Chemical cross-linking pipe inner wall cleaning robot

Abstract

The application discloses a chemical cross-linking pipeline inner wall cleaning robot, and belongs to the technical field of cable dry cross-linking production line matching equipment, which comprises a main shell, a plurality of groups of caterpillar walking mechanisms which are distributed in a circumferential array and can move along the inner wall of the chemical cross-linking pipeline are fixedly installed on the outer side wall of the main shell, a mechanical scraping mechanism which is in contact with the inner wall of the chemical cross-linking pipeline is coaxially and rotatably installed at the bottom end of the main shell, the whole robot is controlled by a synchronizer to walk from top to bottom and scrape the attachments on the inner wall of the chemical cross-linking pipeline in a rotating mode. The circumferential array caterpillar walking mechanism is adopted, surface contact is replaced by point contact, the adhesive force and the traction force are significantly improved, and the slipping is effectively reduced. The elastic self-adaptive structure can match the inner diameter deviation and deformation of the pipeline and always keep the pressing and close fitting. The synchronizer realizes the cooperative control of walking and scraping, the movement is stable and without deflection. The rotating scraping is replaced by the fixed scraping, the tangential stress resistance is small, the scraping efficiency is high, and the cleanliness is good.

Description

Technical Field

[0001] This invention relates to the technical field of supporting equipment for dry cross-linking production lines for cables, specifically a robot for cleaning the inner wall of chemical cross-linking pipelines. Background Technology

[0002] The cable chemical cross-linking pipeline is the core vertical closed tubular equipment in the dry chemical cross-linking production line for high-voltage and ultra-high-voltage cable insulation layers. The pipeline is typically filled with 1.0-1.2 MPa high-pressure nitrogen gas, which, under a high-temperature environment of 250-350℃, causes the cable insulation material (peroxide cross-linked polyethylene) to undergo a free radical cross-linking reaction, forming a three-dimensional network structure and improving the insulation layer's heat resistance, pressure resistance, and aging resistance. This pipeline is a vertical cylinder with a large length-to-diameter ratio; the smoothness and cleanliness of its inner wall directly determine the surface quality of the insulation layer, the uniformity of cross-linking, and the stability of continuous production line operation.

[0003] During long-term high-temperature and high-pressure cross-linking operations, peroxides decompose to produce volatile organic compounds such as methane and tert-butanol. These compounds, along with the thermal oxidative degradation of polyethylene, form a mixture of coke deposits, carbonized deposits, and oligomer condensate, which continuously adhere to the inner wall of the pipe. These deposits range in size from viscous gel to hard coke lumps, exhibiting strong adhesion and uneven distribution. Over time, they accumulate and cause three major hazards: contaminating the surface of the insulation layer, forming bumps, pits, and impurities, reducing the uniformity and breakdown strength of the cable insulation; altering the flow and temperature field distribution within the pipe, leading to uneven cross-linking reactions, resulting in localized over-cross-linking or under-cross-linking; and clogging nitrogen circulation channels, increasing pipe resistance, forcing the production line to shut down for cleaning, reducing capacity, and increasing maintenance costs.

[0004] The current mainstream cleaning method in the industry is mechanical scraping by pipeline robots, but existing equipment generally has the following problems: Insufficient driving force of the walking mechanism: The single / multi-row rollers make point contact with the inner wall, resulting in a low coefficient of friction and easy slippage. Moreover, most of them are not all-wheel drive, resulting in weak downward thrust in vertical pipes and easy jamming when encountering thick scale. Poor pipe diameter adaptability: The rollers are rigid supports and cannot adapt to pipe inner diameter deviations, deformations, and inner wall irregularities, resulting in unstable fit; The scraping structure has high resistance and low efficiency: the scraper is a fixed radial clamping type, which has high resistance when scraping vertically, and is prone to problems such as incomplete scraping, scraper sticking to the scraper, and failure to remove local hard dirt. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a chemical cross-linked pipeline inner wall cleaning robot. The robot has tracked adaptive walking and rotary tangential scraping, which can achieve stable downward movement in vertical pipelines, efficient scale removal, no jamming, and high cleanliness, so as to solve the problems of existing cleaning robots such as roller slippage, insufficient thrust, poor adaptability, and high resistance of the scraping structure.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A chemical cross-linking pipe inner wall cleaning robot includes a main body housing located inside the chemical cross-linking pipe. Its core improvement lies in the following: multiple sets of circumferentially arrayed tracked walking mechanisms are fixedly installed on the outer wall of the main body housing and can move axially along the inner wall of the chemical cross-linking pipe. Each set of tracked walking mechanisms can adapt to the diameter of the chemical cross-linking pipe under its own elasticity and firmly abut against the inside of the chemical cross-linking pipe. A mechanical scraping mechanism that contacts the inner wall of the chemical cross-linking pipe is coaxially rotatably installed at the bottom of the main body housing. A synchronizer is provided inside the main body housing to control all tracked walking mechanisms and synchronizers in parallel. The entire robot moves from top to bottom under the control of the synchronizer and scrapes the deposits on the inner wall of the chemical cross-linking pipe in a rotating manner.

