An underground pipeline cleaning device based on a crawling robot

Abstract

The application provides an underground pipeline cleaning device based on a crawling robot, and relates to the technical field of pipeline cleaning. The device comprises a hollow installation shell in a hexagonal shape, one end of the hollow installation shell is provided with a cleaning assembly, a gas flow generator is fixedly connected to the middle position inside the hollow installation shell, an extension air duct is fixedly connected to the output end of the gas flow generator, three groups of walking assemblies are arranged in a circumferential array on the outer side wall of one end of the hollow installation shell close to the cleaning assembly, and a cooperative variable-distance supporting assembly is arranged on one end of the hollow installation shell away from the cleaning assembly. The device can use the elasticity of the elastic sleeve rod to perform real-time profiling compensation on the ups and downs of the pipe wall and the changes of the pipe diameter, the buffer spring can effectively absorb rigid impact and release stress, the connecting rod mechanism can self-adaptively adjust the grounding pressure, and the device greatly improves the obstacle crossing ability and the marching stability in the rugged pipe bottom environment, and the moving wheels of the supporting part are synchronously tensioned outward or withdrawn inward to rigidly support different inner diameter pipelines.

Description

Technical Field

[0001] This invention relates to the field of pipeline cleaning technology, and in particular to an underground pipeline cleaning device based on a crawling robot. Background Technology

[0002] A pipeline is a system of pipes, pipe fittings, and valves used to transport gases, liquids, or fluids containing solid particles. Typically, fluids are pressurized by blowers, compressors, pumps, and boilers, flowing from high-pressure areas to low-pressure areas within the pipeline. Alternatively, the fluid's own pressure or gravity can be used for transport. Pipelines have a wide range of applications, primarily in water supply, drainage, heating, gas supply, long-distance transport of oil and natural gas, agricultural irrigation, hydraulic engineering, and various industrial installations. Underground pipelines are laid underground for transporting liquids, gases, loose solids, and discharging sewage and domestic wastewater.

[0003] Existing cleaning devices typically use brushes with a fixed radius, which cannot compensate for changes in pipe diameter. This results in incomplete contact with the pipe wall and inconsistent cleaning effectiveness. Conventional wheeled or tracked mechanisms lack cushioning and shock absorption structures, making them prone to severe bumps and even overturning when traversing pipe joints or deposit protrusions. Furthermore, the support mechanism lacks radial synchronous adjustment capabilities, making it susceptible to suspension or jamming in sections with varying pipe diameters, thus affecting operational continuity. Therefore, this invention proposes an underground pipe cleaning device based on a crawling robot to address these problems. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes an underground pipeline cleaning device based on a crawling robot. This addresses the issues of existing devices where the cleaning brushes have a fixed radius, failing to compensate for changes in pipe diameter, resulting in inadequate pipe wall contact and inconsistent cleaning effectiveness; conventional wheeled or tracked mechanisms lacking cushioning and shock absorption structures, easily causing severe bumps or even overturning when traversing pipe joints or deposit protrusions; and the support mechanism lacking radial synchronous adjustment capabilities, easily becoming suspended or jammed in sections with varying pipe diameters, affecting the continuity of operations.

[0005] To achieve the objectives of this invention, the invention is implemented through the following technical solutions: A crawling robot-based underground pipe cleaning device includes a hexagonal hollow mounting shell. A cleaning component is located at one end of the hollow mounting shell. A first motor that drives the cleaning component to rotate is located inside the hollow mounting shell. An airflow generator is fixedly connected to the middle position inside the hollow mounting shell. An extension duct is fixedly connected to the output end of the airflow generator. One end of the air outlet of the extension duct extends to the bottom of the hollow mounting shell. Three sets of walking components are arranged in a circular array on the outer wall of the hollow mounting shell near the cleaning component. A maintenance cover is detachably connected to the outer surface of the hollow mounting shell by screws. A vision camera is installed on the outer wall of the hollow mounting shell near the cleaning component. A cooperative variable-pitch branching component is located on the end of the hollow mounting shell away from the cleaning component.

