Self-adapting working robot for pipeline inner wall repair

Abstract

The application belongs to the technical field of pipeline inner wall cleaning, and particularly relates to a self-adaptive operation robot for pipeline inner wall repair, which comprises a robot body, a rear driving part, an inner expanding part, an inner wall cleaning part and a front breaking part. The rear driving part is arranged on the robot body and is used to drive the inner expanding part to expand and be internally expanded on the inner wall of a pipeline body. The front breaking part and the inner wall cleaning part are mechanically linked through a hinged arm. When the alloy drill bit of the front breaking part encounters resistance of a hard and consolidated layer during operation, the resistance drives the front breaking part to move backward as a whole, and the resistance is converted into a force for pulling the scraper to further press the inner wall of the pipeline in the radial direction through the hinged arm, so that mechanical feedback of encountering resistance is realized. The obstacle resistance in the cleaning operation is converted into assistance for enhancing the scraping effect, a passive situation that the traditional self-adaptive scraper retreats when encountering resistance and leads to cleaning omission is twisted, and a clean and firm base surface is provided for subsequent repair.

Description

Technical Field

[0001] This invention belongs to the field of pipeline inner wall cleaning technology, specifically an adaptive operation robot for pipeline inner wall repair. Background Technology

[0002] As an important part of urban infrastructure, the smooth flow of sewage pipes is directly related to flood control, drainage, garden maintenance, and environmental sanitation. The silt inside these pipes is complex, containing not only ordinary mud and sand, but also often a hard layer formed by the mixture of leaves, grease, and soil, and even hard garbage such as bricks, stones, and plastic products. In particular, the hard hard layer can seriously reduce the cross-sectional area of ​​the pipe, leading to a decrease in drainage capacity and even causing problems such as pipe blockage and sewage overflow.

[0003] A Chinese patent with publication number CN119909987A discloses an inner wall cleaning device for repairing drainage pipes in municipal pipeline engineering. The device mainly includes a housing, a cleaning unit, a spraying unit, and a moving unit. The cleaning unit is driven by a drive source to rotate a drive disc, which has multiple inclined arms evenly distributed on it. Each arm has a scraper mounted at its end via a spring. The spraying unit sprays high-pressure water onto the pipe wall through multiple inclined nozzles on a water guide pipe and an arc-shaped pipe. When the device moves inside the pipe, the drive disc rotates at high speed, driving the scraper and cleaning brush to physically scrape and scrub the inner wall of the pipe. Simultaneously, the high-pressure water nozzles flush the scraped area to soften dirt and wash away loose impurities. The design goal is to achieve a synergistic effect of scraping and flushing to improve the cleaning effect and provide a clean base surface for subsequent trenchless repair.

[0004] Although the aforementioned technologies combine mechanical scraping and hydraulic flushing, they are insufficient for dealing with complex and mixed deposits commonly found in municipal and garden sewage pipes, especially hard, compacted layers. Since the cleaning unit primarily relies on scrapers and brushes for surface scraping, its mechanical strength is limited when dealing with hard, compacted materials formed by long-term mixing and solidification of mud, leaves, grease, etc., making effective breaking or removal impossible. The scraper may slip on the surface of the compacted layer or only scrape off the surface layer, failing to completely remove it, resulting in incomplete cleaning and potential problems for subsequent repairs. Furthermore, while the scraper is mounted on the support arm via compression springs to adapt to different pipe diameters, the spring mechanism instinctively avoids encountering localized hard obstacles or thick, compacted layers, causing the scraper to retract radially to prevent overloading. This protection, however, directly leads to a situation where the cleaning effect is weakened or absent at the locations where the strongest cleaning force is needed, creating a contradictory situation where the force is met with resistance, failing to guarantee uniformity and thoroughness of the cleaning effect.

[0005] Therefore, the present invention provides an adaptive operation robot for repairing the inner wall of a pipeline. Summary of the Invention

[0006] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0007] The technical solution adopted by the present invention to solve its technical problem is: an adaptive operation robot for pipeline inner wall repair, comprising a robot body, a rear drive unit, an inner tensioning unit, an inner wall cleaning unit, and a front crushing unit. The rear drive unit is mounted on the robot body and is used to drive the internal tensioning unit to expand so as to tighten it from the inside against the inner wall of the pipe body. The inner wall cleaning section is rotatably mounted at the front of the robot body; The pre-crushing section is located in front of the inner wall cleaning section; The pre-crushing section includes a fixed plate, an alloy drill bit, and a hinged arm; the alloy drill bit is fixed to one side of the fixed plate; The inner wall cleaning unit includes a wall scraping assembly, and the wall scraping assembly includes a scraper. The two ends of the hinge arm are respectively hinged to the other side of the fixed plate and the scraper; when the alloy drill bit of the front crushing part is subjected to axial resistance during the crushing operation, it drives the entire front crushing part to move backward, and pulls the scraper outward through the hinge arm, further radially pressing against the inner wall of the pipe body.

