Pipeline robot and collaborative operation method thereof

Abstract

The invention discloses a pipeline robot and a collaborative operation method thereof. The pipeline robot comprises a robot pipe body. A positioning plate is fixedly arranged at one end of the robot pipe body, a bearing part is assembled on the side face of the positioning plate, a cleaning disc is rotationally arranged through the bearing part, a flange plate is fixedly arranged on the other side of the cleaning disc, and a pipeline front end cone breaking barrel is fixedly arranged on the other side of the flange plate. According to the pipeline robot, the conical barrel-shaped structure of the conical breaking barrel is used for conducting pre-breaking treatment on pipeline dirt, a cooperative operation mode of first breaking and then cleaning is achieved in cooperation with a plurality of pipeline cleaning bristles embedded in the outer circumferential face of the cleaning disc in a surrounding mode, and the cleaning efficiency of stubborn dirt and blockages is effectively improved; the positioning assembly achieves accurate centering and rapid disassembly and assembly of the cleaning plate and the threaded rod through insertion type positioning connection, the coaxiality and stability of the cleaning plate in the working process are guaranteed, and cleaning plates of different specifications or materials can be replaced conveniently according to operation requirements.

Description

Technical Field

[0001] This invention relates to the field of pipeline robots, and in particular to a pipeline robot and its collaborative operation method. Background Technology

[0002] Pipeline cleaning robots are automated devices specifically designed for cleaning the interiors of pipelines. Equipped with cleaning brushes, plates, high-pressure water jets, or other cleaning tools, they can move autonomously or remotely within pipelines of various diameters to effectively remove dirt, deposits, rust, and other contaminants from the pipe walls. These devices are typically equipped with a drive system, navigation and positioning system, cleaning actuators, and a control system. They can adapt to the pipeline cleaning needs of various sectors, including petrochemicals, municipal water supply and drainage, and industrial pipelines. Compared to traditional manual cleaning methods, pipeline cleaning robots offer advantages such as high efficiency, consistent cleaning quality, access to confined spaces inaccessible to personnel, and reduced operational risks, making them an important technological tool in modern pipeline maintenance and cleaning operations.

[0003] During pipeline maintenance, disassembling cleaning equipment is often a complex and time-consuming process. Most existing pipeline internal wall cleaning devices rely on cleaning brushes or cleaning plates. These devices need to be disassembled and cleaned after use. The disassembly process is not only laborious but also prone to damage or wear of the equipment, increasing the difficulty of subsequent maintenance. This not only delays the entire construction process but may also affect the overall efficiency of the project. At the same time, the cleaning brushes or cleaning plates of existing pipeline cleaning robots are designed with fixed sizes and cannot be adaptively adjusted according to pipelines with different inner diameters. This results in the cleaning brush being too large in small-diameter pipelines and unable to penetrate deeply or being obstructed from rotating, while the cleaning brush is too small in large-diameter pipelines and cannot fully contact the pipe wall, creating cleaning dead zones and blind spots.

[0004] Therefore, a pipeline robot and its collaborative operation method are proposed to solve the above problems. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, the present invention aims to provide a pipeline robot and its collaborative operation method, which has the advantages of thorough cleaning, high overall cleaning efficiency, and easy maintenance and cleaning after cleaning.

[0006] The above-mentioned technical objective of the present invention is achieved through the following technical solution:

[0007] A pipeline robot, comprising a robot pipe body; A positioning plate is fixedly installed at one end of the robot tube body. A bearing is mounted on the side of the positioning plate and a cleaning disc is rotatably mounted through the bearing. Several pipe cleaning bristles are embedded around the outer circumference of the cleaning disc. A flange is fixedly installed on the side of the cleaning tray away from the positioning plate, and a pipe front cone breaking cylinder is fixedly installed on the side of the flange away from the positioning plate. The pipe front cone breaking cylinder is cone-shaped and is used to break up the dirt in the pipe. A slip ring is slidably connected to one end of the robot tube body. Three mounting seats are distributed around the outside of the slip ring. A compression spring is sleeved on the outside of the slip ring. One end of the compression spring abuts against the positioning plate and the other end abuts against the slip ring. The robot tube body is also surrounded by three additional mounting seats, for a total of six mounting seats, which are divided into two groups of three symmetrically distributed. The three mounting seats in each group are rotatably connected to a first connecting rod, a second connecting rod, and a third connecting rod via a rotating shaft. The first connecting rod is centrally located between the second and third connecting rods. One end of the second connecting rod is hinged to the middle of the first connecting rod via a rotating shaft, and the other end of the second connecting rod extends to connect to a mounting seat on a slip ring. The three mounting seats arranged in a straight line along the outer axis of the robot tube body form a group. The other ends of the first and third connecting rods are connected to a mounting rod via a rotating shaft. Both ends of the mounting rod are rotatably connected to rollers via a rotating shaft. The other end of the robot tube is equipped with a positioning component, and one end of the positioning component is provided with a circular cleaning plate.

