motion energy is completely derived from the fluid power or the environmental natural force field in the pipeline. Although this technical route avoids external energy supply system, it requires stable and continuous fluid dynamics conditions in the pipeline, which significantly increases the system integration complexity and the kinematics performance is obviously affected by the working condition parameters.

[0003] The active pipeline decontamination robot can realize autonomous movement through the driving system of the robot itself. The robot carries a targeted cleaning device (such as a brush, a high-pressure water gun, etc.), combined with sensors and control algorithms, to complete the tasks of stain stripping, debris dredging and debris cleaning on the inner wall of the pipeline. The adaptive pipeline cleaning robot disclosed in Chinese Patent No. CN109731864A is a typical active pipeline decontamination robot, which is widely used in pipeline decontamination operations and is a relatively mature pipeline decontamination robot at present. The wheeled pipeline robot uses driving wheels as the main motion mechanism, and realizes movement in the pipeline through the rotation of the driving wheels. The wheeled pipeline decontamination robot is mostly simple in structure and convenient in speed adjustment, but the friction between the driving wheels and the pipe wall is limited when the pipeline is damaged, resulting in insufficient traction, which may cause the phenomenon of slipping and idling. Therefore, it is only suitable for most straight and clean pipelines in oil and gas pipelines. SUMMARY

[0004] The technical problem to be solved by the present application is to overcome the shortcomings of the prior art and provide a curved pipeline decontamination robot capable of self-adapting adjustment with pipe diameter and a decontamination method, which is used to meet the cleaning function of different environment pipelines. The designed decontamination robot also needs to have the ability to overcome obstacles, climb slopes and turn in complex pipelines. At the same time, the body support part and the rear end driving assembly can remain relatively independent, which greatly improves the stability of the overall mechanism. Under the premise of ensuring that the robot is close to the pipe wall, the scraping cleaning mechanism at the front end of the robot supports the variable-diameter cleaning, which can perfectly adapt to the pipe wall cleaning when the pipe diameter changes greatly.

[0005] The technical solution adopted by the present application is as follows: The utility model provides a kind of bendable pipeline cleaning robot that can be adjusted adaptively with pipe diameter, including the body support part of bendable pipeline cleaning robot, the front end of body support part is provided with the scraping cleaning component that can be adjusted adaptively with pipe diameter, the rear end of body support part is movably connected with rear end drive component by connecting mechanism, rear end drive component carries out free bending action relative to body support part;The periphery of rear end drive component is provided with pulley assembly that is in contact with the inner wall of pipeline, wherein: The scraping cleaning component is arranged radially, including main body backplate, planetary gear located at the front of main body backplate and brush rod located around main body backplate;Planetary gear is concentrically arranged with main body backplate, and is mounted on the front end of body support part by deep groove ball bearing;The outer edge of main body backplate is provided with guide groove matched with brush rod at equal intervals, and the surface of planetary gear is provided with circular arc groove at equal intervals with deep groove ball bearing as center;The end of brush rod is arranged in arc shape and is provided with bristle for scraping cleaning on the surface;Brush rod extends from guide groove to the inside of main body backplate and is limited on circular arc groove by pin shaft;Expansion motor is arranged between guide grooves, and expansion motor is provided with output gear engaged with planetary gear; The body support part is arranged in columnar shape, including hexahedron arranged shell, driving motor located in shell and universal wheel located around shell;Driving motor drives scraping cleaning component located at the front end to rotate;Universal wheels are symmetrically arranged at the periphery of shell, and each universal wheel is hinged to the side wall of shell by obliquely arranged support rod I;The inner side of support rod I is reinforced by support rod II with support spring; The connecting mechanism is arranged in chain shape, including at least two universal joint units;Connecting mechanism makes rear end drive component carry out free bending action relative to body support part in a large range by universal joint unit; The rear end drive component is arranged in tripod shape, including main motor and support inclined rod driven by screw rod, main motor is fixed on the rear of support inclined rod by motor base, the front end center of support inclined rod is hinged to front baffle, and the middle part of support inclined rod is hinged to base by inclined rod with spring; The pulley assembly is arranged in telescopic shape, including rubber wheel and driving motor driving rubber wheel to slide, driving motor is built-in the end of support inclined rod.

[0006] The technical scheme is characterized in that: the scraping and cleaning assembly is capable of self-adapting adjustment according to the pipe diameter, the connecting mechanism is capable of free bending, and the rear-end driving assembly is capable of self-adapting adjustment according to the pipe diameter, thereby realizing stable movement and efficient dirt removal of the robot in the curved pipe with different pipe diameters, and the robot is more widely applicable to cleaning work in various curved pipes.