[0007] By adopting the above scheme, a circumferential array tracked walking mechanism is used, with surface contact replacing point contact, significantly improving adhesion and traction and effectively reducing slippage; the elastic adaptive structure can match the deviation and deformation of the pipe's inner diameter, always maintaining a tight fit; the synchronizer realizes coordinated control of walking and scraping, ensuring smooth and unbiased movement; and the rotary scraping replaces fixed scraping, resulting in low tangential resistance, high cleaning efficiency, and good cleanliness.

[0008] In a preferred embodiment of a chemical cross-linking pipe inner wall cleaning robot, the tracked walking mechanism includes a positioning rod fixedly connected to the outer wall of the main housing and extending axially toward the chemical cross-linking pipe. A downwardly extending support rod is movably hinged to the top of the positioning rod via an upper hinge seat. A sliding seat is fixedly connected to the bottom of the support rod. A push spring is fitted on the support rod to push the sliding seat downward. The sliding seat can slide up and down along a vertical groove formed on the positioning rod. A track wheel is movably connected to one side of the sliding seat via an adjusting linkage. A track is mounted on the track wheel to contact the inner wall of the chemical cross-linking pipe. A walking motor is mounted on one side of the track wheel to drive the track to circulate. The push spring provides continuous elastic clamping force, ensuring the track remains in close contact with the inner wall. The sliding structure of the support rod and the sliding seat allows the track wheel to float radially, adapting to changes in pipe diameter. The adjusting linkage allows for fine-tuning of the track wheel's angle and position, ensuring full contact between the track and the pipe wall.

[0009] As a preferred embodiment of a chemical cross-linked pipe wall cleaning robot, two parallel reinforcing rods are movably connected between the track wheel and the positioning rod, wherein the length of the reinforcing rod is less than the length of the adjusting rod; the two parallel reinforcing rods form a parallelogram stabilizing mechanism, which improves the track wheel's support rigidity and torsional resistance, avoids track swaying and detachment caused by scraping reaction force, and ensures walking straightness and adhesion stability.

[0010] As a preferred implementation of a chemical cross-linked pipe inner wall cleaning robot, the adjusting linkage is a shock-absorbing rod. The shock-absorbing rod absorbs the vibration caused by the impact of the inner wall's unevenness and hard scale, reduces the impact load on the walking motor and transmission components, improves the smoothness of the robot's operation, and can also extend its service life.

[0011] As a preferred embodiment of a chemical cross-linked pipe wall cleaning robot, the top of the support rod is coaxially connected to a protective sleeve that extends downward and can wrap around the push spring. This effectively prevents charred residue and dust from entering the spring gap, causing jamming and elastic failure, and ensures the long-term reliability of the adaptive clamping function.

[0012] As a preferred embodiment of a chemically cross-linked pipe wall cleaning robot, the mechanical scraping mechanism includes a central frame coaxially connected to a cleaning motor, a rotating frame coaxially fixed to the outer periphery of the central frame, and multiple rotating scrapers detachably fixed to the rotating frame in a circumferential array and extending tangentially in the same rotation direction. The tangential arrangement of the rotating scrapers peels off the attached material by rotary cutting, and its scraping resistance is much lower than that of radially fixed scrapers. The circumferential array ensures full coverage scraping with no blind spots. The detachable structure facilitates quick replacement after wear, reducing maintenance costs.

