Pipeline cleaning robot

Abstract

The utility model relates to the technical field of pipeline cleaning, in particular to a pipeline cleaning robot. The pipeline cleaning robot comprises a main machine, and a cleaning mechanism is arranged on the side, facing the interior of a pipeline, of the main machine; the at least two advancing devices are arranged on the peripheral side of the main machine, the advancing devices are movably connected with the inner side wall of the pipeline, each advancing device comprises a fixing rod, a moving mechanism, at least one connecting rod and an elastic piece, the fixing rods are fixedly arranged on the main machine and are parallel to the main machine, and the moving mechanisms are movably connected with the inner side wall of the pipeline; one end of the connecting rod is slidably connected with the fixing rod, the other end of the connecting rod is rotatably connected with the moving mechanism, the elastic part is arranged on the fixing rod and located on one side of the connecting rod, and the moving mechanism bears external force and is suitable for driving the connecting rod to rotate and enabling one end of the connecting rod to slide in the direction close to the elastic part along the fixing rod.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline cleaning technical field, concretely relates to a pipeline cleaning robot. BACKGROUND

[0002] Pipeline robots play a vital role in modern industry and urban infrastructure maintenance, they can go deep into narrow or difficult-to-access pipeline interiors to replace people to perform tasks, significantly improving the safety of operation and reducing the risk faced by workers. At present, pipeline robots are mainly used to check pipeline integrity, find leakage points and blockage positions, and also clean blockages to ensure pipeline unobstructed. Because the pipe diameters of pipelines are inconsistent, pipeline robots need to have the function of changing diameter to cope with pipelines of different diameters. In the prior art, pipeline robots usually need motor drive to realize diameter adjustment, which not only increases the complexity and energy consumption of the system, but also leads to a large overall weight, affecting the operation flexibility in narrow or complex pipeline environments. At the same time, pipeline robots often cannot realize independent diameter adjustment of the track foot, which limits their ability to work stably in pipelines with changing diameters, causing poor grip, unstable travel and difficulty in climbing. SUMMARY

[0003] Therefore, the utility model provides a pipeline cleaning robot to solve the problem of unable to realize independent diameter adjustment of the track foot.

[0004] In a first aspect, the utility model provides a pipeline cleaning robot, comprising:

[0005] A host computer is provided with a cleaning mechanism on the side facing the pipeline.

[0006] At least two traveling devices are arranged on the side of the host computer, and the traveling devices are movably connected with the inner side wall of the pipeline. The traveling device comprises a fixed rod, a movement mechanism, at least one connecting rod and an elastic member. The fixed rod is fixedly arranged on the host computer and parallel to the host computer. The movement mechanism is movably connected with the inner side wall of the pipeline. One end of the connecting rod is slidably connected with the fixed rod, and the other end of the connecting rod is rotatably connected with the movement mechanism. The elastic member is arranged on the fixed rod and located on one side of the connecting rod. The movement mechanism is adapted to drive the connecting rod to rotate and make one end of the connecting rod slide along the fixed rod towards the direction of the elastic member under external force.

[0007] Advantages:

[0008] The upper end of the connecting rod is hinged with the moving mechanism, and the lower end of the connecting rod is slidingly connected with the fixed rod, so that when the pipe is changed in diameter, the lower end of the connecting rod slides on the fixed rod to reduce the distance between the moving mechanism and the main machine. By arranging the elastic member, the elastic member can apply an elastic force to the connecting rod and drive the connecting rod to move when the pushing force is less than the elastic force, so as to expand the distance between the moving mechanism and the main machine. The moving mechanism can effectively tightly contact the inner wall of the pipe to improve the gripping capacity. The elastic member and the connecting rod enable a single moving mechanism to have the function of independently adjusting the diameter, which is conducive to stable work in the pipe with changing diameter. At the same time, the use of the motor for diameter adjustment is avoided, the overall structure is simplified, and the overall flexibility is improved.

[0009] In an alternative embodiment, the traveling device further comprises a fixing member and a support rod, the fixing member is fixedly arranged on the fixed rod, the fixing member is arranged on the side of the connecting rod away from the elastic member, the fixing member is arranged apart from the connecting rod, one end of the support rod is rotatably connected with the fixing member, and the other end of the support rod is rotatably connected with the connecting rod.

[0010] Advantages:

[0011] By arranging the fixing member fixedly arranged on the fixed rod and connecting the two ends of the support rod with the fixing member and the connecting rod respectively, the support rod can provide support force for the connecting rod, thereby enhancing the strength of the connecting rod and effectively improving the service life of the connecting rod.