[0007] In addition, the curved pipe dirt removal robot and the dirt removal method capable of self-adapting adjustment according to the pipe diameter according to the present application can have the following additional technical features: According to an embodiment of the present application, the planetary gear is engaged with the output gear of the telescopic motor, and when the telescopic motor rotates, the planetary gear is driven to rotate through the output gear, and then the circular arc grooves on the surface of the planetary gear and the pin shaft on the brush rod produce relative sliding, thereby realizing synchronous telescopic action of the brush rod.

[0008] In the technical scheme, when the telescopic motor rotates, the output gear thereof is engaged with the planetary gear, and the rotational movement of the motor is transmitted to the planetary gear; during rotation of the planetary gear, the circular arc grooves arranged at equal intervals on the surface thereof and the pin shaft at the end of the brush rod produce relative sliding; because the guide groove at the outer edge of the main back plate plays a guiding role on the brush rod and restricts the brush rod from having other degrees of freedom except the telescopic direction, the brush rod can only perform synchronous telescopic action along the direction of the guide groove, thereby realizing self-adapting adjustment of the position of the brush rod, and the cleaning range can be adjusted according to changes in the pipe diameter, thereby ensuring effective cleaning of the inner wall of the pipe; the deep groove ball bearing is used to ensure that the planetary gear and the main back plate can be smoothly installed at the front end of the body support part and stably rotate.

[0009] According to an embodiment of the present application, the number of the brush rods is eight, and the eight brush rods are symmetrically distributed with the center of the main back plate as the center; the material of the bristles on each brush rod is wear-resistant and elastic; and the bristles are in contact with the inside of the pipe with different pipe diameters and scrape and clean dirt on the inner wall of the pipe.

[0010] The technical scheme is characterized in that: the eight symmetrically distributed brush rods are capable of preventing the bristles from being damaged in long-term use, and can be elastically deformed according to the shape of the inner wall of the pipe with different pipe diameters, thereby closely adhering to the inner wall and realizing effective scraping and cleaning of dirt on the inner wall of the pipe with different pipe diameters.

[0011] According to one embodiment of the present application, a wear-resistant bushing is arranged at the hinge between the support rod I and the side wall of the shell; the two ends of the support spring are respectively abutted to the limiting grooves of the support rod I and the shell, and the support spring exerts a pre-tightening force outwardly expanding on the support rod II.

[0012] In the technical solution, the support spring exerts a pre-tightening force outwardly expanding on the support rod II, so that the support rod II is kept in a tension state, the spring elastic deformation is used to absorb the buffering energy, and the position of the support rod II is maintained stable.

[0013] According to one embodiment of the present application, the universal joint unit comprises two mutually perpendicular rotating shafts, and a connecting flange is arranged at each end of each rotating shaft, and the connecting flanges of adjacent universal joint units are connected by bolts.

[0014] In the technical solution, the connecting mechanism can flexibly combine different numbers of universal joint units according to actual requirements, so as to adapt to the pipeline environment of different lengths and bending degrees, and realize the large-range free bending action of the rear-end driving assembly relative to the body support part.

[0015] According to one embodiment of the present application, the main motor is connected with the lead screw through a cross slider coupling.

[0016] In the technical solution, the cross slider coupling can compensate the deviation of the two shafts, ensure the stable transmission of power from the main motor to the lead screw, and reduce the transmission failure.

[0017] According to one embodiment of the present application, the rear-end driving assembly is provided with three groups of support inclined rods, the included angle between each group is 120 degrees, and each support inclined rod is located in the same horizontal plane as the corresponding pulley assembly.

[0018] In the technical solution, the three groups of support inclined rods with an included angle of 120 degrees form a stable structure, uniformly disperse the stress, avoid local damage, and ensure the smooth movement of the rear-end driving assembly; the support inclined rods are in the same horizontal plane as the pulley assemblies, the force transmission is accurate, the energy loss is reduced, and the failure rate is reduced.

[0019] To achieve the above object, the present application further provides a curved pipeline decontamination method capable of self-adapting adjustment according to the pipe diameter.

