Cleaning and polishing robot for inner walls of pipelines and wind power sleeves

Abstract

The invention discloses a cleaning and polishing robot for the inner wall of a pipeline and a wind power sleeve, which comprises a support transmission assembly comprising a plurality of sections of support frames and a transmission assembly rotationally connected with the support frames, and the plurality of sections of support frames are hinged; the adaptive walking assembly comprises supporting arms and supporting cylinders, one ends of the multiple supporting arms are evenly hinged to the supporting frame or the transmission assembly, the other ends of the supporting arms are rotationally connected with walking wheels, one ends of the supporting cylinders are hinged to the transmission assembly or the supporting frame, and the other ends of the supporting cylinders are hinged to the supporting arms; the cleaning assembly is arranged on one side of the supporting frame and arranged on the inner wall of the cleaning pipeline and the inner wall of the wind power sleeve. The monitoring assembly is arranged between the cleaning assembly and the supporting frame, and the monitoring assembly is configured to monitor the change of the inner wall. Through cooperation of the adaptive walking assembly and the transmission assembly, contraction of the supporting arms is achieved, the device adapts to different pipeline inner diameters, diameter changing is more flexible, and meanwhile through hinge joint of every two adjacent supporting frames, turning is more flexible.

Description

Technical Field

[0001] This invention relates to the field of pipeline inner wall cleaning technology, and in particular to a cleaning and grinding robot for the inner walls of pipelines and wind turbine sleeves. Background Technology

[0002] As crucial transport carriers of fluids such as oil, natural gas, and water, the quality of pipeline cleaning and maintenance directly impacts the safety, stability, and efficiency of fluid transport. Traditional manual cleaning methods reveal numerous insurmountable drawbacks when faced with pipeline cleaning tasks. Firstly, manual cleaning is extremely inefficient; in long-distance or complex pipelines, cleaning often requires significant time and manpower. For example, manually cleaning a 1000-meter-long oil pipeline may take several days or even weeks. Secondly, manual cleaning is costly, requiring substantial labor costs and the provision of appropriate safety equipment, further increasing expenses. Moreover, manual cleaning poses significant safety hazards; the confined space and complex environment inside pipelines may contain toxic gases, oxygen deficiency, and other dangerous conditions, seriously threatening the lives of cleaning personnel. In the wind power sector, the inner wall grinding quality of the wind turbine casing, a key supporting component, is crucial to the turbine's stability and lifespan. However, current methods for grinding the inner walls of wind turbine casings also face numerous challenges. Due to the large size, narrow internal space, and unique structure of wind turbine sleeves, manual grinding is not only inefficient but also struggles to guarantee uniformity and precision. Traditional automated grinding equipment is poorly adapted to wind turbine sleeves; most equipment cannot penetrate deep into the sleeve for comprehensive and meticulous grinding, resulting in unsatisfactory grinding effects. Furthermore, the grinding process generates a large amount of dust, posing a hazard to the working environment and the health of operators.

[0003] As a result, pipeline cleaning robots have emerged. However, current pipeline cleaning robots have poor adaptability to diameter changes, complex structures, and slow response speeds when faced with changes in pipe diameter. They are unable to effectively cope with sudden changes in pipe diameter caused by factors such as scaling and deformation, making them prone to getting "stuck" inside the pipe. They also have insufficient ability to navigate bends, limited functionality, and difficulty in polishing wind turbine sleeves. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0005] In view of this, the present invention provides a cleaning and grinding robot for the inner wall of pipes and wind turbine sleeves. By adapting the cooperation of the walking component and the transmission component, the support arm can be retracted to adapt to different pipe inner diameters, making the diameter change more flexible. At the same time, the hinge of two adjacent support frames makes turning more flexible.

[0006] Specifically, the following technical solutions are included: This invention provides a cleaning and grinding robot for the inner walls of pipes and wind turbine sleeves, the cleaning and grinding robot comprising: A support transmission assembly includes multiple support frames and a transmission assembly rotatably connected to the support frames, wherein the multiple support frames are hinged together. The adaptive walking assembly includes support arms and support cylinders. One end of a plurality of support arms is evenly hinged to the support frame or to the transmission assembly. The other end of each support arm is rotatably connected to a walking wheel. One end of each support cylinder is hinged to the transmission assembly or the support frame, and the other end of the support cylinder is hinged to the support arm. A cleaning component is disposed on one side of the support frame, and the cleaning component is configured to clean the inner wall of the pipe and the wind turbine sleeve; A monitoring component is disposed between the cleaning component and the support frame, and the monitoring component is configured to monitor changes in the inner wall.

[0007] Optionally, the cleaning and polishing robot includes a first support frame and a second support frame. The second support frame is disposed close to the cleaning component. The first support frame has a first hinge joint on one end facing the second support frame. The first hinge joint has a first connecting post. The first connecting post is rotatably connected to the first hinge joint. The end of the first hinge joint away from the first connecting post is rotatably connected to the first support frame. The second support frame has a second hinge joint on one end facing the first support frame. The second hinge joint has a second connecting post. The second connecting post is rotatably connected to the second hinge joint. The second connecting post is fixedly connected to the first connecting post.

[0008] Optionally, the transmission assembly includes: The first lead screw has one end rotatably connected to the first support frame, and the other end of the first lead screw is fixedly connected to the first hinge joint. The second lead screw has both ends passing through the second support frame and is rotatably connected to the second support frame. The end of the second lead screw facing the first support frame is fixedly connected to the second hinge joint. A drive motor, wherein the output shaft of the drive motor is fixedly connected to the end of the second lead screw away from the second hinge joint; A ball nut is provided on each of the first lead screw and the second lead screw.

[0009] Optionally, when the support arm is hinged to the support frame, one end of the support cylinder is hinged to the ball nut, and the other end of the support cylinder is hinged to the support arm; When the support arm is hinged to the ball nut, one end of the support cylinder is hinged to the support frame, and the other end of the support cylinder is hinged to the support arm.

[0010] Optionally, each of the support frames is provided with three support arms, which are evenly distributed on the outer periphery of the support frame.