[0008] Preferably, the inner wall cleaning part further includes a fixed seat, on which a guide groove is provided; the wall scraping assembly further includes a connecting shaft, which is slidably connected in the guide groove; a sliding rod is fixedly connected to the bottom of the scraper, which is slidably connected in the connecting shaft; a second spring is installed in the connecting shaft, which acts on the sliding rod to make the scraper have a tendency to move radially outward.

[0009] Preferably, the pre-crushing section further includes a guide rod and a fourth spring; the guide rod is fixed to the side of the fixed plate facing the inner wall cleaning section and slides with the inner wall cleaning section; the fourth spring is sleeved on the guide rod, with its two ends respectively abutting between the fixed plate and the fixed seat, for applying a force away from the fixed seat to the fixed plate.

[0010] Preferably, the guide rod is coaxially arranged with the ball screw in the robot body and slides with the end of the ball screw to provide axial alignment and limiting of the front crushing part.

[0011] Preferably, the rear drive unit includes a drive base, a first extrusion plate, a first spring, and a second extrusion plate; two drive bases are provided, symmetrically arranged at both ends of the robot body; the first extrusion plate and the second extrusion plate are threadedly engaged with a ball screw inside the robot body; the first spring is sleeved on the ball screw, and its two ends abut against the side wall of the robot body and the drive base respectively; a stop bar is fixedly connected to the second extrusion plate for driving the inner wall cleaning part to complete the initial tensioning.

[0012] Preferably, the internal tensioning part includes a first support leg, a second support leg, a traction arm, and a roller; the bottoms of the first support leg and the second support leg are respectively hinged to the two drive bases; the bottoms of the two traction arms are both hinged to the robot body, and the tops are respectively hinged to the first support leg and the second support leg; the roller is rotatably connected to the tops of the first support leg and the second support leg; an adjustment groove is provided on the second support leg, and the middle parts of the first support leg and the second support leg are connected by a hinge shaft passing through the adjustment groove.

[0013] Preferably, the scraper has a support lug fixed to its side wall, a guide rod is connected through the support lug, and a third spring is sleeved on the guide rod. The third spring is used to make the connecting shaft tend to retract into the fixed seat. The abutment has an oblong groove, and the bottom of the guide rod slides in conjunction with the oblong groove.

[0014] Preferably, the end of the connecting shaft is slidably engaged with the push rod of the rear drive unit; when the second extrusion plate moves, the push rod drives the connecting shaft to slide radially along the guide groove.

[0015] Preferably, the pre-crushing section further includes at least two sets of chains, which are arranged in a circumferential array on the sidewall of the alloy drill bit.

[0016] Preferably, the robot body is equipped with a bidirectional servo motor, the output shaft of which is connected to a ball screw via a spline to drive the ball screw to rotate; at least three limiting guide rods arranged in a circumferential array are fixedly connected to both ends of the robot body; the first extrusion plate, the second extrusion plate, and the drive base of the rear drive unit are all in sliding engagement with the limiting guide rods.

[0017] The beneficial effects of this invention are as follows: 1. The adaptive operation robot for pipeline inner wall repair described in this invention is equipped with a front-end crushing unit and an inner wall cleaning unit, and the two are mechanically linked by a hinged arm. When the alloy drill bit of the front-end crushing unit encounters the resistance of a hard slab layer during operation, the resistance drives the front-end crushing unit to move backward as a whole. This resistance is then converted into a force that pulls the scraper to further radially press against the inner wall of the pipeline through the hinged arm. This achieves a mechanical feedback of increasing strength when encountering resistance, transforming the obstacle resistance in the cleaning operation into an aid to enhance the scraping effect. This reverses the passive situation of traditional adaptive scrapers that retreat when encountering strong resistance, resulting in missed cleaning, and ensures the complete removal of hard slab residues, providing a clean and firm base surface for subsequent repairs.

[0018] 2. The adaptive operation robot for pipeline inner wall repair described in this invention synchronously drives the inner tensioning part and the inner wall cleaning part through a rear-mounted drive unit. The inner tensioning part adopts a scissor-type scaling mechanism composed of a first support leg, a second support leg, and a traction arm, and achieves adaptive fine adjustment in conjunction with the adjustment groove on the second support leg. This allows the pipeline robot to stably tension and center itself within pipelines of different diameters or with deformation. Simultaneously, based on the monitoring of the displacement of the hinge shafts within the adjustment grooves of multiple support legs, online detection and deformation positioning of the three-dimensional contour of the pipeline inner wall can be achieved simultaneously. This enables automatic identification of pipeline defects and improves the efficiency and safety of pipeline operation and maintenance. Attached Figure Description

[0019] The invention will now be further described with reference to the accompanying drawings.