[0008] Preferably, the positioning component includes a mounting cylinder, the bottom wall of which is fitted with a mounting plate, and four arc-shaped limiting plates are mounted around the side of the mounting plate near the circular cleaning plate. An mounting ring is fitted at the end of the mounting cylinder near the circular cleaning plate.

[0009] Preferably, the inner wall of the mounting ring is fitted with an internally threaded ring, and the internally threaded ring is provided with a threaded rod with a through hole on one side.

[0010] Preferably, the end of the threaded rod away from the circular cleaning plate is provided with an arc-shaped groove, and the end of the four arc-shaped limiting plates near the circular cleaning plate is provided with an arc surface.

[0011] Preferably, the inner wall of the mounting cylinder is provided with four positioning blocks in a circumferential manner, and the outer side of the mounting plate is provided with four mounting grooves in a circumferential manner, with the four positioning blocks respectively engaging in the four mounting grooves.

[0012] Preferably, a positioning rod is provided in the middle of one side of the circular cleaning plate, and the size of the positioning rod corresponds to the through hole on one side of the threaded rod.

[0013] Preferably, a drive motor is embedded inside the positioning plate, and the output end of the drive motor passes through the bearing component and is connected to the side wall of the cleaning disc.

[0014] Based on this, the present invention also provides a pipeline robot collaborative method, which includes the following steps: The pipeline robot is inserted into the pipeline to be cleaned along the pipeline direction. The robot is guided smoothly into the pipeline by the sliding ring connected to the robot body and the six mounting seats distributed around it. The hinge structure of the first connecting rod, the second connecting rod and the third connecting rod allows the rollers at both ends of the mounting rod to adaptively adjust to contact the inner wall of the pipeline. The support and rolling of the rollers enable the robot to be stably positioned and moved in the pipeline. At the same time, the engagement of the four positioning blocks arranged around the inner wall of the mounting cylinder in the positioning component with the four mounting slots on the outside of the mounting plate ensures that the circular cleaning plate and the robot body remain stably connected. Based on the inner diameter of the pipe to be cleaned, the internally threaded ring mounted on the inner wall of the mounting ring is rotated, causing the threaded rod connected inside the internally threaded ring to move axially. The arc-shaped groove at one end of the threaded rod pushes the arc-shaped end of the four arc-shaped limiting plates mounted around one side of the mounting plate to expand outward or contract inward. By clamping and fixing different positioning rods, the effective cleaning diameter of the circular cleaning plate is adjusted to match the inner diameter of the pipe. After adjustment, the positioning rod in the middle of one side of the circular cleaning plate is inserted into the through hole on one side of the threaded rod to achieve precise positioning and fixed installation of the cleaning plate. The drive motor, which is embedded inside the positioning plate, is activated. The output end of the drive motor passes through the bearing and drives the cleaning disc to rotate. Several pipe cleaning bristles embedded around the outer circumference of the cleaning disc scrub the inner wall of the pipe during the rotation. At the same time, the flange fixed on the other side of the cleaning disc and the conical crushing cylinder at the front end of the pipe work together. The conical crushing cylinder at the front end of the pipe first breaks down stubborn dirt and clumps in the pipe. Then, the pipe cleaning bristles thoroughly clean the broken dirt, realizing a collaborative operation mode of front-end crushing and back-end cleaning.

[0015] Preferably, the pipeline robot collaborative method further includes the following steps: During the cleaning operation, the robot moves using external traction equipment or a traction rope. Simultaneously, the sliding function of the slip ring and the hinged connection of the connecting rod mechanisms on the two mounting bases ensure that the rollers maintain effective contact pressure with the inner wall of the pipe. This ensures the robot moves smoothly within the pipe while the circular cleaning plate and cleaning disc provide comprehensive, thorough cleaning of the inner wall. When encountering complex pipe structures such as changes in pipe diameter or bends, the hinged structure of the first, second, and third connecting rods automatically adjusts the roller's unfolding angle and contact position. Combined with the size adjustment function of the circular cleaning plate through the arc-shaped limiting plate, this ensures the continuity and effectiveness of the cleaning operation under different pipe conditions, ultimately completing the efficient cleaning task of the entire pipe section.