[0020] The curved pipeline decontamination method capable of self-adapting adjustment according to the pipe diameter comprises the following steps. S1, placing a curved pipeline decontamination robot at the entrance of a curved pipeline to be cleaned, the curved pipeline decontamination robot being capable of self-adapting adjustment according to the pipe diameter; S2, when the curved pipeline cleaning robot encounters a curved pipeline, the universal joint unit of the connecting mechanism plays a role; since the universal joint unit includes two mutually perpendicular rotating shafts, the adjacent universal joint units are connected by the connecting flanges with bolts, so that the rear end driving assembly can perform a wide range of free bending action relative to the body support part to adapt to the shape change of the curved pipeline; During the operation of the curved pipeline cleaning robot, the main motor drives the screw rod to rotate through the cross slider coupling, and the screw rod drives the support inclined rods to move; since the rear end driving assembly is provided with three groups of support inclined rods, the included angle between each group is 120 degrees, and each support inclined rod is located in the same horizontal plane as the corresponding pulley assembly, the support inclined rods are driven by the screw rod to adjust the contact pressure and position of the pulley assembly and the inner wall of the pipeline through the structure of being hinged to the front baffle and the inclined rod with a spring being hinged to the base; S3, the curved pipeline cleaning robot continuously operates in the pipeline, and the steps S1-S2 are repeatedly performed, the position of the brush rod is continuously adjusted according to the change of the pipe diameter, the inner wall of the pipeline is cleaned, the shape of the curved pipeline is adapted, and the cleaning work of the entire pipeline is completed; after the cleaning work is completed, the driving motor of the pulley assembly is reversely rotated to reversely rotate the rubber wheel, so that the curved pipeline cleaning robot exits the pipeline.

[0021] The technical scheme is characterized in that the curved pipeline cleaning robot which can be self-adaptively adjusted is placed at the pipeline inlet, when a curved pipeline is encountered, the two mutually perpendicular rotating shafts in the universal joint unit and the connecting structure of the connecting flanges and the bolts are used to enable the rear end driving assembly to freely bend relative to the body support part in a wide range to adapt to the shape change of the pipeline; during the operation, the main motor drives the screw rod through the cross slider coupling, the screw rod drives three groups of support inclined rods which are arranged at an included angle of 120 degrees and are in the same horizontal plane as the corresponding pulley assembly to move, and the support inclined rods adjust the contact pressure and position of the pulley assembly and the inner wall of the pipeline by means of the hinged structure; then the robot is continuously operated, the position of the brush rod is repeatedly adjusted to clean the pipeline and adapt to the curved shape, after the cleaning is completed, the driving motor of the pulley assembly is reversely rotated to make the robot exit the pipeline, so that the curved pipeline is efficiently and comprehensively cleaned.

[0022] According to one embodiment of the present application, in the step S1, the curved pipeline cleaning robot can be self-adaptively adjusted according to the pipe diameter, and includes the following sub-steps: S11, the driving motor of the pulley assembly is started, the driving motor drives the rubber wheel to rotate, so that the curved pipeline cleaning robot enters the inside of the pipeline; the universal wheel contacts the inner wall of the pipeline to assist the curved pipeline cleaning robot to stably move in the pipeline; S12, when the curved pipeline cleaning robot enters the pipeline, the telescopic motor is started, and the output gear drives the planetary gear to rotate; because the planetary gear surface is provided with circular arc grooves at equal intervals with the deep groove ball bearing as the center, and the brush rod is limited on the circular arc groove through the pin shaft, with the rotation of the planetary gear, the circular arc groove and the pin shaft on the brush rod produce relative sliding, and the eight brush rods are synchronously telescoped under the guidance of the guide groove, so that the bristles are always tightly in contact with the inner wall of the pipeline of different diameters, and the diameter self-adaptation adjustment is realized; S13, the driving motor is started, and the scraping cleaning assembly located at the front end is driven to rotate by the transmission; the wear-resistant and elastic bristles on the eight brush rods scrape and clean the dirt on the inner wall of the pipeline during the rotation, and the dirt is removed from the inner wall of the pipeline.

[0023] The technical scheme drives the motor through the pulley assembly to drive the rubber wheel, so that the robot enters the pipeline and moves stably with the help of the universal wheel; after entering the pipeline, the telescopic motor drives the output gear to drive the planetary gear to rotate, the relative sliding of the circular arc groove on the planetary gear and the pin shaft of the brush rod is utilized, and the guide groove is guided, so that the eight brush rods are synchronously telescoped, the bristles are tightly in contact with the inner wall of the pipeline of different diameters, the diameter self-adaptation is realized; at the same time, the driving motor drives the scraping cleaning assembly to rotate, so that the bristles on the eight brush rods scrape and clean the dirt on the inner wall of the pipeline in the rotation, so as to achieve the purpose of stable movement in the pipeline, self-adaptation to different pipe diameters and effective removal of dirt.

