Cleaning robots

Abstract

This application relates to a cleaning robot, including a mounting frame, a cleaning structure, and a drive structure. The mounting frame has a preset axis. The cleaning structure includes a blade disc and a cleaning head assembly. The cleaning head assembly includes a fixed member, a movable member, an elastic member, and a cleaning head. The movable member can reciprocate along a first preset direction to move closer to or away from the preset axis. The two ends of the elastic member are respectively connected to the movable member and the cleaning head, and can apply a force to the cleaning head to move it away from the movable member. The drive structure includes a drive vehicle and a push-pull assembly. The push-pull assembly includes a push-pull part and a connecting part. The connecting part is disposed on the mounting frame. The push-pull part can reciprocate along a second preset direction to move closer to or away from the preset axis. The drive vehicle can drive the cleaning robot to move along the preset axis. This robot can achieve adaptive adjustment of the cleaning unit and drive unit for different pipe diameters, and provide flexible buffering to improve operational stability while ensuring cleaning pressure.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment, and in particular to a cleaning robot. Background Technology

[0002] In current automated pipeline or tunnel cleaning operations, complex situations often arise, such as uneven scale thickness, non-standard pipe diameter variations, or irregular protrusions on the inner wall. Traditional cleaning equipment typically faces challenges such as the cleaning head failing to maintain real-time contact with the wall, resulting in incomplete cleaning, or equipment jamming and pipe wall damage due to hard impacts. Furthermore, existing drive systems often fail to maintain the clamping force between the drive wheels and the pipe wall in environments with varying pipe diameters, easily leading to insufficient traction, slippage, or poor maneuverability, severely impacting the stability and continuity of the operation. In addition, manual cleaning or equipment adjustment poses safety hazards and threatens the health of workers. Summary of the Invention

[0003] Therefore, it is necessary to provide a cleaning robot that can adaptively adjust the cleaning unit and drive unit to different pipe diameters, and provide flexible buffering to improve operational stability while ensuring cleaning pressure.

[0004] This invention provides a cleaning robot, comprising:

[0005] Mounting bracket with preset axis;

[0006] A cleaning structure includes a blade disc and a cleaning head assembly. The blade disc is rotatably mounted on a mounting frame about a preset axis. The cleaning head assembly includes a fixing member, a moving member, an elastic member, and a cleaning head. The fixing member is mounted on the blade disc. The moving member is mounted on the fixing member and can reciprocate along a first preset direction to move closer to / away from the preset axis. The cleaning head is located at the end of the moving member away from the fixing member. The two ends of the elastic member are respectively connected to the moving member and the cleaning head, and can apply a force to the cleaning head to move it away from the moving member. A driving structure includes a driving vehicle and a push-pull assembly. The push-pull assembly includes a push-pull portion and a connecting portion. The connecting portion is mounted on the mounting frame. The push-pull portion is located at the connecting portion and can reciprocate along a second preset direction to move closer to / away from the preset axis. The driving vehicle is located at the end of the push-pull portion away from the connecting portion and can drive the cleaning robot to move along the preset axis.

[0007] With this configuration, the cutter head is rotatably mounted on the mounting frame, forming a main rotational motion that allows the cleaning head assembly to cover the surface to be cleaned in the circumferential direction. The moving part displaces along a first preset direction, adjusting the distance of the cleaning head relative to the preset axis, enabling the robot to actively adapt to different pipe inner diameters. The elastic part continuously applies a pushing force, causing the cleaning head to tend to move away from the moving part. When the cleaning head contacts the inner wall of the pipe, this elastic pushing force is converted into contact pressure between the cleaning head and the wall surface, while allowing the cleaning head to generate a buffered contraction relative to the moving part when contacting irregular surfaces or obstacles. Through the adjustment of the push-pull part, the drive vehicle can maintain effective contact and adhesion with the inner wall surfaces of pipes of different diameters.

[0008] In one embodiment, the cleaning structure further includes a drive assembly disposed on the fixed member and capable of driving the moving member to move.

[0009] With this configuration, the drive components can provide a continuous, stable, and controllable power source for the reciprocating motion of the moving parts.

[0010] In one embodiment, the drive assembly includes a push rod motor, with the end of the moving part away from the cleaning head connected to the output of the push rod motor.

[0011] This design results in a compact, small, and lightweight push rod motor, which is beneficial for the miniaturization and lightweight design of cleaning robots, allowing them to more easily enter narrow pipes or complex furnace interiors.

[0012] In one embodiment, the fastener has multiple mounting positions, which are spaced apart along the first preset direction, and the drive component is detachably mounted at any of the mounting positions.

[0013] With this configuration, multiple installation positions spaced apart along the first preset direction provide multiple installation options for the drive component, while the detachable design of the drive component makes switching between installation positions more convenient.

[0014] In one embodiment, the fixing member has a first limiting part at one end away from the preset axis, and the cleaning head includes a second limiting part, which can abut against the first limiting part to limit the cleaning head from continuing to move away from the preset axis.

[0015] This design limits the maximum travel distance of the cleaning head from the preset axis, preventing fatigue damage to the elastic element due to excessive stretching or excessive pressure between the cleaning head and the cleaning surface, which could cause scratches or damage to the cleaning surface.