[0016] In summary, the present invention has the following beneficial effects: 1. This pipeline robot utilizes a flange fixed to one side of the cleaning tray, connected to a conical breaking cylinder at the front end of the pipeline. The conical breaking cylinder's cylindrical structure pre-breaks up debris in the pipeline. Combined with several pipeline cleaning brushes embedded around the outer circumference of the cleaning tray, this achieves a collaborative operation mode of breaking down debris before cleaning, effectively improving the efficiency of cleaning stubborn dirt and blockages. The output end of the drive motor, embedded inside the positioning plate, passes through a bearing and connects to the side wall of the cleaning tray. The drive motor drives the cleaning tray to rotate, causing the pipeline cleaning brushes to actively rotate and scrub the inner wall of the pipeline, significantly improving cleaning quality and operational efficiency.

[0017] The positioning component achieves precise alignment and quick assembly / disassembly of the cleaning plate and threaded rod through an insert-type positioning connection. This ensures the coaxiality and stability of the cleaning plate during operation and facilitates the replacement of cleaning plates of different specifications or materials according to operational needs, significantly improving the equipment's maintenance convenience and operational flexibility. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall installation structure of the present invention; Figure 2 This is a schematic diagram of the disassembly structure of the positioning component and the circular cleaning plate of the present invention; Figure 3 This is a schematic diagram of the cross-sectional installation structure of the positioning component of the present invention; Figure 4 This is a schematic diagram of the disassembly structure of the positioning component of the present invention. Figure 5 This is a schematic diagram of the conical split-tube installation structure at the front end of the pipeline according to the present invention.

[0019] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1. Robot tube body; 10. Mounting base; 101. Slip ring; 102. Compression spring; 11. First connecting rod; 12. Second connecting rod; 13. Third connecting rod; 14. Mounting rod; 15. Roller; 2. Positioning assembly; 20. Mounting cylinder; 201. Positioning block; 21. Mounting disc; 22. Arc-shaped limiting plate; 23. Mounting ring; 24. Internal threaded ring; 25. Threaded rod; 251. Arc-shaped groove; 3. Circular cleaning plate; 31. Positioning rod; 4. Positioning plate; 5. Cleaning disc; 6. Pipe cleaning brush; 7. Flange; 71. Drive motor; 8. Pipe front end cone-shaped opening cylinder. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to the accompanying drawings.

[0021] Identical parts are indicated by the same reference numerals. It should be noted that the terms front, back, left, right, top, and bottom used in the following description refer to directions in the accompanying drawings, and the terms bottom and top, inside and outside refer to directions toward or away from the geometric center of a specific part, respectively.

[0022] First embodiment; Reference Figure 1-5 As shown, a pipeline robot is provided in a preferred embodiment of the present invention, including a robot pipe body 1; A positioning plate 4 is fixedly installed at one end of the robot tube body 1. A bearing is mounted on the side of the positioning plate 4 and a cleaning disc 5 is mounted on it through the bearing. Several pipe cleaning bristles 6 are embedded around the outer circumference of the cleaning disc 5.

[0023] A flange 7 is fixedly installed on the side of the cleaning tray 5 away from the positioning plate. A pipe front cone breaking cylinder 8 is fixedly installed on the side of the flange 7 away from the positioning plate. The pipe front cone breaking cylinder 8 is cone-shaped and is used to break up the dirt in the pipe.

[0024] One end of the robot tube body 1 is slidably connected to a slip ring 101. Three mounting seats 10 are distributed around the outside of the slip ring 101. A compression spring 102 is sleeved on the outside of the slip ring 101. One end of the compression spring 102 abuts against the positioning plate 4 and the other end abuts against the slip ring 101.

[0025] The robot tube body 1 is also surrounded by three additional mounting seats 10, for a total of six mounting seats 10, which are divided into two groups of three symmetrically distributed. The three mounting seats 10 in each group are rotatably connected to a first connecting rod 11, a second connecting rod 12, and a third connecting rod 13 via a rotating shaft. The first connecting rod 11 is centrally located between the second connecting rod 12 and the third connecting rod 13. One end of the second connecting rod 12 is hinged to the middle of the first connecting rod 11 via a rotating shaft, and the other end of the second connecting rod 12 extends to connect to the mounting seat 10 on the slip ring 101. The three mounting seats 10 arranged in a straight line along the outer axis of the robot tube body 1 (i.e., along the tube body axis direction) form a group. The other ends of adjacent first connecting rods 11 and third connecting rods 13 are connected to a mounting rod 14 via a rotating shaft. Both ends of the mounting rod 14 are rotatably connected to rollers 15 via rotating shafts.

[0026] The other end of the robot tube 1 is equipped with a positioning component 2, and a circular cleaning plate 3 is provided at one end of the positioning component 2.