[0012] In an alternative embodiment, the main machine comprises a main machine housing and a connecting column, the main machine housing has a cavity therein, the connecting column is arranged in the main machine housing, the two ends of the connecting column are fixedly connected with the two side walls of the cavity respectively, the fixed rod is arranged in the cavity, the two ends of the fixed rod are fixedly connected with the two side walls of the cavity respectively, the fixed rod is arranged on the circumferential side of the connecting column and parallel to the connecting column, one end of the connecting rod extends out of the cavity and is rotatably connected with the moving mechanism, and the fixing member is fixedly connected with the connecting column.

[0013] Advantages:

[0014] The fixing member is fixedly arranged on the connecting column, which effectively improves the stability and strength of the fixing member and ensures the overall stability of the pipe cleaning robot.

[0015] In an alternative embodiment, the two ends of the connecting column are provided with clamping plates, the two side walls of the cavity are provided with clamping portions matched with the clamping plates, the connecting column is fixedly arranged in the cavity by matching the clamping plates with the clamping portions, the side surface of the clamping plate facing the other clamping plate is provided with a mounting groove, and the two ends of the fixed rod are arranged in the mounting grooves and fixedly connected with the mounting grooves.

[0016] Beneficial effects:

[0017] By setting the clamping plate and the clamping part, the connecting column can be better fixedly connected with the main machine shell, and the overall stability of the road cleaning robot is improved.

[0018] In an alternative embodiment, the connecting column has a cavity, the clamping plate is provided with a connecting hole in communication with the cavity, the cleaning mechanism includes a drill bit, the drill bit is arranged in the cavity, and an output end of the drill bit extends out of the connecting hole on the side of the main machine facing the pipeline.

[0019] Beneficial effects:

[0020] The drill bit is arranged in the cavity of the connecting column, and the output end of the drill bit extends out of the connecting hole, which is conducive to cleaning the blockage in the pipeline.

[0021] In an alternative embodiment, the movement mechanism includes a movement shell, a track assembly, and a driving structure, the connecting rod is rotationally connected with the movement shell, the driving structure is arranged in the movement shell, the track assembly is movably connected with the inner side wall of the pipeline, and the driving structure is connected with the track assembly to drive the track assembly to move along the inner side wall of the pipeline and drive the main machine to move.

[0022] In an alternative embodiment, the connecting column is provided with a reinforcing plate, and the fixing member is fixedly connected with the reinforcing plate.

[0023] Beneficial effects:

[0024] The fixing member is fixedly connected with the reinforcing plate to be fixedly arranged on the connecting column, and the reinforcing plate can improve the fixing effect of the fixing member and the connecting column, thereby improving the overall stability of the road cleaning robot.

[0025] In an alternative embodiment, the road cleaning robot further comprises:

[0026] The control device includes a positioner, a visual recognition unit, an ultrasonic sensor, and a control mainboard, the control mainboard and the positioner are arranged in the main machine shell, the visual recognition unit is arranged on the side of the main machine shell facing the pipeline, the ultrasonic sensor is arranged on the side of the main machine shell facing the pipeline and the side of the main machine shell away from the pipeline, respectively, the visual recognition unit and the ultrasonic sensor are signal-connected with the control mainboard, the control mainboard is provided with a wireless transmission module, and the control mainboard is electrically connected with the drill bit and the movement mechanism.

[0027] Beneficial effects:

[0028] The data information is obtained through the control mainboard, the motion mechanism is driven to move the main machine forward or the electric drill is controlled to clean the blockage in the pipeline, so that the pipeline cleaning robot can run according to the situation in the pipeline, the process of manual continuous operation is avoided, the operation difficulty is reduced, and the work efficiency is improved.

[0029] In an alternative embodiment, the track assembly comprises a track, a driving gear and a driven gear, the driving gear and the driven gear are arranged at two ends of the track and engaged with the track respectively, and the driving structure is connected with the driving gear to drive the driving gear to rotate.

[0030] In an alternative embodiment, the cleaning mechanism further comprises a water gun, the water gun is arranged on the side of the main machine shell facing the pipeline, and the water gun is connected with the water storage mechanism through a water pipe.

[0031] Beneficial effects:

[0032] By arranging the water gun, the soft blockage in the pipeline can be cleaned, the practicability is effectively improved, and the blockage in the pipeline can be better cleaned.