[0016] In one embodiment, the drive structure further includes a guide member disposed at one end of the drive vehicle facing the mounting frame. The guide member extends along the second preset direction. The mounting frame is provided with a guide hole corresponding to the guide member. The guide member passes through the guide hole and can reciprocate within the guide hole along the second preset direction.

[0017] This setting ensures that the drive vehicle moves smoothly and strictly along the second preset direction, preventing directional deviation, rotation, or shaking of the drive vehicle during position adjustment.

[0018] In one embodiment, the drive structure further includes a push-pull motor disposed on the connecting portion, the push-pull motor being capable of driving the push-pull portion to move.

[0019] With this configuration, the pull motor has a wide speed range, high control precision, and fast response speed, enabling precise control of the movement stroke, speed, and start / stop time of the push-pull unit, thereby accurately adjusting the distance between the drive vehicle and the preset axis.

[0020] In one embodiment, the drive structure further includes a sensing and control component disposed at one end of the push-pull assembly near the drive vehicle. The sensing and control component includes a pressure sensor and a control component. The control component is electrically connected to both the pressure sensor and the push-pull motor, and is capable of adjusting the movement of the push-pull motor based on the pressure of the drive vehicle on the push-pull assembly identified by the pressure sensor.

[0021] With this setup, the sensing and control components enable automatic adjustment of the drive vehicle pressure, ensuring that the cleaning robot can autonomously adapt to changes in the inner diameter and surface condition of different cleaning scenarios during the cleaning process, achieving automatic pressure optimization and adjustment without manual intervention.

[0022] In one embodiment, the number of cleaning structures is at least two, and the at least two cleaning structures are arranged at intervals around the preset axis; and / or, the number of driving structures is at least two, and the at least two driving structures are arranged at intervals around the preset axis.

[0023] With this setup, multiple cleaning structures work simultaneously, which is equivalent to multiple cleaning heads cleaning different areas at the same time. This increases the cleaning area per unit time and allows the entire cleaning operation to be completed in a shorter time. Multiple drive structures can provide driving force to the cleaning robot from multiple circumferential positions, and the distribution of driving force is more uniform compared to a single drive structure.

[0024] In one embodiment, the cleaning robot further includes a blade motor mounted on the mounting frame, the blade motor being capable of driving the blade to rotate.

[0025] This configuration allows the blade motor to have a wide speed range and high speed control precision, enabling the cleaning robot to adapt to different types of dirt and cleaning scenarios according to different cleaning needs, thereby improving the targeting and flexibility of the cleaning effect. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is an overall schematic diagram of the cleaning robot provided in this application.

[0028] Figure 2 A partial schematic diagram of the cleaning robot provided in this application.

[0029] Figure 3 A partial schematic diagram of the push-pull assembly provided in this application.

[0030] Figure 4 A top view of the cleaning robot provided in this application.

[0031] Figure 5 A schematic diagram of the cleaning structure provided in this application.

[0032] Reference numerals: 1. Drive structure; 11. Drive vehicle; 12. Push-pull assembly; 121. Push-pull part; 122. Connecting part; 13. Guide component; 14. Sensing and control component; 2. Cutter head; 3. Cleaning head assembly; 31. Fixing component; 311. First limiting part; 32. Moving component; 33. Elastic component; 34. Cleaning head; 341. Second limiting part; 342. Receiving groove; 4. Mounting bracket; 51. Push rod motor; 52. Output shaft; 6. Cutter head motor. Detailed Implementation

[0033] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0034] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application's specification are for illustrative purposes only and do not represent the only possible implementation.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0036] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0038] In current automated pipeline or tunnel cleaning operations, complex situations often arise, such as uneven scale thickness, non-standard pipe diameter variations, or irregular protrusions on the inner wall. Traditional cleaning equipment typically faces challenges such as the cleaning head failing to maintain real-time contact with the wall, resulting in incomplete cleaning, or equipment jamming and pipe wall damage due to hard impacts. Furthermore, existing drive systems often fail to maintain the clamping force between the drive wheels and the pipe wall in environments with varying pipe diameters, easily leading to insufficient traction, slippage, or poor maneuverability, severely impacting the stability and continuity of the operation. In addition, manual cleaning or equipment adjustment poses safety hazards and threatens the health of workers.

[0039] To solve the above problems, such as Figures 1 to 5 As shown, this invention discloses a cleaning robot that enables the cleaning unit and drive unit to adaptively adjust to different pipe diameters, and provides flexible buffering to improve operational stability while ensuring cleaning pressure.