[0027] In this embodiment, the pipeline robot uses a flange 7 fixed on the other side of the cleaning disc 5 and connected to a conical breaking cylinder 8 at the front end of the pipeline. The conical structure of the breaking cylinder 8 pre-breaks up the debris in the pipeline. Combined with several pipeline cleaning brushes 6 embedded around the outer circumference of the cleaning disc 5, a collaborative operation mode of breaking down debris before cleaning is achieved, effectively improving the cleaning efficiency of stubborn dirt and blockages. The output end of the drive motor 71, embedded inside the positioning plate 4, passes through a bearing and connects to the side wall of the cleaning disc 5. The drive motor 71 drives the cleaning disc 5 to rotate, causing the pipeline cleaning brushes 6 to actively rotate and scrub the inner wall of the pipeline, significantly improving cleaning quality and work efficiency. Six mounting bases 1... The robot is divided into two symmetrical groups. Each group has three mounting bases 10, which are rotatably connected to the first connecting rod 11, the second connecting rod 12, and the third connecting rod 13 via a rotating shaft. One end of the second connecting rod 12 is hinged to the middle of the first connecting rod 11 via a rotating shaft. The other ends of the first connecting rod 11 and the third connecting rod 13 are connected to the mounting rod 14 via a rotating shaft. The rollers 15 rotatably connected to both ends of the mounting rod 14 form an adaptive support mechanism. This mechanism can automatically adjust the contact angle and pressure between the rollers 15 and the inner wall of the pipe according to the change of the pipe's inner diameter. This ensures that the robot can maintain stable movement and effective support in pipes of different diameters, bends, and irregular pipe sections, significantly improving the applicability and operational stability of the equipment.

[0028] Furthermore, the positioning component 2 adopts a structure in which the mounting plate 21 is mounted on the bottom wall of the mounting cylinder 20. Four arc-shaped limiting plates 22 are mounted around the side of the mounting plate 21 near the circular cleaning plate. An internally threaded ring 24 is mounted on the inner wall of the mounting ring 23 mounted at the end of the mounting cylinder 20 near the circular cleaning plate and is threadedly connected to a threaded rod 25. Rotating the mounting ring 23 drives the threaded rod 25 to move axially. The arc-shaped groove 251 at the end of the threaded rod 25 away from the circular cleaning plate pushes the arc surface at one end of the four arc-shaped limiting plates 22 to achieve radial expansion or contraction of the plates, thus allowing for adaptive clamping and adjustment of positioning rods 31 of different diameters. Generally, positioning rods 31 of different diameters correspond to circular cleaning plates 3 of different diameters. In this way, the effective cleaning diameter of the circular cleaning plate 3 can be quickly adjusted to match different pipe inner diameters.

[0029] The preferred embodiment is that, in actual use, the operator can measure the inner diameter of the pipe in advance and select a suitable size circular cleaning plate 3 for adaptive replacement and installation based on the measured diameter result. This allows for the replacement of the circular cleaning plate 3 with a different size to facilitate subsequent cleaning operations.

[0030] In the specific embodiments described above, the problem of poor applicability of traditional fixed-size cleaning plates is solved, achieving multi-purpose functionality and efficient adaptation. The four positioning blocks 201 arranged around the inner wall of the mounting cylinder 20 engage with the four mounting slots arranged around the outer side of the mounting plate 21, effectively preventing the mounting plate 21 from rotating or shifting during adjustment, ensuring adjustment accuracy and structural stability. The positioning rod 31 located in the middle of one side of the circular cleaning plate 3 corresponds to the through hole on one side of the threaded rod 25. The precise alignment and quick assembly / disassembly of the cleaning plate 3 and the threaded rod 25 are achieved through an insert-type positioning connection, ensuring the coaxiality and stability of the cleaning plate 3 during operation and facilitating the replacement of cleaning plates 3 of different specifications or materials according to operational needs, significantly improving the maintenance convenience and operational flexibility of the equipment.

[0031] Second embodiment; Reference Figure 1-4 As shown, the positioning component 2 includes a mounting cylinder 20, a mounting plate 21 is mounted on the bottom wall of the mounting cylinder 20, four arc-shaped limiting plates 22 are mounted around one side of the mounting plate 21, and a mounting ring 23 is mounted on one end of the mounting cylinder 20.

[0032] In this embodiment, the positioning component 2 includes a mounting cylinder 20, a mounting plate 21 is mounted on the bottom wall of the mounting cylinder 20, four arc-shaped limiting plates 22 are mounted around one side of the mounting plate 21, and a mounting ring 23 is mounted on one end of the mounting cylinder 20 for supporting and adjusting the installation and size adjustment of the circular cleaning plate 3.

[0033] Third embodiment; Reference Figure 1-4 As shown, the inner wall of the mounting ring 23 is fitted with an internal threaded ring 24, and the internal threaded ring 24 is internally threaded with a threaded rod 25, and a through hole is provided on one side of the threaded rod 25.