[0006] A further improvement is made in that: the cleaning assembly includes a mounting box, a self-rotating drive mechanism, and a cleaning brush disc. The center of one end of the mounting box is fixedly connected to the output end of the first motor via a connector. The mounting box is equipped with a self-rotating drive mechanism inside. Three sets of mounting sleeves are fixedly connected to the outside of the mounting box. A fixed rod is rotatably installed inside each of the three sets of mounting sleeves. The self-rotating drive mechanism drives the fixed rod to rotate. An elastic sleeve rod is fixedly connected to one end of each of the three fixed rods located on the outside of the mounting box. A cleaning brush disc is fixedly connected to the end of each elastic sleeve rod.

[0007] A further improvement is that the self-rotation drive mechanism includes a second motor, a first bevel gear, and a second bevel gear. The second motor is fixedly installed inside the mounting box, and the output end of the second motor is fixedly connected to the first bevel gear. The three fixed rods are all fixedly connected to the second bevel gear at one end inside the mounting box, and the second bevel gear meshes with the first bevel gear.

[0008] A further improvement is that the walking assembly includes a mounting strip and a track walking part. The mounting strip is fixedly installed on the outer wall of the hollow mounting housing. A first connecting rod and a second connecting rod are respectively connected to the two side walls of the mounting strip near the cleaning assembly. The track walking part is connected between the two first connecting rods and the two second connecting rods.

[0009] A further improvement is made in that: a third link is rotatably connected to both sides of the track walking part, and a limit rod is fixedly connected to the end of each of the two third links; a limit groove is opened through the middle of the mounting strip; a self-adaptive control mechanism is provided on the limit groove; a fourth link is symmetrically and rotatably provided on the self-adaptive control mechanism; the end of each limit rod is slidably connected to the inside of the fourth link; and a buffer spring is sleeved on the outside of the limit rod; the two ends of the buffer spring are respectively connected to the bottom surface of the third link and the top surface of the fourth link.

[0010] Further improvements are made in that: the self-adaptive control mechanism includes a sliding column, a connecting block, and an electric telescopic rod. The sliding column is slidably provided in the limiting groove, and the connecting block is fixedly connected to the outside of the sliding column. The two fourth connecting rods are rotatably installed on the two side walls of the connecting block. The electric telescopic rod is fixedly connected to one side wall of the mounting strip, and the output end of the electric telescopic rod is fixedly connected to the side wall of the connecting block through a connector.

[0011] A further improvement is made in that: the cooperative variable pitch branch assembly includes two support plates and a cooperative variable pitch control assembly. One support plate is fixedly connected to the inside of the hollow mounting housing, and the other support plate is fixedly connected to the end of the hollow mounting housing. A threaded rod is rotatably connected between the two support plates. A third motor that drives the threaded rod to rotate is fixedly installed on a set of support plates located inside the hollow mounting housing. A threaded ring is threadedly connected to the outer surface of the threaded rod. Three sets of cooperative connecting parts are equidistantly arranged on the outer wall of the threaded ring. Branch components are provided on the cooperative connecting parts.

[0012] A further improvement is made in that: the cooperating connector includes a connecting strip, a fifth connecting rod, and a sixth connecting rod. The connecting strip is fixed to the outer wall of the threaded ring. The outer wall of the hollow mounting housing is provided with a through groove adapted to the position of the connecting strip. The ends of the connecting strip pass through the through groove and are rotatably connected to the fifth connecting rod. The ends of the fifth connecting rod are rotatably connected to the sixth connecting rod. The outer surface of the hollow mounting housing is provided with a rotating support corresponding to the position of the sixth connecting rod. One end of the sixth connecting rod is connected to the rotating support. The support component is installed on the end of the sixth connecting rod away from the rotating support.

[0013] A further improvement is that the branch component includes a fixed plate and movable wheels. The fixed plate is mounted on the sixth link, and a rotating rod is rotatably mounted on the fixed plate. Movable wheels are fixedly connected to both ends of the rotating rod.

[0014] A further improvement is that a third bevel gear is fixedly connected to each of the rotating rods, a fourth motor is mounted on the fixed plate, and a fourth bevel gear is fixedly connected to the output end of the fourth motor, with the fourth bevel gear meshing with the third bevel gear.

[0015] The beneficial effects of this invention are as follows: This invention incorporates an elastic sleeve in the cleaning assembly, combined with the revolution of the mounting box driven by a first motor and the rotation of the cleaning brush disc driven by a self-rotation drive mechanism. This composite transmission mechanism enables the cleaning brush disc to perform real-time conformal compensation for pipe wall undulations and pipe diameter changes while it is sweeping at high speed using the elastic sleeve. This ensures that the brush always maintains constant pressure against the pipe wall, fundamentally solving the problem of cleaning dead angles and stubborn dirt residue caused by pipe diameter deviations or local deformation.

