Diameter-variable pipeline cleaning robot

Abstract

The utility model relates to a diameter-variable pipeline cleaning robot which comprises a power image section, a power cleaning section and a connecting mechanism, and the connecting mechanism is connected with the power image section and the power cleaning section and allows the power image section and the power cleaning section to move relatively. The power image section comprises a first body and a waterproof camera, the waterproof camera is arranged at the end, away from the power cleaning section, of the first body, the peripheral side of the first body is provided with supporting foot units capable of independently controlling the opening angle of the first body, and the multiple supporting foot units are arranged in the circumferential direction of the first body at intervals. The variable-diameter pipeline cleaning robot can effectively adapt to pipelines with different diameters through the structural design, the working capacity of the robot in a complex pipeline environment is remarkably improved, an integrated high-definition camera can obtain images in the pipelines in real time, a reliable basis is provided for accurate cleaning, and the robot is suitable for popularization and application. And the supporting leg assembly which can be independently controlled ensures that the robot stably advances and works in the pipeline.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline cleaning equipment, in particular to a pipeline cleaning robot with variable diameter. Background Art

[0002] As a vital component of urban infrastructure, water supply pipelines are a critical lifeline for ensuring the normal operation of cities and the access to water for residents. However, long-standing underground water supply pipelines are commonly plagued by scaling and biofilm accumulation on their inner walls. These deposits not only significantly reduce water quality and threaten residents' health, but also increase friction within the pipelines, leading to a drop in water pressure and energy loss. More seriously, long-term scale accumulation can corrode the inner walls of the pipelines, increasing the risk of leaks and even ruptures, seriously compromising the safety and stability of urban water supply systems.

[0003] To address these challenges and ensure water supply safety, effective maintenance and cleaning of water supply pipelines is urgently needed. Currently, pipeline robot technology is gradually being applied to pipeline maintenance. However, existing pipeline robots have the following limitations: First, most existing pipeline robots are primarily designed for pipeline inspection and are often driven by one-way wheels. These robots lack effective cleaning capabilities and are unable to meet the growing demand for pipeline cleaning. Second, in terms of pipeline adaptability, existing robots are mostly suitable for larger-diameter pipes and have relatively limited steering capabilities, making it difficult to flexibly adapt to the complex and varied environments of small-diameter or bend-filled water supply pipelines. Third, while some existing pipeline cleaning robots possess a certain level of cleaning capability, their diameter adjustment methods are relatively simple, typically achieved by replacing wheels of different sizes. This not only requires a large number of adapter components, increasing operational complexity, but also makes it difficult to ensure that the camera is always located in the center of the pipe, thus affecting image quality and the evaluation of cleaning effectiveness. Utility Model Content

[0004] In order to solve the above problems, the utility model provides a pipe cleaning robot with a variable diameter that can adapt to different pipe sizes and pass smoothly through bends.

[0005] In order to achieve the above-mentioned purpose, the variable-diameter pipe cleaning robot designed in the present invention includes a power imaging segment, a power cleaning segment and a connecting mechanism, wherein the connecting mechanism connects the power imaging segment and the power cleaning segment and allows relative movement between the power imaging segment and the power cleaning segment; the power imaging segment includes a first main body and a waterproof camera, the waterproof camera is arranged at the end of the first main body away from the power cleaning segment, and the circumferential side of the first main body is provided with a support leg unit that can independently control its support angle, and a plurality of the support leg units are arranged at intervals along the circumference of the first main body, and each of the support leg units is equipped with a power wheel that contacts the inner wall of the pipe; the power cleaning segment includes a second main body and a cleaning brush mechanism provided at the end of the second main body away from the first main body, and the cleaning brush mechanism is configured to be adjustable and retractable along the radial direction of the second main body.

[0006] Preferably, the connecting mechanism includes a double-ball connecting rod, a sliding rail mechanism and a first ball socket, one end of the double-ball connecting rod is connected to the second body through the first ball socket, and the other end is connected to the first body through the sliding rail mechanism, and the sliding rail mechanism allows the double-ball connecting rod to slide relative to the first body along its length direction.