[0034] In this embodiment, an internally threaded ring 24 is fitted onto the inner wall of the mounting ring 23. The internally threaded ring 24 contains a threaded rod 25 with a threaded connection, and one side of the threaded rod 25 has a through hole. Rotating the mounting ring 23 can drive the threaded rod 25 to move axially, thereby achieving precise adjustment of the positioning assembly and the size of the cleaning plate.

[0035] Fourth embodiment; Reference Figure 1-4 As shown, the threaded rod 25 has an arc-shaped groove 251 at the end away from the circular cleaning plate, and the four arc-shaped limiting plates 22 have an arc surface at the end near the circular cleaning plate.

[0036] In this embodiment, one end of the threaded rod 25 is provided with an arc-shaped groove 251, and one end of the four arc-shaped limiting plates 22 assembled around the side of the mounting plate 21 is provided with an arc surface. The threaded rod 25 pushes the arc-shaped end of the plate 22 through the arc-shaped groove 251 to realize the expansion or contraction of the plate, thereby adjusting the effective diameter of the circular cleaning plate 3.

[0037] Fifth embodiment; Reference Figure 1-4 As shown, the inner wall of the mounting cylinder 20 is provided with four positioning blocks 201 in a circumferential manner, and the outer side of the mounting plate 21 is provided with four mounting grooves in a circumferential manner, with the four positioning blocks 201 respectively engaging in the four mounting grooves.

[0038] In this embodiment, four positioning blocks 201 are arranged around the inner wall of the mounting cylinder 20, and four mounting grooves are arranged around the outer side of the mounting plate 21. The four positioning blocks 201 are respectively engaged in the four mounting grooves to ensure the stable fixation and anti-rotation positioning of the mounting plate 21 within the mounting cylinder 20.

[0039] Sixth embodiment; Reference Figure 1-2 As shown, a positioning rod 31 is provided in the middle of one side of the circular cleaning plate 3, and the size of the positioning rod 31 corresponds to the through hole on one side of the threaded rod 25.

[0040] In this embodiment, a positioning rod 31 is provided in the middle of one side of the circular cleaning plate 3. The size of the positioning rod 31 corresponds to the through hole on one side of the threaded rod 25. The cleaning plate 3 and the threaded rod 25 are accurately positioned and fixedly connected by inserting the positioning rod 31.

[0041] Seventh embodiment; Reference Figure 5 As shown, a drive motor 71 is fitted inside the positioning plate 4, and the output end of the drive motor 71 passes through the bearing and is connected to the side wall of the cleaning disc 5.

[0042] In this embodiment, a drive motor 71 is fitted inside the positioning plate 4. The output end of the drive motor 71 passes through the bearing component and is connected to the side wall of the cleaning disc 5 (specifically, the output shaft of the drive motor 71 is fixedly connected to the center point of the cleaning disc 5). The drive motor 71 drives the cleaning disc 5 to rotate through the bearing component, thereby realizing the active scrubbing and cleaning function of the inner wall of the pipe.

[0043] Specific implementation process Step 1: The pipeline robot is inserted into the pipeline through the inlet. The robot body 1 is guided into the pipeline through a sliding ring 101. At this time, the compression spring 102 and the slip ring 102 work together to allow the slip ring 101 to slide adaptively according to the pipeline. The six mounting seats 10 are divided into two groups and symmetrically distributed. Each group of three mounting seats 10 is rotatably connected to the first connecting rod 11, the second connecting rod 12, and the third connecting rod 13 via a rotating shaft. One end of the second connecting rod 12 is hinged to the middle of the first connecting rod 11 via a rotating shaft. The other ends of the first connecting rod 11 and the third connecting rod 13 are connected to the mounting rod 14 via a rotating shaft. The rollers 15 rotatably connected to both ends of the mounting rod 14 automatically unfold and press against the inner wall of the pipeline. When the pipeline diameter is small, the slip ring 101 will squeeze the compression spring 102, thereby realizing the rolling... The inner diameter of the roller 15 is reduced. Similarly, when the pipe diameter is large, the compression spring 102 will push the slip ring 101 to move, thereby increasing the inner diameter of the roller 15 to adapt to pipes with different inner diameters and achieve stable support and positioning of the robot. According to the inner diameter of the pipe, the mounting ring 23 at one end of the mounting cylinder 20 in the rotary positioning assembly 2, and the internal threaded ring 24 mounted on the inner wall of the mounting ring 23 drive the threaded rod 25 of the threaded connection to move axially. The arc groove 251 at one end of the threaded rod 25 pushes the arc end of the four arc-shaped limiting plates 22 mounted around one side of the mounting plate 21 to expand outward or contract inward. By clamping and fixing positioning rods of different diameters, the effective cleaning diameter of the circular cleaning plate 3 is adjusted to match the inner diameter of the pipe. Then, the positioning rod 31 in the middle of one side of the circular cleaning plate 3 is inserted into the through hole on one side of the threaded rod 25 to complete the fixing.

