Ultra-small water-driven cleaning and detecting integrated pipeline robot

Abstract

This invention discloses an ultra-miniature water-driven integrated pipeline cleaning and inspection robot, relating to the field of pipeline cleaning technology. It includes a rear assembly module comprising a rear assembly body. The rear end of the rear assembly body has a high-pressure water inlet, and the interior of the rear assembly body has a first water-containing cavity. The rear end of the first water-containing cavity has a forward power flow channel, and the front end of the first water-containing cavity has a rotation power flow channel. This invention employs a pure water-driven solution, eliminating the need for built-in motors, batteries, and electronic control systems. The overall structure is extremely simple and compact, making it suitable for small-diameter pipeline operations. It also avoids the problem of electronic components being easily damaged by moisture in humid water environments, significantly improving long-term reliability. Furthermore, the built-in IP68-rated high-definition camera allows for real-time monitoring of the cleaning process and screen recording for archiving. Pipeline cleaning and defect detection can be completed in a single operation, eliminating the need for two separate operations.

Description

Technical Field

[0001] This invention relates to the field of pipeline cleaning technology, specifically to an ultra-miniature water-driven integrated pipeline cleaning and inspection robot. Background Technology

[0002] Small-diameter pipelines are a core component of municipal water supply and drainage systems, building indoor water supply and drainage networks, and chemical fluid transportation pipelines, and are widely used in urban infrastructure construction and industrial production scenarios. After long-term operation, pipelines are prone to accumulating sediment, oil, scale, and other deposits, and may also experience defects such as pipe wall damage, joint leakage, and foreign object blockage. Pipeline cleaning and inspection equipment is the core maintenance equipment to ensure smooth pipeline flow, identify safety hazards, and extend the service life of pipelines. It can effectively prevent safety accidents such as water outages, leaks, and ground subsidence caused by pipeline failures.

[0003] However, in the operation and maintenance of small-diameter pipelines (<150mm), traditional pipeline robots mostly adopt motor-driven solutions, requiring built-in batteries or external power cables. The overall structure is complex and bulky, making it impossible to enter the interior of small-diameter pipelines for operation. Furthermore, the motors and electronic components are easily damaged by moisture in humid water environments, resulting in poor long-term operational reliability. At the same time, existing equipment generally adopts a separate design for cleaning and inspection, requiring two independent operations. The operation and maintenance process is cumbersome and inefficient, and it is impossible to achieve real-time visual monitoring of the cleaning process, making it difficult to accurately judge the cleaning effect. Moreover, the integration of existing water-driven equipment is insufficient, unable to integrate power drive, deep cleaning, and high-definition inspection functions simultaneously in a very small space. It also lacks an adaptive anti-jamming passage structure, making it prone to blockage when encountering complex working conditions such as 45° bends, pipeline diameter changes, and inner wall grooves, resulting in a low operation pass rate. Summary of the Invention

[0004] This invention provides an ultra-miniature water-driven integrated pipeline cleaning and inspection robot to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: An ultra-miniature water-driven integrated pipeline cleaning and inspection robot includes: a rear assembly module comprising a rear assembly body, the rear end of which has a high-pressure water inlet, a first water-containing cavity inside which a forward power flow channel is provided at the rear end of the first water-containing cavity, a rotation power flow channel is provided at the front end of the first water-containing cavity, and a connecting section is provided at the front end of the rear assembly body, the inner wall of which has internal threads; a front assembly module comprising a front assembly body, the rear end of which has an insertion section, the surface of which has external threads that mate with the internal threads, and a high-definition camera inside the front assembly body; and a brushing assembly comprising a rotating ring, the interior of which is rotatably connected to the surface of the connecting section, the interior of which has a second water-containing cavity, the inner wall of which is fixedly connected to a drive blade.

[0006] A further improvement of the technical solution of the present invention is that: the end of the forward power flow channel extends to the rear end surface of the rear assembly, and the end of the rotary power flow channel extends to the surface of the assembly section.

[0007] A further improvement of the technical solution of the present invention is that: a first support leg is rotatably connected to the surface of the rear section assembly, a first movable wheel is rotatably connected to the end of the first support leg, and a sealing ring is embedded in the side of the assembly section.

[0008] A further improvement of the technical solution of the present invention is that: a second support leg is rotatably connected to the surface of the front assembly, and a second movable wheel is rotatably connected to the end of the second support leg.

[0009] A further improvement of the technical solution of the present invention is that: the end outlet of the rotating power flow channel is directly opposite the drive blade, a cleaning brush is fixedly connected to the surface of the rotating ring, a rinsing flow channel is opened on the surface of the rotating ring, and the lower end of the rinsing flow channel is connected to the interior of the second water chamber.