[0040] like Figure 1 , Figure 2 and Figure 4 As shown, this application provides a cleaning robot, including a mounting frame 4, a cleaning structure, and a drive structure 1. The mounting frame 4 has a preset axis a. The cleaning structure includes a cutter disc 2 and a cleaning head assembly 3. The cutter disc 2 is rotatably mounted on the mounting frame 4 about the preset axis a. The cleaning head assembly 3 includes a fixing member 31, a moving member 32, an elastic member 33, and a cleaning head 34. The fixing member 31 is disposed on the cutter disc 2. The moving member 32 is disposed on the fixing member 31 and can reciprocate along a first preset direction to move closer to or away from the preset axis a. The cleaning head 34 is located at the end of the moving member 32 away from the fixing member 31. The two ends of the elastic member 33 are respectively connected to the moving member 32 and the cleaning head 34, and can apply a force to the cleaning head 34 to make it move away from the moving member 32. The drive structure 1 includes a drive vehicle 11 and a push-pull assembly 12. The push-pull assembly 12 includes a push-pull portion 121 and a connecting portion 122. The connecting portion 122 is disposed on the mounting frame 4, and the push-pull portion 121 is disposed on the connecting portion 122 and is capable of reciprocating along a second preset direction to move closer to or further away from a preset axis a. The drive vehicle 11 is disposed at the end of the push-pull portion 121 away from the connecting portion 122 and is capable of driving the cleaning robot to move along the preset axis a. In the illustrated embodiment, both the first preset direction and the second preset direction are parallel to the radial direction of the mounting frame 4.

[0041] With this configuration, the mounting frame 4 serves as the basic load-bearing component of the entire cleaning robot. Its preset axis a coincides with the central axis of the pipe or furnace to be cleaned, providing a centering reference for the rotational movement of the cutter head 2. The cutter head 2 is rotatably mounted on the mounting frame 4, forming the main rotational motion, allowing the cleaning head assembly 3 to cover the surface to be cleaned in the circumferential direction. In the cleaning head assembly 3, the fixing member 31 is rigidly connected to the cutter head 2, fixing the motion reference of the moving member 32 to the cutter head 2, ensuring that the reciprocating motion direction of the moving member 32 remains constant relative to the cutter head 2. The moving member 32 makes linear displacement along the first preset direction, which is perpendicular to the preset axis a, i.e., along the radial direction of the mounting frame 4, thereby realizing the distance adjustment of the cleaning head 34 relative to the preset axis a, enabling the robot to actively adapt to different ranges of pipe inner diameters. The cleaning head 34 is elastically connected to the moving member 32 through the elastic member 33, and the elastic member 33 continuously applies a thrust to make the cleaning head 34 have... There is a tendency for the cleaning head 34 to move away from the moving part 32. When the cleaning head 34 contacts the inner wall of the pipe, the elastic thrust is converted into contact pressure between the cleaning head 34 and the wall surface. At the same time, it allows the cleaning head 34 to generate a buffer contraction relative to the moving part 32 when it contacts irregular surfaces or obstacles, avoiding rigid impact. In the drive structure 1, the connecting part 122 is fixedly connected to the mounting frame 4. The push-pull part 121 can reciprocate along the second preset direction, which is also parallel to the radial direction of the mounting frame 4, thereby adjusting the radial distance between the drive vehicle 11 and the preset axis a. The drive vehicle 11 is installed at the end of the push-pull part 121, and its movement direction is parallel to the preset axis a. Through the radial adjustment of the push-pull part 121, the drive vehicle 11 can maintain effective contact and adhesion with the inner wall surface of pipes of different diameters, thereby driving the entire cleaning robot to move along the pipe axis. This ensures that the drive wheels of the drive vehicle 11 can contact the pipe wall with the optimal pressure under different pipe diameters, providing stable axial driving force without slippage. The cleaning robot adapts to different pipe diameters through the radial extension and retraction of the cleaning head assembly 3, ensures driving force through the radial adjustment of the drive vehicle 11, achieves flexible adaptive cleaning pressure through the elastic element 33, realizes circumferential full-coverage cleaning through the rotation of the cutter head 2, and achieves continuous operation through the axial movement of the drive vehicle 11, thus achieving adaptive, efficient, and uniform cleaning of pipes and furnace inner walls. Simultaneously, this automated driving method eliminates the need for manual entry into the pipes or furnace, avoiding the risks of human exposure to toxic environments or substances.

[0042] In another embodiment, depending on actual needs, one of the first preset direction and the second preset direction can be designed to be parallel to the radial direction of the mounting frame 4, and the other to form an angle with the radial direction of the mounting frame 4.

[0043] In another embodiment, depending on actual needs, both the first preset direction and the second preset direction can be designed to form an angle with the radial direction of the mounting bracket 4.

[0044] In one embodiment, the cleaning structure also includes a drive assembly disposed on the fixed member 31 and capable of driving the moving member 32. This configuration allows the drive assembly to provide a continuous, stable, and controllable power source for the reciprocating motion of the moving member 32. Compared to traditional manual or passive adjustment methods, this active drive design can precisely control the movement stroke, speed, and start / stop timing of the moving member 32, thereby accurately adjusting the distance between the cleaning head 34 and the preset axis a. This ensures that the cleaning head 34 can quickly and accurately reach the preset cleaning position in cleaning scenarios with different inner diameters, further improving the adaptability and cleaning accuracy of the cleaning robot. The drive component achieves coarse adjustment of the distance between the cleaning head 34 and the preset axis a by driving the moving part 32 to ensure that the cleaning head 34 can quickly approach the cleaning surface; the elastic part 33 achieves fine adjustment of the degree of contact between the cleaning head 34 and the cleaning surface through its own elastic force to ensure that the cleaning head 34 and the cleaning surface maintain uniform pressure. The cooperation of the two allows the cleaning head 34 to quickly adapt to cleaning scenarios with different inner diameters, and ensures the contact effect and cleaning quality during the cleaning process. At the same time, the stable power output also avoids cleaning interruption caused by the movement of the moving part 32 getting stuck, which significantly improves the working stability and cleaning efficiency of the cleaning robot.

