Pipeline cleaning robot

Abstract

The utility model discloses a pipeline cleaning robot which comprises a walking assembly, and a front walking piece and a rear walking piece are connected through a connecting assembly which can stretch out and draw back in the first direction. The front walking piece is provided with at least two front supporting legs evenly distributed in the first direction, and each front supporting leg is provided with a first position and a second position. The rear walking piece is provided with at least two rear supporting feet evenly distributed in the first direction, and each rear supporting foot is provided with a third position and a fourth position. The walking assembly further comprises a supporting leg driving assembly matched with the front supporting leg and the rear supporting leg, when the front supporting leg is located at the first position, the rear supporting leg is located at the fourth position, and when the rear supporting leg is located at the third position, the front supporting leg is located at the second position; and at least one of the front walking part and the rear walking part is connected with the cleaning assembly.

Description

Technical Field

[0001] This utility model relates to the field of pipeline cleaning technology, and in particular to a pipeline cleaning robot. Background Technology

[0002] Pipeline cleaning refers to the process of cleaning and removing contaminants from various types of pipeline systems. Pipeline systems are widely used in buildings, industrial facilities, water supply systems, sewage treatment plants, and other fields. Over time, they accumulate dirt, deposits, algae, bacteria, and other contaminants, affecting their normal operation. The purpose of pipeline cleaning is to restore flow, prevent blockages, and maintain the normal operation of the pipeline system.

[0003] In the prior art, pipe cleaning devices typically use rollers to move within pipes. However, because oil or other dirt may adhere to the inner wall of the pipe, the rollers have low friction when moving, making it difficult for the cleaning device to move forward or even impossible to move. This affects the cleaning effect and efficiency. Utility Model Content

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a pipeline cleaning robot, which moves relatively easily within pipelines, thereby improving cleaning effectiveness and efficiency.

[0005] A pipeline cleaning robot according to an embodiment of the present utility model includes a walking component, the walking component including a front walking component and a rear walking component, the front walking component and the rear walking component being connected by a retractable connecting component along a first direction.

[0006] The forward traveling member is provided with at least two front support legs evenly distributed around the first direction. The front support legs have a first position and a second position. In the first position, the front support legs are used to abut against the pipe, and in the second position, the front support legs are used to separate from the pipe.

[0007] The rear traveling member is provided with at least two rear support legs evenly distributed around the first direction. The rear support legs have a third position and a fourth position. In the third position, the rear support legs are used to abut against the pipe, and in the fourth position, the rear support legs are used to separate from the pipe.

[0008] The walking assembly further includes a foot driving assembly, which cooperates with the front foot and the rear foot to drive the front foot to switch between the first position and the second position, and to drive the rear foot to switch between the third position and the fourth position. When the front foot is in the first position, the rear foot is in the fourth position, and when the rear foot is in the third position, the front foot is in the second position.

[0009] It also includes a cleaning assembly, at least one of the forward-moving component and the rearward-moving component being connected to the cleaning assembly.

[0010] According to some embodiments of the present invention, the front support leg is retractably connected to the front traveling member, and the rear support leg is retractably connected to the rear traveling member.

[0011] According to some embodiments of the present invention, the outrigger drive assembly includes an outrigger drive member and an outrigger drive rod connected to the outrigger drive member;

[0012] The outrigger drive rod is movable along the first direction and passes through the front traveling member and the rear traveling member. The outrigger drive rod is provided with at least two arc-shaped front protrusions located in the front traveling member and at least two arc-shaped rear protrusions located in the rear traveling member.

[0013] The front support leg is movably arranged along the second direction, with one end located inside the front traveling member and abutting against the support leg drive rod, and the other end located outside the front traveling member. The rear support leg is movably arranged along the second direction, with one end located inside the rear traveling member and abutting against the support leg drive rod, and the other end located outside the rear traveling member. The second direction is perpendicular to the first direction.

[0014] Along the first direction, the distance between the front protrusion and the rear protrusion is different from the distance between the front support leg and the rear support leg.