[0013] As a preferred embodiment of a chemically cross-linked pipe wall cleaning robot, a rotating scraper extending tangentially in the same rotation direction is connected to the outer side of the end of the rotating scraper to improve the efficiency of hard scale removal and the smoothness of the inner wall; wherein the tangential extension direction of the rotating scraper is completely opposite to the tangential extension direction of the rotating scraper, and the reverse structure balances the centrifugal force and the scraping reaction force, reducing rotational vibration.

[0014] As a preferred embodiment of a chemically cross-linked pipe wall cleaning robot, the rotating scraper is elastic and can quickly return to its original position after being deformed by force. The elastic scraper can adapt to the curvature of the inner wall, local protrusions and the thickness of hard deposits, ensuring full flexible contact without damaging the inner wall, while avoiding rigid impact that could cause the scraper blade to break, resulting in more uniform cleaning.

[0015] As a preferred embodiment of a chemical cross-linking pipe wall cleaning robot, the main body housing has two chambers spaced apart vertically. The upper chamber contains a battery that supplies power to various electrical components, and a synchronizer is also located in the upper chamber. The lower chamber contains a cleaning motor that drives the mechanical scraping mechanism to rotate. The upper and lower chambers are partitioned, and the electrical components are isolated from the power components, which further improves heat dissipation efficiency and protection level, and enhances system reliability.

[0016] As a preferred embodiment of a chemical cross-linking pipe inner wall cleaning robot, two symmetrically distributed lifting lugs are fixedly connected to the top of the main body shell, and auxiliary suspension ropes are connected to the lifting lugs and suspended on the movable pulleys at the top of the chemical cross-linking pipe; the auxiliary suspension ropes provide additional safety suspension to prevent the robot from falling accidentally; the robot's descent speed and posture can be adjusted through the movable pulleys to achieve stable operation.

[0017] The beneficial effects of this invention are: 1. Strong traction and no slippage: It adopts a full-circumferential tracked walking mechanism with a large contact area and high friction. It is also all-wheel driven, which solves the problems of insufficient thrust and easy slippage of roller robots, ensuring that the robot descends stably in the vertical pipe. 2. Adaptive to changes in pipe diameter: The combination of "push spring preload + sliding support rod + adjusting linkage" enables the track to automatically adapt to minor deviations in the inner diameter of the pipe, avoiding jamming or poor contact due to manufacturing or installation errors; 3. Low scraping resistance and high efficiency: The rotary scraping mechanism uses tangential shearing instead of vertical scraping, which greatly reduces resistance; centrifugal force makes the scraper fit more tightly with the pipe wall, and the scraped-off charred residue is flung away and will not stick to the scraper, thus significantly improving the cleaning effect. 4. Smooth operation and protection of pipe walls: shock-absorbing rods absorb impacts, and elastic scrapers can be retracted to prevent the robot from shaking and scratching the stainless steel pipe walls; reinforced connecting rods improve structural rigidity and ensure straight-line movement. 5. Easy maintenance and long service life: The rotating scraper is fixed by disassembly and can be replaced individually after wear; the protective sleeve protects the push spring from coke contamination; the upper and lower chamber isolation design improves the reliability of the electrical system; 6. High safety: The auxiliary suspension rope provides double safety protection to prevent the robot from falling; the synchronizer provides unified control to avoid jamming caused by inconsistent speeds of various walking mechanisms. Attached Figure Description

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

[0019] Figure 1 A 3D structural diagram of a chemically cross-linked pipe wall cleaning robot in application. Figure 2 A 3D structural diagram of a chemical cross-linking pipe inner wall cleaning robot; Figure 3 This is a three-dimensional structural diagram of a tracked walking mechanism; Figure 4This is a front view structural diagram of a tracked walking mechanism; Figure 5 This is a right-view structural diagram of the tracked walking mechanism when it is at its minimum limit during adaptive operation. Figure 6 The right-side view of the tracked walking mechanism when it is at its maximum limit during adaptive operation; Figure 7 A three-dimensional structural diagram of the mechanical scraping mechanism; Figure 8 This is a partial 3D structural diagram of the upper half of the main unit casing. Figure 9 This is a partial 3D structural diagram of the lower half of the main unit casing.