[0045] The drive components can be designed as motor-driven, hydraulic-driven, or other drive structures.

[0046] like Figure 1 and Figure 4As shown, in one embodiment, the drive assembly includes a push rod motor 51, with the end of the moving part 32 furthest from the cleaning head 34 connected to the output end of the push rod motor 51. This configuration results in a compact, small, and lightweight push rod motor 51. Mounting it as the core component of the drive assembly on the fixing part 31 does not excessively increase the overall size and weight of the cleaning structure, facilitating the miniaturization and lightweight design of the cleaning robot. This allows the cleaning robot to more easily enter narrow pipes or complex furnace interiors, further enhancing its adaptability to special cleaning scenarios. The direct connection between the output end of the push rod motor 51 and the moving part 32 enables precise power transmission, ensuring that the moving part 32 performs smooth and uniform reciprocating motion along a first preset direction. It allows for precise control of the extension length and retraction distance of the moving part 32, thereby precisely adjusting the position of the cleaning head 34, enabling the cleaning head 34 to accurately reach the optimal cleaning position according to the inner diameter of the cleaning scenario. As a specific implementation of the drive component, the push rod motor 51 provides stable and controllable power to the moving part 32. Combined with the radial movement of the moving part 32 and the elastic adaptive adjustment of the elastic element 33, a dual adjustment is formed. The push rod motor 51 drives the moving part 32 to achieve coarse adjustment of the position of the cleaning head 34, ensuring adaptation to different inner diameters. The elastic element 33 ensures uniform contact between the cleaning head 34 and the cleaning surface, so that the cleaning head 34 can maintain appropriate cleaning pressure and contact in cleaning scenarios with different inner diameters, effectively improving the cleaning quality. At the same time, the miniaturized design of the push rod motor 51 further optimizes the overall structural size of the cleaning robot, improving its flexibility in narrow spaces and avoiding the problem of large cleaning equipment that cannot enter complex scenarios.

[0047] like Figure 1 and Figure 4 As shown, in one embodiment, the drive assembly further includes an output shaft 52 extending along a first preset direction. The first end of the output shaft 52 is connected to a push rod motor 51 and can be driven by the push rod motor 51 to reciprocate along the first preset direction. The second end of the output shaft 52 is connected to a moving member 32 and can drive the moving member 32 to move. This configuration, with the output shaft 52 extending along the first preset direction, provides a clear guide for the power transmission of the push rod motor 51, ensuring that the power transmission proceeds along the preset direction and preventing directional deviation or swaying of the moving member 32 during movement, thus improving the linearity and stability of the moving member 32's movement. Furthermore, the length of the output shaft 52 can be flexibly designed according to the overall structural dimensions and cleaning requirements of the cleaning robot. By adjusting the length of the output shaft 52, the power transmission distance between the push rod motor 51 and the moving member 32 can be extended, allowing the installation position of the push rod motor 51 to no longer be limited to directly behind the moving member 32, but to be flexibly arranged according to the compactness requirements of the overall structure. This facilitates optimization of the overall layout of the cleaning structure, making the space allocation between components more reasonable and further improving the overall structural compactness.

[0048] In one embodiment, the fixing member 31 has multiple installation positions, which are spaced apart along a first preset direction. The drive component is detachably mounted at any of these installation positions. This arrangement provides multiple installation options for the drive component with various settings, and the detachable design of the drive component makes switching installation positions more convenient, eliminating the need for complex disassembly tools or cumbersome procedures. The installation position of the drive component can be quickly adjusted according to actual cleaning needs. When cleaning pipes or furnaces of different inner diameters, changing the installation position of the drive component directly alters its relative position to the moving member 32. When the drive assembly is installed close to the preset axis a, the effective travel of the moving part 32 increases, allowing the cleaning head 34 to reach a greater maximum distance, suitable for cleaning scenarios with larger inner diameters. When the drive assembly is installed away from the preset axis a, the effective travel of the moving part 32 decreases, shortening the maximum travel distance of the cleaning head 34, suitable for cleaning scenarios with smaller inner diameters. This design, by adjusting the installation position of the drive assembly, expands the effective travel range of the moving part 32, making the cleaning head 34 more adjustable and further enhancing the cleaning robot's adaptability to cleaning scenarios with different inner diameters. The adjustability of the drive assembly's installation position and the reciprocating motion of the moving part 32 make the position adjustment of the cleaning head 34 more flexible and diverse, covering various cleaning scenarios from smaller to larger inner diameters, improving the versatility of the cleaning robot. At the same time, the detachable installation method also facilitates the maintenance and replacement of the drive assembly. When the drive assembly malfunctions, it can be quickly removed from the fixing part 31 for repair or replacement without disassembling the entire cleaning head assembly 3, reducing the difficulty and cost of equipment maintenance and ensuring the long-term stable operation of the cleaning robot.