[0024] Compared with the prior art, the present application has the following beneficial effects: (1) terrain adaptation and obstacle crossing: the present application can satisfy different environment pipeline cleaning, can stably travel in different pipe diameters, can overcome the limitation of single pipe diameter, can climb and pass through the curve, and has excellent terrain adaptation and obstacle crossing performance; (2) cleaning and traveling without interference: the scraping cleaning assembly and the rear end driving assembly are connected through the universal joint, realize power transmission and motion coordination, and can be independently operated, guarantee continuous and efficient cleaning, and do not interfere with each other; (3) wheel support moving stably: the body support part of the present application bears the weight of the equipment, guarantees stable movement; the pulley assembly efficiently converts electric energy to realize autonomous movement and steering, and the two wheel systems can flexibly adjust the opening angle to adapt to the change of pipe diameter; (4) good variable diameter cleaning effect: the planetary gear and other structures in the scraping cleaning assembly of the present application can realize the elongation and contraction of the brush rod, complete the variable diameter cleaning of the pipeline, and the scheme is feasible and practical. DRAWINGS

[0025] Figure 1 is the perspective view of the present application.

[0026] Figure 2 is the front view of the present application.

[0027] Figure 3 This is the main view of the scraping and cleaning component.

[0028] Figure 4 This is a rear view of the scraping and cleaning component.

[0029] Figure 5 This is the front view of the main support section.

[0030] Figure 6 It is the main view of the backend driver component.

[0031] Figure 7 This is an enlarged view of the pulley assembly.

[0032] In the diagram: 1. Scraping cleaning assembly; 11. Planetary gear; 12. Deep groove ball bearing; 13. Main body back plate; 14. Brush rod; 15. Pin; 16. Telescopic motor; 2. Main body support; 21. Active motor; 22. Housing; 23. Support rod I; 24. Support rod II; 25. Support spring; 26. Pin; 27. Caster wheel; 3. Connecting mechanism; 4. Rear drive assembly; 41. Front baffle; 42. Guide rod; 43. Lead screw; 44. Base; 45. Cross slider coupling; 46. Motor base; 47. Main motor; 48. Clamping plate; 49. Supporting diagonal rod; 5. Pulley assembly; 51. Drive motor; 52. Rubber wheel. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Example 1 like Figures 1-2 As shown, this embodiment provides a curved pipe cleaning robot that can adaptively adjust to the pipe diameter. It includes a main body support 2, with a scraping and cleaning component 1 that can adaptively adjust to the pipe diameter at the front end of the main body support 2. A rear-end drive component 4 is movably connected to the rear end of the main body support 2 via a connecting mechanism 3. The rear-end drive component 4 can freely bend relative to the main body support 2. A pulley assembly 5 is provided around the periphery of the rear-end drive component 4, which abuts against the inner wall of the pipe. like Figures 3-4As shown, the scraping cleaning assembly 1 is arranged radially, including a main back plate 13, a planetary gear 11 located at the front of the main back plate 13, and brush rods 14 located around the main back plate 13. The planetary gear 11 is concentrically arranged with the main back plate 13 and is mounted on the front end of the body support 2 through a deep groove ball bearing 12. The outer edge of the main back plate 13 is provided with guide grooves that cooperate with the brush rods 14 at equal intervals. The surface of the planetary gear 11 is provided with arc grooves at equal intervals with the deep groove ball bearing 12 as the center. The end of the brush rod 14 is arc-shaped and the surface is equipped with bristles for scraping cleaning. The brush rod 14 extends from the guide groove into the interior of the main back plate 13 and is limited to the arc groove by a pin 15. A telescopic motor 16 is arranged between the guide grooves, and the telescopic motor 16 is provided with an output gear that meshes with the planetary gear 11. like Figure 5 As shown, the main support 2 is columnar and includes a hexahedral housing 22, an active motor 21 located inside the housing 22, and casters 27 located around the periphery of the housing 22. The active motor 21 drives the scraping cleaning component 1 located at its front end to rotate. The casters 27 are symmetrically arranged around the periphery of the housing 22, and each caster 27 is hinged to the side wall of the housing 22 by an inclined support rod I 23. The inner side of the support rod I 23 is reinforced by a support rod II 24 with a support spring. The connecting mechanism 3 is arranged in a chain shape and includes at least two universal joint units; the connecting mechanism 3 enables the rear drive component 4 to perform a wide range of free bending movements relative to the main support part 2 through the universal joint units. like Figure 6 As shown, the rear drive assembly 4 is arranged in a triangular shape, including a main motor 47 and a support rod 49 driven by a lead screw 43. The main motor 47 is fixed behind the support rod 49 by a motor seat 46. The front end center of the support rod 49 is hinged to the front baffle 41, and the middle part of the support rod 49 is hinged to the base 44 by a spring-loaded rod. like Figure 7 As shown, the pulley assembly 5 is telescopically configured and includes a rubber wheel 52 and a drive motor 51 that drives the rubber wheel 52 to slide. The drive motor 51 is built into the end of the support rod 49.