[0010] A further improvement of the technical solution of the present invention is that a torsion spring is embedded at the connection between the first support leg and the rear assembly, which is used to push the first support leg to drive the first moving wheel to press tightly against the inner wall of the pipe.

[0011] A further improvement of the technical solution of the present invention is that: a torsion spring is embedded at the connection between the second support leg and the front assembly, which is used to push the second support leg to drive the second moving wheel to press against the inner wall of the pipe. Both the second support leg and the first support leg are adaptive swing arm structures, which can automatically adjust the swing angle under the action of drag force.

[0012] A further improvement of the technical solution of the present invention is that: the high-definition camera is a 1080P resolution IP68 waterproof camera, and the outer surfaces of the rear assembly and the front assembly (21) are both curved streamline structures.

[0013] A further improvement of the technical solution of the present invention is that: the rear outlet of the forward power flow channel is five circumferentially distributed high-pressure nozzles, and the axis of each high-pressure nozzle is inclined backward at a 30° angle to the axis of the rear section assembly.

[0014] A further improvement of the technical solution of the present invention is that: the outlet of the flushing channel is radially arranged towards the inner wall of the pipe, and multiple flushing channels are evenly distributed along the circumference of the rotating ring to form a 360° full-coverage high-pressure water jet. Due to the adoption of the above technical solution, the technical progress achieved by this invention compared to the prior art is as follows: This invention provides an ultra-miniature water-driven integrated pipeline cleaning and inspection robot. Utilizing a pure water-driven system, it eliminates the need for built-in motors, batteries, and electronic control systems, resulting in a minimalist and compact structure suitable for small-diameter pipeline operations. It also avoids the problem of electronic components being easily damaged by moisture in humid water environments, significantly improving long-term reliability. An integrated IP68-rated high-definition camera allows for real-time monitoring and recording of the cleaning process, enabling pipeline cleaning and defect detection to be completed in a single operation, eliminating the need for two separate operations and significantly improving maintenance efficiency. Equipped with adaptive swing-arm support legs and a curved, streamlined body, it actively adapts to 45° bends, diameter changes, and grooves, solving the problem of clogging common in traditional equipment. Furthermore, it employs a dual cleaning mode of 360° high-pressure water jet and a water-driven self-rotating cleaning brush to thoroughly remove sediment from the bottom of the pipeline, significantly improving cleaning effectiveness and meeting the deep maintenance needs of small-diameter pipelines. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the front-end main view structure of the present invention; Figure 2 This is a schematic diagram of the back-end main view structure of the present invention; Figure 3 This is a schematic diagram of the decomposed state structure of the front and rear sections of the present invention; Figure 4 This is a side view diagram of the front and rear sections of the present invention in their disassembled state.

[0016] Figure 5 This is a schematic diagram of the brushing assembly structure of the present invention; Figure 6 This is a schematic diagram of the front-end assembly module structure of the present invention; Figure 7 This is a schematic diagram of the rear-end assembly module structure of the present invention; Figure 8This is a cross-sectional structural diagram of the present invention.

[0017] Figure 9 This is a schematic diagram of the exploded cross-sectional structure of the present invention.

[0018] In the diagram: 11. Rear assembly; 12. High-pressure water inlet; 13. First water chamber; 14. Forward power flow channel; 15. Rotation power flow channel; 16. Assembly section; 17. First support leg; 18. First moving wheel; 19. Sealing ring; 21. Front assembly; 22. Insertion section; 23. High-definition camera; 24. Second support leg; 25. Second moving wheel; 31. Rotating ring; 32. Second water chamber; 33. Drive blade; 34. Cleaning brush; 35. Flushing flow channel. Detailed Implementation

[0019] The present invention will be further described in detail below with reference to embodiments: Example 1, as Figures 1-9 As shown, this invention provides an ultra-small water-driven integrated pipeline cleaning and inspection robot, comprising: a rear assembly module, the rear assembly module including a rear assembly body 11, a high-pressure water inlet 12 at the rear end of the rear assembly body 11, a first water-containing cavity 13 inside the rear assembly body 11, a forward power flow channel 14 at the rear end of the first water-containing cavity 13, a rotation power flow channel 15 at the front end of the first water-containing cavity 13, and an assembly section 16 at the front end of the rear assembly body 11. The wall is provided with internal threads; the front assembly module includes a front assembly body 21, the rear end of the front assembly body 21 is provided with an insertion section 22, the surface of the insertion section 22 is provided with external threads that fit with the internal threads, and a high-definition camera 23 is provided inside the front assembly body 21; the brushing assembly includes a rotating ring 31, the interior of the rotating ring 31 is rotatably connected to the surface of the assembly section 16, the interior of the rotating ring 31 is provided with a second water-containing cavity 32, and the inner wall of the second water-containing cavity 32 is fixedly connected with a drive blade 33.