[0015] According to some embodiments of this utility model, there are three or more front support legs, and the front protrusion is annular; there are three or more rear support legs, and the rear protrusion is annular.

[0016] According to some embodiments of the present invention, the connecting component includes a first connecting member and a second connecting member. One end of the first connecting member is connected to the front traveling member, and one end of the second connecting member is connected to the rear traveling member. One of the other ends of the first connecting member and the second connecting member is provided with an internal thread, and the other is provided with an external thread. The first connecting member and the second connecting member are threadedly connected by the internal thread and the external thread.

[0017] According to some embodiments of the present invention, the connecting assembly includes a third connector and a fourth connector. The third connector is connected to the front traveling member, and one end of the fourth connector is connected to the rear traveling member. One of the third connector and the fourth connector is provided with a sliding groove along the first direction, and the other is provided with a sliding protrusion that cooperates with the sliding groove. The sliding protrusion is inserted into the sliding groove and slides along the sliding groove.

[0018] According to some embodiments of the present invention, the connecting assembly includes a fifth connecting member and a sixth connecting member that are hinged in a cross shape. One end of the fifth connecting member is hinged to the front traveling member and the other end is hinged to the rear sliding member. The rear sliding member is slidably connected to the rear traveling member. One end of the sixth connecting member is hinged to the rear traveling member and the other end is hinged to the front sliding member. The front sliding member is slidably connected to the front traveling member.

[0019] According to some embodiments of the present invention, the cleaning assembly includes a brush head, which is rotatably connected to the walking assembly.

[0020] According to some embodiments of the present invention, the cleaning assembly further includes a plurality of spray heads, the forward traveling member is provided with a plurality of spray heads spaced apart around the first direction, and / or the rear traveling member is provided with a plurality of spray heads spaced apart around the first direction.

[0021] According to some embodiments of the present invention, a camera is installed at the end of the rear walking component that is away from the front walking component.

[0022] This application provides a pipeline cleaning robot. By setting a front walking component and a rear walking component connected by a connecting component, and by having one of the front support legs of the front walking component and the rear support leg of the rear walking component abut against the inner wall of the pipeline while the other is separated from the inner wall of the pipeline, the front walking component and the rear walking component can move inside the pipeline by moving closer to each other and further away from each other. This eliminates the need for friction between the walking component and the inner wall of the pipeline to enable the walking component to move inside the pipeline, making the movement easier and improving the cleaning effect and efficiency.

[0023] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of a pipeline cleaning robot according to an embodiment of this application;

[0025] Figure 2 This is a schematic diagram of the structure of one embodiment of the connection assembly of the pipeline cleaning robot according to an embodiment of this application;

[0026] Figure 3 This is a schematic diagram of another embodiment of the connection assembly of the pipeline cleaning robot according to an embodiment of this application;

[0027] Figure 4 This is a cross-sectional view of the fourth connector of another embodiment of the connecting assembly of the pipe cleaning robot according to an embodiment of this application;

[0028] Figure 5 This is a schematic diagram of another embodiment of the connection assembly of the pipeline cleaning robot according to an embodiment of this application.

[0029] Figure label:

[0030] Robot 100

[0031] Walking assembly 10, front walking component 11, front support leg 111, rear walking component 12, rear support leg 121, support leg drive assembly 13, support leg drive component 131, support leg drive rod 132, front protrusion 1321, rear protrusion 1322, elastic element 14.

[0032] Connecting assembly 20, first connector 21, second connector 22, external thread 221, third connector 23, slide groove 231, fourth connector 24, sliding protrusion 241, fifth connector 25, front sliding member 251, sixth connector 26, rear sliding member 261.

[0033] Cleaning components 30, brush head 31, spray head 32, camera 40. Detailed Implementation

[0034] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0035] The following disclosure provides numerous different embodiments or examples for implementing various structures of the present invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0036] Pipeline cleaning refers to the process of cleaning and removing contaminants from various types of pipeline systems. Pipeline systems are widely used in buildings, industrial facilities, water supply systems, sewage treatment plants, and other fields. Over time, they accumulate dirt, deposits, algae, bacteria, and other contaminants, affecting their normal operation. The purpose of pipeline cleaning is to restore flow, prevent blockages, and maintain the normal operation of the pipeline system.