[0016] The walking assembly of this invention achieves active adjustment of the support angle of the track walking part and passive shock absorption by setting up a linkage buffer structure consisting of an electric telescopic rod, a fourth link, a limit rod and a buffer spring. When encountering obstacles or depressions at the bottom, the buffer spring can effectively absorb rigid impact and release stress, and the linkage mechanism adaptively adjusts the ground pressure, which greatly improves the device's obstacle-crossing ability and walking stability in rugged pipe environments, and avoids the drawbacks of traditional rigid suspension that are prone to jamming and slipping.

[0017] The present invention utilizes a threaded rod to drive the threaded ring to move axially, thereby causing the fifth and sixth links to swing. This mechanism enables the moving wheels of the three sets of branch components to be tensioned outward or retracted inward simultaneously, achieving rigid support for pipes of different inner diameters. This allows the robot to obtain stable center positioning and body posture during operation, providing a stable working platform for front-end cleaning and solving the shaking problem caused by insufficient support force inside the variable diameter pipe. Attached Figure Description

[0018] Figure 1 This is a first schematic diagram of the structure of the present invention; Figure 2 This is a second schematic diagram of the structure of the present invention; Figure 3 This is a cross-sectional view of the structure of the present invention; Figure 4 This is a schematic diagram of the internal structure of the mounting box in this invention; Figure 5 This is a schematic diagram of the walking component structure in this invention; Figure 6 This is a schematic diagram of the collaborative variable-pitch branch component structure in this invention; Figure 7 for Figure 6 A magnified view of a portion of point A in the middle.

[0019] The components include: 1. Mounting housing; 2. Airflow generator; 3. Extended air duct; 4. First motor; 5. Through slot; 6. Vision camera; 7. Inspection cover; 8. Cleaning assembly; 801. Mounting box; 802. Second motor; 803. First bevel gear; 804. Mounting sleeve; 805. Fixing rod; 806. Elastic sleeve rod; 807. Cleaning brush disc; 808. Second bevel gear; 9. Walking assembly; 901. Mounting strip; 902. First connecting rod; 903. Second connecting rod; 904. Track walking part; 905. Third connecting rod; 906. Limiting rod; 907. 908. Buffer spring; 909. Limiting groove; 9001. Sliding column; 910. Connecting block; 911. Fourth link; 912. Electric telescopic rod; 10. Cooperative variable pitch branch assembly; 1001. Support plate; 1002. Third motor; 1003. Threaded rod; 1004. Threaded ring; 1005. Connecting bar; 1006. Fifth link; 1007. Rotating support; 1008. Sixth link; 1009. Fixing plate; 1010. Rotating rod; 1011. Moving wheel; 1012. Third bevel gear; 1013. Fourth motor; 1014. Fourth bevel gear. Detailed Implementation