[0011] Optionally, the cleaning and polishing robot further includes: The walking motor has a fixed end that is fixedly connected to the support arm. The output shaft of the walking motor is provided with a first bevel gear. A connecting shaft is provided at the center of the walking wheel. The connecting shaft is rotatably connected to the support arm. One end of the connecting shaft is provided with a second bevel gear that meshes with the first bevel gear.

[0012] Optionally, the cleaning component includes: A pair of connecting plates are mounted on one side of the support frame via a connecting bracket, and a drill bit is provided on the side of the pair of connecting plates opposite to the connecting bracket; A rotary motor is fixedly mounted on the connecting frame, and the output shaft of the rotary motor is fixedly connected to the center of a pair of connecting plates. An extension rod is disposed opposite to a pair of connecting plates, and the extension rod is configured to move toward or away from the pair of connecting plates. A cleaning head assembly is disposed at the end of the extension rod away from the connecting plate. The cleaning head assembly is angled to the extension rod. The cleaning head assembly includes a support frame. The support frame is provided with a blade and a brush facing upward. The blade and the brush are spaced apart. The blade and the support frame are inclined. The brush is rotatably connected to the support frame.

[0013] Optionally, an arc-shaped slide is provided on one side of the pair of connecting plates opposite each other, and the cleaning assembly further includes: An electric telescopic pole, one end of which is hinged to a pair of connecting plates, and the other end of which is hinged to an extension rod.

[0014] Optionally, the monitoring component includes: A servo mount is disposed between the cleaning component and the support frame. The servo mount is fixedly connected to the support frame. A servo is mounted on the servo mount, and a camera module is mounted on the output shaft of the servo. An LED module is disposed on one side of the camera module; An ultrasonic sensor is disposed on the housing of the servo motor, and the ultrasonic sensor is inclined to the housing of the servo motor. The ultrasonic sensor is configured to emit a light beam toward the inner wall.

[0015] Optionally, the cleaning and polishing robot further includes: Pressure sensors are provided on both the walking wheels and the cleaning assembly; The control module receives monitoring data from the monitoring components and the pressure sensor, and controls the retraction of the support arm and the movement of the walking wheels based on the monitoring data.

[0016] This invention provides a cleaning and grinding robot for the inner walls of pipes and wind turbine sleeves. The robot includes a support and transmission assembly, comprising a support frame and a transmission assembly. The support frame supports the various components of the robot. One end of a support arm is hinged to the support frame or the transmission assembly, and one end of a support cylinder is hinged to the transmission assembly or the support frame. The other end of the support cylinder is hinged to the support arm. Through the cooperation of the transmission assembly, the support arm can move towards or away from the support frame. Multiple support arms are evenly arranged on the outer periphery of each support frame, and a wheel is provided on the end of each support arm away from the support frame. This allows the cleaning and grinding robot to be applicable to pipes and wind turbine sleeves of different diameters. The cleaning assembly enables cleaning of the inner walls of pipes and wind turbine sleeves. The detection assembly monitors the internal conditions of the pipes and sleeves, and by monitoring the conditions, controls the retraction of the support arm and the movement of the wheel, further adapting to pipes and wind turbine sleeves of different diameters. The hinged connection between multiple support frames can avoid "jamming" in the pipe, and can adapt to pipes with bends. The transmission component can adapt to diameter changes more quickly, improving the applicability and flexibility of the cleaning and grinding robot.

[0017] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a perspective view of a cleaning and polishing robot according to an embodiment of the present invention; Figure 2 A front view of a cleaning and polishing robot according to an embodiment of the present invention; Figure 3 A side view of a cleaning and polishing robot according to an embodiment of the present invention; Figure 4 This is a top view of a cleaning and polishing robot according to an embodiment of the present invention.

[0020] in, Figures 1 to 4 The correspondence between the reference numerals and component names in the attached drawings is as follows: 100 Cleaning and Grinding Robot, 110 Support Frame, 111 First Support Frame, 112 Second Support Frame, 113 First Hinge Joint, 114 Second Hinge Joint, 120 Transmission Assembly, 121 First Lead Screw, 122 Second Lead Screw, 123 Drive Motor, 124 Ball Nut, 130 Adaptive Walking Assembly, 131 Support Arm, 132 Support Cylinder, 133 Walking Wheel, 134 Walking Motor, 135 First Bevel Gear, 136 Second Bevel Gear, 140 Cleaning Assembly, 141 Connecting Plate, 142 Drill Bit, 143 Rotary Motor, 144 Extension Rod, 145 Bearing Frame, 146 Blade, 147 Brush, 148 Electric Telescopic Rod, 150 Monitoring Assembly, 151 Servo Mount, 152 Servo, 153 Camera Module, 154 LED Module, 160 Connecting Frame. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, 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.

[0022] Before providing a further detailed description of the embodiments of the present invention, the directional terms used in the embodiments of the present invention, such as "upper part", "lower part" and "side part", are not intended to limit the scope of protection of the present invention.

[0023] To make the technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0024] like Figures 1 to 4 As shown, one embodiment of the present invention provides a cleaning and grinding robot for the inner wall of pipes and wind turbine sleeves. The cleaning and grinding robot 100 includes: The support transmission assembly 120 includes multiple servo motors 152 and a transmission assembly 120 rotatably connected to the servo motors 152, with the multiple servo motors 152 being hinged to each other. The adaptive walking component 130 includes support arms 131 and support cylinders 132. One end of the multiple support arms 131 is evenly hinged to the servo motor 152 or to the transmission component 120. The other end of the support arm 131 is rotatably connected to the walking wheel 133. One end of the support cylinder 132 is hinged to the transmission component 120 or the servo motor 152, and the other end of the support cylinder 132 is hinged to the support arm 131. Cleaning component 140 is disposed on one side of servo motor 152 and is configured to clean the inner wall of the pipe and wind turbine sleeve. A monitoring component 150 is disposed between the cleaning component 140 and the servo motor 152, and the monitoring component 150 is configured to monitor changes in the inner wall.