[0007] Preferably, the slide rail mechanism includes a second ball socket and a limit sleeve, the limit sleeve is fixed to the first main body and has an inner cavity for accommodating the second ball socket, the inner wall of the inner cavity is provided with a slide groove extending along the length direction of the first main body; the second ball socket is provided in the inner cavity and a first slider is provided on its outer wall surface for sliding connection with the slide groove; one end of the double-ball connecting rod passes through the limit sleeve, extends into the inner cavity and is connected to the second ball socket.

[0008] Preferably, the slide rail mechanism further includes an electric-controlled lock for fixing the second ball socket at a specific position in the inner cavity.

[0009] Preferably, each of the leg support units includes a ball screw, a first drive motor, a support link and an adjustment link, one end of the ball screw is connected to the connecting mechanism through a support frame, and the other end partially extends into the first main body and is transmission-connected to the first drive motor arranged in the first main body, and a connecting piece is provided on the part of the ball screw located between the support frame and the first main body; one end of the support link is connected to the connecting piece, and the other end is connected to the adjustment link, and the other end of the adjustment link is hinged to the end of the first main body away from the mounting frame; wherein, the first drive motor drives the ball screw to rotate, so as to drive the connecting piece to move along the length direction of the first main body, thereby adjusting the spreading angle of the support link and the adjustment link; the power wheel is installed at the connection between the support link and the adjustment link.

[0010] Preferably, the length of the supporting link is greater than the length of the adjusting link, and the adjacent leg units are connected between the connecting member and the first body, one in front and one in back.

[0011] Preferably, a plurality of first connecting rods are hinged on the circumferential side of the second main body, and a driven wheel is rotatably mounted on the other end of the first connecting rod; a screw lifting mechanism is provided in the second main body, and a second connecting rod is hinged on the power output end of the screw lifting mechanism, and one end of the second connecting rod is hinged to the first connecting rod.

[0012] Preferably, the cleaning brush mechanism includes a second drive motor and a transmission mechanism connected thereto, and an arc-shaped brush that is retracted and driven by the transmission mechanism; the second drive motor drives the arc-shaped brush to extend or retract radially along the second body through the transmission mechanism.

[0013] Preferably, the transmission mechanism includes an arc-shaped groove gear and a motor gear connected to the second drive motor, and the arc-shaped brush is fixed on a second slider that cooperates with the arc-shaped groove gear. The rotation of the arc-shaped groove gear drives the second slider to move so that the arc-shaped brush extends or retracts.

[0014] The variable-diameter pipe cleaning robot designed in this utility model effectively adapts to pipes of varying diameters through its structural design, significantly improving the robot's ability to operate in complex pipe environments. Its integrated high-definition camera captures real-time images of the pipe's interior, providing a reliable basis for precise cleaning. Independently controllable leg assemblies ensure the robot's stable movement and operation within the pipe. Furthermore, the adjustable and retractable cleaning brush mechanism adjusts to the pipe's inner diameter, achieving efficient and wall-safe cleaning. Ultimately, this improves the efficiency and quality of pipe maintenance, providing a strong guarantee for the safe and stable operation of urban water supply systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic structural diagram of a variable-diameter pipe cleaning robot provided in an embodiment of the present application.

[0016] Figure 2 This is a schematic diagram of the dynamic image segment structure provided in an embodiment of the present application.

[0017] Figure 3 It is a schematic diagram of the structure of the power cleaning section provided in an embodiment of the present application.

[0018] Figure 4 This is a schematic diagram of the connection mechanism structure provided in an embodiment of the present application.

[0019] Figure 5 This is a schematic diagram of the structure of the cleaning brush mechanism provided in an embodiment of the present application.

[0020] Among them: power imaging section 100, first main body 110, power wheel 120, waterproof camera 130, support link 140, adjustment link 150, first drive motor 160, foot support unit 170, support frame 180, ball screw 190, connecting part 191, power cleaning section 200, second main body 210, second connecting rod 220, first connecting rod 230, driven wheel 240, connecting mechanism 300, double ball connecting rod 310, second ball socket 320, electric control lock 340, limit sleeve 350, slide groove 330, first slider 360, first ball socket 340, cleaning brush mechanism 400, transmission mechanism 410, arc brush 420, second slider 430, arc groove gear 440, motor gear 450, pressure sensor 460. DETAILED DESCRIPTION

[0021] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0022] The variable-diameter pipe cleaning robot provided in the embodiment of the present application is intended to solve the problems of poor passability and low cleaning efficiency of existing pipe cleaning robots in small-diameter and complex curved pipes, and to achieve efficient cleaning and status detection of the inside of pipes with different diameters.