[0044] It should be noted that the actual installation method can be understood as follows: first, insert the positioning rod 31 into the through hole in the threaded rod, and then follow the above process (i.e., push the arc-shaped limiting plates 22 mounted around one side of the mounting plate 21 to expand outward or contract inward, clamp and fix positioning rods of different diameters, and adjust the effective cleaning diameter of the circular cleaning plate 3 to match the inner diameter of the pipe) to complete the installation. This installation process can be carried out outside the pipe. Step 2: Start the drive motor 71 embedded inside the positioning plate 4. The output end of the drive motor 71 passes through the bearing and is connected to the side wall of the cleaning disc 5. Drive the cleaning disc 5 to rotate through the bearing. Several pipe cleaning bristles 6 embedded around the outer circumference of the cleaning disc 5 brush and clean the inner wall of the pipe during rotation, removing dirt, grease and other contaminants attached to the pipe surface. The flange 7 fixed on the other side of the cleaning disc 5 connects to the pipe front cone breaking cylinder 8. The pipe front cone breaking cylinder 8, which is set in a cone shape, first contacts the stubborn dirt, clumps or blockages in the pipe during the robot's forward movement. It uses the cone structure to break, crush and decompose the dirt, creating conditions for the subsequent cleaning of the pipe cleaning bristles 6, realizing a collaborative operation mode of front-end crushing and back-end cleaning. Step 3: During the cleaning operation, the robot moves inside the pipe using an external traction device or traction rope. It moves along the pipe axis using the sliding function of the slip ring 101. The four positioning blocks 201 arranged around the inner wall of the mounting cylinder 20 engage with the four mounting slots arranged around the outer wall of the mounting plate 21 to ensure the stability of the positioning component 2 and the circular cleaning plate 3. The hinge structure of the first connecting rod 11, the second connecting rod 12 and the third connecting rod 13 on the two sets of mounting seats 10 automatically adjusts the unfolding angle and contact position of the rollers 15 according to the changes in the inner diameter of the pipe, bends or irregular parts of the pipe, to maintain the effective contact pressure between the rollers 15 and the inner wall of the pipe, ensuring the smooth movement of the robot. The circular cleaning plate 3 scrapes and cleans the inner wall of the pipe from all directions at the front end. It works in conjunction with the rotating cleaning plate 5 and the pipe cleaning brush 6 to perform deep cleaning of the inner wall of the pipe. The cone-shaped opening cylinder 8 at the front end of the pipe continuously breaks up the dirt in front. The robot moves continuously along the pipe with the support of the rollers 15 to complete the efficient cleaning operation of the entire pipe section.

[0045] For the drive motor, the pipe diameter speed compensation term can be obtained by acquiring the actual diameter of the pipe at the current position of the robot to avoid cleaning failure caused by a sudden drop in speed due to small pipe diameter. At the same time, the dirt speed compensation term can be calculated by acquiring the dirt residue coefficient of the inner wall of the pipe. The target speed of the cleaning tray can be obtained based on the base speed, the pipe diameter speed compensation term, and the dirt speed compensation term. The speed of the drive motor can be adjusted according to the target speed of the cleaning tray.

[0046] For example, the target rotation speed of the cleaning disk .in, These represent the base speed, pipe diameter speed compensation, and dirt speed compensation, respectively. The base speed can be set according to the characteristics of the cleaning brush bristles, for example, 120 RPM for nylon bristles and 80 RPM for metal bristles. Of course, it can also be adjusted as needed.

[0047] Pipe diameter and rotation speed compensation item middle, These represent the pipe diameter compensation gain, the actual pipe diameter, and the standard reference pipe diameter, respectively. The pipe diameter compensation gain can be set empirically to adjust the sensitivity of the actual pipe diameter to the target rotation speed of the cleaning disc; the default setting is 0.095. (For small pipe diameters) The target rotation speed of the cleaning disc is reduced to prevent it from impacting the tube wall due to excessive centrifugal force in a confined space, and to match the contracted state of the arc-shaped limiting plate; when (For large diameter pipes, The target rotational speed of the cleaning disc is increased to ensure that the bristles maintain an effective linear velocity even in larger pipe diameters. The pipe diameter rotational speed compensation term, compensated by a logarithmic function, can avoid cleaning failure caused by a sudden drop in rotational speed in small pipe diameters.