[0020] To enhance understanding of the present invention, the present invention will be further described in detail below with reference to embodiments. These embodiments are only used to explain the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0021] according to Figure 1-7As shown, this embodiment proposes an underground pipe cleaning device based on a crawling robot, including a hexagonal hollow mounting shell 1. A cleaning component 8 is provided at one end of the hollow mounting shell 1. A first motor 4, which drives the cleaning component 8, is located inside the hollow mounting shell 1. An airflow generator 2 is fixedly connected to the middle position inside the hollow mounting shell 1. An extension air duct 3 is fixedly connected to the output end of the airflow generator 2. One end of the air outlet of the extension air duct 3 extends to the bottom of the hollow mounting shell 1. Three sets of walking components 9 are arranged in a circular array on the outer wall of the hollow mounting shell 1 near the cleaning component 8. The outer surface of the hollow mounting shell 1... The inspection cover 7 is detachably connected to the upper part by screws. A vision camera 6 is installed on the outer wall of the hollow mounting housing 1 near the cleaning component 8. A cooperative variable pitch branch component 10 is provided on the end of the hollow mounting housing 1 away from the cleaning component 8. In this embodiment, the three sets of walking components 9 and the sixth link 1008 in the cooperative variable pitch branch component 10 are arranged in a staggered manner and distributed on the six sides of the mounting housing 1, which can realize the stable support of the entire device. The hollow mounting housing 1 is the mounting carrier of the entire device. The hexagonal structure allows the device to fit against the inner wall of the underground pipe, improving crawling stability, while providing installation space for internal components such as the first motor 4 and the airflow generator 2. The first motor 4 provides rotational power to the cleaning assembly 8, driving the entire cleaning assembly 8 to rotate and achieve cleaning of different directions on the inner wall of the pipe; the airflow generator 2 generates high-pressure airflow, which extends to the bottom of the hollow mounting housing 1 through one end of the air outlet of the extended air duct 3, blowing up the debris swept down by the cleaning assembly 8, facilitating subsequent cleaning and preventing debris accumulation from affecting the device's crawling and cleaning effect; the three sets of walking components 9 are arranged in a circumferential array, enabling stable support and crawling of the device, and adapting to underground pipes of different diameters; the inspection cover 7 is detachable, allowing staff to open the mounting housing 1 to inspect, maintain, and replace internal components such as the first motor 4 and the airflow generator 2; the vision camera 6 can collect image information inside the underground pipe in real time and transmit it to the external control terminal, allowing staff to observe the pollution situation inside the pipe and the operating status of the device, and accurately control the device's operation; the cooperative variable pitch branch component 10 can adapt to underground pipes of different diameters, ensuring that the device always maintains a stable crawling posture inside the pipe, avoiding tilting and jamming.

[0022] The cleaning assembly 8 includes a mounting box 801, a self-rotating drive mechanism, and a cleaning brush disc 807. One end of the mounting box 801 is fixedly connected to the output end of the first motor 4 via a connector. The mounting box 801 contains a self-rotating drive mechanism. Three sets of mounting sleeves 804 are fixedly connected to the outside of the mounting box 801. The mounting sleeves 804 limit and support the fixed rods 805, ensuring stable rotation of the fixed rods 805 and preventing deviation during rotation, thus ensuring the stability of power transmission. The fixed rods 805 are rotatably mounted inside each of the three sets of mounting sleeves 804. The self-rotating drive mechanism drives the fixed rods 805 to rotate. Each of the fixed rods 805 located on the outer side of the mounting box 801 is fixedly connected to an elastic sleeve rod 806. Each end of the elastic sleeve rod 806 is fixedly connected to a cleaning brush disc 807. The elastic sleeve rod 806 has an elastic telescopic function, which can adapt to the irregular protrusions of the inner wall of the underground pipe, ensuring that the cleaning brush disc 807 is always in close contact with the inner wall of the pipe, improving the cleaning effect, and at the same time avoiding wear caused by hard contact between the cleaning brush disc 807 and the inner wall of the pipe. The cleaning brush disc 807 is used to directly contact the inner wall of the pipe, and cleans the dirt and debris on the inner wall of the pipe by rotating. The three sets of cleaning brush discs 807 work together to fully cover the inner wall of the pipe and improve cleaning efficiency. The self-rotating drive mechanism includes a second motor 802, a first bevel gear 803, and a second bevel gear 808. The second motor 802 is fixedly installed inside the mounting box 801. The output end of the second motor 802 is fixedly connected to the first bevel gear 803. The three fixed rods 805 located inside the mounting box 801 are all fixedly connected to the second bevel gear 808, and the second bevel gear 808 meshes with the first bevel gear 803. In this embodiment, after the first motor 4 is started, it drives the entire cleaning assembly 8 to rotate, expanding the cleaning range. The second motor 802 of the self-rotating drive mechanism provides rotational power to the first bevel gear 803, driving the first bevel gear 803 to rotate, which in turn drives the meshing second bevel gear 808 to rotate, realizing the transmission of power and providing power support for the rotation of the cleaning brush disc 807, ensuring that the cleaning assembly 8 can carry out cleaning operations normally. The power supply of the second motor 802 can be achieved through a conductive slip ring to achieve rotational power supply, thereby avoiding the tangling of the power cord.