[0020] Figure 1 This is a perspective view of the present invention; Figure 2 This is a diagram showing the assembly of the robot body, rear drive unit, and internal tensioning unit in this invention. Figure 3 This is a diagram showing the connection between the inner wall cleaning section and the pre-crushing section in this invention; Figure 4 yes Figure 3 An explosion diagram; Figure 5 yes Figure 3 The front view; Figure 6 yes Figure 5 Sectional view at point AA; Figure 7 This is a schematic diagram showing the cooperation between the inner tensioning part, the rear driving part, and the inner wall cleaning part in this invention; In the diagram: 1. Robot body; 11. Ball screw; 12. Limiting guide rod; 2. Rear drive unit; 21. Drive base; 22. First extrusion plate; 23. First spring; 24. Second extrusion plate; 241. Support rod; 242. Oval groove; 3. Inner wall cleaning unit; 31. Fixing seat; 311. Guide groove; 32. Scraping assembly; 321. Scraper; 3211. Slide rod; 322. Connecting shaft; 3221. Second spring; 3222, support lug; 3223, guide rod; 3224, third spring; 33, connecting rod; 4, front crushing section; 41, fixing plate; 42, alloy drill bit; 43, chain; 44, hinged arm; 45, guide rod; 46, fourth spring; 5, internal tensioning section; 51, first support leg; 52, second support leg; 521, adjusting groove; 53, traction arm; 54, roller; 6, pipe body. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0022] like Figures 1 to 7 As shown in the embodiment of the present invention, an adaptive operation robot for pipe inner wall repair includes a robot body 1, a rear drive unit 2, an internal tensioning unit 5, an inner wall cleaning unit 3, and a front crushing unit 4. The rear drive unit 2 is disposed on the robot body 1 and is used to drive the internal tensioning unit 5 to expand and tighten it from the inside onto the inner wall of the pipe body 6. The inner wall cleaning unit 3 is rotatably mounted in front of the robot body 1. The front crushing unit 4 is disposed in front of the inner wall cleaning unit 3. The front crushing unit 4 includes a fixing plate 41 and an alloy drill. The head 42 and the hinged arm 44; the alloy drill bit 42 is fixed to one side of the fixed plate 41; the inner wall cleaning part 3 includes a wall scraping assembly 32, which includes a scraper 321; the two ends of the hinged arm 44 are respectively hinged to the other side of the fixed plate 41 and the scraper 321; when the alloy drill bit 42 of the front crushing part 4 is subjected to axial resistance during the crushing operation, it drives the front crushing part 4 to move backward as a whole, and pulls the scraper 321 outward through the hinged arm 44, further radially pressing against the inner wall of the pipe body 6.

[0023] Because existing cleaning units mainly rely on scrapers and cleaning brushes for surface scraping, they have limited mechanical strength for hard, hardened materials formed by long-term mixing and solidification of mud, leaves, grease, etc., making effective breaking or chiseling impossible. The scraper may slip on the surface of the hardened layer or only scrape off the surface layer, failing to completely remove it, resulting in incomplete cleaning and leaving hidden dangers for subsequent repairs. Furthermore, the scraper of this device is mounted on the support arm via a compression spring to achieve self-adaptation to different pipe diameters. However, when the scraper encounters a localized hard obstacle or a thick hardened layer, the spring mechanism will instinctively avoid it, i.e., the scraper retracts radially to protect the mechanism from overload. While protecting the equipment, this directly leads to a situation where the cleaning effect is weakened or disappears at the location where the cleaning force is most needed, creating a contradictory situation of retreating when faced with strong force, and failing to guarantee the uniformity and thoroughness of the cleaning effect.

[0024] Therefore, in one embodiment of the present invention, by setting an independent pre-crushing section 4, based on the alloy drill bit 42 on the pre-crushing section 4, the hard plated layer in the inner wall of the pipe can be crushed and pulverized in a high-speed rotating state, and the hard plated layer is transformed into smaller particles or a loose state that are easy to process later. This solves the problem in the prior art that the scraper avoids hard objects, resulting in a reduced or lost cleaning effect. In addition, on this basis, the pre-crushing section 4 is connected to the inner wall cleaning section 3 by a hinge arm 44. When the alloy drill bit 42 of the pre-crushing section 4 encounters great resistance during the crushing operation, the resistance drives the entire pre-crushing section 4 to move backward. Through the transmission of the hinge arm 44, the backward displacement of the pre-crushing section 4 is transformed into a force that pulls the scraper 321 to further radially press against the inner wall of the pipe, thereby realizing the mechanical feedback of "the stronger the resistance, the stronger the resistance", reversing the passive state of the adaptive scraper in the prior art that retreats when encountering strong resistance, and ensuring that the scraper 321 can apply the maximum pressing force and scraping force to the inner wall of the pipe when cleaning the most difficult area. Specifically, during operation, the pipeline robot is first placed inside the pipeline body 6 that needs cleaning. Then, the robot is activated, moving within the pipeline body 6 in its direction of travel and simultaneously cleaning the inner wall of the pipeline body 6. After activation, the rear drive unit 2 drives the inner tensioning unit 5, causing it to expand and tighten within the pipeline wall from the inside. Subsequently, the inner wall cleaning unit 3 and the front crushing unit 4 are controlled to rotate synchronously at high speed, working in conjunction with the movement of the inner tensioning unit 5 to clean the inner wall of the pipeline. It is worth noting that, as... Figure 1As shown, in another embodiment (not illustrated), both the inner wall cleaning section 3 and the front crushing section 4 are rotatably mounted in front of the robot body 1 and can be configured to be driven by high-pressure water or a servo motor. In the high-pressure water-driven version, the inner wall cleaning section 3 and the front crushing section 4 rotate at high speed. High-pressure water pipes can be arranged along the axial direction of the robot body 1, and the high-pressure water outlet is integrated onto the alloy drill bit 42. The circumferential rotation generated by the high-pressure water output drives the front crushing section 4 to rotate at high speed, and simultaneously drives the inner wall cleaning section 3 to rotate at high speed. The high-pressure water can also flush away the fine particles generated after crushing, reducing the accumulation of sludge and particles. In the servo motor-driven version, the output end of the servo motor can be directly connected to the inner wall cleaning section 3. The servo motor is arranged behind the inner wall cleaning section 3. When the servo motor outputs, it can drive the inner wall cleaning section 3 to rotate at high speed based on the output shaft, and simultaneously drive the front crushing section 4 to rotate at high speed.