[0033] In an alternative embodiment, the main machine shell is provided with a power supply structure, and the power supply structure is connected with the positioner, the visual identification unit, the ultrasonic sensor, the control mainboard, the cleaning mechanism and the motion mechanism respectively. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the description of the specific embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0035] Figure 1 A schematic view of a pipeline cleaning robot according to an embodiment of the present application;

[0036] Figure 2 A front view of a pipeline cleaning robot according to an embodiment of the present application;

[0037] Figure 3 A schematic view of a connecting column according to an embodiment of the present application;

[0038] Figure 4 A schematic view of a track assembly according to an embodiment of the present application;

[0039] Figure 5A sectional view of the motion mechanism of the embodiment of the present application.

[0040] Mark explanation:

[0041] 1, host computer; 2, traveling device; 3, fixed rod; 4, motion mechanism; 5, connecting rod; 6, elastic member; 7, fixing piece; 8, support rod; 9, host computer shell; 10, connecting column; 11, clamping plate; 12, clamping part; 13, drill bit; 14, motion shell; 15, track assembly; 16, driving structure; 17, visual identification unit; 18, ultrasonic sensor; 19, track; 20, driving gear; 21, driven gear; 22, water gun; 23, sliding block. Specific implementation

[0042] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0043] When checking the integrity of the pipeline, finding the leakage point and the clogging position, and cleaning the clogging, the pipeline cleaning robot usually needs manual intervention to control the pipeline cleaning robot to work, and cannot dynamically adjust the cleaning means and the traveling state according to real-time data, and the operation is relatively complex.

[0044] The embodiments of the present application will be described below in combination with Figures 1 to 5

[0045] According to the embodiments of the present application, a pipeline cleaning robot is provided, which comprises a host computer 1 and at least two traveling devices 2.

[0046] Specifically, the host computer 1 is provided with a cleaning mechanism on the side facing the inside of the pipeline. The traveling device 2 is arranged on the side of the host computer 1, and the traveling device 2 is movably connected with the inner side wall of the pipeline. The traveling device 2 comprises a fixed rod 3, a motion mechanism 4, at least one connecting rod 5 and an elastic member 6. The fixed rod 3 is fixedly arranged on the host computer 1 and is parallel to the host computer 1. The motion mechanism 4 is movably connected with the inner side wall of the pipeline. One end of the connecting rod 5 is slidably connected with the fixed rod 3, and the other end of the connecting rod 5 is rotatably connected with the motion mechanism 4. The elastic member 6 is arranged on the fixed rod 3 and located on one side of the connecting rod 5. The motion mechanism 4 is adapted to drive the connecting rod 5 to rotate and make one end of the connecting rod 5 slide along the fixed rod 3 towards the elastic member 6 under external force.

[0047] ​Specific, the host 1 is towards the side of the pipeline inside the front side, the front side is provided with cleaning mechanism, through the cleaning mechanism can be to the pipeline inside the blockage is cleaned. The traveling device 2 is arranged in the host 1 side, the traveling device 2 is connected with the host 1, the traveling device 2 is movably connected with the pipeline inner wall, the traveling device 2 moves along the guide direction of the pipeline inner wall and can drive the host 1 to move. The traveling device 2 includes a fixed rod 3, a movement mechanism 4, at least one connecting rod 5 and a spring 6, the fixed rod 3 is fixedly arranged in the host 1, the fixed rod 3 is parallel with the host 1, in Figure 3 The lower end of the connecting rod 5 is movably connected with the fixed rod 3, the upper end of the connecting rod 5 is hingedly connected with the movement mechanism 4, the spring 6 is arranged on the fixed rod 3 and on one side of the connecting rod 5, the movement mechanism 4 is movably connected with the pipeline inner wall, when the pipe diameter of the pipeline changes from large to small, the movement mechanism 4 on the side of the host 1 will move towards the host 1, the movement mechanism 4 will exert a force on the connecting rod 5, drive the connecting rod 5 to rotate, the lower end of the connecting rod 5 will slide towards the spring 6, thereby reducing the distance between the movement mechanism 4 and the host 1, realizing the diameter adjustment of the movement mechanism 4, when the pipe diameter of the pipeline changes from small to large, the spring 6 drives the lower end of the fixed rod 3 to slide away from the spring 6 by the elastic force, the upper end of the fixed rod 3 rotates and drives the movement mechanism 4 away from the host 1, realizing the diameter adjustment of the movement mechanism 4.