[0049] like Figure 1 , Figure 4 and Figure 5As shown, in one embodiment, the end of the fixing member 31 away from the preset axis a is provided with a first limiting part 311, and the cleaning head 34 includes a second limiting part 341. The second limiting part 341 can abut against the first limiting part 311 to limit the cleaning head 34 from continuing to move away from the preset axis a. With this configuration, the first limiting part 311 and the second limiting part 341 constitute a mechanical limiting structure, limiting the maximum movement stroke of the cleaning head 34 away from the preset axis a, thus forming an effective constraint on the movement range of the cleaning head 34. The elastic element 33 constantly applies a force to the cleaning head 34 away from the moving element 32. This may lead to fatigue damage due to excessive stretching of the elastic element 33, and excessive pressure between the cleaning head 34 and the cleaning surface, causing scratches or damage to the cleaning surface, or causing the cleaning head 34 to wear out too quickly, shortening its service life. The limiting cooperation between the first limiting part 311 and the second limiting part 341 can precisely control the maximum extension of the cleaning head 34, preventing excessive stretching of the elastic element 33 and excessive compression of the cleaning head 34 against the cleaning surface. This effectively protects the elastic element 33, the cleaning head 34, and the object being cleaned, improving the safety and reliability of the equipment. The elastic element 33 ensures uniform contact between the cleaning head 34 and the cleaning surface, while the limiting structure restricts the maximum range of motion of the cleaning head 34. These two elements complement each other, ensuring that the cleaning head 34 can adapt to the unevenness of the cleaning surface through the expansion and contraction of the elastic element 33, achieving uniform cleaning, while the limiting structure avoids the risk of damage from excessive movement. This allows the cleaning robot to maintain cleaning effectiveness while possessing self-protection capabilities, extending the overall service life of the equipment.

[0050] like Figure 1 , Figure 4 and Figure 5 As shown, in one embodiment, the second limiting part 341 and the first limiting part 311 are stepped surfaces that can mutually limit and cooperate. In the illustrated embodiment, the second limiting part 341 and the first limiting part 311 are angled steps that can mutually cooperate. With this configuration, compared to point contact or line contact limiting methods, surface contact can more evenly distribute the force generated during limiting, avoiding deformation or damage to the first limiting part 311 or the second limiting part 341 due to local stress concentration, thereby improving the load-bearing capacity and service life of the limiting structure; the processing technology of the stepped surface is relatively simple, reducing manufacturing costs; in addition, the angled step has a self-guiding function, which can automatically correct the posture deviation of the cleaning head 34 at the moment of contact.

[0051] In another embodiment, depending on design requirements, the second limiting part 341 and the first limiting part 311 can be designed as right-angled steps that can cooperate with each other.

[0052] In another implementation, depending on design requirements, adjustable bolts or other limiting structures can be designed to restrict the cleaning head 34 from continuing to move away from the preset axis a.

[0053] like Figure 1 , Figure 4 and Figure 5 As shown, in one embodiment, the movable component 32 is a movable rod extending along a first preset direction. This configuration results in a simple structure, small cross-sectional size, and minimal space occupation by the movable rod, effectively reducing the overall volume of the cleaning head assembly 3. This facilitates the miniaturization of the cleaning robot, allowing it to move more flexibly in narrow pipes or furnaces, further enhancing its adaptability to complex cleaning scenarios. The movable rod-shaped movable component 32 can smoothly reciprocate along the first preset direction, driving the cleaning head 34 to accurately adjust its distance from the preset axis a, achieving rapid adaptation to cleaning scenarios with different inner diameters. Simultaneously, the rigid structure of the movable rod ensures the stability of power transmission, preventing positional displacement of the cleaning head 34 due to deformation of the movable component 32. Combined with the elastic adaptive adjustment of the elastic component 33 and the circumferential rotation of the cutter disc 2, the cleaning head 34 can achieve efficient and uniform cleaning in cleaning scenarios with different inner diameters, ensuring both cleaning coverage and improved cleaning quality. Furthermore, the miniaturized structural design further avoids the problem of large cleaning equipment that is difficult to access narrow spaces.

[0054] In another implementation, the movable part 32 can be designed as a telescopic sleeve or other structure, depending on the design requirements.

[0055] like Figure 1 , Figure 4 and Figure 5 As shown, in one embodiment, the elastic element 33 is a spring extending along a first preset direction. This design results in a simple spring structure, low manufacturing cost, stable elastic performance, and long service life. The spring's extension along the first preset direction ensures that its extension direction is completely consistent with the movement direction of the moving element 32, enabling precise application of a force away from the moving element 32 to the cleaning head 34. This avoids lateral force components, preventing the cleaning head 34 from shifting or wobbling due to lateral forces, and ensuring that the cleaning head 34 always remains in contact with the cleaning surface along the preset direction.

[0056] In another implementation, the elastic element 33 can be designed as an elastic structure such as a rocker arm torsion spring assembly or a magnetic assembly, depending on actual needs.

[0057] In the illustrated embodiment, the cleaning head 34 is provided with a receiving groove 342 extending along a first preset direction, and a spring is disposed in the receiving groove 342, with its two ends connected to the cleaning head 34 and the moving rod, respectively.