[0035] like Figures 1-7As shown, the technical scheme is provided with the scraping cleaning assembly 1 which can be self-adaptively adjusted according to the pipe diameter, the freely bendable connecting mechanism 3 and the rear-end driving assembly 4, so that the robot can stably move and efficiently remove dirt in the curved pipe with different pipe diameters, thereby being more widely applicable to cleaning work of various curved pipes. Specifically, the planetary gear 11 is matched with the telescopic motor 16, so that the brush rod 14 of the scraping cleaning assembly 1 can be self-adaptively adjusted according to the pipe diameter; the scraping cleaning assembly 1 is driven to rotate by the driving motor 21, and the movement and steering of the body support part 2 are realized in combination with the universal wheel 27; the rear-end driving assembly 4 is freely bent relative to the body support part 2 through the universal joint unit of the chain-shaped connecting mechanism 3; and the main motor 47, the screw rod 43 and the support inclined rod 49 structure of the rear-end driving assembly 4 are matched with the telescopic pulley assembly 5 to jointly complete the dirt removal task.

[0036] In addition, the curved pipe dirt removal robot and the dirt removal method which can be self-adaptively adjusted according to the pipe diameter according to the present application can further have the following additional technical features: According to one embodiment of the present application, the planetary gear 11 is engaged with the output gear of the telescopic motor 16, so that when the telescopic motor 16 rotates, the planetary gear is driven to rotate through the output gear, and then the circular arc grooves on the surface of the planetary gear and the pin shaft 15 on the brush rod 14 produce relative sliding, so as to realize the synchronous telescopic action of the brush rod 14.

[0037] In the technical scheme, when the telescopic motor 16 rotates, the output gear thereof is engaged with the planetary gear 11 to transmit the rotary motion of the motor to the planetary gear 11; during the rotation of the planetary gear 11, the circular arc grooves arranged at equal intervals on the surface thereof and the pin shaft 15 at the end of the brush rod 14 produce relative sliding; since the guide groove at the outer edge of the body back plate 13 plays a guiding role on the brush rod 14 and restricts the brush rod 14 from having other degrees of freedom except the telescopic direction, the brush rod 14 can only perform synchronous telescopic action along the direction of the guide groove, so as to realize self-adaptive adjustment of the position of the brush rod 14, thereby being able to adjust the cleaning range according to different pipe diameters and ensure effective cleaning of the inner wall of the pipe; the deep groove ball bearing 12 is used to ensure that the planetary gear 11 and the body back plate 13 can be smoothly installed at the front end of the body support part 2 and stably rotate.

[0038] According to one embodiment of the present application, the number of the brush rods 14 is eight, and the eight brush rods 14 are symmetrically distributed with the center of the body back plate 13 as the center; the material of the bristles on each brush rod 14 is wear-resistant and elastic; and the bristles are in contact with the inside of the pipe with different pipe diameters and scrape and clean the dirt on the inner wall of the pipe.

[0039] The technical scheme is provided with the eight symmetrically distributed brush rods 14, so that the bristles are not easy to be damaged in long-term use and can be elastically deformed according to the shape of the inner wall of the pipe with different pipe diameters to closely fit the inner wall, thereby realizing effective scraping and cleaning of the dirt on the inner wall of the pipe with different pipe diameters.

[0040] According to one embodiment of the present invention, a wear-resistant bushing is provided at the hinge joint between the support rod I 23 and the side wall of the housing 22; the two ends of the support spring 25 respectively abut against the limiting grooves of the support rod I 23 and the housing 22, and the support spring 25 applies an outwardly expanding preload force to the support rod II 24.

[0041] This technical solution utilizes the support spring 25 to apply an outwardly expanding preload to the support rod II 24, keeping the support rod II 24 in a taut state. The elastic deformation of the spring absorbs and buffers energy, maintaining the stability of the position of the support rod II 24.

[0042] According to one embodiment of the present invention, the universal joint unit includes two mutually perpendicular rotating shafts, each rotating shaft having a connecting flange at both ends, and adjacent universal joint units are connected by bolts through the connecting flanges.

[0043] In this technical solution, the connecting mechanism 3 can flexibly combine different numbers of universal joint units according to actual needs to adapt to pipe environments of different lengths and curvatures, and realize the large-range free bending action of the rear drive component 4 relative to the main body support 2.

[0044] According to one embodiment of the present invention, the main motor 47 is connected to the lead screw 43 via a cross-slider coupling 45.

[0045] In this technical solution, the cross-slider coupling 45 can compensate for the deviation between the two shafts, ensuring stable power transmission from the main motor 47 to the lead screw 43 and reducing transmission failures.

[0046] According to one embodiment of the present invention, the rear drive assembly 4 is provided with three sets of support diagonal rods 49, with an included angle of 120 degrees between each set, and each support diagonal rod 49 is located on the same horizontal plane as the corresponding pulley assembly 5.