[0020] It should be noted that: the rear assembly 11 is the core supporting base of the rear assembly module, providing installation space for the internal flow channels and external structure; the high-pressure water inlet 12 is the input interface for external high-pressure water, and is sealed to the high-pressure water cable; the first water chamber 13 is a temporary storage and distribution chamber for high-pressure water, achieving uniform distribution of high-pressure water; the forward power flow channel 14 is used to guide the high-pressure water to spray backward, providing forward power for the robot; the rotation power flow channel 15 is used to guide the high-pressure water to spray forward, driving the brushing component to rotate; the assembly section 16 is used to connect the rear assembly module with the front assembly module and the brushing component. The assembly is as follows: the front assembly 21 is the core support base of the front assembly module, providing installation and protection space for the high-definition camera; the insertion section 22 is threaded into the assembly section 16 to enable quick assembly and disassembly of the front and rear modules; the high-definition camera 23 is used to collect real-time images of the inside of the pipe for visual inspection; the rotating ring 31 is the rotating carrier of the brushing component, which can rotate around the assembly section 16; the second water chamber 32 is the high-pressure water storage chamber of the brushing component, providing water for the flushing channel; the drive blade 33 is used to drive the rotating ring 31 to rotate under the impact of high-pressure water, realizing the conversion of brushing power.

[0021] In this embodiment, the modular design of the rear assembly module, the front assembly module, and the brushing component, combined with a single-thread quick-connect structure, enables the robot to be quickly disassembled and easily maintained. At the same time, through the design of internal dual independent power flow channels, the robot's movement and the rotation of the brushing component can be driven simultaneously by a single high-pressure water source, without the need for built-in motors, batteries, and electronic control systems. The overall structure is extremely simple and compact, perfectly adapting to the working space requirements of small-diameter pipes.

[0022] Example 2, as Figures 1-9As shown, based on Embodiment 1, the present invention provides a technical solution: Preferably, the end of the forward power flow channel 14 extends to the rear end surface of the rear assembly 11, the end of the rotary power flow channel 15 extends to the surface of the assembly section 16, a first support leg 17 is rotatably connected to the surface of the rear assembly 11, a first moving wheel 18 is rotatably connected to the end of the first support leg 17, a sealing ring 19 is embedded in the side of the assembly section 16, a second support leg 24 is rotatably connected to the surface of the front assembly 21, a second moving wheel 25 is rotatably connected to the end of the second support leg 24, and the end outlet of the rotary power flow channel 15 is directly opposite the drive blade 33. A cleaning brush 34 is fixedly connected to the surface of the rotating ring 31. A rinsing channel 35 is opened on the surface of the rotating ring 31. The lower end of the rinsing channel 35 is connected to the interior of the second water chamber 32. A torsion spring is embedded at the connection between the first support leg 17 and the rear assembly 11, which is used to push the first support leg 17 to drive the first moving wheel 18 to press against the inner wall of the pipe. A torsion spring is embedded at the connection between the second support leg 24 and the front assembly 21, which is used to push the second support leg 24 to drive the second moving wheel 25 to press against the inner wall of the pipe. Both the second support leg 24 and the first support leg 17 are adaptive swing arm structures, which can automatically adjust the swing angle under the action of drag force.

[0023] It should be noted that: the first support leg 17 is used to support the rear assembly and maintain the robot's centered posture within the pipe; the first moving wheel 18 is used to convert sliding friction into rolling friction, reducing the robot's travel resistance; the sealing ring 19 is used to seal the fit gap between the assembly section 16 and the rotating ring 31; the second support leg 24 is used to support the front assembly and ensure consistent posture between the front and rear sections; the second moving wheel 25 is used to assist the front assembly in moving smoothly and prevent camera shaking from affecting image quality; the cleaning brush 34 is used to mechanically scrub firmly attached deposits on the inner wall of the pipe, improving the cleaning effect; the flushing channel 35 is used to guide the high-pressure water in the second water chamber to spray radially out and flush the inner wall of the pipe; the torsion spring is used to provide continuous tension for the support legs, ensuring that the moving wheel always keeps close to the inner wall of the pipe; the adaptive swing arm structure can automatically adjust the swing angle under the action of drag force to adapt to pipe bends and diameter changes.