[0025] The cleaning and polishing robot 110 includes a support and transmission assembly 120, which includes a servo motor 152 and the transmission assembly 120. The servo motor 152 supports the various components of the cleaning and polishing robot 110. One end of the support arm 131 is hinged to the servo motor 152 or the transmission assembly 120, and one end of the support cylinder 132 is hinged to the transmission assembly 120 or the servo motor 152. The other end of the support cylinder 132 is hinged to the support arm 131. In this way, through the cooperation of the transmission assembly 120, the support arm 131 can move towards or away from the servo motor 152. Multiple support arms 131 are evenly arranged on the outer periphery of each servo motor 152, and a traveling wheel 133 is provided on the end of the support arm 131 away from the servo motor 152. This allows the cleaning and polishing robot 110 to be applicable to pipes and wind turbine sleeves of different diameters. The cleaning component 140 can clean the inner wall of the pipe and the inner wall of the wind turbine sleeve. At the same time, the detection component can monitor the condition inside the pipe and sleeve. Based on the monitoring, the retraction of the support arm 131 and the movement of the traveling wheel 133 are controlled, further adapting to pipes and wind turbine sleeves of different diameters. The hinged connection between the multiple servo motors 152 can avoid the "jamming" phenomenon in the pipe and can adapt to pipes with bends. The transmission component 120 can adapt to diameter changes more quickly, improving the applicability and flexibility of the cleaning and polishing robot 110.

[0026] Specifically, traditional pipe cleaning robots suffer from problems such as a small diameter range, slow response, and complex structure. This application employs a hinged connection of a support cylinder 132, a support arm 131, and a transmission assembly 120, enabling the support arm 131 to move closer to or further away from the servo motor 152. The support cylinder 132 is a fixed rod and does not participate in extension or retraction; its main function is to support and limit the movement of the support arm 131, preventing it from opening too wide or getting too close to the servo motor 152, which would affect the stability of the arm's retraction. Structural simulation shows that this application's diameter range can accommodate pipe diameters from 120mm to 300mm, with a diameter change rate as high as 150%. To enhance the cornering ability of the cleaning and polishing robot 110, each servo motor 152 is equipped with multiple support arms 131 and wheels 133. In this application, each servo motor 152 uses three support arms 131 and wheels 133, meaning that the included angle between each support arm 131 is 120° and they are evenly distributed on the outer periphery of the servo motor 152. This arrangement enables the cleaning and polishing robot 110 to better maintain balance and stability in the pipeline, helps to disperse the pressure of the wheels 133 on the inner wall, reduces the concentration of local pressure on the inner wall, and avoids damage to the inner wall of the pipeline and the wind turbine sleeve. When cornering, through the cooperation of the hinged connection with two adjacent servo motors 152, when cornering or encountering local deformation of the pipeline, the coordinated movement between each section can better adapt to changes in the shape of the pipeline and improve the passability.

[0027] Understandably, optimizing the ratio of support arm spacing 131 to body length through ADAMS simulation enables the cleaning and polishing robot 100 to navigate right-angle bends with a curvature radius ≥ 1.5 times the pipe diameter, significantly increasing the throughput from the traditional 60%-70% to over 95%. In special pipelines, a smaller support arm spacing 131 and a shorter body length can reduce the turning radius of the cleaning and polishing robot 110, improving its ability to navigate bends with small curvature radii. However, an excessively small support arm spacing 131 may affect the stability of the cleaning and polishing robot 110, and a short body length may limit equipment installation and functionality, preventing it from achieving its intended purpose. Therefore, by utilizing the existing pipe curvature range, an optimal ratio of support arm spacing 131 to body length was found through ADAMS simulation to further improve the reliability of the cleaning and polishing robot 110's turning ability. In a single support frame 110, the distance between two adjacent support arms 131 is d1, the axial distance between the farthest ends of two support arms 131 at the same position on two adjacent support frames 110 is d2, and the length of a single support frame 110 is d. Then, d1 / d is 0.3 to 0.6, and d2 / d is 0.2 to 0.5, which allows the cleaning and polishing robot 100 to pass through right-angle bends with a radius of curvature ≥ 1.5 times the pipe diameter, significantly increasing the pass rate from the traditional 60% to 70% to over 95%.

[0028] For example, the support cylinder 132 can also be configured to be telescopic, with a stroke of 50mm and a thrust of 10N. Pressure sensors are installed on the subsequent walking wheels 133. If the monitored values ​​of the pressure sensors on each walking wheel 133 differ too much, it indicates that there may be a location with large deformation. In this case, the extension and retraction of the support cylinder 132 can be adjusted to ensure that the pressure value on each walking wheel 133 is within the allowable range, avoiding excessive pressure that could cause the walking wheels 133 to wear too quickly. At the same time, it can ensure that the walking wheels 133 can adapt to the inner walls of different pipe diameters and working conditions, ensuring the stability and reliability of the cleaning and grinding robot's movement.

[0029] In one feasible implementation, such as Figure 3 and Figure 4 As shown, the cleaning and polishing robot 110 includes a first support frame 111 and a second support frame 112. The first support frame 111 is located near the cleaning component 140. A first hinge joint 113 is provided on the end of the first support frame 111 facing the second support frame 112. A first connecting post is provided on the first hinge joint 113. The first connecting post is rotatably connected to the first hinge joint 113. The end of the first hinge joint 113 away from the first connecting post is rotatably connected to the first support frame 111. A second hinge joint 114 is provided on the end of the second support frame 112 facing the first support frame 111. A second connecting post is provided on the second hinge joint 114. The second connecting post is rotatably connected to the second hinge joint 114. The second connecting post is fixedly connected to the first connecting post.