[0047] In this technical solution, three sets of 120-degree angled support rods 49 form a stable structure, evenly distributing the force, avoiding local damage, and ensuring the smooth movement of the rear drive assembly 4; the support rods 49 and the pulley assembly 5 are on the same horizontal plane, ensuring precise force transmission, reducing energy loss, and lowering the failure rate.

[0048] Example 2 Based on Example 1, such as Figures 1-7 As shown, the present invention also provides a method for cleaning curved pipes that can adaptively adjust with pipe diameter, comprising the following steps: S1. Place the curved pipe cleaning robot at the inlet of the curved pipe to be cleaned. The curved pipe cleaning robot can adaptively adjust according to the pipe diameter. S2, when the curved pipeline cleaning robot encounters a curved pipeline, the universal joint unit of the connecting mechanism 3 plays a role; since the universal joint unit includes two mutually perpendicular rotating shafts, the adjacent universal joint units are connected by the connecting flange with bolts, so that the rear end driving assembly 4 can perform a wide range of free bending action relative to the body support part 2 to adapt to the shape change of the curved pipeline; During the operation of the curved pipeline cleaning robot, the main motor 47 drives the screw rod 43 to rotate through the cross slider coupling 45, and the screw rod 43 drives the support inclined rod 49 to move; because the rear end driving assembly 4 is provided with three groups of support inclined rods 49, the included angle between each group is 120 degrees, and each support inclined rod 49 is located in the same horizontal plane as the corresponding pulley assembly 5, the support inclined rod 49 is driven by the screw rod 43, and the contact pressure and position of the pulley assembly 5 and the inner wall of the pipeline are adjusted through the structure hinged to the front baffle 41 and the inclined rod hinged to the base 44 with a spring; S3, the curved pipeline cleaning robot continues to operate in the pipeline, and the steps S1-S2 are repeated, the position of the brush rod 14 is continuously adjusted according to the change of the pipe diameter, the inner wall of the pipeline is cleaned, the shape of the curved pipeline is adapted, and the cleaning work of the entire pipeline is completed; after the cleaning work is completed, the driving motor 51 of the pulley assembly 5 is reversely rotated to drive the rubber wheel 52 to reversely rotate, so that the curved pipeline cleaning robot exits the pipeline.

[0049] The technical scheme is characterized in that the curved pipeline cleaning robot which can be self-adaptively adjusted is placed at the pipeline inlet, when encountering a curved pipeline, the two mutually perpendicular rotating shafts in the universal joint unit and the connecting structure of the connecting flange and the bolt are used to enable the rear end driving assembly 4 to freely bend relative to the body support part 2 in a wide range to adapt to the shape change of the pipeline; during the operation, the main motor 47 drives the screw rod 43 through the cross slider coupling 45, the screw rod 43 drives three groups of support inclined rods 49 which are 120 degrees apart and are in the same horizontal plane as the corresponding pulley assembly 5 to move, and the contact pressure and position of the pulley assembly 5 and the inner wall of the pipeline are adjusted by the hinged structure; then the robot continuously operates, the position of the brush rod 14 is repeatedly adjusted to clean the pipeline and adapt to the curved shape, after the cleaning is completed, the driving motor 51 of the pulley assembly 5 is reversely rotated to make the robot exit the pipeline, so that the curved pipeline is efficiently and comprehensively cleaned.

[0050] According to one embodiment of the present application, in the step S1, the curved pipeline cleaning robot can be self-adaptively adjusted according to the pipe diameter, including the following sub-steps: S11, the driving motor 51 of the pulley assembly 5 is started, the driving motor 51 drives the rubber wheel 52 to rotate, so that the curved pipeline cleaning robot enters the inside of the pipeline; the universal wheel 27 contacts the inner wall of the pipeline to assist the curved pipeline cleaning robot to stably move in the pipeline; S12, when the bending pipe cleaning robot enters the pipe, the telescopic motor 16 is started, and the output gear drives the planetary gear 11 to rotate; because the planetary gear 11 surface is provided with circular arc grooves with deep groove ball bearing 12 as the center at equal intervals, and the brush rod 14 is limited on the circular arc groove through the pin shaft 15, with the rotation of the planetary gear 11, the circular arc groove and the pin shaft 15 on the brush rod 14 produce relative sliding, eight brush rods 14 are guided to expand and contract synchronously under the guidance of the guide groove, so that the brush is always tightly in contact with the inner wall of the pipe of different diameters, realizing the self-adaptive adjustment of the pipe diameter; S13, the driving motor 21 is started, and the scraping cleaning assembly 1 located at the front end is driven to rotate by the transmission; the wear-resistant and elastic brush on the eight brush rods 14 scrapes the dirt on the inner wall of the pipe during the rotation, and the dirt is removed from the inner wall of the pipe.