[0024] In this embodiment, the dual-set adaptive support leg structure with torsion spring tension ensures that the robot remains centered and stable within the 80-150mm diameter variable pipe. At the same time, a sealing ring achieves dynamic sealing to prevent water leakage. Combined with the rotating power flow channel design facing the drive blades, the brushing component is driven by high-efficiency hydraulics. This, along with the mechanical brushing of the cleaning brush and the high-pressure flushing of the rinsing channel, forms a dual cleaning mode, solving the problem of blind spots at the bottom in traditional single water jet cleaning. The adaptive swing arm structure can actively avoid the risk of getting stuck in pipe steps and grooves, greatly improving the pass rate of operation in complex working conditions.

[0025] Example 3, as Figures 1-9As shown, based on Embodiment 1, the present invention provides a technical solution: Preferably, the high-definition camera 23 is a 1080P resolution IP68 waterproof camera, the outer surfaces of the rear assembly 11 and the front assembly 21 are both curved streamline structures, the rear outlet of the forward power flow channel 14 is 5 circumferentially distributed high-pressure nozzles, the axis of each high-pressure nozzle is inclined at a 30° backward angle with the axis of the rear assembly 11, the outlet of the flushing flow channel 35 is radially arranged towards the inner wall of the pipe, and the multiple flushing flow channels 35 are evenly distributed along the circumference of the rotating ring 31 to form a 360° full-coverage high-pressure water jet.

[0026] It should be noted that: the 1080P resolution IP68 waterproof camera can capture clear and stable images of the inside of the pipe in a high-pressure and humid water environment; the curved and streamlined body can reduce the robot's movement resistance and avoid pipe wall bulging and weld jamming; five circumferentially distributed 30° inclined high-pressure nozzles can generate uniform and stable axial forward thrust to prevent the robot from deflecting during movement; and the 360° circumferentially distributed flushing channel can achieve high-pressure flushing of the entire inner wall of the pipe without dead angles.

[0027] In this embodiment, the curved streamlined body design further reduces travel resistance and the risk of blockage. Five circumferentially distributed inclined high-pressure nozzles ensure uniform and stable forward thrust. The 360° full-coverage high-pressure water jet completely eliminates blind spots in pipeline cleaning. Combined with a 1080P high-definition waterproof camera, real-time visual monitoring of the cleaning process is achieved, which can accurately judge the cleaning effect and pipeline defects. The dual tasks of pipeline cleaning and inspection can be completed in one operation, which greatly improves the operation and maintenance efficiency and quality of small-diameter pipelines.

[0028] The working principle of this ultra-small water-driven integrated pipeline cleaning and inspection robot will be explained in detail below.

[0029] like Figures 1-9 As shown, this ultra-small water-driven integrated pipeline cleaning and inspection robot adopts pure hydraulic homogeneous drive technology, relying solely on externally input high-pressure water as its only power source throughout the entire process. It simultaneously achieves integrated operations of movement, cleaning, and inspection. The specific working process is as follows: First, seal the high-pressure water cable to the high-pressure water inlet 12 at the rear of the robot; then place the robot into the pipeline to be operated. The 30MPa high-pressure water output from the ground high-pressure water pump enters the first water chamber 13 inside the rear assembly 11 through the water cable. The high-pressure water is automatically split into two streams in the first water chamber 13: The first high-pressure water enters the forward propulsion channel 14 and is ejected at high speed through five circumferentially distributed 30° inclined high-pressure nozzles at the rear end. According to Newton's third law, this generates a forward thrust, propelling the robot forward continuously within the pipe. During movement, the first support leg 17 and the second support leg 24, under the tension of torsion springs, drive the first moving wheel 18 and the second moving wheel 25 to remain in close contact with the inner wall of the pipe, maintaining the robot's centered posture and reducing travel resistance. When encountering 45° bends, pipe diameter changes, or inner wall grooves, the adaptive swing arm structure can automatically adjust the swing angle under the drag force, actively avoiding jamming in conjunction with the curved streamlined body, achieving smooth passage under all working conditions.

[0030] The second stream of high-pressure water enters the rotating power channel 15 and is ejected at high speed from the outlet on the surface of the combined section 16, directly impacting the drive blades 33 inside the rotating ring 31, causing the rotating ring 31 to rotate at high speed around the combined section 16. At the same time, the high-pressure water enters the second water chamber 32 inside the rotating ring 31 and is ejected radially through the circumferentially evenly distributed flushing channels 35, forming a 360° full-coverage high-pressure water jet to flush the inner wall of the pipe. The rotating ring 31 simultaneously drives the cleaning brushes 34 on its surface to rotate synchronously, mechanically scrubbing the deposits attached to the inner wall of the pipe, achieving dual deep cleaning of high-pressure water jet and mechanical scrubbing, and thoroughly removing the deposit blind spots at the bottom of the pipe.