[0025] like Figure 1 , Figures 3 to 6 As shown, the inner wall cleaning part 3 further includes a fixed seat 31, on which a guide groove 311 is provided; the wall scraping assembly 32 further includes a connecting shaft 322, which is slidably connected in the guide groove 311; a sliding rod 3211 is fixedly connected to the bottom of the scraper 321, which is slidably connected in the connecting shaft 322; a second spring 3221 is installed in the connecting shaft 322, which acts on the sliding rod 3211, causing the scraper 321 to have a radial outward movement tendency.

[0026] In this embodiment, the scraper 321 of the inner wall cleaning section 3 is designed as a two-stage elastic floating structure. The first stage is a sliding pair formed between the scraper 321 and the connecting shaft 322, and the second spring 3221 provides elastic force, so that the scraper 321 itself has a floating effect. When it encounters small unevenness or residual particles on the inner wall of the pipe body 6, it can independently perform small radial expansion and contraction, thereby maintaining the contact pressure with the inner wall of the pipe body 6 and buffering instantaneous impact. The connecting shaft 322, as the second stage, carries the entire scraper assembly 32 to make greater radial movement in the guide groove 311 of the fixed seat 31 to achieve the main expansion and contraction. Based on the two-stage floating design, the scraper 321 is given surface self-adaptive ability, which can not only ensure the cleaning power, but also protect the scraper 321 and the inner wall of the pipe body 6 from hard damage.

[0027] like Figures 3 to 6As shown, the pre-crushing section 4 also includes a guide rod 45 and a fourth spring 46; the guide rod 45 is fixed to the side of the fixed plate 41 facing the inner wall cleaning section 3 and slides with the inner wall cleaning section 3; the fourth spring 46 is sleeved on the guide rod 45, with its two ends respectively abutting between the fixed plate 41 and the fixed seat 31, for applying a force away from the fixed seat 31 to the fixed plate 41.

[0028] In this embodiment, as Figure 4 As shown, a connecting rod 33 is also fixedly connected to the side of the fixed base 31 facing the fixed plate 41, and the connecting rod 33 passes through the fixed plate 41. It is used to cooperate with the guide rod 45 and the fourth spring 46 to realize the connection between the front crushing section 4 and the inner wall cleaning section 3. The guide rod 45 ensures that when the front crushing section 4 is subjected to axial resistance during operation, it can be stably displaced backward in a straight line without swaying. The function of the fourth spring 46 is to provide a preset forward restoring force for the front crushing section 4. In the normal cleaning area where sufficient resistance is not encountered... In this domain, the spring force can maintain the initial working distance between the front crushing section 4 and the inner wall cleaning section 3, avoiding unnecessary friction between the two. Only when the crushing resistance encountered by the alloy drill bit 42 is sufficient to overcome the preset force of this spring will the front crushing section 4 be squeezed and displaced backward, thereby triggering the front crushing section 4 to displace backward and pull the scraper 321 through the hinge arm 44 to further press the inner wall of the pipe body 6. This linkage force-increasing mechanism makes the feedback of strong resistance have an adjustable trigger threshold, ensuring sensitivity and preventing overreaction to small resistance. It is foreseeable that when the pipeline robot cleans the inner wall of the pipeline body 6, if there is a hard slab layer in the inner wall of the pipeline body 6, and the alloy drill bit 42 contacts the hard slab layer to break it, the hard slab layer will generate axial resistance to the pipeline robot. Combined with the forward movement of the pipeline robot, the distance between the fixed seat 31 and the fixed plate 41 will be shortened. At this time, the hinge arm 44 hinged between the fixed plate 41 and the fixed seat 31 will be lifted and pull the scraper 321 to slide further into the guide groove 311, thereby making the scraper 321 further press against the inner wall of the pipeline body 6, achieving deep cleaning of the connection between the hard slab layer and the inner wall of the pipeline body 6, avoiding excessive avoidance and neglecting areas that are difficult to clean.