[0037] In the prior art, pipe cleaning devices typically use rollers to move within pipes. However, because oil or other dirt may adhere to the inner wall of the pipe, the rollers have low friction when moving, making it difficult for the cleaning device to move forward or even impossible to move. This affects the cleaning effect and efficiency.

[0038] Based on this, the present invention proposes a pipeline cleaning robot, which can easily move forward and backward along the pipeline, thereby improving the cleaning effect and cleaning efficiency.

[0039] Figures 1-5 This is a schematic diagram of the structure of the pipe cleaning robot 100 according to an embodiment of the present invention. (Refer to...) Figure 1 The pipeline cleaning robot 100 includes a walking assembly 10 for moving inside a pipeline. The walking assembly 10 includes a front walking member 11 and a rear walking member 12, which are connected by a retractable connecting assembly 20 along a first direction. The retractable connecting assembly 20 connects the front walking member 11 and the rear walking member 12 to enable the walking assembly 10 to move inside the pipeline. The first direction can be the direction in which the pipeline extends. The front walking member 11 and the rear walking member 12 can be spaced apart along the first direction, with one end of the connecting assembly 20 connected to the front walking member 11 and the other end connected to the rear walking member 12.

[0040] The forward traveling member 11 is provided with at least two front support legs 111 evenly distributed around a first direction. The front support legs 111 have a first position and a second position. In the first position, the front support legs 111 are used to abut against the pipe, and in the second position, the front support legs 111 are used to separate from the pipe.

[0041] The first direction is the circumference of the forward traveling member 11. For example, the forward traveling member 11 can be a hollow cylindrical structure, and the first direction is the axial direction of the forward traveling member 11. At least two front support legs 111 are arranged around the circumference of the forward traveling member 11. Two, three, five, etc., front support legs 111 can be provided. Evenly distributing at least two front support legs 111 can improve the stability and reliability of the support.

[0042] The switching method between the first and second positions of the front support leg 111 can be sliding switching, rotating switching, etc.

[0043] The rear traveling member 12 is provided with at least two rear support legs 121 evenly distributed around the first direction. The rear support legs 121 have a third position and a fourth position. In the third position, the rear support legs 121 are used to abut against the pipe, and in the fourth position, the rear support legs 121 are used to separate from the pipe.

[0044] The rear travel member 12 is positioned around its circumference in the first direction. For example, the rear travel member 12 can be a hollow cylindrical structure, and the first direction is the axial direction of the rear travel member 12. At least two rear support legs 121 are arranged around the circumference of the rear travel member 12. Two, three, five, or other rear support legs 121 can be provided. Evenly distributing at least two rear support legs 121 can improve the stability and reliability of the support.

[0045] The switching method between the first and second positions of the rear support leg 121 can be sliding switching, rotating switching, etc.

[0046] The walking assembly 10 also includes a foot drive assembly 13, which cooperates with the front foot 111 and the rear foot 121 to drive the front foot 111 to switch between a first position and a second position, and to drive the rear foot 121 to switch between a third position and a fourth position. When the front foot 111 is in the first position, the rear foot 121 is in the fourth position, and when the rear foot 121 is in the third position, the front foot 111 is in the second position.

[0047] The outrigger drive assembly 13 cooperates with the front outrigger 111 and the rear outrigger 121, specifically, it can be a contact fit, a connection fit, etc. The outrigger drive assembly 13 can simultaneously drive the front outrigger 111 and the rear outrigger 121, so that one of the front outrigger 111 and the rear outrigger 121 abuts against the inner wall of the pipe, while the other separates from the inner wall of the pipe. In this way, the extension of the telescopic connecting assembly 20 can make the front traveling member 11 move forward, and the retraction of the telescopic connecting assembly 20 can make the rear traveling member 12 move forward, thereby realizing the movement of the traveling assembly 10 in the pipe. The movement of the traveling assembly 10 is achieved by one of the front outrigger 111 and the rear outrigger 121 abutting against the inner wall of the pipe. At the same time, the extension and retraction of the telescopic assembly avoids the difficulty of movement caused by the low friction between the roller and the inner wall of the pipe, which is conducive to the movement of the traveling assembly 10 inside the pipe.