[0031] During operation, the 1080P IP68-level high-definition camera 23 inside the front assembly 21 collects image signals from inside the pipe in real time and transmits them to the ground terminal through the signal line inside the water cable. Operators can monitor the cleaning process in real time, record and archive the screen, and take photos to record pipe defects, so that cleaning and inspection can be completed simultaneously. When the robot needs to be moved backward, simply drag the ground water cable to move the robot backward. The support legs will automatically adjust the swing arm angle to adapt to the backward posture without the need for additional power.

[0032] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. An ultra-miniature water-driven integrated pipeline cleaning and inspection robot, characterized in that: include: The rear assembly module includes a rear assembly body (11), a high-pressure water inlet (12) is provided at the rear end of the rear assembly body (11), a first water-containing cavity (13) is provided inside the rear assembly body (11), a forward power flow channel (14) is provided at the rear end of the inner cavity of the first water-containing cavity (13), a rotary power flow channel (15) is provided at the front end of the inner cavity of the first water-containing cavity (13), and a combination section (16) is provided at the front end of the rear assembly body (11), and the inner wall of the combination section (16) is provided with internal threads; The front assembly module includes a front assembly body (21), an insertion section (22) is provided at the rear end of the front assembly body (21), the surface of the insertion section (22) is provided with an external thread that fits with the internal thread, and a high-definition camera (23) is provided inside the front assembly body (21). The brushing assembly includes a rotating ring (31), the interior of which is rotatably connected to the surface of the assembly section (16), and a second water-containing cavity (32) is provided inside the rotating ring (31), with a drive blade (33) fixedly connected to the inner wall of the second water-containing cavity (32).

2. The ultra-miniature water-driven integrated pipeline cleaning and inspection robot according to claim 1, characterized in that: The end of the forward power flow channel (14) extends to the rear end surface of the rear assembly (11), and the end of the rotary power flow channel (15) extends to the surface of the assembly section (16).

3. The ultra-miniature water-driven integrated pipeline cleaning and inspection robot according to claim 1, characterized in that: The surface of the rear assembly (11) is rotatably connected to a first support leg (17), the end of the first support leg (17) is rotatably connected to a first moving wheel (18), and a sealing ring (19) is embedded on the side of the assembly section (16).

4. The ultra-miniature water-driven integrated pipeline cleaning and inspection robot according to claim 1, characterized in that: The surface of the front assembly (21) is rotatably connected to a second support leg (24), and the end of the second support leg (24) is rotatably connected to a second moving wheel (25).

5. The ultra-miniature water-driven integrated pipeline cleaning and inspection robot according to claim 1, characterized in that: The end outlet of the rotating power channel (15) is directly opposite the drive blade (33). A cleaning brush (34) is fixedly connected to the surface of the rotating ring (31). A flushing channel (35) is opened on the surface of the rotating ring (31). The lower end of the flushing channel (35) is connected to the interior of the second water chamber (32).

6. The ultra-miniature water-driven integrated cleaning and inspection pipeline robot according to claim 3, characterized in that: A torsion spring is embedded at the connection between the first support leg (17) and the rear assembly (11) to push the first support leg (17) to drive the first moving wheel (18) to press tightly against the inner wall of the pipe.

7. The ultra-miniature water-driven integrated pipeline cleaning and inspection robot according to claim 4, characterized in that: A torsion spring is embedded at the connection between the second support leg (24) and the front assembly (21) to push the second support leg (24) to drive the second moving wheel (25) to press against the inner wall of the pipe. The second support leg (24) and the first support leg (17) are both adaptive swing arm structures, which can automatically adjust the swing angle under the action of drag force.

8. The ultra-miniature water-driven integrated pipeline cleaning and inspection robot according to claim 1, characterized in that: The high-definition camera (23) is a 1080P resolution IP68 waterproof camera, and the outer surfaces of the rear assembly (11) and the front assembly (21) are both curved streamline structures.

9. The ultra-miniature water-driven integrated pipeline cleaning and inspection robot according to claim 1, characterized in that: The rear outlet of the forward power flow channel (14) consists of five circumferentially distributed high-pressure nozzles, with the axis of each high-pressure nozzle tilted backward at a 30° angle to the axis of the rear assembly (11).

10. The ultra-miniature water-driven integrated pipeline cleaning and inspection robot according to claim 5, characterized in that: The outlet of the flushing channel (35) is radially arranged toward the inner wall of the pipe, and multiple flushing channels (35) are evenly distributed along the circumference of the rotating ring (31) to form a 360° full-coverage high-pressure water jet.

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