[0051] The technical scheme drives the motor 51 through the pulley assembly 5 to drive the rubber wheel 52, so that the robot enters the pipe, and the universal wheel 27 is used to assist stable movement; after entering the pipe, the telescopic motor 16 drives the output gear to drive the planetary gear 11 to rotate, the relative sliding of the circular arc groove on the planetary gear 11 and the pin shaft 15 of the brush rod 14, and the guidance of the guide groove are used to make eight brush rods 14 expand and contract synchronously, so that the brush is tightly in contact with the inner wall of the pipe of different diameters, and the self-adaptation of the pipe diameter is realized; at the same time, the driving motor 21 drives the scraping cleaning assembly 1 to rotate, so that the brush on the eight brush rods 14 scrapes the dirt on the inner wall of the pipe during the rotation, so as to achieve the purpose of stable movement in the pipe, self-adaptation to different pipe diameters and effective removal of dirt.

[0052] Although the present application is described in detail with reference to the preferred embodiments, the present application is not limited thereto. Various equivalent modifications or replacements can be made to the embodiments of the present application by those skilled in the art without departing from the spirit and essence of the present application, and these modifications or replacements shall be within the scope of the present application. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which shall be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A curved pipe cleaning robot that can adaptively adjust to the pipe diameter, characterized in that, The system includes a main support unit (2) for a curved pipe cleaning robot. The front end of the main support unit (2) is equipped with a scraping and cleaning component (1) that can adaptively adjust to the pipe diameter. The rear end of the main support unit (2) is movably connected to a rear drive component (4) via a connecting mechanism (3). The rear drive component (4) can freely bend relative to the main support unit (2). A pulley assembly (5) is provided around the rear drive component (4) to abut against the inner wall of the pipe. The scraping cleaning assembly (1) is arranged radially and includes a main back plate (13), a planetary gear (11) located at the front of the main back plate (13), and brush rods (14) located around the main back plate (13). The planetary gear (11) is concentrically arranged with the main back plate (13) and is mounted on the front end of the body support (2) via a deep groove ball bearing (12). The outer edge of the main back plate (13) is provided with guide grooves that cooperate with the brush rods (14) at equal intervals. The surface of the planetary gear (11) is provided with arc grooves at equal intervals with the deep groove ball bearing (12) as the center. The end of the brush rod (14) is arc-shaped and the surface is equipped with brush bristles for scraping cleaning. The brush rod (14) extends from the guide groove to the inside of the main back plate (13) and is limited to the arc groove by a pin (15). A telescopic motor (16) is arranged between the guide grooves. The telescopic motor (16) is provided with an output gear that meshes with the planetary gear (11). The main support part (2) is columnar and includes a hexagonal housing (22), an active motor (21) inside the housing (22), and casters (27) around the periphery of the housing (22). The active motor (21) drives the scraping cleaning component (1) at its front end to rotate. The casters (27) are symmetrically arranged around the periphery of the housing (22), and each caster (27) is hinged to the side wall of the housing (22) by an inclined support rod I (23). The inner side of the support rod I (23) is reinforced by a support rod II (24) with a support spring. The connecting mechanism (3) is arranged in a chain shape and includes at least two universal joint units; the connecting mechanism (3) enables the rear drive assembly (4) to perform a wide range of free bending relative to the main body support (2) through the universal joint units; The rear drive assembly (4) is arranged in a triangular shape, including a main motor (47) and a support rod (49) driven by a lead screw (43). The main motor (47) is fixed behind the support rod (49) by a motor mount (46). The front center of the support rod (49) is hinged to the front baffle (41), and the middle part of the support rod (49) is hinged to the base (44) by a spring-loaded rod. The pulley assembly (5) is telescopically configured and includes a rubber wheel (52) and a drive motor (51) that drives the rubber wheel (52) to slide. The drive motor (51) is built into the end of the support bar (49).

2. The curved pipe cleaning robot that can adaptively adjust to the pipe diameter as described in claim 1, characterized in that, The planetary gear (11) meshes with the output gear of the telescopic motor (16). When the telescopic motor (16) rotates, it drives the planetary gear to rotate through the output gear. As a result, the arc groove on the surface of the planetary gear slides relative to the pin (15) on the brush rod (14), thus realizing the synchronous telescopic action of the brush rod (14).

3. The curved pipe cleaning robot that can adaptively adjust to the pipe diameter as described in claim 2, characterized in that, The number of brush rods (14) is eight. The eight brush rods (14) are symmetrically distributed around the center of the main back plate (13). The bristles on each brush rod (14) are made of wear-resistant and elastic material. The bristles come into contact with the inside of pipes of different diameters and scrape and clean the dirt on the inner wall of the pipe.