[0023] The walking assembly 9 includes a mounting strip 901 and a track walking part 904. The mounting strip 901 is fixedly installed on the outer wall of the hollow mounting housing 1. A first connecting rod 902 and a second connecting rod 903 are respectively connected to the two side walls of the end of the mounting strip 901 near the cleaning assembly 8. The track walking part 904 is connected between the two first connecting rods 902 and the two second connecting rods 903. Mounting strip 901 is used to fix the walking assembly 9 to the outer side of the mounting housing 1, providing mounting support for components such as the first link 902 and the second link 903, ensuring the overall structural stability of the walking assembly 9; the first link 902 and the second link 903 cooperate with each other to support the track walking part 904, and can also be rotated to adjust the angle to adapt to the curvature of the inner wall of the pipe, ensuring that the track walking part 904 is always in contact with the inner wall of the pipe; the track walking part 904, as the crawling execution part of the walking assembly 9, can increase the contact area with the inner wall of the pipe, improve the friction during crawling, and prevent the device from slipping in the pipe. At the same time, the track structure can adapt to the slight unevenness of the inner wall of the pipe, ensuring smooth walking and driving the left end of the device to crawl stably.

[0024] The tracked walking part 904 has a third link 905 rotatably connected to both side walls. The ends of the two third links 905 are fixedly connected to limit rods 906. The mounting strip 901 has a limit groove 908 through the middle. The limit groove 908 is provided with a self-adaptive control mechanism. The self-adaptive control mechanism is symmetrically and rotatably provided with a fourth link 911. The ends of the limit rods 906 are slidably connected to the inside of the fourth link 911. The limit rods 906 are fitted with a buffer spring 907 on the outside. The two ends of the buffer spring 907 are respectively connected to the bottom surface of the third link 905 and the top surface of the fourth link 911. The third link 905 connects the tracked walking unit 904 and the limiting rod 906. It can rotate with the angle adjustment of the tracked walking unit 904 to ensure that the position of the limiting rod 906 can be flexibly adapted. The limiting rod 906 limits the movement range of the fourth link 911. At the same time, in conjunction with the buffer spring 907, it can absorb the impact force on the tracked walking unit 904 during crawling, play a buffering and shock absorption role, avoid the impact force from damaging the components of the walking assembly 9, and at the same time, it can make the tracked walking unit 904 always closely fit the inner wall of the pipe, improving crawling stability.

[0025] The self-adaptive control mechanism includes a sliding column 909, a connecting block 910, and an electric telescopic rod 912. The sliding column 909 is slidably disposed in the limiting groove 908. The connecting block 910 is fixedly connected to the outside of the sliding column 909. Two fourth connecting rods 911 are rotatably mounted on the two side walls of the connecting block 910. The electric telescopic rod 912 is fixedly connected to one side wall of the mounting strip 901. The output end of the electric telescopic rod 912 is fixedly connected to the side wall of the connecting block 910 through a connector. In this embodiment, the limiting groove 908 provides a sliding track for the sliding column 909 of the self-adaptive control mechanism, ensuring that the sliding column 909 can slide smoothly along the limiting groove 908, thereby driving the connecting block 910 to move and realize the angle adjustment of the track walking part 904; the sliding column 909 is used to connect the limiting groove 908 and the connecting block 910, and can transmit the extension and retraction power of the electric telescopic rod 912 to the connecting block 910, providing power support for the angle adjustment of the track walking part 904. The track walking part 904 uses a motor drive as the moving power source of the track. The connecting block 910 converts the sliding of the sliding column 909 into the rotation of the fourth link 911, which in turn drives the limit rod 906 to move, thereby adjusting the angle of the tracked walking part 904. The fourth link 911 slides in conjunction with the limit rod 906 and can rotate flexibly under the limiting action of the limit rod 906. It works with the third link 905 to adjust the posture of the tracked walking part 904, ensuring that the tracked walking part 904 fits against the inner wall of the pipe. The electric telescopic rod 912 provides power for the movement of the connecting block 910. By telescoping, it drives the connecting block 910 and the sliding column 909 to slide along the limit groove 908, thereby adjusting the angle of the tracked walking part 904 to adapt to pipes of different diameters.