[0048] In the embodiment, as shown in Figure 3 The fixed rod 3 is provided with four connecting rods 5, two connecting rods 5 are a group, two groups of connecting rods 5 are arranged at both ends of the fixed rod 3, the two groups of connecting rods 5 are oppositely arranged, the lower end of each group of two connecting rods 5 is hingedly connected with the sliding block 23, the sliding block 23 is movably arranged on the fixed rod 3, the lower end of the connecting rod 5 is movably connected with the fixed rod 3 through the sliding block 23, in Figure 3 The spring 6 is arranged on the side of each group of connecting rods 5 away from the other group of connecting rods 5, preferably, the spring 6 is a compression spring, one end of the compression spring is fixedly connected with the sliding block 23, the upper end of the two groups of connecting rods 5 is hingedly connected with the movement mechanism 4, when the pipe diameter of the pipeline changes from large to small, the movement mechanism 4 on the side of the host 1 will move towards the host 1, the movement mechanism 4 will exert a force on the connecting rod 5, drive the connecting rod 5 to rotate, the connecting rod 5 drives the sliding block 23 to slide towards the compression spring, the sliding block 23 exerts a pushing force on the compression spring, thereby compressing the compression spring, thereby reducing the distance between the movement mechanism 4 and the host 1, realizing the diameter adjustment of the movement mechanism 4; when the pipe diameter of the pipeline changes from small to large, the compression spring drives the lower end of the fixed rod 3 to slide away from the compression spring by the elastic force, the upper end of the fixed rod 3 rotates and drives the movement mechanism 4 away from the host 1, realizing the diameter adjustment of the movement mechanism 4.

[0049] In the embodiment, as shown in Figure 2As shown, the periphery of the host 1 is provided with three movement mechanisms 4, the side of the host 1 facing the movement mechanisms 4 has a long hole, the upper end of the connecting rod 5 can extend out of the host 1 from the long hole, and the host 1 is hinged with the movement mechanisms 4, and the connecting rod 5 can also rotate in the long hole.

[0050] In other embodiments, the periphery of the host 1 can be provided with two or four or other number of movement mechanisms 4, and two or three or other number of connecting rods 5 can be provided on the fixed rod 3.

[0051] It should be noted that the upper end of the connecting rod 5 is hinged with the movement mechanism 4, and the lower end of the connecting rod 5 is slidingly connected with the fixed rod 3, so that when the pipe diameter changes, the lower end of the connecting rod 5 slides on the fixed rod 3, the distance between the movement mechanism 4 and the host 1 is reduced, and through the setting of the elastic member 6, the elastic member 6 can exert an elastic force on the connecting rod 5 and drive the connecting rod 5 to move when the pushing force is less than the elastic force, so that the distance between the movement mechanism 4 and the host 1 is enlarged, which can effectively make the movement mechanism 4 closely contact with the inner wall of the pipe, improve the gripping ability, and through the elastic member 6 and the connecting rod 5, the single movement mechanism 4 has the function of independent adjustment of the diameter change, which is conducive to stable work in the pipe with changing diameter, and at the same time, avoids the use of motor drive for diameter adjustment, simplifies the overall structure, and improves the overall flexibility.

[0052] In some embodiments, the traveling device 2 further comprises a fixing member 7 and a support rod 8, the fixing member 7 is fixedly arranged on the fixed rod 3, the fixing member 7 is arranged on the side of the connecting rod 5 away from the elastic member 6, the fixing member 7 is arranged in a spaced manner with the connecting rod 5, one end of the support rod 8 is rotatably connected with the fixing member 7, and the other end of the support rod 8 is rotatably connected with the connecting rod 5.

[0053] In this embodiment, as shown in the figure, Figure 3 The fixing member 7 is arranged between the two sliding blocks 23, the fixed rod 3 penetrates the fixing member 7 to fix the fixing member 7 on the fixed rod 3, four support rods 8 are arranged on the fixing member 7, the lower ends of the four support rods 8 are hinged with the fixing member 7, and the upper ends of the four support rods 8 are respectively hinged with the middle portions of the four connecting rods 5, and the connecting rod 5 rotates to drive the support rod 8 to rotate.

[0054] It should be noted that the fixing member 7 is fixedly arranged on the fixed rod 3, and the two ends of the support rod 8 are respectively connected with the fixing member 7 and the connecting rod 5, so that the support rod 8 can provide support force for the connecting rod 5, thereby enhancing the strength of the connecting rod 5 and effectively improving the service life of the connecting rod 5.

[0055] In some embodiments, the host 1 comprises a host housing 9 having a cavity therein and a connecting column 10 arranged in the host housing 9, two ends of the connecting column 10 are fixedly connected with two side walls of the cavity respectively, the fixed rod 3 is arranged in the cavity, two ends of the fixed rod 3 are fixedly connected with two side walls of the cavity respectively, the fixed rod 3 is arranged on the circumferential side of the connecting column 10 and parallel to the connecting column 10, one end of the connecting rod 5 extends out of the cavity and is rotationally connected with the moving mechanism 4, and the fixing member 7 is fixedly connected with the connecting column 10.