[0030] It should be noted that two servo motors 152 are typically provided, namely the first support frame 111 and the second support frame 112. The first support frame 111 is equipped with a first hinge joint 113, and the second support frame 112 is equipped with a second hinge joint 114. The connection between the first hinge joint 113 and the second hinge joint 114 realizes the hinge between the first support frame 111 and the second support frame 112, enabling flexibility between the first support frame 111 and the second support frame 112. When passing through right-angle bends, the two-section hinge structure allows the robot to bend like a joint, passing through bends more smoothly and reducing the risk of jamming. When encountering changes in pipe diameter, local deformation, or obstacles, the hinge structure allows relative movement between the first support frame 111 and the second support frame 112, adjusting the overall shape of the cleaning and grinding robot 110 and maintaining a stable support and movement state. It can also mitigate impact. When the robot is impacted while moving in the pipe, the articulated structure can act as a buffer, reducing damage to the overall structure and internal equipment of the machine, protecting key components such as motors and sensors, and improving the reliability and service life of the cleaning and polishing robot 110.

[0031] In one feasible implementation, such as Figure 3 As shown, the transmission assembly 120 includes: The first lead screw 121 is rotatably connected to the first support frame 111 at one end, and the other end of the first lead screw 121 is fixedly connected to the first hinge joint 113. The second lead screw 122 has both ends passing through the second support frame 112 and is rotatably connected to the second support frame 112. The end of the second lead screw 122 facing the first support frame 111 is fixedly connected to the second hinge joint 114. The output shaft of the drive motor 123 is fixedly connected to the end of the second lead screw 122 away from the second hinge joint 114. A ball nut 124 is provided on the first lead screw 121 and the second lead screw 122 respectively.

[0032] In this configuration, the first lead screw 121 is rotatably connected to the first support frame 111 at one end near the cleaning component 140, and is fixedly connected to the first hinge joint 113 at the other end away from the cleaning component 140. The first hinge joint 113 is rotatably connected to the first support frame 111. Meanwhile, the second lead screw 122 passes through the second support frame 112 at both ends and is rotatably connected to the second support frame 112. One end of the second lead screw 122 is fixedly connected to the second hinge joint 114, and the other end of the second lead screw 122 is fixedly connected to the output shaft of the drive motor 123. This configuration allows the first lead screw 121 and the second lead screw 122 to rotate separately using a single drive motor 123, reducing the structural complexity of the cleaning and polishing robot 110, improving its compactness, and expanding its applicability.

[0033] It should be noted that the drive motor 123 simultaneously drives the first lead screw 121 and the second lead screw 122 to rotate, and drives the ball nut 124 on it to make linear motion. This is achieved through the cooperation of the support arm 131 and the support cylinder 132. The support arm 131 drives the walking wheel 133 to move closer to and further away from the servo motor 152, so that the cleaning and polishing robot 110 can adapt to pipes and wind turbine sleeves with different inner diameters.

[0034] For example, the drive motor 123 is a stepper motor, which adjusts the posture of the support arm 131, that is, the angle between the support arm 131 and the servo motor 152, so as to facilitate the movement of the ball nut 124 on the drive screw and convert the rotational motion into linear motion.

[0035] Understandably, when the walking wheel 133 is supported by the inner wall, there will be a reaction force on the walking wheel 133. This reaction force can act on the lead screw, and then on the drive motor 123. The magnitude of this force can also be used to control the support arm 131 and the walking wheel 133. If this reaction force is too large, exceeding the set range, it means that the walking wheel 133 is too tightly attached to the inner wall, which is not conducive to walking. At this time, the support arm 131 and the walking wheel 133 can be appropriately retracted. If the reaction force is too small, less than the set range, it means that the walking wheel 133 is not tightly attached to the inner wall, and it cannot walk or will slip during walking. This ensures that the walking wheel 133 of the cleaning and polishing robot 110 always maintains reliable contact with the inner wall, and will not lose contact or experience sudden pressure changes due to slight changes in pipe diameter. Simultaneously, it ensures that the central axis of the grinding robot is basically aligned with the central axis of the pipe, while the stable support force prevents the walking wheels 133 from slipping. This allows the cleaning and grinding robot 110 to move smoothly in horizontal, vertical, or curved areas, improving the reliability and stability of its operation. The ball nut 124 and lead screw used in this application achieve the diameter change of the support arm 131 and the walking wheels 133, resulting in higher drive efficiency. Compared to the worm gear mechanism in related technologies, the transmission efficiency is increased by 70%, and the compactness of the cleaning and grinding robot 110 structure is improved, reducing the space occupied by 20%. This solves the problems of low transmission efficiency and complex structure when changing diameter in related technologies. Therefore, the cleaning and grinding robot 110 of this application can flexibly and quickly adjust to pipe diameter changes caused by scaling and deformation, avoiding jamming and ensuring stable operation in environments with different inner diameters.

[0036] Furthermore, the variable-diameter drive mechanism of the drive motor 123, lead screw, and ball nut 124 adopted in this application improves the service life of the cleaning and polishing robot 110, extends the maintenance cycle, and reduces maintenance costs. Meanwhile, the modular design of the support arms 131, wheels 133, and other structures allows for quick disassembly and replacement, reducing single maintenance time, minimizing downtime due to malfunctions or maintenance, lowering maintenance costs, and facilitating robot maintenance and upkeep in practical applications.

[0037] In one feasible implementation, such as Figure 3 As shown, when the support arm 131 is hinged to the servo motor 152, one end of the support cylinder 132 is hinged to the ball nut 124, and the other end of the support cylinder 132 is hinged to the support arm 131. When the support arm 131 is hinged to the ball nut 124, one end of the support cylinder 132 is hinged to the servo motor 152, and the other end of the support cylinder 132 is hinged to the support arm 131.

[0038] For example, in this embodiment, the support arm 131 on one side of the first support frame 111 is hinged to the ball nut 124, and one end of the support cylinder 132 on this side is hinged to the first support frame 111, while the other end of the support cylinder 132 is hinged to the support arm 131; the support arm 131 on one side of the second support frame 112 is hinged to the end of the second support frame 112 near the first support frame 111, one end of the support cylinder 132 on this side is hinged to the ball nut 124, and the other end of the support cylinder 132 is hinged to the support arm 131. That is, the support arms 131 on the first support frame 111 and the second support frame 112 form a symmetrical structure to ensure the stability of the cleaning and polishing robot 110.

[0039] In one feasible implementation, such as Figure 2 As shown, each servo motor 152 is provided with three support arms 131, which are evenly distributed on the outer periphery of the servo motor 152.