4. The curved pipe cleaning robot that can adaptively adjust with pipe diameter as described in claim 1, characterized in that, A wear-resistant bushing is provided at the hinge joint between the support rod I (23) and the side wall of the housing (22); the two ends of the support spring (25) abut against the limiting grooves of the support rod I (23) and the housing (22) respectively, and the support spring (25) applies an outwardly expanding preload force to the support rod II (24).

5. The curved pipe cleaning robot that can adaptively adjust to the pipe diameter as described in claim 1, characterized in that, The universal joint unit includes two mutually perpendicular rotating shafts, each with a connecting flange at both ends. Adjacent universal joint units are connected by bolts through the connecting flanges.

6. The curved pipe cleaning robot that can adaptively adjust to the pipe diameter as described in claim 1, characterized in that, The main motor (47) is connected to the lead screw (43) via a cross-slider coupling (45).

7. The curved pipe cleaning robot that can adaptively adjust to the pipe diameter as described in claim 1, characterized in that, The rear drive assembly (4) is provided with three sets of support diagonal rods (49), with an included angle of 120 degrees between each set, and each support diagonal rod (49) is located on the same horizontal plane as the corresponding pulley assembly (5).

8. A method for cleaning curved pipes that can adaptively adjust to pipe diameter, employing a curved pipe cleaning robot that can adaptively adjust to pipe diameter as described in any one of claims 1-7, characterized in that, The steps include the following: S1. Place the curved pipe cleaning robot at the inlet of the curved pipe to be cleaned. The curved pipe cleaning robot can adaptively adjust according to the pipe diameter. S2. When the curved pipe cleaning robot encounters a curved pipe, the universal joint unit of the connecting mechanism (3) plays a role. Since the universal joint unit includes two mutually perpendicular rotating shafts, the adjacent universal joint units are connected by bolts through the connecting flange, so that the rear drive assembly (4) can perform a wide range of free bending relative to the body support (2) to adapt to the shape change of the curved pipe. During the operation of the curved pipe cleaning robot, the main motor (47) drives the lead screw (43) to rotate through the cross slider coupling (45), and the lead screw (43) drives the support diagonal rod (49) to move. Because the rear drive assembly (4) is equipped with three sets of support diagonal rods (49), the included angle between each set is 120 degrees, and each support diagonal rod (49) is located on the same horizontal plane as the corresponding pulley assembly (5). Under the drive of the lead screw (43), the support diagonal rod (49) adjusts the contact pressure and position between the pulley assembly (5) and the inner wall of the pipe through the structure of hinged to the front baffle (41) and the spring-loaded diagonal rod hinged to the base (44). S3. The curved pipe cleaning robot continues to run inside the pipe, repeating the steps of S1-S2 above, constantly adjusting the position of the brush rod (14) according to the change of pipe diameter, cleaning the inner wall of the pipe, and adapting to the shape of the curved pipe until the cleaning work of the entire pipe is completed; after the cleaning work is completed, the drive motor (51) of the pulley assembly (5) rotates in the opposite direction, driving the rubber wheel (52) to rotate in the opposite direction, so that the curved pipe cleaning robot exits the pipe.

9. The method for cleaning curved pipes that can adaptively adjust with pipe diameter as described in claim 8, characterized in that, In step S1, the curved pipe cleaning robot can adaptively adjust according to the pipe diameter, including the following sub-steps: S11. Start the drive motor (51) of the pulley assembly (5). The drive motor (51) drives the rubber wheel (52) to rotate, so that the curved pipe cleaning robot enters the pipe. The universal wheel (27) contacts the inner wall of the pipe to help the curved pipe cleaning robot move stably in the pipe. S12. When the curved pipe cleaning robot enters the pipe, the telescopic motor (16) starts, and its output gear drives the planetary gear (11) to rotate. Since the planetary gear (11) has arc grooves at equal intervals with the deep groove ball bearing (12) as the center, and the brush rod (14) is limited to the arc groove by the pin (15), as the planetary gear (11) rotates, the arc groove and the pin (15) on the brush rod (14) slide relative to each other. The eight brush rods (14) extend and retract synchronously under the guidance of the guide groove, so that the bristles always closely contact the inner wall of the pipe with different diameters, and realize the adaptive adjustment of the pipe diameter. S13, the active motor (21) starts and drives the scraping cleaning component (1) located at its front end to rotate through transmission; the wear-resistant and elastic bristles on the eight brush rods (14) scrape and clean the dirt on the inner wall of the pipe during the rotation, removing the dirt from the inner wall of the pipe.

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