[0023] like Figures 1 to 5 As shown, Figures 1 to 5 As shown, the variable-diameter pipe cleaning robot described in this embodiment mainly includes a power imaging section 100 , a power cleaning section 200 and a connecting mechanism 300 .

[0024] Specifically, the connecting mechanism 300 connects the power imaging segment 100 and the power cleaning segment 200, allowing relative movement between them. This segmented structural design allows the power imaging segment 100 and the power cleaning segment 200 to focus on their respective functions while working together through the connecting mechanism 300. This not only ensures effective cleaning of the pipeline's inner wall, but also enables the robot to better adapt to the bends and deformations of the pipeline, allowing it to smoothly navigate complex pipeline environments.

[0025] The power imaging section 100 includes a first body 110 and a waterproof camera 130. The waterproof camera 130 is located at the end of the first body 110 facing away from the power cleaning section 200. In this embodiment, the waterproof camera 130 is used to obtain real-time images of the interior of the pipeline, providing operators with intuitive information about the interior of the pipeline. This image data not only provides operators with intuitive information about the interior of the pipeline, but more importantly, in conjunction with the support units 170 on the sides of the first body 110, it can ensure that the high-definition waterproof camera 130 is always located in the center of the pipeline, thereby fully capturing the conditions of the pipeline wall. For example, in one specific embodiment, the image signals collected by the high-definition waterproof camera 130 can be fed back to operators outside the pipeline in real time via a zero-gravity cable, allowing them to remotely monitor and operate the robot and adjust the robot's route and cleaning strategy based on the conditions inside the pipeline.

[0026] The first body 110 is provided with leg units 170, each capable of independently controlling its opening angle, around its circumference. Multiple leg units 170 are spaced apart along the circumference of the first body 110, and each leg unit 170 is mounted with a power wheel 120 that contacts the inner wall of the pipe. In one specific embodiment, six leg units 170 may be provided, evenly distributed along the circumference of the first body 110. By independently controlling the opening angle of each leg unit 170, the contact pressure between the power wheel 120 and the inner wall of the pipe can be precisely adjusted, allowing the robot to adapt to pipes of varying diameters and maintain stable operation in pipes of varying diameters.

[0027] The power cleaning section 200 includes a second body 210 and a cleaning brush mechanism 400 located at the end of the second body 210 facing away from the first body 110. The cleaning brush mechanism 400 is configured to be adjustable and retractable along the radial direction of the second body 210. By adjusting the cleaning range of the brush according to the actual inner diameter of the pipe, dirt on the pipe wall can be effectively removed while avoiding problems such as inefficient cleaning and equipment stalling caused by brushes that are too long or too short.

[0028] In some embodiments, as Figure 1 、 Figure 4As shown, the connection mechanism 300 includes a double-ball connecting rod 310, a slide rail mechanism, and a first ball socket 340. One end of the double-ball connecting rod 310 is connected to the second body 210 via the first ball socket 340, and the other end is connected to the first body 110 via the slide rail mechanism. The slide rail mechanism allows the double-ball connecting rod 310 to slide relative to the first body 110 along its length. This ball-and-socket connection allows the double-ball connecting rod 310 to rotate freely within a certain angle range, thereby providing greater freedom of movement for the power cleaning section 200. The slide rail mechanism not only ensures a reliable connection between the double-ball connecting rod 310 and the first body 110, but also allows for axial telescopic adjustment between the power cleaning section 100 and the power cleaning section 200 in addition to angular adjustment. This further enhances the robot's ability to navigate complex pipes. For example, when navigating a curved pipe, the relative displacement and angle between different modules can be adjusted by the telescopic movement of the slide rail mechanism and the rotation of the double-ball connecting rod 310.