[0056] In the embodiment, as shown in Figure 2 and Figure 3 , the host housing 9 is a hexagonal prism structure, three moving mechanisms 4 correspond to one side of the host housing 9 respectively, adjacent moving mechanisms 4 are spaced apart by one side, the connecting column 10 is arranged in the cavity of the host housing 9, two ends of the connecting column 10 are fixedly connected with the inner walls of the front and rear ends of the host housing 9 respectively, the fixed rod 3 is arranged in the cavity and fixedly connected with the inner walls of the front and rear ends of the host housing 9, the fixed rod 3 is parallel to the connecting column 10, the side of the host housing 9 facing the moving mechanism 4 has an elongated hole, the upper end of the connecting rod 5 can extend out of the host 1 from the elongated hole and be hinged with the moving mechanism 4, and the connecting rod 5 can also rotate in the elongated hole.

[0057] Preferably, the connecting column 10 is a triangular prism, and three sides of the connecting column 10 face three moving mechanisms 4 respectively. The fixing member 7 is fixedly arranged on the side of the connecting column 10.

[0058] In some embodiments, the two ends of the connecting column 10 are provided with clamping plates 11, the two side walls of the cavity are provided with clamping portions 12 matched with the clamping plates 11, the connecting column 10 is fixedly arranged in the cavity by matching the clamping plates 11 with the clamping portions 12, the clamping plate 11 is provided with a mounting groove (not shown) on the side facing the other clamping plate 11, and the two ends of the fixed rod 3 are arranged in and fixedly connected with the mounting groove.

[0059] In the embodiment, as shown in Figures 1 to 3 , the two ends of the connecting column 10 are provided with clamping plates 11, mounting grooves are arranged on the inner walls of the front and rear ends of the cavity, the clamping plates 11 are clamped with the mounting grooves to fix the connecting column 10 in the cavity, the clamping plate 11 is provided with a mounting groove on the side facing the other clamping plate 11, and the two ends of the fixed rod 3 are fixedly connected with the mounting groove to fix the fixed rod 3 on the side of the connecting column 10, and a gap is formed between the fixed rod 3 and the side of the connecting column 10. One end of the compression spring is fixedly connected with the sliding block 23, and the other end of the compression spring is fixedly connected with the clamping plate 11.

[0060] Preferably, the clamping plate 11 is a toothed structure, and the mounting groove is matched with the outer contour of the clamping plate 11.

[0061] In some embodiments, the connecting column 10 has a cavity, and the card plate 11 is provided with a connecting hole (not shown) communicating with the cavity. The cleaning mechanism includes a drill bit 13, which is disposed in the cavity, and the output end of the drill bit 13 extends out along the connecting hole located on the side of the main unit 1 facing the inside of the pipe.

[0062] In this embodiment, as Figure 2 and Figure 4 As shown, the connecting column 10 has a cavity, and the clamping plate 11 has a connecting hole that communicates with the cavity. The connecting hole is concentric with the connecting column 10. The drill bit 13 is placed inside the cavity, and the output end of the drill bit 13 extends out of the cavity through the connecting hole of the front clamping plate 11. The wire of the drill bit 13 extends out of the cavity through the connecting hole of the rear clamping plate 11 and is connected to the power supply structure. The pipeline cleaning robot can move to the blockage in the pipeline. If it is a hard blockage, the pipeline cleaning robot will use the drill bit 13 to clear the blockage and make the pipeline unobstructed.

[0063] In some embodiments, the motion mechanism 4 includes a motion housing 14, a track assembly 15, and a drive structure 16. The connecting rod 5 is rotatably connected to the motion housing 14, the drive structure 16 is disposed inside the motion housing 14, the track assembly 15 is movably connected to the inner wall of the pipe, and the drive structure 16 is connected to the track assembly 15 to drive the track assembly 15 to move along the inner wall of the pipe and drive the host 1 to move.

[0064] In this embodiment, as Figure 4 and Figure 5 As shown, in Figure 4 The connecting rod 5 is hinged to the lower end face of the moving housing 14. The track assembly 15 is arranged on both sides of the moving housing 14. The drive structure 16 is fixedly arranged inside the moving housing 14. The drive structure 16 is connected to the track assembly 15 on both sides of the moving housing 14. The track assembly 15 is movably connected to the inner wall of the pipe. The drive structure 16 can drive the track assembly 15 to move along the inner wall of the pipe. When the pipe diameter changes from large to small, the moving housing 14 will drive the connecting rod 5 to rotate to adjust the distance between the moving housing 14 and the main unit 1, thereby realizing the diameter adjustment.