[0058] like Figures 1 to 3As shown, in one embodiment, the drive structure 1 further includes a guide member 13 disposed at the end of the drive vehicle 11 facing the mounting frame 4. The guide member 13 extends along a second preset direction, and the mounting frame 4 is provided with a guide hole corresponding to the guide member 13. The guide member 13 passes through the guide hole and can reciprocate within the guide hole along the second preset direction. This arrangement ensures that the drive vehicle 11 moves smoothly and strictly along the second preset direction, avoiding directional deviation, rotation, or shaking of the drive vehicle 11 during position adjustment, effectively ensuring the straightness and stability of the drive vehicle 11's movement. The guide mating structure can enhance the overall rigidity of the drive structure 1, reduce the deformation and shaking of the push-pull part 121 during movement, make the position adjustment of the drive vehicle 11 more precise, and ensure that the drive vehicle 11 can accurately reach the position matching the inner diameter of the cleaning scene and fit tightly against the pipe wall or furnace wall. When the push-pull part 121 drives the drive vehicle 11 to approach or move away from the preset axis a, the guide member 13 slides synchronously in the guide hole, always providing guidance for the movement of the drive vehicle 11, ensuring that the distance between the drive vehicle 11 and the preset axis a is accurately adjusted, thereby ensuring the fit between the drive vehicle 11 and the pipe wall or furnace wall; the stable fit of the drive vehicle 11 enables it to obtain sufficient friction, ensuring that the drive vehicle 11 can stably and continuously drive the cleaning robot to move along the preset axis a, achieving efficient cleaning along the length of the pipe or furnace, improving the movement stability and cleaning efficiency of the cleaning robot; at the same time, the precise guiding fit also reduces the frictional loss between the drive vehicle 11 and the pipe wall, extending the service life of the drive vehicle 11.

[0059] like Figure 1 and Figure 2 As shown, in one embodiment, the guide member 13 is a guide rod extending along a second preset direction. This configuration results in a simple guide rod structure, high rigidity, high guiding accuracy, and good wear resistance. The design of the guide rod extending along the second preset direction enables it to provide precise and stable guidance for the movement of the drive vehicle 11, ensuring that the drive vehicle 11 moves smoothly back and forth in a straight line without deviation or swaying, further improving the guiding accuracy and stability of the drive vehicle 11's movement.

[0060] In another implementation, the guide 13 can be designed as a guide structure such as a key sleeve, depending on actual needs.

[0061] like Figures 1 to 3As shown, in one embodiment, two guide members 13 are arranged at intervals along the length of the drive vehicle 11. This arrangement forms a two-point guiding structure. Compared to the single-point guiding of a single guide member 13, the two-point guiding can constrain the movement of the drive vehicle 11 from two different positions, effectively limiting the rotational freedom of the drive vehicle 11. This ensures that the drive vehicle 11 can only move in a pure straight line along a second preset direction during its movement, preventing the drive vehicle 11 from rotating or tilting around its own axis, thus improving the stability and guiding accuracy of the drive vehicle 11's movement.

[0062] In another implementation, the number of guide members 13 can be designed to be one, three or more, depending on actual needs.

[0063] In one embodiment, the drive structure 1 further includes a push-pull motor disposed on the connecting part 122, which drives the push-pull part 121 to move. This configuration allows the push-pull motor to have a wide speed range, high control precision, and fast response speed, enabling precise control of the movement stroke, speed, and start / stop time of the push-pull part 121. This, in turn, precisely adjusts the distance between the drive vehicle 11 and the preset axis a, ensuring that the drive vehicle 11 can quickly and accurately adjust to the optimal fitting position according to cleaning scenarios with different inner diameters, further improving the adaptability and adjustment precision of the drive vehicle 11. Furthermore, the precise adjustment capability enhances the versatility of the cleaning robot, enabling it to handle cleaning scenarios with more different inner diameters and improving the practicality of the cleaning robot.