[0029] like Figures 3 to 6 As shown, the guide rod 45 is coaxially arranged with the ball screw 11 inside the robot body 1 and slides with the end of the ball screw 11 to provide axial alignment and limiting of the front crushing part 4.

[0030] To ensure precise power transmission and overall alignment of the equipment, in this embodiment, the ball screw 11 driving the inner tensioning part 5 and the inner wall cleaning part 3 is designed to be coaxial with the guide rod 45 of the front crushing part 4. The front end of the guide rod 45 can be inserted into the central hole at the end of the ball screw 11. This not only provides additional coaxial guiding support for the reciprocating motion of the front crushing part 4 and improves the motion stability of the front crushing part 4, but more importantly, it ensures that the front crushing part 4, the inner wall cleaning part 3, and the drive core (ball screw 11) of the robot body 1 are strictly aligned in the axial direction, minimizing the off-center load, vibration, and energy loss caused by misalignment, and ensuring the high efficiency and reliability of the power transmission of the entire pipeline robot. It should be noted that when the front crushing part 4 is subjected to axial resistance, the distance between the fixed plate 41 and the fixed seat 31 is shortened. At this time, the guide rod 45 connected to the fixed plate 41 can slide and engage with the end of the ball screw 11, improving the movement stability of the front crushing part 4.

[0031] like Figures 1 to 2 As shown, the rear drive unit 2 includes a drive base 21, a first extrusion plate 22, a first spring 23, and a second extrusion plate 24; two drive bases 21 are provided, respectively symmetrically arranged at both ends of the robot body 1; the first extrusion plate 22 and the second extrusion plate 24 are threadedly engaged with the ball screw 11 inside the robot body 1; the first spring 23 is sleeved on the ball screw 11, and its two ends abut against the side wall of the robot body 1 and the drive base 21 respectively; a stop rod 241 is fixedly connected to the second extrusion plate 24 for driving the inner wall cleaning part 3 to complete the initial tensioning.

[0032] In this embodiment, the rear drive unit 2 adopts bidirectional linear drive, with the same bidirectional servo motor driving the first extrusion plate 22 and the second extrusion plate 24 to move towards or away from each other through the ball screw 11. The first spring 23 is pre-pressed between the drive base 21 and the robot body 1. The function of the first spring 23 is to eliminate the gap in the transmission chain and provide the initial pre-tension force for the retraction of the support leg, ensuring a rapid response without lag. The abutment 241 provided on the second extrusion plate 24 is used to drive the inner wall cleaning part 3 to move, realizing synchronous, equidistant, and centralized control of the inner tensioning part 5 and the inner wall cleaning part 3, simplifying the control system of the pipeline robot, and ensuring the synchronicity and coordination of the expansion action. It can be understood that in the initial state, based on the pre-tension force of the first spring 23, the two drive bases 21 move away from each other, thereby ensuring that the inner tensioning part 5 retracts when the pipeline robot is not moving, so as to quickly insert into and remove from the pipeline body 6.

[0033] like Figures 1 to 2As shown, the internal tensioning part 5 includes a first support leg 51, a second support leg 52, a traction arm 53, and a roller 54; the bottoms of the first support leg 51 and the second support leg 52 are respectively hinged to the two drive bases 21; the bottoms of the two traction arms 53 are both hinged to the robot body 1, and the tops are respectively hinged to the first support leg 51 and the second support leg 52; the roller 54 is rotatably connected to the tops of the first support leg 51 and the second support leg 52; an adjustment groove 521 is provided on the second support leg 52, and the middle parts of the first support leg 51 and the second support leg 52 are connected by a hinge shaft passing through the adjustment groove 521.