[0065] In some embodiments, the track assembly 15 includes a track 19, a drive gear 20, and a driven gear 21. The drive gear 20 and the driven gear 21 are respectively disposed at both ends of the track 19 and mesh with the track 19. The drive structure 16 is connected to the drive gear 20 to drive the drive gear 20 to rotate.

[0066] In this embodiment, as Figure 5As shown, two driving structures 16 are arranged in the moving shell 14, and the two driving structures 16 are respectively connected with two driving gears 20 arranged on the two sides of the track 19, and the track 19 is movably connected with the inner wall of the pipeline, the driving structure 16 drives the driving gear 20 to rotate and drives the track 19 and the driven gear 21 to rotate at the same time, so that the track 19 moves along the inner wall of the pipeline, and drives the moving shell 14 to move.

[0067] Preferably, the driving structure 16 is a driving motor. The output shaft of the driving motor is sleeved into the shaft coupling of the driving gear 20, and the shaft coupling has a threaded hole, and the output shaft is fixedly connected with the shaft coupling by screwing the fastening screw.

[0068] In some embodiments, the connecting column 10 is provided with a reinforcing plate (not shown), and the fixing part 7 is fixedly connected with the reinforcing plate.

[0069] In this embodiment, the side surface of the connecting column 10 is provided with a reinforcing plate, and the fixing part 7 is fixedly connected with the reinforcing plate to be fixedly arranged on the connecting column 10. The reinforcing plate can improve the fixing effect of the fixing part 7 and the connecting column 10.

[0070] In some embodiments, the control device further comprises a positioner (not shown), a visual recognition unit 17, an ultrasonic sensor 18 and a control mainboard. The control mainboard and the positioner are arranged in the main machine shell 9, the visual recognition unit 17 is arranged on the side of the main machine shell 9 facing the pipeline, and the ultrasonic sensor 18 is arranged on the side of the main machine shell 9 facing the pipeline and the side of the main machine shell 9 away from the pipeline respectively. The visual recognition unit 17 and the ultrasonic sensor 18 are respectively signal connected with the control mainboard, the control mainboard is provided with a wireless transmission module, and the control mainboard is electrically connected with the drill bit 13 and the moving mechanism 4.

[0071] In this embodiment, the positioner and the control mainboard are arranged in the main machine shell 9, the visual recognition unit 17 is arranged at the front end of the main machine shell 9, and the ultrasonic sensor 18 is arranged at the front end and the rear end of the main machine shell 9 respectively. The visual recognition unit 17 and the ultrasonic sensor 18 are respectively signal connected with the control mainboard, the control mainboard is provided with a wireless transmission module, and the control mainboard is electrically connected with the drill bit 13 and the driving structure 16. The visual recognition unit 17 can capture and analyze the image information in front of the main machine shell 9 and transmit the information to the control mainboard, and the ultrasonic sensor 18 can detect the obstacles in front of and behind the main machine shell 9 by ultrasonic waves and transmit the information to the control mainboard.

[0072] Specifically, the control mainboard has a control chip, which can execute logical algorithm control of the drill bit 13 and the driving structure 16 according to the received data. The visual recognition unit 17 obtains image information in front of the host shell 9 and transmits data to the control mainboard. After receiving the data, the control chip judges the information of the front pipeline and controls the movement mechanism 4 to drive the host 1 to move forward. Meanwhile, the ultrasonic sensor 18 can detect whether there is an obstacle in front of and behind the host 1 through ultrasonic waves and the distance between the host 1 and the obstacle, and transmit the data to the control mainboard. If there is an obstacle, the control chip obtains the data transmitted by the visual recognition unit 17 to judge whether the end is a blockage or whether it affects the forward movement of the host 1. If it is a blockage, the control mainboard starts the electric drill to clean the blockage. If the obstacle affects the forward movement of the host 1, the control mainboard transmits information to the terminal through the wireless transmission module. If the obstacle does not affect the forward movement of the host 1, the control mainboard continues to control the movement mechanism 4 to drive the host 1 to move forward. The positioner is signal connected with the terminal to obtain the accurate coordinate information of the position of the pipeline cleaning robot and transmit it to the terminal. Preferably, the visual recognition unit 17 is a camera device.