[0026] The coordinated variable pitch branch assembly 10 includes two support plates 1001 and a coordinated variable pitch control assembly. One support plate 1001 is fixedly connected to the inside of the hollow mounting housing 1, and the other support plate 1001 is fixedly connected to the end of the hollow mounting housing 1. A threaded rod 1003 is rotatably connected between the two support plates 1001. A third motor 1002 for driving the threaded rod 1003 to rotate is fixedly installed on a set of support plates 1001 located inside the hollow mounting housing 1. A threaded ring 1004 is threadedly connected to the outer surface of the threaded rod 1003. Three sets of coordinated connecting parts are equidistantly arranged on the outer wall of the threaded ring 1004. Branch components are provided on the coordinated connecting parts. The cooperating connector includes a connecting strip 1005, a fifth connecting rod 1006, and a sixth connecting rod 1008. The connecting strip 1005 is fixed to the outer wall of the threaded ring 1004. The outer wall of the hollow mounting housing 1 is provided with a through groove 5 adapted to the position of the connecting strip 1005. The ends of the connecting strip 1005 pass through the through groove 5 and are rotatably connected to the fifth connecting rod 1006. The ends of the fifth connecting rod 1006 are rotatably connected to the sixth connecting rod 1008. The outer surface of the hollow mounting housing 1 is provided with a rotating support 1007 corresponding to the position of the sixth connecting rod 1008. One end of the sixth connecting rod 1008 is connected to the rotating support 1007. The support component is installed on the end of the sixth connecting rod 1008 away from the rotating support 1007. The branch component includes a fixed plate 1009 and movable wheels 1011. The fixed plate 1009 is mounted on the sixth connecting rod 1008. A rotating rod 1010 is rotatably mounted on the fixed plate 1009, and movable wheels 1011 are fixedly connected to both ends of the rotating rod 1010. A third bevel gear 1012 is fixedly connected to each rotating rod 1010. A fourth motor 1013 is mounted on the fixed plate 1009. A fourth bevel gear 1014 is fixedly connected to the output end of the fourth motor 1013, and the fourth bevel gear 1014 meshes with the third bevel gear 1012. In this embodiment, the two support plates 1001 cooperate with each other to provide stable installation support for the threaded rod 1003, ensuring that the threaded rod 1003 can rotate smoothly and avoid deviation during rotation, thus ensuring the normal operation of the coordinated pitch-changing branch assembly 10. The threaded rod 1003 is used to transmit the power of the third motor 1002. By rotating, it drives the threaded ring 1004 to move, thereby realizing the position adjustment of the connecting bar 1005 and the fifth connecting rod 1006, providing power transmission for the coordinated pitch-changing function. The third motor 1002 provides power for the rotation of the threaded rod 1003, which can drive the threaded rod 1003 to rotate forward and backward, thereby driving the threaded ring 1004 to move back and forth, realizing the pitch adjustment of the coordinated pitch-changing branch assembly 10, and adapting to underground pipelines of different diameters.The threaded ring 1004 is threadedly engaged with the threaded rod 1003, allowing it to move back and forth under the rotation of the threaded rod 1003, thereby driving the three connecting bars 1005 to move synchronously. The connecting bar 1005 connects the threaded ring 1004 and the fifth connecting rod 1006, transmitting the movement power of the threaded ring 1004 to the fifth connecting rod 1006, causing it to rotate. The through groove 5 provides space for the connecting bar 1005 to move, ensuring smooth back and forth movement and preventing interference with the mounting housing 1. The fifth connecting rod 1006 connects the connecting bar 1005 and... The sixth link 1008 can convert the movement of the connecting bar 1005 into the rotation of the sixth link 1008, thereby realizing the angle adjustment of the sixth link 1008. The sixth link 1008 is used to support the fixed plate 1009 and the moving wheel 1011. By adjusting the angle, the distance between the moving wheel 1011 and the mounting housing 1 can be changed, thereby realizing the coordinated pitch change function. The rotating support 1007 is used to rotatably connect the sixth link 1008 to the outer surface of the mounting housing 1, providing rotational support for the sixth link 1008, ensuring that the sixth link 1008 can rotate flexibly, and ensuring the smoothness of pitch change adjustment. The rotating rod 1010 connects the moving wheel 1011 and the third bevel gear 1012, transmitting the rotation of the third bevel gear 1012 to the moving wheel 1011, causing the moving wheel 1011 to rotate and enabling the device to crawl. The moving wheel 1011, as the crawling execution component of the coordinated variable pitch branch assembly 10, works in conjunction with the tracked walking part 904 of the walking assembly 9 to drive the entire device to crawl smoothly. At the same time, it can be adapted to pipes of different diameters by adjusting the angle of the sixth link 1008. The third bevel gear 1012 meshes with the fourth bevel gear 1014, transmitting the power of the fourth motor 1013 to the rotating rod 1010, providing power support for the rotation of the moving wheel 1011.