[0040] In this application, each servo motor 152 is equipped with three support arms 131 and a traveling wheel 133. That is, the included angle between each support arm 131 is 120° and they are evenly arranged on the outer periphery of the servo motor 152. This arrangement enables the cleaning and grinding robot 110 to maintain better balance and stability in the pipeline, helps to disperse the pressure of the traveling wheel 133 on the inner wall, reduces the concentration of local pressure on the inner wall, and avoids damage to the inner wall of the pipeline and the wind turbine sleeve. When passing through bends, through the cooperation of the hinged connection with two adjacent servo motors 152, when passing through bends or encountering local deformation of the pipeline, the coordinated movement between each section can better adapt to the changes in the shape of the pipeline and improve the passability.

[0041] In one feasible implementation, such as Figure 2 As shown, the cleaning and polishing robot 110 also includes: The walking motor 134 has a fixed end that is fixedly connected to the support arm 131. The output shaft of the walking motor 134 is provided with a first bevel gear 135. The center of the walking wheel 133 is provided with a connecting shaft, which is rotatably connected to the support arm 131. One end of the connecting shaft is provided with a second bevel gear 136, which meshes with the first bevel gear 135.

[0042] Each walking wheel 133 is equipped with a walking motor 134, which improves the walking force of the cleaning and polishing robot 110 and enhances its stability when turning and over obstacles. Specifically, when turning, the inner wall of the curve changes curvature. The walking wheels 133 on the two support arms 131 on the same side output driving force synchronously, which can prevent the wheel on one side from slipping. Especially in the pointing curve, the same-side drive can reduce the axis offset angle and prevent jamming, thus ensuring the torque balance when turning. When the cleaning and polishing robot 110 encounters obstacles such as inner wall protrusions or scale, the simultaneous drive of the same-side walking wheels 133 can concentrate the migration force to ensure smooth passage through the obstacle.

[0043] For example, the walking motor 134 can be a 480 NdFeB motor, which can provide sufficient torque to overcome the resistance of the inner wall (such as rolling friction or dirt obstruction), driving the walking wheel 133 to rotate and realize the walking of the cleaning and polishing robot 110. The walking motor 134 of this application supports a maximum speed of 0 mm / s and the speed is adjustable, the motor efficiency is >85%, and the energy consumption is reduced by 25% compared with similar products. Using the walking motor 134 to drive can avoid the leakage problems existing in hydraulic or starting drive, and can adapt to harsh environments with humidity and dust, thereby improving the driving efficiency and operational stability of the cleaning and polishing robot 110, while also reducing energy consumption and maintenance costs.

[0044] It should be noted that multiple sets of springs can be installed between the walking wheel 133 and the connecting shaft. When the cleaning and polishing robot 110 encounters bends, obstacles, or deformations within the inner wall, the pressure on the walking wheel 133 changes. The springs allow the walking wheel 133 to adapt to these changes, improving the robot's flexibility. For example, when going around a bend, the pressure on the outer walking wheel 133 decreases, while the pressure on the inner walking wheel 133 increases. This causes greater compression of the spring on the inner walking wheel 133, allowing it to adjust its angle appropriately. This ensures that the walking wheel 133 maintains full contact with the inner wall under various working conditions, preventing it from being suspended or subjected to excessive localized stress. When there are protrusions on the inner wall, the elastic support of the springs allows the walking wheel 133 to adjust to the shape of the protrusion, maintaining stable support for the cleaning and polishing robot 110 and further preventing sideslip and jamming during movement.

[0045] It is understandable that by controlling the rotation speed of the walking motors 134 on different walking wheels 133, the cleaning and polishing robot 110 can be turned using the differential principle. For example, if the rotation speed of the outer walking wheel 133 increases and the rotation speed of the inner walking wheel 133 decreases, the cleaning and polishing robot 110 turns inward. At the same time, the connection structure between the first support frame 111 and the second support frame 112 also rotates accordingly to adapt to the curvature of the curve and achieve reliable turning. Figure 1The diagram only shows two travel motors 134, but in reality, six travel motors 134 are needed. Figure 1 The walking motor 134 has been partially removed, but this does not affect the understanding of this application.

[0046] In one feasible implementation, such as Figure 2 and Figure 3 As shown, the cleaning component 140 includes: A pair of connecting plates 141 are mounted on one side of the servo motor 152 via a connecting bracket 160. A drill bit 142 is provided on the side of the pair of connecting plates 141 facing away from the connecting bracket 160. Rotary motor 143 is fixedly mounted on connecting bracket 160, and the output shaft of rotary motor 143 is fixedly connected to the center of a pair of connecting plates 141. An extension rod 144 is disposed opposite to a pair of connecting plates 141, and the extension rod 144 is configured to move toward or away from the pair of connecting plates 141. The cleaning head assembly is located at the end of the extension rod 144 away from the connecting plate 141. The cleaning head assembly is set at an angle to the extension rod 144. The cleaning head assembly includes a support frame 145. The support frame 145 is provided with a blade 146 and a brush 147 facing upward. The blade 146 and the brush 147 are spaced apart. The blade 146 is inclined to the support frame 145. The brush 147 is rotatably connected to the support frame 145.

[0047] The rotating motor 143 drives the entire connecting plate 141 to rotate, which in turn drives the extension rod 144 and the cleaning head assembly on the connecting plate 141 to rotate together. This allows the blades 146 and brushes 147 on the cleaning head assembly to clean and polish the dirt on the inner wall. The blades 146 scrape off the dirt on the inner wall, and the brushes 147 clean any remaining dirt, improving the reliability and stability of the inner wall cleaning and polishing. This application uses two extension rods 144, that is, two sets of cleaning head assemblies, thereby improving the efficiency of cleaning and polishing the inner wall.