[0034] In this embodiment, the internal tensioning part 5 adopts a scissor-type scaling mechanism, wherein the first support leg 51 and the second support leg 52 are cross-hinged at the middle to form a scissor-type structure. When the two drive bases 21 are driven to move towards each other by the rear drive part 2, under the constraint and guidance of the traction arm 53, the upper end of the scissor-type structure (the end where the roller 54 is installed) is forced to expand outward to achieve radial expansion, thereby pressing against the inner wall of the pipe body 6 in an internal tensioning manner. The design of the adjusting groove 521 allows for fine adjustment of the specific position of the cross-hinged point of the first support leg 51 and the second support leg 52, thereby accurately calibrating the expansion ratio and final tensioning diameter of the first support leg 51 and the second support leg 52 to adapt to the manufacturing tolerances or slight deformation of the pipe body 6. The roller 54 changes the sliding friction into rolling friction, reducing the resistance of the equipment moving in the pipe; Figure 7 As shown, solid arrows indicate the displacement direction of the two drive bases 21, and dashed arrows indicate the displacement direction of the scraper assembly linked with them. It should be noted that, in another embodiment not shown, a universal sensor is integrated on the rear drive unit 2 and the inner tensioning unit 5. This includes a high-precision linear displacement sensor installed on the sliding path of each drive base 21. This allows the high-precision linear displacement sensor to independently measure the precise axial displacement of each drive base 21 when the bidirectional servo motor drives the drive base 21 to make axial displacement through the ball screw 11. Based on the displacement obtained, the unfolding radius of the first support leg 51 and the second support leg 52 is determined. Furthermore, in each set of adjustment slots 521 of the first support leg 51 and the second support leg 52 arranged in a circumferential array, displacement monitoring points are set for the hinge axis connecting the two. Place the pipeline robot into the pipeline body 6, start the rear drive unit 2, and drive the internal tensioning unit 5 to slowly expand. When the controller detects through the displacement sensor that all rollers 54 have just contacted the inner wall of the pipe body 6 (manifested as a continuous and smooth change in each displacement signal starting from zero), it records the readings of all adjustment slot 521 sensors at this moment. This set of data can be defined as the adaptive zero point of the pipe robot in the current pipe segment, that is, the initial adjustment made by fitting the inner wall of the current pipe body 6. The pipe cross section in this state is regarded as the reference reference circle of the current segment. The equipment then begins normal movement and operation. The controller synchronously samples at a high frequency (e.g., 100Hz), including mileage (from the encoder), azimuth angle (from the gyroscope, used to compensate for possible slow rotation of the equipment), and N sets of fine-tuning amounts (from the 521 displacement sensors in each adjustment slot). The fine adjustment amount can be understood as the real-time radial deformation offset of any support leg group (first support leg 51 and second support leg 52) relative to the reference circle. When the fine adjustment amount is greater than zero, it means that the pipe wall at that point forces the support leg group to extend further (local concavity); conversely, when the fine adjustment amount is less than zero, it means that the pipe wall at that point forces the support leg to retract (local bulge). In theory, based on the data collected by sensors, including mileage, azimuth, and fine-tuning, a simulation model of the pipe cross-sectional profile can be established to display intuitive local depressions or bulges in the pipe. When a deep local depression is detected in a specific location, the controller can determine that the pipe wall may be fragile and reduce the travel speed of the pipe robot through the area to achieve protective cleaning. In addition, the detected deformation location and degree can be spatiotemporally superimposed with the current and vibration spectrum of the drive motor of the pre-fracture section 4 recorded at the same location. If the motor current and vibration also show abnormalities in the severely deformed area, it proves that the cleaning operation load is high, and this section is designated as a key area of ​​focus. After cleaning, the recovery of the cross-sectional profile of this section can be verified again through the data of the adjustment groove 521 (such as whether the ellipticity is reduced due to dredging), thus achieving quantitative verification of the cleaning effect.

[0035] like Figures 3 to 6 As shown, a support lug 3222 is fixedly connected to the side wall of the scraper 321, and a guide rod 3223 is connected through the support lug 3222. A third spring 3224 is sleeved on the guide rod 3223. The third spring 3224 is used to make the connecting shaft 322 tend to retract into the fixed seat 31. The abutment rod 241 has an oblong groove 242, and the bottom of the guide rod 3223 slides in conjunction with the oblong groove 242.

[0036] In this embodiment, to control the default state of the scraper assembly 32 and achieve rapid reset, a reset mechanism consisting of a guide rod 3223 and a third spring 3224 is provided on the lug 3222 of the scraper 321. The spring force direction of the third spring 3224 is opposite to that of the second spring 3221. The function of the third spring 3224 is to provide a force to pull the entire scraper assembly 32 back into the fixed seat 31 when it is not in operation or when it needs to be retracted. It can be understood that when the rear drive unit 2 is released and the driving force of the abutment rod 241 disappears, the third spring... Spring 3224 ensures that scraper 321 retracts quickly and completely, facilitating the removal of the pipe robot from the pipe body 6 and preventing accidental scratches during transportation and storage. It should be noted that in this embodiment, the bottom of guide rod 3223 is always slidably connected to the oblong groove 242 on the abutment rod 241, which is used to provide radial guidance for scraper assembly 32 and to ensure that when the abutment rod 241 slides with the connecting shaft 322, the third spring 3224 can provide a force to drive scraper assembly 32 to reset based on compression.

[0037] like Figures 3 to 6 As shown, the end of the connecting shaft 322 is slidably engaged with the push rod 241 of the rear drive unit 2; when the second pressing plate 24 moves, the connecting shaft 322 is driven to slide radially along the guide groove 311 by the push rod 241.

[0038] In this embodiment, the radial expansion power of the inner wall cleaning section 3 comes from the push rod 241 of the rear drive section 2. When the second extrusion plate 24 moves linearly, the push rod 241 slides with the bottom of the connecting shaft 322, thereby converting the axial driving force into the radial expansion force of the connecting shaft 322. By adopting a direct pushing method, the force flow path is short, the transmission efficiency is high, and the response is rapid. Therefore, the contact cooperation between the push rod 241 and the end of the connecting shaft 322 enables the single output of the rear drive section 2 to simultaneously and synchronously control the two key actions of centering the support leg and cleaning the scraper 321.

[0039] like Figure 1 , Figures 3 to 6 As shown, the pre-crushing section 4 also includes at least two sets of chains 43, which are arranged in a circumferential array on the sidewall of the alloy drill bit 42.