[0029] In this embodiment, if Figure 4 As shown, the slide rail mechanism includes a second ball socket 320 and a limiting sleeve 350. The limiting sleeve 350 is fixed to the first body 110 and has an inner cavity for accommodating the second ball socket 320. The inner wall of the inner cavity is provided with a slide groove 330 extending along the length of the first body 110. The second ball socket 320 is disposed in the inner cavity and has a first slider 360 on its outer wall that is slidably connected to the slide groove 330. One end of the double-ball connecting rod 310 passes through the limiting sleeve 350, extends into the inner cavity, and is connected to the second ball socket 320. Thus, the cooperation between the slide groove 330 and the first slider 360 ensures that the second ball socket 320 can only slide along the length of the first body 110 and does not deviate laterally.

[0030] In some embodiments, as Figure 4 As shown, the slide rail mechanism also includes an electric lock 340 for fixing the second ball socket 320 at a specific position in the inner cavity. The electric lock 340 (such as an electromagnet) can accurately lock the position of the second ball socket 320 so that it can be stably maintained in a predetermined position when sliding is not required. For example, when the robot is moving in a long straight line, the electric lock 340 can lock the second ball socket 320 to improve the overall rigidity of the robot and make its movement smoother; when encountering a curve or needing to adjust the posture, the control system can release the electric lock 340, allowing the double-ball connecting rod 310 to slide freely, thereby cooperating with other motion components to achieve smooth turning.

[0031] In some embodiments, as Figure 1 、 Figure 2As shown, each of the leg support units 170 includes a ball screw 190, a first drive motor 160, a support link 140 and an adjustment link 150, one end of the ball screw 190 is connected to the connection mechanism 300 through the support frame 180, and the other end partially extends into the first main body 110 and is connected to the first drive motor 160 provided in the first main body 110, and a connecting member 191 is provided on the portion of the ball screw 190 located between the support frame 180 and the first main body 110; one end of the support link 140 is connected to the connection mechanism 300 through the support frame 180, and the other end partially extends into the first main body 110 and is connected to the first drive motor 160 provided in the first main body 110. It is connected to the connecting member 191, and the other end is connected to the adjusting link 150, and the other end of the adjusting link 150 is hinged to the end of the first main body 110 away from the mounting frame; wherein, the first drive motor 160 drives the ball screw 190 to rotate, so as to drive the connecting member 191 to move along the length direction of the first main body 110, thereby adjusting the expansion angle of the support link 140 and the adjusting link 150; the power wheel 120 is installed at the connection between the support link 140 and the adjusting link 150.

[0032] During operation, when the first drive motor 160 is activated, it drives the ball screw 190 to rotate. The rotation of the ball screw 190 drives the connecting member 191 to move along the length of the first body 110. This movement directly causes the support link 140 and the adjustment link 150 to move, causing the angle formed between the two to change. Ultimately, the support angle of the leg unit 170 can be precisely adjusted. In other words, the distance between the power wheel 120 and the first body 110 increases or decreases, ensuring that the power wheel 120 always maintains good contact with the inner wall of the pipe, thereby providing the robot with stable and reliable mobility. In addition, in this embodiment, each power wheel 120 is driven by a separate drive motor. Each drive motor is integrated into the end of the support link 140 and encapsulated by a sleeve. This integrated design not only effectively reduces the overall volume of the power imaging segment 100, but also enables the power of the drive motor to be transmitted to the power wheel 120 via a shorter path and faster speed, thereby significantly reducing energy loss in the power transmission path, improving drive efficiency, and enhancing the endurance of the entire robot.

[0033] In some embodiments, as Figure 1 、 Figure 2As shown, the length of the supporting link 140 is greater than the length of the adjusting link 150 , and the adjacent leg units 170 are connected between the connecting member 191 and the first body 110 , one in front and one in back. Specifically, the connecting member 191 is not solely connected to the support link 140 or the adjusting link 150, but the support link 140 and the adjusting link 150 are arranged on the connecting member 191 in an alternating manner. This positive and negative staggered connection method, combined with the length difference between the support link 140 and the adjusting link 150, makes the power wheels 120 present a staggered arrangement on the circumferential side of the first body 110, that is, adjacent power wheels 120 are not on the same axis, but there is a certain position difference. This staggered arrangement enables multiple power wheels 120 to form multi-point contact when pushing the robot forward, increasing the friction and contact area between the robot and the inner wall of the pipe, thereby providing the robot with a more stable and reliable movement capability, especially in a smooth pipe environment or a certain inclination angle. This staggered arrangement can effectively prevent the robot from slipping, ensuring that the robot's motion trajectory is more stable and reliable.