[0048] It should be noted that the support frame 145 of the cleaning head is located at the end of the extension rod 144 away from the connecting plate 141. The support frame 145 is arc-shaped on both sides in the width direction to adapt to the shape of the inner wall of the pipe and the wind turbine sleeve. Blades 146 and brushes 147 are set on the arc-shaped segment of the support frame 145. Typically, three blades 146 and two brushes 147 are arranged alternately. The blades 146 grind the dirt on the inner wall, and then the brushes 147 clean it. This process of grinding and cleaning is repeated to ensure the reliability of cleaning the inner wall. It can be understood that the support frame 145 can be in the form of a pair of support plates arranged opposite each other, which can improve the stability of supporting the blades 146 and brushes 147. The brushes 147 can be rotatably connected to the support plates.

[0049] Furthermore, to ensure that there are no obstacles in front of the cleaning and polishing robot 100, the drill bit 142 is designed so that if there are obstacles, the rotating motor 143 will drive the drill bit 142 to rotate and clean the obstacles in the pipe and the wind turbine sleeve, such as plastic bags. The obstacles can be wrapped around the drill bit 142, preventing them from getting stuck on other components of the cleaning and polishing robot 100 and causing the cleaning and polishing robot 100 to jam, thereby improving the reliability and stability of the cleaning and polishing robot 100's operation.

[0050] For example, a conical sleeve can be installed on the support frame 145, which is fitted over the cleaning head assembly, with the open end of the conical sleeve facing the servo motor 152. A dust collection assembly is installed between the conical sleeve and the support frame 145, and the dust collection assembly is connected to a dust collection box through a pipe. A fan sucks the grinding dust into the dust collection box, preventing dust from spreading in the pipe and the sleeve. This ensures the reliability of the image information monitored by the subsequent monitoring component 150 and reduces the amount of dust in the pipe and sleeve environment, preventing dust from clogging the pipe or causing secondary pollution. In the case of a wet pipe (such as a drainage pipe), the dirt can be scraped off by the brush 147 and blade 146 through the scraper and the guide channel, and then guided to the dirt storage chamber configured on the body (servo motor 152) through the guide channel. This prevents the dirt from moving with the water flow, ensuring the reliability of the image information monitored by the subsequent monitoring component 150, and preventing dirt from floating in the water and causing pollution. Both the vacuuming and cleaning mechanisms are connected to the cleaning component 140 via a quick-release mechanism, making them easy to replace and maintain.

[0051] It is understandable that the cleaning and polishing intensity can be controlled by adjusting the rotation speed of the rotary motor 143. For example, reducing the rotation speed decreases the moiré effect, thereby reducing the cleaning and polishing intensity. Alternatively, the cleaning and polishing intensity can be adjusted by extending or retracting the extension rod 144. For example, retracting the extension rod 144 reduces the polishing intensity, while extending it increases the polishing intensity. If the ultrasonic sensor detects that the polishing thickness is not up to standard, the polishing efficiency can be improved by increasing the polishing intensity, or the travel speed of the cleaning and polishing robot 110 can be reduced to extend the polishing time and increase the polishing thickness.

[0052] In one feasible implementation, a curved slide is provided on one side of the pair of connecting plates 141 opposite each other, and the cleaning assembly 140 further includes: The electric telescopic pole 148 has one end hinged to a pair of connecting plates 141 and the other end hinged to an extension pole 144.

[0053] In this design, an arc-shaped slide rail is provided on the connecting plate 141. The extension and retraction of the electric telescopic rod 148 can drive one end of the extension rod 144 to move within the slide rail, while the other end of the extension rod 144 moves closer to or further away from the connecting plate 141. This allows the cleaning head assembly to adapt to pipes and wind turbine sleeves with different inner diameters.

[0054] In one feasible implementation, such as Figure 3 As shown, the monitoring component 150 includes: A servo mount 151 is disposed between the cleaning component 140 and the servo 152. The servo mount 151 is fixedly connected to the servo 152. The servo 152 is mounted on the servo mount 151. A camera module 153 is mounted on the output shaft of the servo 152. LED module 154 is located on one side of camera module 153; An ultrasonic sensor is mounted on the housing of the servo motor 152, and the ultrasonic sensor is tilted relative to the housing of the servo motor 152. The ultrasonic sensor is configured to emit a beam of light towards the inner wall.

[0055] The camera module 153, driven by the output shaft of the servo motor 152, can rotate 360°, increasing the reliability of image acquisition. The camera, an OV7725 model, has 300,000 pixels and a 120° wide-angle lens, enabling real-time image acquisition of the pipe's inner wall and transmission to the ground control platform via WiFi, allowing operators to monitor the pipe's internal conditions in real time. The ultrasonic sensor, using an HCSR04 ranging module, has an accuracy of ±3mm and can monitor pipe diameter changes from 50mm to 500mm ahead, providing accurate data support for diameter adjustment.

[0056] It should be noted that when the cleaning component 140 cleans and polishes the inner wall, an ultrasonic sensor can be used to detect whether the cleaning and polishing of the inner wall is in place. The ultrasonic sensor can monitor the change in pipe diameter from 50mm to 500mm in front. Since the cleaning component 140 is located within this distance range in front of the ultrasonic sensor, the diameter of the polishing area can be measured after the cleaning component 140 rotates one revolution. The length is obtained by the time of light reflection and compared with the initially designed diameter. If it is within the allowable error range, it is considered that the polishing is in place, and the cleaning and polishing robot 110 can move forward to the next polishing position to perform polishing.

[0057] In one feasible implementation, the cleaning and polishing robot 110 further includes: Pressure sensors are provided on both the walking wheel 133 and the cleaning assembly 140; The control module receives monitoring data from the monitoring component 150 and the pressure sensor, and controls the retraction of the support arm 131 and the movement of the walking wheel 133 based on the monitoring data.

[0058] Pressure sensors can be installed on the walking wheel 133 and the cleaning component 140. When the inner diameter is consistent, the position of the walking wheel 133 is the inner wall that has been cleaned and polished. As the cleaning component 140 gradually polishes, the extension rod 144 continuously adapts to the change in inner diameter until the enlarged diameter of the cleaning head component is the same as the diameter of the walking wheel 133. At this point, the pressure values ​​of the pressure sensors on the walking wheel 133 and the cleaning component 140 are obtained. When the difference between the two pressure values ​​is within the allowable error range, the cleaning and polishing at the cleaning component 140 can be considered complete. The combination of pressure sensors and ultrasonic sensors can provide double assurance that the cleaning and polishing is in place, thereby improving the reliability of the cleaning and polishing process.