[0027] This invention, by configuring an elastic sleeve 806 in the cleaning assembly 8, and combining the revolution of the mounting box 801 driven by the first motor 4, and the rotation of the cleaning brush disc 807 driven by the second motor 802, the first bevel gear 803 and the second bevel gear 808, this composite transmission mechanism enables the cleaning brush disc 807 to perform real-time conformal compensation for pipe wall undulations and pipe diameter changes while the cleaning brush disc 807 is sweeping at high speed, by utilizing the extensibility of the elastic sleeve 806. This ensures that the brush always works in close contact with the pipe wall with constant pressure, fundamentally solving the problem of cleaning dead corners and stubborn dirt residue caused by pipe diameter deviation or local deformation. The walking component 9 of this invention, through the linkage buffer structure consisting of an electric telescopic rod 912, a fourth link 911, a limiting rod 906, and a buffer spring 907, achieves active adjustment of the support angle of the track walking part 904 and passive shock absorption. When encountering obstacles or depressions at the bottom, the buffer spring 907 can effectively absorb rigid impacts and release stress. The linkage mechanism such as the first link 902, the second link 903, and the third link 905 adaptively adjusts the ground pressure, which greatly improves the obstacle-crossing ability and travel stability of the device in rugged pipe environments, and avoids the drawbacks of traditional rigid suspension that are prone to jamming and slipping. The present invention utilizes a threaded rod 1003 to drive a threaded ring 1004 to move axially, thereby causing the fifth link 1006 and the sixth link 1008 to swing. This mechanism enables the moving wheels 1011 of the three sets of branch components to be tensioned outward or retracted inward simultaneously, achieving rigid support for pipes with different inner diameters. This allows the robot to obtain stable center positioning and body posture during operation, providing a stable working platform for front-end cleaning and solving the shaking problem caused by insufficient support force inside the variable diameter pipe.

[0028] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An underground pipe cleaning device based on a crawling robot, comprising a hexagonal hollow mounting shell (1), characterized in that: The hollow mounting housing (1) is provided with a cleaning component (8) at one end. The hollow mounting housing (1) is provided with a first motor (4) that drives the cleaning component (8) to rotate. An airflow generator (2) is fixedly connected to the middle position inside the hollow mounting housing (1). An extension air duct (3) is fixedly connected to the output end of the airflow generator (2). One end of the air outlet of the extension air duct (3) extends to the bottom of the hollow mounting housing (1). Three sets of walking components (9) are arranged in a circular array on the outer wall of the hollow mounting housing (1) near the cleaning component (8). A maintenance cover plate (7) is detachably connected to the outer surface of the hollow mounting housing (1) by screws. A vision camera (6) is installed on the outer wall of the hollow mounting housing (1) near the cleaning component (8). A cooperative variable pitch branch component (10) is provided on the end of the hollow mounting housing (1) away from the cleaning component (8).

2. The underground pipeline cleaning device based on a crawling robot according to claim 1, characterized in that: The cleaning assembly (8) includes a mounting box (801), a self-rotating drive mechanism, and a cleaning brush disc (807). The center of one end of the mounting box (801) is fixedly connected to the output end of the first motor (4) through a connector. The mounting box (801) is provided with a self-rotating drive mechanism inside. Three sets of mounting sleeves (804) are fixedly connected to the outside of the mounting box (801). Fixed rods (805) are rotatably installed inside the three sets of mounting sleeves (804). The self-rotating drive mechanism drives the fixed rods (805) to rotate. Elastic sleeves (806) are fixedly connected to one end of the three fixed rods (805) located outside the mounting box (801). The cleaning brush disc (807) is fixedly connected to the end of the elastic sleeves (806).

3. The underground pipeline cleaning device based on a crawling robot according to claim 2, characterized in that: The self-rotation drive mechanism includes a second motor (802), a first bevel gear (803), and a second bevel gear (808). The second motor (802) is fixedly installed inside the mounting box (801). The output end of the second motor (802) is fixedly connected to the first bevel gear (803). The three fixing rods (805) located inside the mounting box (801) are all fixedly connected to the second bevel gear (808). The second bevel gear (808) meshes with the first bevel gear (803).