[0040] In this embodiment, in addition to the alloy drill bit 42, the pre-fracture section 4 is also equipped with a rotating chain 43 in a circular array. The alloy drill bit 42 acts as a spearhead, responsible for penetrating and cracking the hardest core of the hardened material. The multiple high-speed rotating chains 43 open under the action of centrifugal force, continuously and extensively impacting and crushing the hard and brittle material in the area cracked by the drill bit and the surrounding area. This improves the efficiency and ability to crush large areas of hard hardened material, efficiently converting large pieces of hardened material into small pieces of debris, creating favorable conditions for subsequent scraping and cleaning.

[0041] like Figures 1 to 2 As shown, the robot body 1 is equipped with a bidirectional servo motor. The output shaft of the bidirectional servo motor is connected to the ball screw 11 via a spline to drive the ball screw 11 to rotate. At least three limiting guide rods 12 arranged in a circumferential array are fixedly connected to both ends of the robot body 1. The first extrusion plate 22, the second extrusion plate 24, and the drive base 21 of the rear drive unit 2 are all slidably engaged with the limiting guide rods 12.

[0042] In this embodiment, the core of power and motion control is concentrated inside the robot body 1. A bidirectional servo motor provides precise and controllable power, which drives the ball screw 11 through a spline coupling, converting rotational motion into precise linear motion. Multiple limit guide rods 12 arranged in a circular array form a linear motion frame. The first extrusion plate 22, the second extrusion plate 24, and the drive base 21 are all configured to slide on this guide rod frame. This ensures that all linear motion components have only one degree of freedom in the axial direction during movement, eliminating the possibility of radial runout or circumferential torsion, thereby achieving extremely high motion accuracy, rigidity, and reliability, laying a solid foundation for the precise movement of the entire pipeline robot.

[0043] Working principle: By setting up an independent pre-crushing section 4, based on the alloy drill bit 42 on the pre-crushing section 4, the hard plated layer in the inner wall of the pipe can be crushed and pulverized in a high-speed rotating state, transforming the hard plated layer into smaller particles or a loose state that are easy to process later. This solves the problem in the prior art where the scraper avoids hard objects, resulting in a reduced or lost cleaning effect. In addition, the pre-crushing section 4 is connected to the inner wall cleaning section 3 through the hinge arm 44. When the alloy drill bit 42 of the pre-crushing section 4 encounters great resistance during the crushing operation, the resistance drives the entire pre-crushing section 4 to move backward. Through the transmission of the hinge arm 44, the backward displacement of the pre-crushing section 4 is converted into a force that pulls the scraper 321 to further radially press against the inner wall of the pipe, thereby realizing the mechanical feedback of "the stronger the resistance, the stronger the resistance", reversing the passive state of the adaptive scraper in the prior art where it retreats when encountering strong resistance. This ensures that when cleaning the most difficult area, the scraper 321 can apply the maximum pressing force and scraping force to the inner wall of the pipe. Specifically, during operation, the pipeline robot is first placed inside the pipeline body 6 that needs cleaning. Then, the robot is activated, moving within the pipeline body 6 in its direction of travel and simultaneously cleaning the inner wall of the pipeline body 6. After activation, the rear drive unit 2 drives the inner tensioning unit 5, causing it to expand and tighten within the pipeline wall from the inside. Subsequently, the inner wall cleaning unit 3 and the front crushing unit 4 are controlled to rotate synchronously at high speed, working in conjunction with the movement of the inner tensioning unit 5 to clean the inner wall of the pipeline. It is worth noting that, as... Figure 1As shown, in another embodiment (not illustrated), both the inner wall cleaning section 3 and the front crushing section 4 are rotatably mounted in front of the robot body 1 and can be configured to be driven by high-pressure water or a servo motor. In the high-pressure water-driven version, the inner wall cleaning section 3 and the front crushing section 4 rotate at high speed. High-pressure water pipes can be arranged along the axial direction of the robot body 1, and the high-pressure water outlet is integrated onto the alloy drill bit 42. The circumferential rotation generated by the high-pressure water output drives the front crushing section 4 to rotate at high speed, and simultaneously drives the inner wall cleaning section 3 to rotate at high speed. The high-pressure water can also flush away the fine particles generated after crushing, reducing the accumulation of sludge and particles. In the servo motor-driven version, the output end of the servo motor can be directly connected to the inner wall cleaning section 3. The servo motor is arranged behind the inner wall cleaning section 3. When the servo motor outputs, it can drive the inner wall cleaning section 3 to rotate at high speed based on the output shaft, and simultaneously drive the front crushing section 4 to rotate at high speed.

[0044] 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 the present invention is defined by the appended claims and their equivalents.