[0064] like Figures 1 to 3As shown, in one embodiment, the drive structure 1 further includes a sensing and control component 14 disposed at the end of the push-pull assembly 12 near the drive vehicle 11. The sensing and control component 14 includes a pressure sensor and a control component. The control component is electrically connected to both the pressure sensor and the push-pull motor, and can adjust the movement of the push-pull motor based on the pressure of the drive vehicle 11 on the push-pull assembly 12 identified by the pressure sensor. With this configuration, the pressure sensor can detect the contact pressure between the drive vehicle 11 and the pipe wall or furnace wall in real time, and convert the detected pressure signal into an electrical signal in real time and transmit it to the control component. As the core control unit, the control component can be designed to pre-store the optimal pressure threshold range adapted to different cleaning scenarios. By comparing and analyzing the real-time detected pressure signal with the preset threshold, it can quickly make control decisions and send adjustment commands to the push-pull motor, thereby realizing real-time closed-loop control of the contact pressure of the drive vehicle 11. When the pressure value detected by the pressure sensor exceeds the preset upper limit threshold, it indicates that the pressure of the drive vehicle 11 on the pipe wall or furnace wall is too high. The control component will control the push-pull motor to drive the push-pull part 121 to retract towards the preset axis a, reducing the contact pressure between the drive vehicle 11 and the pipe wall or furnace wall, and avoiding excessive pressure that could cause scratches or damage to the pipe wall or furnace wall, or excessive wear on the wheels of the drive vehicle 11. When the pressure value detected by the pressure sensor is lower than the preset lower limit threshold, it indicates that the drive vehicle 11 is not in close contact with the pipe wall or furnace wall and the friction is insufficient. The control component will control the push-pull motor to drive the push-pull part 121 to extend away from the preset axis a, increasing the contact pressure between the drive vehicle 11 and the pipe wall or furnace wall, ensuring that the drive vehicle 11 can obtain sufficient friction, avoiding drive slippage, and ensuring that the cleaning robot can move stably along the preset axis a. The sensing and control component 14 enables automatic adjustment of the pressure of the drive vehicle 11, ensuring that the cleaning robot can autonomously adapt to changes in the inner diameter and the condition of the cleaning surface in different cleaning scenarios during the cleaning process. It can automatically optimize and adjust the pressure without human intervention, which not only ensures the stability of the drive and the cleaning effect, but also avoids damage to the equipment or the cleaning object caused by excessive pressure. At the same time, it improves the automation level and operational safety of the cleaning robot, further reduces the need for manual operation, and avoids the safety risks of manual cleaning.

[0065] like Figure 1 and Figure 4As shown, in one embodiment, the number of cleaning structures is at least two, and these two cleaning structures are arranged at intervals around a preset axis a. In the illustrated embodiment, the number of cleaning structures is four, and these four cleaning structures are evenly spaced around the preset axis a. This arrangement allows multiple cleaning structures to work simultaneously, which is equivalent to multiple cleaning heads 34 cleaning different areas concurrently. This increases the cleaning area per unit time and allows the entire cleaning operation to be completed in a shorter time, improving cleaning efficiency compared to traditional single-structure equipment or manual cleaning. Furthermore, with multiple cleaning structures arranged at intervals around the preset axis a, each cleaning structure can independently adapt to the inner diameter and unevenness of the cleaning surface through the reciprocating motion of the moving part 32 and the elastic adjustment of the elastic part 33, ensuring that each cleaning head 34 maintains uniform elastic contact with the cleaning surface. When the cutter head 2 rotates around the preset axis a, all cleaning heads 34 simultaneously perform circular motion, forming an all-round, no-dead-angle cleaning effect, ensuring that all parts of the pipe or furnace inner wall are thoroughly and evenly cleaned, further improving cleaning quality. The four evenly distributed cleaning structures enable the radial forces acting on the cutter head 2 during rotation to cancel each other out, forming a force balance. This avoids eccentricity, wobbling, or vibration of the cutter head 2 caused by uneven distribution of the cleaning structures, improving the stability and smoothness of the cutter head 2's rotation, and thus enhancing the overall stability of the cleaning robot's operation. With the four cleaning structures working simultaneously, the cleaning area per unit time is further increased, enabling the cleaning operation to be completed in a shorter time, resulting in higher cleaning efficiency. This makes it suitable for cleaning scenarios with long pipes or large furnaces.

[0066] In another implementation, the number of cleaning structures can be designed to be one, two, three or more, depending on actual needs.

[0067] In another implementation, multiple cleaning structures can be designed to be arranged asymmetrically, depending on actual needs.

[0068] like Figure 1 and Figure 4As shown, in one embodiment, the number of drive structures 1 is at least two, and the at least two drive structures 1 are arranged at intervals around a preset axis a. In the illustrated embodiment, the number of drive structures 1 is three, and the three drive structures 1 are evenly spaced around the preset axis a. This arrangement can provide driving force to the cleaning robot from multiple circumferential positions. Compared with a single drive structure 1, the distribution of driving force is more uniform, avoiding insufficient power, premature wheel wear, or structural damage caused by excessive force on a single drive structure 1, thus extending the service life of the drive structure 1. The simultaneous contact of multiple drive structures 1 with the pipe wall or furnace wall can increase the total friction during the driving process, ensuring that the cleaning robot can obtain sufficient driving force on cleaning surfaces with different inner diameters and roughnesses (such as smooth pipe walls or rough furnace walls), avoiding driving slippage, and ensuring that the cleaning robot can move stably and continuously along the preset axis a. Multiple drive structures 1 are arranged at intervals around a preset axis a. Each drive structure 1 can autonomously adjust the distance between the drive vehicle 11 and the preset axis a through the reciprocating motion of the push-pull part 121, adapting to cleaning scenarios with different inner diameters and ensuring that each drive vehicle 11 can fit tightly against the pipe wall or furnace wall. The coordinated drive of multiple drive vehicles 11 makes the movement of the cleaning robot smoother and more powerful, enabling it to handle longer and more complex cleaning scenarios, such as cleaning curved pipes or long straight pipes. Three drive structures 1 are evenly spaced around the preset axis a. The symmetrical layout ensures that the driving force on the cleaning robot is evenly distributed in the circumferential direction. The contact pressure between the three drive vehicles 11 and the pipe wall or furnace wall is consistent, ensuring that the cleaning robot is subjected to balanced forces during movement. This avoids the cleaning robot deviating or swaying along the preset axis a due to uneven forces, ensuring that the cleaning robot can move smoothly along a straight line and improving cleaning accuracy.