4. The underground pipeline cleaning device based on a crawling robot according to claim 1, characterized in that: The walking assembly (9) includes a mounting strip (901) and a track walking part (904). The mounting strip (901) is fixedly installed on the outer wall of the hollow mounting housing (1). A first connecting rod (902) and a second connecting rod (903) are respectively connected to the two side walls of the mounting strip (901) near the cleaning assembly (8). The track walking part (904) is connected between the two first connecting rods (902) and the two second connecting rods (903).

5. The underground pipeline cleaning device based on a crawling robot according to claim 4, characterized in that: The tracked walking part (904) is rotatably connected to the two side walls of the third link (905). The ends of the two third links (905) are fixedly connected to the limit rods (906). The mounting strip (901) has a limit groove (908) through the middle. The limit groove (908) is provided with a self-adaptive control mechanism. The self-adaptive control mechanism is symmetrically and rotatably provided with a fourth link (911). The ends of the limit rods (906) are slidably connected to the inside of the fourth link (911). The limit rods (906) are fitted with a buffer spring (907) on the outside of the limit rods (906). The two ends of the buffer spring (907) are respectively connected to the bottom surface of the third link (905) and the top surface of the fourth link (911).

6. The underground pipeline cleaning device based on a crawling robot according to claim 5, characterized in that: The self-adaptive control mechanism includes a sliding column (909), a connecting block (910), and an electric telescopic rod (912). The sliding column (909) is slidably disposed in the limiting groove (908). The connecting block (910) is fixedly connected to the outside of the sliding column (909). Two fourth connecting rods (911) are rotatably mounted on the two side walls of the connecting block (910). The electric telescopic rod (912) is fixedly connected to one side wall of the mounting strip (901). The output end of the electric telescopic rod (912) is fixedly connected to the side wall of the connecting block (910) through a connector.

7. The underground pipeline cleaning device based on a crawling robot according to claim 1, characterized in that: The coordinated variable pitch branch assembly (10) includes two support plates (1001) and a coordinated variable pitch control assembly. One support plate (1001) is fixedly connected to the inside of the hollow mounting housing (1), and the other support plate (1001) is fixedly connected to the end of the hollow mounting housing (1). A threaded rod (1003) is rotatably connected between the two support plates (1001). A third motor (1002) for driving the threaded rod (1003) to rotate is fixedly installed on a set of support plates (1001) located inside the hollow mounting housing (1). A threaded ring (1004) is threadedly connected to the outer surface of the threaded rod (1003). Three sets of coordinated connecting parts are equidistantly arranged on the outer wall of the threaded ring (1004). Branch components are provided on the coordinated connecting parts.

8. The underground pipeline cleaning device based on a crawling robot according to claim 7, characterized in that: The cooperating connector includes a connecting strip (1005), a fifth connecting rod (1006), and a sixth connecting rod (1008). The connecting strip (1005) is fixed on the outer wall of the threaded ring (1004). The outer wall of the hollow mounting housing (1) is provided with a through groove (5) adapted to the position of the connecting strip (1005). The ends of the connecting strip (1005) pass through the through groove (5) and are rotatably connected to the fifth connecting rod (1006). The ends of the fifth connecting rod (1006) are rotatably connected to the sixth connecting rod (1008). The outer surface of the hollow mounting housing (1) is provided with a rotating support (1007) corresponding to the position of the sixth connecting rod (1008). One end of the sixth connecting rod (1008) is connected to the rotating support (1007). The branch component is installed on the end of the sixth connecting rod (1008) away from the rotating support (1007).

9. The underground pipeline cleaning device based on a crawling robot according to claim 8, characterized in that: The branch component includes a fixed plate (1009) and a moving wheel (1011). The fixed plate (1009) is mounted on the sixth link (1008). A rotating rod (1010) is rotatably mounted on the fixed plate (1009). Both ends of the rotating rod (1010) are fixedly connected to the moving wheel (1011).

10. The underground pipeline cleaning device based on a crawling robot according to claim 9, characterized in that: Each of the rotating rods (1010) is fixedly connected to a third bevel gear (1012), and a fourth motor (1013) is installed on the fixed plate (1009). The output end of the fourth motor (1013) is fixedly connected to a fourth bevel gear (1014), and the fourth bevel gear (1014) meshes with the third bevel gear (1012).

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