Claims

1. An adaptive operation robot for repairing the inner wall of a pipe, characterized in that: It includes a robot body (1), a rear drive unit (2), an internal tensioning unit (5), an inner wall cleaning unit (3), and a front crushing unit (4); The rear drive unit (2) is disposed on the robot body (1) and is used to drive the inner tensioning unit (5) to expand so as to tighten from the inside onto the inner wall of the pipe body (6); The inner wall cleaning part (3) is rotatably mounted in front of the robot body (1); The pre-crushing section (4) is located in front of the inner wall cleaning section (3); The pre-crushing section (4) includes a fixed plate (41), an alloy drill bit (42), and a hinged arm (44); the alloy drill bit (42) is fixed to one side of the fixed plate (41); The inner wall cleaning section (3) includes a wall scraping assembly (32), which includes a scraper (321). The two ends of the hinge arm (44) are respectively hinged to the other side of the fixed plate (41) and the scraper (321); when the alloy drill bit (42) of the front crushing part (4) is subjected to axial resistance during the crushing operation, it drives the front crushing part (4) to move backward as a whole, and pulls the scraper (321) outward through the hinge arm (44) to further radially press against the inner wall of the pipe body (6).

2. The adaptive operation robot for pipeline inner wall repair according to claim 1, characterized in that: The inner wall cleaning part (3) also includes a fixed seat (31), on which a guide groove (311) is provided; the wall scraping assembly (32) also includes a connecting shaft (322), which is slidably connected in the guide groove (311); a sliding rod (3211) is fixedly connected to the bottom of the scraper (321), which is slidably connected in the connecting shaft (322); a second spring (3221) is installed in the connecting shaft (322), which acts on the sliding rod (3211) to make the scraper (321) have a tendency to move radially outward.

3. The adaptive operation robot for pipeline inner wall repair according to claim 1, characterized in that: The pre-crushing section (4) also includes a guide rod (45) and a fourth spring (46); the guide rod (45) is fixed to the side of the fixed plate (41) facing the inner wall cleaning section (3) and slides with the inner wall cleaning section (3); the fourth spring (46) is sleeved on the guide rod (45) and its two ends abut against the fixed plate (41) and the fixed seat (31) respectively, and is used to apply a force away from the fixed seat (31) to the fixed plate (41).

4. The adaptive operation robot for pipeline inner wall repair according to claim 3, characterized in that: The guide rod (45) is coaxially arranged with the ball screw (11) inside the robot body (1) and slides with the end of the ball screw (11) to provide axial alignment and limiting of the front crushing part (4).

5. The adaptive operation robot for pipeline inner wall repair according to claim 2, characterized in that: The rear drive unit (2) includes a drive base (21), a first extrusion plate (22), a first spring (23), and a second extrusion plate (24). Two drive bases (21) are provided and are symmetrically arranged at both ends of the robot body (1). The first extrusion plate (22) and the second extrusion plate (24) are threadedly engaged with the ball screw (11) inside the robot body (1). The first spring (23) is sleeved on the ball screw (11) and its two ends abut against the side wall of the robot body (1) and the drive base (21) respectively. A stop rod (241) is fixed on the second extrusion plate (24) for driving the inner wall cleaning part (3) to complete the initial tensioning.

6. The adaptive operation robot for pipeline inner wall repair according to claim 1, characterized in that: The internal tensioning part (5) includes a first support leg (51), a second support leg (52), a traction arm (53), and a roller (54); the bottoms of the first support leg (51) and the second support leg (52) are respectively hinged to the two drive bases (21); the bottoms of the two traction arms (53) are both hinged to the robot body (1), and the tops are respectively hinged to the first support leg (51) and the second support leg (52); the roller (54) is rotatably connected to the tops of the first support leg (51) and the second support leg (52); an adjustment groove (521) is provided on the second support leg (52), and the middle parts of the first support leg (51) and the second support leg (52) are connected by a hinge shaft passing through the adjustment groove (521).

7. The adaptive operation robot for pipe inner wall repair according to claim 5, characterized in that: The scraper (321) has a support lug (3222) fixedly connected to its side wall. A guide rod (3223) is connected through the support lug (3222). A third spring (3224) is sleeved on the guide rod (3223). The third spring (3224) is used to make the connecting shaft (322) tend to retract into the fixed seat (31). The abutment (241) has an oblong groove (242), and the bottom of the guide rod (3223) slides in conjunction with the oblong groove (242).

8. The adaptive operation robot for pipeline inner wall repair according to claim 5, characterized in that: The end of the connecting shaft (322) is slidably engaged with the push rod (241) of the rear drive unit (2); when the second extrusion plate (24) moves, the connecting shaft (322) is driven to slide radially along the guide groove (311) by the push rod (241).

9. The adaptive operation robot for pipe inner wall repair according to claim 4, characterized in that: The pre-crushing section (4) also includes at least two sets of chains (43), which are arranged in a circumferential array on the sidewall of the alloy drill bit (42).

10. An adaptive operation robot for pipe inner wall repair according to claim 1, characterized in that: The robot body (1) is equipped with a bidirectional servo motor. The output shaft of the bidirectional servo motor is connected to the ball screw (11) via a spline to drive the ball screw (11) to rotate. At least three limiting guide rods (12) arranged in a circumferential array are fixedly connected to both ends of the robot body (1). The first extrusion plate (22), the second extrusion plate (24), and the drive base (21) of the rear drive unit (2) are all slidably engaged with the limiting guide rods (12).

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