[0069] In another implementation, the number of drive structures 1 can be designed to be 1, 2, 4 or more, depending on actual needs.

[0070] In another implementation, the multiple drive structures 1 can be designed to be arranged asymmetrically, depending on actual needs.

[0071] like Figure 1 and Figure 2As shown, in one embodiment, the cleaning robot also includes a blade motor 6 mounted on the mounting frame 4, which drives the blade 2 to rotate. This configuration allows the blade motor 6 to have a wide speed range and high speed control precision, enabling the cleaning robot to adapt to different types of dirt and cleaning scenarios, thus improving the targeted and flexible nature of the cleaning effect. The blade motor 6 provides stable rotational power, ensuring that the cleaning head 34 can fully cover the cleaning surface; the radial adjustment of the moving part 32 allows the cleaning head 34 to adapt to different inner diameters; the elastic fit of the elastic part 33 ensures that the cleaning head 34 makes uniform contact with the cleaning surface. These three elements work together to achieve comprehensive, efficient, and uniform cleaning of the pipe or furnace inner wall. Compared to manual cleaning or other non-motor-driven rotation methods, the blade motor 6 ensures the uniformity of the blade 2's rotation speed, thereby ensuring that the cleaning pressure and speed of the cleaning head 34 remain consistent, improving the stability of the cleaning quality. Simultaneously, the automated motor drive reduces the need for manual intervention, avoiding the safety risks associated with manual cleaning.

[0072] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0073] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the patent protection scope of this application should be determined by the appended claims.

Claims

1. A cleaning robot, characterized in that, include: Mounting bracket (4) has a preset axis; The cleaning structure includes a blade disc (2) and a cleaning head assembly (3). The blade disc (2) is rotatably mounted on the mounting bracket (4) about a preset axis. The cleaning head assembly (3) includes a fixing member (31), a moving member (32), an elastic member (33), and a cleaning head (34). The fixing member (31) is mounted on the blade disc (2). The moving member (32) is mounted on the fixing member (31) and can reciprocate along a first preset direction to move closer to / away from the preset axis. The cleaning head (34) is located at the end of the moving member (32) away from the fixing member (31). The two ends of the elastic member (33) are connected to the moving member (32) and the cleaning head (34) respectively, and can apply a force to the cleaning head (34) to make it move away from the moving member (32). The drive structure (1) includes a drive vehicle (11) and a push-pull assembly (12). The push-pull assembly (12) includes a push-pull part (121) and a connecting part (122). The connecting part (122) is disposed on the mounting frame (4). The push-pull part (121) is disposed on the connecting part (122) and is capable of reciprocating along a second preset direction to move closer to / away from the preset axis. The drive vehicle (11) is disposed at the end of the push-pull part (121) away from the connecting part (122) and is capable of driving the cleaning robot to move along the preset axis. A driving component is disposed on the fixing member (31) and capable of driving the moving member (32) to move; the fixing member (31) is provided with multiple mounting positions, the multiple mounting positions are arranged at intervals along the first preset direction, and the driving component is detachably disposed at any of the mounting positions; The fixing member (31) has a first limiting part (311) at one end away from the preset axis, and the cleaning head (34) includes a second limiting part (341). The second limiting part (341) can abut against the first limiting part (311) to limit the cleaning head (34) from moving further away from the preset axis. The second limiting part (341) and the first limiting part (311) are angled steps that can cooperate with each other.

2. The cleaning robot according to claim 1, characterized in that, The drive assembly includes a push rod motor (51), and the end of the moving part (32) away from the cleaning head (34) is connected to the output end of the push rod motor (51).

3. The cleaning robot according to claim 1, characterized in that, The drive structure (1) further includes a guide (13) disposed at one end of the drive vehicle (11) facing the mounting frame (4). The guide (13) extends along the second preset direction. The mounting frame (4) is provided with a guide hole corresponding to the guide (13). The guide (13) passes through the guide hole and can reciprocate within the guide hole along the second preset direction.

4. The cleaning robot according to claim 1, characterized in that, The drive structure (1) also includes a push-pull motor disposed in the connecting part (122), which can drive the push-pull part (121) to move.

5. The cleaning robot according to claim 4, characterized in that, The drive structure (1) further includes a sensing and control component (14) disposed at one end of the push-pull assembly (12) near the drive vehicle (11). The sensing and control component (14) includes a pressure sensor and a control component. The control component is electrically connected to the pressure sensor and the push-pull motor, and can adjust the movement of the push-pull motor based on the pressure of the drive vehicle (11) on the push-pull assembly (12) identified by the pressure sensor.

6. The cleaning robot according to claim 1, characterized in that, The number of the cleaning structures is at least two, and the at least two cleaning structures are arranged at intervals around the preset axis; and / or, The number of the drive structure (1) is at least two, and the at least two drive structures (1) are arranged at intervals around the preset axis.

7. The cleaning robot according to claim 1, characterized in that, The cleaning robot also includes a blade motor (6) mounted on the mounting frame (4), which can drive the blade (2) to rotate.

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