[0048] Waste speed compensation item middle, These represent the dirt compensation intensity coefficient, dirt residue coefficient (range 0~1), and dirt nonlinear response index, respectively. The dirt compensation intensity coefficient is determined by the type of dirt and can be adjusted based on experience, for example, β=0.3 for oil stains and β=0.6 for hard scale, to avoid splashing when cleaning oil stains (low β) and enhance the breaking ability when cleaning hard scale (high β). The dirt nonlinear response index is used to control the sensitivity of residual dirt to rotation speed; when γ>1, it enhances the response to high residue conditions. When the dirt residue coefficient = 0, it indicates no residue, and the dirt rotation speed compensation term is 1; when the dirt residue coefficient > 0, the target rotation speed of the cleaning disc is adjusted according to... The ratio is increased, meaning the rotational speed is accelerated when there is high residue.

[0049] For the residual dirt coefficient, the tangential resistance experienced by the bristles can be measured in real time using a torque sensor (or pressure sensor) mounted on the bristle base or the output shaft of the drive motor when the cleaning brush bristles are in contact with the inner wall of the pipe. This tangential resistance is then used to determine the theoretical cleaning resistance. The theoretical cleaning resistance refers to the expected resistance value under clean conditions (without stubborn dirt), which can be obtained through calibration experiments or set empirically. Specifically, first, obtain the resistance saturation value (upper limit of resistance) corresponding to complete dirt coverage, and then, based on the formula... Obtain the actual resistance ratio Obtain the residue coefficient based on the actual resistance ratio. Among these, These represent, in order, tangential resistance, theoretical cleaning resistance, and resistance saturation value.

[0050] Alternatively, a camera installed at the front of the robot's tube (e.g., near the cone-shaped opening cylinder) can be used to capture images of the clean inner wall of the pipe and use these images as a background template. Then, real-time images of the inner wall of the pipe can be obtained, the current frame of the image can be extracted, and the difference between the current frame and the background template can be calculated. Next, HSV color space threshold segmentation can be used (for dark areas of oil stains, white areas of scale, etc.) to calculate the percentage of pixels covered by dirt. The dirt coverage rate can be obtained as: number of pixels in the dirt area / total number of pixels in the visible area of ​​the inner wall of the pipe. Finally, the dirt coverage rate can be used as the dirt residue coefficient.

[0051] Generally, pressure sensors collect tangential resistance, which directly reflects changes in bristle resistance, but cannot distinguish the type and distribution of dirt. Visual sensors identify dirt morphology and coverage, but are easily obscured by oil and light interference. To overcome the limitations of a single sensor, preferably, a weighted value of the actual resistance ratio and dirt coverage can be used as the dirt residue coefficient. When the dirt residue coefficient ≈ 0, it indicates that the pipe inner wall is clean, with low resistance and no visible dirt; when the dirt residue coefficient ≈ 1, it indicates that the pipe inner wall is severely blocked, with extremely high resistance and high dirt coverage.

[0052] The table below shows the pipe diameter compensation gain, dirt compensation intensity coefficient, and dirt nonlinear response index after experimental calibration based on a DN100 pipeline in one application scenario, for reference:

[0053] In this way, based on the target rotation speed function of the cleaning disc It introduces a logarithmic compensation term to adapt to changes in pipe diameter, which can avoid vibration caused by excessive speed in small-diameter pipes. Based on the amount of residual dirt, the speed is increased exponentially, which can specifically treat stubborn dirt.

[0054] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

[0055] All standard parts used in this invention can be purchased from the market. Irregular parts can be customized according to the description in the specification and the accompanying drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. In addition, the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

Claims

1. A pipeline robot, characterized in that: Including the robot tube body; A positioning plate is fixedly installed at one end of the robot tube body. A bearing is mounted on the side of the positioning plate and a cleaning disc is rotatably mounted through the bearing. Several pipe cleaning bristles are embedded around the outer circumference of the cleaning disc. A flange is fixedly installed on the side of the cleaning tray away from the positioning plate, and a pipe front cone breaking cylinder is fixedly installed on the side of the flange away from the positioning plate. The pipe front cone breaking cylinder is cone-shaped and is used to break up the dirt in the pipe. A slip ring is slidably connected to one end of the robot tube body. Three mounting seats are distributed around the outside of the slip ring. A compression spring is sleeved on the outside of the slip ring. One end of the compression spring abuts against the positioning plate and the other end abuts against the slip ring. The robot tube body is also surrounded by three additional mounting seats, for a total of six mounting seats, which are divided into two groups of three symmetrically distributed. The three mounting seats in each group are rotatably connected to a first connecting rod, a second connecting rod, and a third connecting rod via a rotating shaft. The first connecting rod is centrally located between the second and third connecting rods. One end of the second connecting rod is hinged to the middle of the first connecting rod via a rotating shaft, and the other end of the second connecting rod extends to connect to a mounting seat on a slip ring. The three mounting seats arranged in a straight line along the outer axis of the robot tube body form a group. The other ends of the first and third connecting rods are connected to a mounting rod via a rotating shaft. Both ends of the mounting rod are rotatably connected to rollers via a rotating shaft. The other end of the robot tube is equipped with a positioning component, and one end of the positioning component is provided with a circular cleaning plate.