[0034] In some embodiments, as Figure 1 、 Figure 3 As shown, a plurality of first connecting rods 230 are hingedly connected to the circumference of the second body 210, and a driven wheel 240 is rotatably mounted on the other end of the first connecting rod 230; a screw lifting mechanism is provided inside the second body 210, and a second connecting rod 220 is hingedly connected to the power output end of the screw lifting mechanism, and one end of the second connecting rod 220 is hinged to the first connecting rod 230. Similar to the ball screw 190 and the connecting member 191 in the aforementioned power cleaning section 100, when the diameter of the power cleaning section 200 needs to be adjusted, the screw lifting mechanism drives the second connecting rod 220 to move, and the movement of the second connecting rod 220 directly drives the first connecting rod 230 to rotate accordingly, ultimately achieving the extension or retraction of the driven wheel 240 along the radial direction of the second body 210, and adjusting the overall diameter of the power cleaning section 200 to accommodate pipes of different inner diameters. This design, on the one hand, enables the power cleaning section 200 to adapt to pipes of different diameters. On the other hand, it provides multi-point support for the power cleaning section 200, evenly dispersing the pressure from the inner wall of the pipe, and effectively preventing the power cleaning section 200 from deflecting and shaking, thereby ensuring the stability of the cleaning operation and improving the reliability of cleaning.

[0035] In some embodiments, as Figure 3 、 Figure 5As shown, the cleaning brush mechanism 400 includes a second drive motor (not shown) and a transmission mechanism 410 connected thereto, as well as an arc-shaped brush 420 that is retracted and driven by the transmission mechanism 410; the second drive motor drives the arc-shaped brush 420 to extend or retract along the radial direction of the second body 210 through the transmission mechanism 410. In actual operation, when the cleaning brush mechanism 400 encounters a smaller pipe diameter, the second drive motor can appropriately retract the arc-shaped brush 420 through the transmission mechanism 410 to prevent excessive friction between the brush and the pipe wall and ensure that the power cleaning section 200 can smoothly pass through the thinner pipe; when the cleaning brush mechanism 400 encounters an increased pipe diameter, the second drive motor can appropriately extend the arc-shaped brush 420 through the transmission mechanism 410 to ensure that the cleaning brush 420 is always in close contact with the pipe wall, thereby achieving effective cleaning of the pipe wall.

[0036] In this embodiment, if Figure 5 As shown, the transmission mechanism 410 includes an arc-shaped slotted gear 440 and a motor gear 450 connected to the second drive motor. The arc-shaped brush 420 is fixed to a second slider 430 that cooperates with the arc-shaped slotted gear 440. The rotation of the arc-shaped slotted gear 440 drives the second slider 430 to move, thereby extending or retracting the arc-shaped brush 420. In one embodiment, the arc-shaped slotted gear 440 is provided with a pressure sensor 460 that detects the pressure of the arc-shaped brush 420 in contact with the pipe wall. For example, in actual operation, when the robot encounters a protrusion or depression on the inner wall of the pipe, the pressure sensor 460 will sense the change in pressure applied by the arc-shaped brush 420 in real time and control the second drive motor to drive the arc-shaped slotted gear 440 to rotate, causing the arc-shaped brush 420 to extend appropriately. This ensures that the arc-shaped brush 420 always maintains good contact with the pipe wall, improving the robot's cleaning ability in complex pipe environments.

[0037] The variable-diameter pipe cleaning robot provided in this embodiment, through its structural design, can effectively adapt to pipes of varying diameters, significantly improving the robot's ability to operate in complex pipe environments. Its integrated high-definition camera captures real-time images of the pipe's interior, providing a reliable basis for precise cleaning. Independently controllable leg assemblies ensure the robot's stable movement and operation within the pipe. Furthermore, the adjustable and retractable cleaning brush mechanism adjusts to the pipe's inner diameter, achieving efficient cleaning without damaging the pipe wall. This ultimately improves the efficiency and quality of pipe maintenance, providing a strong guarantee for the safe and stable operation of urban water supply systems.