[0020] The markings in the diagram are: 1-Main unit housing; 2-Crawler-type walking mechanism; 21-Positioning rod; 22-Upper hinge seat; 23-Support rod; 24-Lower slide seat; 25-Thrust spring; 26-Vertical slide rail; 27-Adjusting link; 28-Crawler wheel; 29-Crawler; 210-Walking motor; 211-Reinforcing link; 212-Protective sleeve; 3-Mechanical scraping mechanism; 31-Central frame; 32-Rotating frame; 33-Rotating scraper; 34-Rotating scraper; 4-Synchronizer; 5-Upper chamber; 6-Lower chamber; 7-Battery; 8-Cleaning motor; 9-Lifting lug; 10-Auxiliary lifting rope; 11-Chemical cross-linking pipe. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] like Figures 1 to 2As shown, a chemical cross-linking pipe inner wall cleaning robot is provided, which is used to clean the deposits such as coke, carbonized deposits, and oligomer condensate mixtures on the inner wall of the chemical cross-linking pipe 11. Specifically, it includes a main body shell 1 located inside the chemical cross-linking pipe 11. Multiple sets of tracked walking mechanisms 2 are fixedly installed on the outer wall of the main body shell 1, arranged in a circumferential array and capable of moving axially along the inner wall of the chemical cross-linking pipe 11. Each set of tracked walking mechanisms 2 can adapt to the diameter of the chemical cross-linking pipe 11 under its own elasticity and firmly abut against the inside of the chemical cross-linking pipe 11. A mechanical scraping mechanism 3 is coaxially rotatably installed at the bottom end of the main body shell 1, which contacts the inner wall of the chemical cross-linking pipe 11. Inside the main body shell 1, there is a synchronizer 4 that controls all the tracked walking mechanisms 2 and synchronizers 4 in parallel. The entire robot is controlled by the synchronizer 4 to walk from top to bottom and scrape the deposits on the inner wall of the chemical cross-linking pipe 11 in a rotating manner. The circumferential array tracked walking mechanism 2 replaces point contact with surface contact, significantly improving adhesion and traction and effectively reducing slippage; the elastic adaptive structure can match the deviation and deformation of the pipe inner diameter, always maintaining a tight fit; the synchronizer 4 realizes coordinated control of walking and scraping, ensuring smooth and unbiased movement; the rotary scraping replaces the fixed scraping, resulting in low tangential resistance, high cleaning efficiency, and good cleanliness.

[0023] like Figures 3 to 6 As shown, the tracked walking mechanism 2 includes a positioning rod 21 fixedly connected to the outer wall of the main housing 1 and extending axially toward the chemical cross-linking pipe 11. A downwardly extending support rod 23 is movably hinged to the top of the positioning rod 21 via an upper hinge seat 22. A lower sliding seat 24 is fixedly connected to the bottom end of the support rod 23. A push spring 25 is fitted on the support rod 23 to push the lower sliding seat 24 downward. The lower sliding seat 24 can slide up and down along a vertical groove 26 formed in the body of the positioning rod 21. An adjustable connecting rod is installed beside the lower sliding seat 24... A track wheel 28 is movably connected to a rod 27. A track 29 is mounted on the track wheel 28 to contact the inner wall of the chemical cross-linking pipe 11. A walking motor 210 is mounted on one side of the track wheel 28 to drive the track 29 to move cyclically. A continuous elastic clamping force is provided by a push spring 25 to keep the track 29 in close contact with the inner wall. The sliding structure of the support rod 23 and the sliding seat 24 allows the track wheel 28 to float radially to adapt to changes in pipe diameter. The adjusting rod 27 enables fine adjustment of the angle and position of the track wheel 28 to ensure that the track 29 is fully in contact with the pipe wall.

[0024] Continue as Figures 3 to 6 As shown, two parallel reinforcing rods 211 are movably connected between the track wheel 28 and the positioning rod 21. The length of the reinforcing rod 211 is less than the length of the adjusting rod 27. The two parallel reinforcing rods 211 form a parallelogram stabilizing mechanism, which improves the support rigidity and torsional resistance of the track wheel 28, avoids the track 29 from swaying or detaching due to the scraping reaction force, and ensures the straightness of the movement and the stability of the fit.