[0073] Specifically, the control device further comprises a controller, the positioner is signal connected with the controller, the positioner can obtain the accurate coordinate information of the position of the pipeline cleaning robot and transmit it to the controller, the control mainboard is signal connected with the controller through the wireless transmission module, the controller can obtain the control information and running process of the control mainboard, the controller is provided with a display screen, the control mainboard can transmit the image information data in front of the host 1 obtained by the visual recognition unit 17 to the controller, and the controller can display the data processed on the display screen. The wireless transmission module adopts a dual-mode redundant wireless communication mechanism, including Bluetooth wireless transmission and ESP-NOW ad hoc network technology. The Bluetooth wireless transmission selects an HC-05 Bluetooth module as a communication medium, receives information from the control mainboard in real time, and realizes data exchange with the control mainboard through serial communication, thereby realizing fine control of the state of the robot. The ESP-NOW ad hoc network technology selects an ESP series chip as a communication medium, which can establish a point-to-point or point-to-multipoint communication link according to the unique mac address of the equipment when the Bluetooth network fails, thereby ensuring effective data communication between the controller and the control mainboard.

[0074] The controller comprises an STM32F103C8T6 single-chip microcomputer, an MPU6050 gyroscope, a FLEX sensor, a SU-03T voice module, a TFT display screen and a mobile phone. The gyroscope and the FLEX sensor can convert the bending degree of the user's fingers and the change of the hand angle into robot motor control signals, realize fine control of the robot's marching and speed adjustment by using somatosensory technology, the controller obtains the information sent by the control mainboard by using the wireless transmission module, realizes audio-visual combined information display and somatosensory and mobile device combined remote control.

[0075] It needs to be explained that the data information is obtained through the control mainboard to control the motion mechanism 4 to drive the host 1 to move forward or control the electric drill to clean the blockage in the pipeline, so as to realize the effect that the pipeline cleaning robot can run automatically according to the situation in the pipeline, avoid the process of continuous manual operation, reduce the operation difficulty, and improve the work efficiency.

[0076] In some embodiments, the cleaning mechanism further comprises a water gun 22 arranged on the side of the host shell 9 facing the pipeline, and the water gun 22 is connected with the water storage mechanism through a water pipe.

[0077] In the embodiment, as shown in the figure, Figure 2 The water gun 22 is arranged at the front end of the host shell 9, the water gun 22 is arranged on one side of the electric drill, the rear end of the water gun 22 is connected with the water storage mechanism through a water pipe, and when there is soft blockage in the pipeline, the water gun 22 can clean the soft blockage. The water gun 22 is electrically connected with the control mainboard, and the control mainboard can control the water gun 22 to spray water. The rear end surface of the host shell 9 has a through hole, one end of the water pipe is connected with the water storage mechanism outside the pipeline, and the other end of the water pipe extends into the pipeline and passes through the through hole into the host shell 9 and is connected with the water gun 22.

[0078] In other embodiments, the host shell 9 can be provided with a water storage mechanism.

[0079] In some embodiments, the host shell 9 is provided with a power supply structure (not shown), and the power supply structure is connected with the positioner, the visual recognition unit 17, the ultrasonic sensor 18, the control mainboard, the cleaning mechanism and the motion mechanism 4 respectively.

[0080] In the embodiment, the power supply structure is a battery, the battery is fixedly arranged in the host shell 9, and the battery is connected with the positioner, the visual recognition unit 17, the ultrasonic sensor 18, the control mainboard and the driving structure 16 through lines, and the wire of the drill bit 13 extends out through the connecting hole of the rear end clamping plate 11 of the host shell 9 and extends into the host shell 9 through the through hole at the rear end of the host shell 9 and is connected with the power supply structure.

[0081] Although the embodiments of the utility model are described in combination with the drawings, those skilled in the art can make various modifications and changes without departing from the spirit and scope of the utility model, and such modifications and changes all fall within the scope defined by the appended claims.

Claims

1. A pipe cleaning robot, characterized by, The utility model relates to a pipeline cleaning robot, including: A host (1) is provided with a cleaning mechanism towards the side in the pipeline, At least two travelling devices (2) are provided on the side of the host (1), and the travelling device (2) is movably connected with the inner wall of the pipeline, the travelling device (2) includes a fixed rod (3), a movement mechanism (4), at least one connecting rod (5) and an elastic element (6), the fixed rod (3) is fixedly arranged on the host (1) and is parallel to the host (1), the movement mechanism (4) is movably connected with the inner wall of the pipeline, one end of the connecting rod (5) is slidably connected with the fixed rod (3), the other end of the connecting rod (5) is rotatably connected with the movement mechanism (4), the elastic element (6) is arranged on the fixed rod (3) and located on one side of the connecting rod (5), and the movement mechanism (4) is suitable for driving the connecting rod (5) to rotate and making one end of the connecting rod (5) slide along the fixed rod (3) towards the direction close to the elastic element (6) under external force.