[0038] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0039] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0040] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A pipe cleaning robot with variable diameter, characterized in that: It includes a power imaging section, a power cleaning section and a connecting mechanism, wherein the connecting mechanism connects the power imaging section and the power cleaning section and allows relative movement between the power imaging section and the power cleaning section; the power imaging section includes a first main body and a waterproof camera, the waterproof camera is arranged at the end of the first main body away from the power cleaning section, and the circumferential side of the first main body is provided with a support leg unit that can independently control its support angle, and a plurality of the support leg units are arranged at intervals along the circumference of the first main body, and each of the support leg units is equipped with a power wheel that contacts the inner wall of the pipe; the power cleaning section includes a second main body and a cleaning brush mechanism arranged at the end of the second main body away from the first main body, and the cleaning brush mechanism is configured to be adjustable and retractable along the radial direction of the second main body.

2. The variable diameter pipe cleaning robot according to claim 1, characterized in that: The connecting mechanism includes a double-ball connecting rod, a sliding rail mechanism and a first ball socket. One end of the double-ball connecting rod is connected to the second body through the first ball socket, and the other end is connected to the first body through the sliding rail mechanism. The sliding rail mechanism allows the double-ball connecting rod to slide relative to the first body along its length direction.

3. The variable diameter pipe cleaning robot according to claim 2, characterized in that: The slide rail mechanism includes a second ball socket and a limit sleeve. The limit sleeve is fixed to the first main body and has an inner cavity for accommodating the second ball socket. The inner wall of the inner cavity is provided with a slide groove extending along the length direction of the first main body; the second ball socket is provided in the inner cavity and a first slider is provided on its outer wall surface for sliding connection with the slide groove; one end of the double-ball connecting rod passes through the limit sleeve, extends into the inner cavity and is connected to the second ball socket.

4. The variable diameter pipe cleaning robot according to claim 3, characterized in that: The slide rail mechanism further includes an electric-controlled lock for fixing the second ball socket at a specific position in the inner cavity.

5. The variable diameter pipe cleaning robot according to claim 1, characterized in that: Each of the support leg units includes a ball screw, a first drive motor, a support link and an adjustment link, one end of the ball screw is connected to the connecting mechanism through a support frame, and the other end partially extends into the first main body and is transmission-connected to the first drive motor arranged in the first main body, and a connecting piece is provided on the part of the ball screw located between the support frame and the first main body; one end of the support link is connected to the connecting piece, and the other end is connected to the adjustment link, and the other end of the adjustment link is hinged to the end of the first main body away from the mounting frame; wherein, the first drive motor drives the ball screw to rotate, so as to drive the connecting piece to move along the length direction of the first main body, thereby adjusting the spreading angle of the support link and the adjustment link; the power wheel is installed at the connection between the support link and the adjustment link.

6. The variable diameter pipe cleaning robot according to claim 5, characterized in that: The length of the supporting link is greater than that of the adjusting link, and the adjacent leg support units are connected between the connecting member and the first body, one in front and one in back.

7. The variable diameter pipe cleaning robot according to claim 1, characterized in that: A plurality of first connecting rods are hinged on the circumferential side of the second main body, and a driven wheel is rotatably mounted on the other end of the first connecting rod; a screw lifting mechanism is provided inside the second main body, and a second connecting rod is hinged on the power output end of the screw lifting mechanism, and one end of the second connecting rod is hinged to the first connecting rod.

8. The variable diameter pipe cleaning robot according to claim 1, characterized in that: The cleaning brush mechanism includes a second drive motor and a transmission mechanism connected thereto, and an arc-shaped brush that is retracted and driven by the transmission mechanism; the second drive motor drives the arc-shaped brush to extend or retract along the radial direction of the second body through the transmission mechanism.

9. The variable diameter pipeline cleaning robot according to claim 8, characterized in that: The transmission mechanism includes an arc-shaped groove gear and a motor gear connected to the second drive motor. The arc-shaped brush is fixed on a second slider that cooperates with the arc-shaped groove gear. The rotation of the arc-shaped groove gear drives the second slider to move, so that the arc-shaped brush extends or retracts.

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