[0059] It should be noted that when the cleaning and polishing robot 110 enters the pipe or wind turbine sleeve, it first cleans it through the cleaning component 140. After cleaning and polishing for a period of time, the walking wheel 133 enters the pipe or wind turbine sleeve. At this time, the ultrasonic sensor has already obtained the inner diameter value. The support arm 131 is opened or retracted directly through the transmission component 120 so that the walking wheel 133 contacts the inner wall. Then, the pressure obtained by the pressure sensor on the walking wheel 133 is further adjusted. If the pressure is too high, it means that the opening is too large and the support arm 131 can be retracted appropriately. If the pressure is too low, it means that the support arm 131 is not open enough and the support arm 131 can be opened appropriately to ensure effective contact between the walking wheel 133 and the inner wall. In this way, the reliability and stability of the walking wheel 133 supporting the walking is ensured through the cooperation of the ultrasonic sensor and the pressure sensor on the walking wheel 133. Similarly, when the inner diameter is inconsistent, once the diameter range indirectly obtained by the ultrasonic sensor is within the error range, the extension rod 144 opens to the designed inner diameter. The pressure value is then obtained by the pressure sensor on the cleaning component 140. If the pressure value is within the allowable error range, the cleaning and polishing are deemed satisfactory. If the pressure value exceeds the allowable error range, the cleaning component 140 requires further cleaning and polishing. In other words, the cooperation of the camera module 153, ultrasonic sensor, and pressure sensor ensures the stability of the walking wheel 133 and the reliability of the cleaning component 140's cleaning and polishing. In applications where the inner diameter of the wind turbine sleeve gradually changes, the pressure sensor ensures the pressure value remains within a certain range, allowing the walking wheel 133 and cleaning component 140 to adjust their opening and closing positions in a timely manner, ensuring the cleaning and polishing robot 110 can operate stably on the variable-diameter inner wall of the wind turbine sleeve. The LED module 154 provides illumination, thus providing a stable working environment for the camera module 153 and ultrasonic sensor.

[0060] For example, the pressure sensor on the cleaning assembly 140 can be mounted on the support frame 145, and when not in operation, the contact head is aligned with the outermost part of the brush 147 and the blade 146. The pressure sensor on the traveling wheel 133 can be fixed on the support arm 131, and similarly, when not in operation, the contact head of the pressure sensor is aligned with the outer surface of the traveling wheel 133.

[0061] Example In this embodiment, each support arm 131 has a length of 300mm (like a fishtail), can accommodate an inner diameter of 110mm when retracted to its minimum, and an inner diameter of 280mm when extended, with a total weight of 2kg. The walking wheels 133 have a non-slip rubber surface with a friction coefficient μ=0.8 and a wheel diameter of 24.39mm. This design enables the robot to not only support straight-line walking but also to achieve cornering and pipe diameter adaptive adjustment, ensuring smooth movement within pipes under different working conditions. In addition, the cleaning and polishing robot 110 is equipped with a retractable cleaning component 140. When stored, the cleaning component 140 is close to the robot body (connecting plate 141), and when in use, it can be extended to adapt to different inner diameters. Even if the ultrasonic sensor collects data on changes in the pipe diameter in front, the control module can use a microcontroller (ESP32) to receive the data, calculate the required extension range of the support arm 131, and then send a PWM signal to drive the drive motor 123 to achieve automatic calibration, ensuring that the cleaning and polishing robot 110 can adjust the extension range of the support arm 131 in a timely and accurate manner according to changes in pipe diameter. The walking motor 134 uses a 480 NdFeB motor with a rated power of 8W and a speed of 1000rpm. It is paired with a planetary gear reducer with a reduction ratio of 12, resulting in an output speed of 83.3rpm and a transmission efficiency of up to 85%. This provides sufficient power for the cleaning and polishing robot 110, ensuring its high efficiency within the inner wall. The walking wheels 133 can be omnidirectional wheels to reduce turning resistance. The contact angle between the walking wheels 133 and the inner wall is designed to be 45°, ensuring even distribution of driving force and making the cleaning and polishing robot 110 more stable during movement, avoiding deviation and slippage caused by uneven force. The brush 147 in the cleaning assembly 140 is cylindrical and made of nylon 66 material with a Shore A hardness of 80A. Different materials of brush 147 can be replaced according to different pipe environments to achieve the best cleaning effect. The extension rod 144 and the cleaning head assembly are driven by a rotary motor 143 with a speed of up to 1500rpm. The extension rod 144 is controlled by an electric telescopic rod 148 to accommodate pipes and wind turbine sleeves of different diameters.

[0062] The control module uses an ESP32 development board as the main control chip, integrating WiFi and Bluetooth modules. This supports both remote control, allowing operators to control the cleaning and polishing robot 110 from outside pipes or wind power equipment, and local autonomous operation, improving the robot's independence and adaptability. Sensor interfaces include I2C for connecting a camera, GPIO for connecting an ultrasonic sensor, and PWM for controlling the drive motors 123, walking motor 134, rotary motor 143, support cylinder 132, and electric telescopic rod 148, enabling precise control of each module. On the software side, the diameter-changing algorithm is based on fuzzy PID control, dynamically adjusting the stroke of the electric telescopic rod 148 based on ultrasonic sensor ranging data, with a response time of <500ms, ensuring the cleaning and polishing robot 110 can quickly and accurately adapt to pipe diameter changes. The cleaning strategy uses an image recognition algorithm (OpenCV) to analyze the degree of dirt accumulation, automatically adjusting the cleaning brush speed and pressure to achieve intelligent cleaning: "low speed and light pressure for light dirt, high speed and heavy pressure for heavy dirt." For grinding wind turbine sleeves, grinding parameters are automatically adjusted using a specific algorithm based on data from high-precision sensors to ensure grinding quality. The software and ESP32 are both commonly used existing technologies and will not be elaborated upon here.