[0025] like Figures 5 to 6 As shown, the adjusting linkage 27 is a shock absorber. The shock absorber absorbs the vibration caused by the impact of the inner wall's unevenness and hard deposits, reduces the impact load on the walking motor 210 and transmission components, improves the smoothness of the robot's operation, and can also extend its service life.

[0026] Continue as Figures 5 to 6 As shown, the top of the support rod 23 is coaxially connected to a protective sleeve 212 that extends downward and can wrap around the push spring 25. This can effectively prevent charred dirt and dust from entering the spring gap and causing jamming or elastic failure, thus ensuring the long-term reliability of the adaptive clamping function.

[0027] like Figure 7 As shown, the mechanical scraping mechanism 3 includes a central frame 31 coaxially connected to the cleaning motor 8. A rotating frame 32 is coaxially fixed on the outer periphery of the central frame 31. Multiple rotating scrapers 33 are detachably fixed on the rotating frame 32, distributed in a circumferential array and extending tangentially in the same rotation direction. The rotating scrapers 33 are tangentially arranged and peel off the attached material by rotary cutting. Their scraping resistance is much lower than that of radially fixed scrapers. The circumferential array ensures full coverage scraping without any blind spots. The detachable structure facilitates quick replacement after wear, reducing maintenance costs.

[0028] Continue as Figure 7 As shown, a rotating scraper 34 extending tangentially in the same rotation direction is connected to the outer side of the end of the rotating scraper 33, which improves the efficiency of hard scale removal and the smoothness of the inner wall; wherein the tangential extension direction of the rotating scraper 34 is completely opposite to the tangential extension direction of the rotating scraper 33, and the reverse structure balances the centrifugal force and the scraping reaction force, reducing rotational vibration.

[0029] Continue as Figure 7 As shown, the rotating scraper 33 is elastic and can quickly return to its original position after being deformed by force. The elastic scraper can adapt to the curvature of the inner wall, local protrusions and the thickness of hard dirt, ensuring full flexible contact without damaging the inner wall, while avoiding rigid impact that could cause the scraper blade to break, resulting in more uniform cleaning.

[0030] like Figures 8 to 9 As shown, the main unit housing 1 has two chambers spaced apart vertically. The upper chamber 5 contains a battery 7 that supplies power to various electrical components, and a synchronizer 4 is also located in the upper chamber 5. The lower chamber 6 contains a cleaning motor 8 that drives the mechanical scraping mechanism 3 to rotate. The upper and lower chambers 6 are divided into sections, and the electrical components are isolated from the power components, which further improves heat dissipation efficiency and protection level, and enhances system reliability.

[0031] like Figure 1 , Figures 8 to 9As shown, two symmetrically distributed lifting lugs 9 are fixedly connected to the top of the main housing 1. An auxiliary lifting rope 10 is connected to the lifting lugs 9 and suspended on the movable pulley at the top of the chemical crosslinking pipe 11. The auxiliary lifting rope 10 provides additional safety suspension to prevent the robot from falling accidentally. The robot's descent speed and posture can be adjusted through the movable pulley to achieve stable operation.

[0032] like Figures 1 to 9 As shown, the working principle of this chemically cross-linked pipe wall cleaning robot is as follows: Suspension and lowering: The robot is first suspended from the movable pulley (omitted in the figure) at the top of the chemical crosslinking pipe 11 by the auxiliary suspension rope 10. It is then lowered into the pipe to the predetermined cleaning starting position (usually the top of the pipe) by manual labor or a winch. Adaptive tensioning: Under the pre-tensioning force of the push spring 25, the track 29 always expands outward and adheres tightly to the inner wall of the pipe. Multiple sets of tracked walking mechanisms 2 form circumferential uniform support, enabling the robot to be centered and adapt to small changes in pipe diameter. Synchronous descent: Synchronizer 4 starts all walking motors 210 in a unified manner, driving the track 29 to rotate in a cycle. The high friction between the track 29 and the pipe wall generates axial traction force, so that the robot descends at a constant speed from top to bottom. Rotary scraping: At the same time, synchronizer 4 also starts cleaning motor 8 to drive mechanical scraping mechanism 3 to rotate at high speed. Rotary scraper 33 and rotary scraper 34 cut the pipe wall deposits in a tangential manner with low resistance. Under the action of centrifugal force, the scraper / scraper is in close contact with the pipe wall, and the scraped-off coke is thrown off the scraper surface and will not adhere and accumulate. The shock absorber absorbs the impact during the downward process, the protective sleeve 212 protects the push spring 25 from contamination, and the elastic scraper can yield through hard clumps to avoid jamming. Cleaning complete: The robot continues to descend to the bottom of the pipe and completes the cleaning of the entire inner wall of the pipe.