2. The pipeline cleaning robot according to claim 1, wherein: The travelling device (2) further comprises a fixing member (7) and a support rod (8), the fixing member (7) is fixedly arranged on the fixed rod (3), the fixing member (7) is arranged on the side of the connecting rod (5) away from the elastic element (6), the fixing member (7) is arranged at intervals with the connecting rod (5), one end of the support rod (8) is rotatably connected with the fixing member (7), and the other end of the support rod (8) is rotatably connected with the connecting rod (5).

3. The pipeline cleaning robot according to claim 2, wherein: The host (1) comprises a host shell (9) and a connecting column (10), the host shell (9) has a cavity in it, the connecting column (10) is arranged in the host shell (9), both ends of the connecting column (10) are fixedly connected with the two side walls of the cavity respectively, the fixed rod (3) is arranged in the cavity, both ends of the fixed rod (3) are fixedly connected with the two side walls of the cavity respectively, the fixed rod (3) is arranged on the side of the connecting column (10) and is parallel to the connecting column (10), one end of the connecting rod (5) extends out of the cavity and is rotatably connected with the movement mechanism (4), and the fixing member (7) is fixedly connected with the connecting column (10).

4. The pipeline cleaning robot according to claim 3, wherein: Both ends of the connecting column (10) are provided with clamping plates (11), the two side walls of the cavity are provided with clamping portions (12) matched with the clamping plates (11), the connecting column (10) is fixedly arranged in the cavity in a matched mode of the clamping plates (11) and the clamping portions (12), the side face of the clamping plate (11) towards the other clamping plate (11) is provided with a mounting groove, and both ends of the fixed rod (3) are arranged in the mounting grooves and are fixedly connected with the mounting grooves.

5. The pipeline cleaning robot according to claim 4, wherein: The connecting column (10) has a cavity, the clamping plate (11) is provided with a connecting hole communicated with the cavity, the cleaning mechanism comprises a drill bit (13), the drill bit (13) is arranged in the cavity, and the output end of the drill bit (13) extends along the connecting hole located on the side of the main machine (1) facing the pipeline.

6. The pipeline cleaning robot according to any one of claims 1-5, characterized in that: The movement mechanism (4) comprises a movement shell (14), a track assembly (15) and a driving structure (16), the connecting rod (5) is rotationally connected with the movement shell (14), the driving structure (16) is arranged in the movement shell (14), the track assembly (15) is movably connected with the inner side wall of the pipeline, and the driving structure (16) is connected with the track assembly (15) to drive the track assembly (15) to move along the inner side wall of the pipeline and drive the main machine (1) to move.

7. The pipeline cleaning robot according to any one of claims 3-5, characterized in that: The connecting column (10) is provided with a reinforcing plate, and the fixing member (7) is fixedly connected with the reinforcing plate.

8. The pipe cleaning robot of claim 4, wherein, Further comprising: A control device, the control device comprises a positioner, a visual recognition unit (17), an ultrasonic sensor (18) and a control mainboard, the control mainboard and the positioner are arranged in the main machine shell (9), the visual recognition unit (17) is arranged on the side of the main machine shell (9) facing the pipeline, the ultrasonic sensor (18) is arranged on the side of the main machine shell (9) facing the pipeline and the side of the main machine shell (9) away from the pipeline respectively, the visual recognition unit (17) and the ultrasonic sensor (18) are signal connected with the control mainboard respectively, the control mainboard is provided with a wireless transmission module, and the control mainboard is electrically connected with the cleaning mechanism and the movement mechanism (4).

9. The pipeline cleaning robot according to claim 6, characterized in that: The track assembly (15) comprises a track (19), a driving gear (20) and a driven gear (21), the driving gear (20) and the driven gear (21) are arranged at two ends of the track (19) respectively and are engaged with the track (19), and the driving structure (16) is connected with the driving gear (20) to drive the driving gear (20) to rotate.

10. The pipeline cleaning robot according to claim 5, characterized in that: The cleaning mechanism further comprises a water gun (22), the water gun (22) is arranged on the side of the main machine shell (9) facing the pipeline, and the water gun (22) is connected with a water storage mechanism through a water pipe.

11. The pipeline cleaning robot according to claim 8, characterized in that: The main machine shell (9) is provided with a power supply structure, and the power supply structure is connected with the positioner, the visual recognition unit (17), the ultrasonic sensor (18), the control mainboard, the cleaning mechanism and the movement mechanism (4) respectively.

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