[0063] Power Supply and Communication: The power supply uses a built-in 2000mAh lithium battery, which can support the cleaning and polishing robot 110 to work continuously for 4 hours, with a charging time of 2 hours, meeting the power requirements for general pipe cleaning and wind turbine sleeve polishing tasks. For communication, it connects to the ground control platform via a 50m waterproof cable, supporting real-time data transmission and command reception, ensuring smooth information exchange between the operator and the cleaning and polishing robot. In emergencies, the cleaning and polishing robot can switch to a locally preset program to ensure that it can continue to complete some cleaning and polishing tasks even in the event of communication interruptions or other unforeseen circumstances. This is a standard option and will not be elaborated further.

[0064] In this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "a plurality" refers to two or more unless otherwise expressly defined.

[0065] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0066] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A cleaning and grinding robot for the inner walls of pipes and wind turbine sleeves, characterized in that, The cleaning and polishing robot includes: A support transmission assembly includes multiple support frames and a transmission assembly rotatably connected to the support frames, wherein the multiple support frames are hinged together. The adaptive walking assembly includes support arms and support cylinders. One end of a plurality of support arms is evenly hinged to the support frame or to the transmission assembly. The other end of each support arm is rotatably connected to a walking wheel. One end of each support cylinder is hinged to the transmission assembly or the support frame, and the other end of the support cylinder is hinged to the support arm. A cleaning component is disposed on one side of the support frame, and the cleaning component is configured to clean the inner wall of the pipe and the wind turbine sleeve; A monitoring component is disposed between the cleaning component and the support frame, and the monitoring component is configured to monitor changes in the inner wall.

2. The cleaning and grinding robot for the inner wall of pipes and wind turbine sleeves according to claim 1, characterized in that, The cleaning and polishing robot includes a first support frame and a second support frame. The second support frame is located close to the cleaning component. The first support frame has a first hinge joint on one end facing the second support frame. The first hinge joint has a first connecting post, which is rotatably connected to the first hinge joint. The end of the first hinge joint away from the first connecting post is rotatably connected to the first support frame. The second support frame has a second hinge joint on one end facing the first support frame. The second hinge joint has a second connecting post, which is rotatably connected to the second hinge joint. The second connecting post is fixedly connected to the first connecting post.

3. The cleaning and grinding robot for the inner wall of pipes and wind turbine sleeves according to claim 2, characterized in that, The transmission assembly includes: The first lead screw has one end rotatably connected to the first support frame, and the other end of the first lead screw is fixedly connected to the first hinge joint. The second lead screw has both ends passing through the second support frame and is rotatably connected to the second support frame. The end of the second lead screw facing the first support frame is fixedly connected to the second hinge joint. A drive motor, wherein the output shaft of the drive motor is fixedly connected to the end of the second lead screw away from the second hinge joint; A ball nut is provided on each of the first lead screw and the second lead screw.

4. The cleaning and grinding robot for the inner wall of pipes and wind turbine sleeves according to claim 3, characterized in that, When the support arm is hinged to the support frame, one end of the support cylinder is hinged to the ball nut, and the other end of the support cylinder is hinged to the support arm; When the support arm is hinged to the ball nut, one end of the support cylinder is hinged to the support frame, and the other end of the support cylinder is hinged to the support arm.

5. The cleaning and grinding robot for the inner wall of pipes and wind turbine sleeves according to claim 2, characterized in that, Each of the support frames is provided with three support arms, which are evenly distributed on the outer periphery of the support frame.

6. The cleaning and grinding robot for the inner wall of pipes and wind turbine sleeves according to claim 5, characterized in that, The cleaning and polishing robot also includes: The walking motor has a fixed end that is fixedly connected to the support arm. The output shaft of the walking motor is provided with a first bevel gear. A connecting shaft is provided at the center of the walking wheel. The connecting shaft is rotatably connected to the support arm. One end of the connecting shaft is provided with a second bevel gear that meshes with the first bevel gear.

7. The cleaning and grinding robot for the inner wall of pipes and wind turbine sleeves according to claim 1, characterized in that, The cleaning components include: A pair of connecting plates are mounted on one side of the support frame via a connecting bracket, and a drill bit is provided on the side of the pair of connecting plates opposite to the connecting bracket; A rotary motor is fixedly mounted on the connecting frame, and the output shaft of the rotary motor is fixedly connected to the center of a pair of connecting plates. An extension rod is disposed opposite to a pair of connecting plates, and the extension rod is configured to move toward or away from the pair of connecting plates. A cleaning head assembly is disposed at the end of the extension rod away from the connecting plate. The cleaning head assembly is angled to the extension rod. The cleaning head assembly includes a support frame. The support frame is provided with a blade and a brush facing upward. The blade and the brush are spaced apart. The blade and the support frame are inclined. The brush is rotatably connected to the support frame.

8. The cleaning and grinding robot for the inner wall of pipes and wind turbine sleeves according to claim 7, characterized in that, The cleaning assembly further includes: an arc-shaped slide rail on one side of each pair of connecting plates facing each other. An electric telescopic pole, one end of which is hinged to a pair of connecting plates, and the other end of which is hinged to an extension rod.

9. The cleaning and grinding robot for the inner wall of pipes and wind turbine sleeves according to claim 1, characterized in that, The monitoring components include: A servo mount is disposed between the cleaning component and the support frame. The servo mount is fixedly connected to the support frame. A servo is mounted on the servo mount, and a camera module is mounted on the output shaft of the servo. An LED module is disposed on one side of the camera module; An ultrasonic sensor is disposed on the housing of the servo motor, and the ultrasonic sensor is inclined to the housing of the servo motor. The ultrasonic sensor is configured to emit a light beam toward the inner wall.

10. The cleaning and grinding robot for the inner wall of pipes and wind turbine sleeves according to any one of claims 1 to 9, characterized in that, The cleaning and polishing robot also includes: Pressure sensors are provided on both the walking wheels and the cleaning assembly; The control module receives monitoring data from the monitoring components and the pressure sensor, and controls the retraction of the support arm and the movement of the walking wheels based on the monitoring data.

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