2. The pipeline robot according to claim 1, characterized in that, The positioning component includes a mounting cylinder, the bottom wall of which is fitted with a mounting plate. Four arc-shaped limiting plates are mounted around the side of the mounting plate near the circular cleaning plate. A mounting ring is fitted at the end of the mounting cylinder near the circular cleaning plate.

3. The pipeline robot according to claim 2, characterized in that: The inner wall of the mounting ring is fitted with an internally threaded ring, and the internally threaded ring is provided with a threaded rod with a through hole on one side.

4. The pipeline robot according to claim 3, characterized in that, The threaded rod has an arc-shaped groove at the end away from the circular cleaning plate, and the four arc-shaped limiting plates have an arc surface at the end near the circular cleaning plate.

5. The pipeline robot according to claim 2, characterized in that, The inner wall of the mounting cylinder is provided with four positioning blocks in a circumferential manner, and the outer side of the mounting plate is provided with four mounting grooves in a circumferential manner, with the four positioning blocks respectively engaging in the four mounting grooves.

6. The pipeline robot according to claim 3, characterized in that, A positioning rod is provided in the middle of one side of the circular cleaning plate, and the size of the positioning rod corresponds to the through hole on one side of the threaded rod.

7. The pipeline robot according to claim 1, characterized in that: A drive motor is embedded inside the positioning plate, and the output end of the drive motor passes through the bearing component and is connected to the side wall of the cleaning tray.

8. A method for collaborative operation of pipeline robots, implemented using any one of claims 1-7, characterized in that, Includes the following steps: The pipeline robot is inserted into the pipeline to be cleaned along its direction. A sliding ring connected to the robot's body and six surrounding mounting seats guide the robot smoothly into the pipeline. Utilizing the hinged structure of the first, second, and third connecting rods, combined with the squeezing mechanism between the sliding ring and compression spring, the rollers at both ends of the mounting rods adaptively adjust to contact the inner wall of the pipeline. The support and rolling of the rollers ensure stable positioning and movement of the robot within the pipeline. Simultaneously, the engagement of four positioning blocks surrounding the inner wall of the mounting cylinder in the positioning assembly with the four mounting slots on the outside of the mounting plate ensures a stable connection between the circular cleaning plate and the robot's body. Based on the inner diameter of the pipe to be cleaned, the internally threaded ring mounted on the inner wall of the mounting ring is rotated, causing the threaded rod connected to the internally threaded ring to move axially. The arc-shaped groove at one end of the threaded rod pushes the arc-shaped end of the four arc-shaped limiting plates mounted around one side of the mounting plate to expand outward or contract inward. By clamping and fixing different positioning rods, the effective cleaning diameter of the circular cleaning plate is adjusted so that the circular cleaning plate matches the inner diameter of the pipe. After adjustment, the positioning rod in the middle of one side of the circular cleaning plate is inserted into the through hole on one side of the threaded rod to achieve the positioning and fixed installation of the cleaning plate. The drive motor, which is embedded inside the positioning plate, is activated. The output end of the drive motor passes through the bearing and drives the cleaning disc to rotate. Several pipe cleaning bristles embedded around the outer circumference of the cleaning disc scrub the inner wall of the pipe during the rotation. At the same time, the flange fixed on the other side of the cleaning disc and the conical crushing cylinder at the front end of the pipe work together. The conical crushing cylinder at the front end of the pipe first breaks down stubborn dirt and clumps in the pipe. Then, the pipe cleaning bristles sweep away the broken dirt, realizing a collaborative operation mode of front-end crushing and back-end cleaning.

9. The pipeline robot collaborative operation method according to claim 8, characterized in that, It also includes the following steps: During the cleaning operation, the robot moves using an external traction device or traction rope. Simultaneously, the sliding function of the slip ring and the hinged connection of the connecting rod mechanism on the mounting base ensure that the rollers maintain effective contact pressure with the inner wall of the pipe, guaranteeing smooth movement of the robot within the pipe. Meanwhile, the circular cleaning plate and cleaning disc clean and cover the inner wall of the pipe. When encountering changes in pipe diameter or complex pipe structures such as bends, the hinged structure of the first, second, and third connecting rods adjusts the roll's unfolding angle and contact position. Combined with the size adjustment function of the circular cleaning plate achieved through the arc-shaped limiting plate, the cleaning task of the entire pipe section is ultimately completed.

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