[0033] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A chemically cross-linked pipe inner wall cleaning robot, comprising a main body housing located inside the chemically cross-linked pipe, characterized in that: Multiple sets of circumferentially arrayed tracked walking mechanisms are fixedly installed on the outer wall of the main body shell. These mechanisms can move axially along the inner wall of the chemical cross-linking pipe. Each tracked walking mechanism can adapt to the diameter of the chemical cross-linking pipe under its own elasticity and firmly contact the inside of the chemical cross-linking pipe. A mechanical scraping mechanism that contacts the inner wall of the chemical cross-linking pipe is coaxially rotatably installed at the bottom of the main body shell. Inside the main body shell, there is a synchronizer that controls all the tracked walking mechanisms and synchronizers in parallel. The entire robot moves from top to bottom under the control of the synchronizer and scrapes the deposits on the inner wall of the chemical cross-linking pipe in a rotating manner.

2. The chemical cross-linked pipe wall cleaning robot according to claim 1, characterized in that, The tracked walking mechanism includes a positioning rod fixedly connected to the outer wall of the main housing and extending axially toward the chemical cross-linking pipeline. A downwardly extending support rod is movably hinged to the top of the positioning rod via an upper hinge seat. A sliding seat is fixedly connected to the bottom of the support rod. A push spring is fitted on the support rod to push the sliding seat downward. The sliding seat can slide up and down along a vertical groove opened on the body of the positioning rod. A track wheel is movably connected to one side of the sliding seat via an adjusting linkage. A track is installed on the track wheel to contact the inner wall of the chemical cross-linking pipeline. A walking motor that drives the track to move cyclically is installed on one side of the track wheel.

3. The chemical cross-linked pipe wall cleaning robot according to claim 2, characterized in that, Two parallel reinforcing rods are movably connected between the track wheel and the positioning rod, with the length of the reinforcing rod being less than the length of the adjusting rod.

4. The chemical cross-linked pipe wall cleaning robot according to claim 2, characterized in that, The adjusting linkage is a shock-absorbing rod.

5. The chemical cross-linked pipe wall cleaning robot according to claim 2, characterized in that, The top end of the support rod is coaxially connected to a protective sleeve that extends downward and can wrap around the push spring.

6. The chemical cross-linked pipe wall cleaning robot according to claim 1, characterized in that, The mechanical scraping mechanism includes a central frame coaxially connected to the cleaning motor, a rotating frame coaxially fixed on the outer periphery of the central frame, and multiple rotating scrapers arranged in a circumferential array and extending tangentially in the same rotation direction detachably fixed on the rotating frame.

7. The chemical cross-linked pipe wall cleaning robot according to claim 6, characterized in that, A rotating scraper extending tangentially in the same direction of rotation is connected to the outer side of the end of the rotating scraper, wherein the tangential extension direction of the rotating scraper is completely opposite to that of the rotating scraper.

8. The chemical cross-linked pipe wall cleaning robot according to claim 7, characterized in that, The rotating scraper is elastic and can quickly return to its original position after being deformed by force.

9. The chemical cross-linked pipe wall cleaning robot according to claim 1, characterized in that, The main unit housing has two chambers spaced apart vertically. The upper chamber contains a battery that supplies power to the various electrical components, and a synchronizer is also located in the upper chamber. The lower chamber contains a cleaning motor that drives the mechanical scraping mechanism to rotate.

10. The chemically cross-linked pipe wall cleaning robot according to claim 1, characterized in that, Two symmetrically distributed lifting lugs are fixedly connected to the top of the main housing, and auxiliary lifting ropes are connected to the lifting lugs and suspended from the movable pulleys at the top of the chemical cross-linking pipe.

Images