[0048] The pipeline cleaning robot 100 also includes a cleaning assembly 30, and at least one of a forward walking component 11 and a backward walking component 12 connected to the cleaning assembly 30. The cleaning assembly 30 may be disposed on the forward walking component 11, the backward walking component 12, or both the forward walking component 11 and the backward walking component 12. The free movement of the walking assembly 10 within the pipeline can improve the pipeline cleaning effect and cleaning efficiency.

[0049] Therefore, referring to Figure 1According to the present invention, the pipe cleaning robot 100 is provided with a front walking component 11 and a rear walking component 12 connected by a connecting component 20. One of the front support leg 111 of the front walking component 11 and the rear support leg 121 of the rear walking component 12 abuts against the inner wall of the pipe, while the other is separated from the inner wall of the pipe. This allows the front walking component 11 and the rear walking component 12 to move inside the pipe by moving closer to each other and further away from each other. It does not require the friction between the walking component 10 and the inner wall of the pipe to move inside the pipe. The walking difficulty is small, which helps to improve the cleaning effect and cleaning efficiency.

[0050] In some embodiments of this utility model, the front support leg 111 is telescopically connected to the front traveling member 11, and the rear support leg 121 is telescopically connected to the rear traveling member 12.

[0051] By telescopically connecting the front support leg 111 and the front traveling member 11, the front support leg 111 can be switched between a first position and a second position. For example, the front support leg 111 and the front traveling member 11 can elastically extend and retract, or slide and extend, etc. By telescopically connecting the rear support leg 121 and the rear traveling member 12, the rear support leg 121 can be switched between a third position and a fourth position. For example, the rear support leg 121 and the rear traveling member 12 can elastically extend and retract, or slide and extend, etc.

[0052] In some embodiments of this utility model, reference is made to Figure 1 The outrigger drive assembly 13 includes an outrigger drive member 131 and an outrigger drive rod 132 connected to the outrigger drive member 131. The outrigger drive member 131 can be a rotary drive member, for example, a rotary motor, etc.; it can also be a linear drive member, for example, a linear motor, a cylinder, etc. The outrigger drive member 131 can drive the outrigger drive rod 132 to rotate or move linearly.

[0053] The outrigger drive rod 132 is movable along a first direction, passing through the front traveling member 11 and the rear traveling member 12. Thus, the portion of the outrigger drive rod 132 located inside the front traveling member 11 and the portion located inside the rear traveling member 12 can move along the first direction within the front traveling member 11 and the rear traveling member 12, respectively. The outrigger drive rod 132 can be inserted into the connecting assembly 20 or spaced apart from the connecting assembly 20.

[0054] The outrigger drive rod 132 is provided with at least two arc-shaped front protrusions 1321 located in the front traveling member 11 and at least two arc-shaped rear protrusions 1322 located in the rear traveling member 12. Specifically, the front protrusions 1321 are circumferentially spaced along a first direction and correspond to the front outriggers 111. For example, when one of the front outriggers 111 abuts against one of the front protrusions 1321, the other front outriggers 111 also correspond to one of the front protrusions 1321. The rear protrusions 1322 are also arranged in a one-to-one correspondence with the rear outriggers 121.

[0055] The front protrusion 1321 and the rear protrusion 1322 are designed in an arc shape to facilitate the transition of the front support leg 111 and the rear support leg 121 from other positions of the support leg drive rod 132 to the front protrusion 1321 and the rear protrusion 1322.

[0056] The front support leg 111 is movable along the second direction, with one end located inside the front traveling member 11 and abutting against the support leg drive rod 132, and the other end located outside the front traveling member 11. The rear support leg 121 is movable along the second direction, with one end located inside the rear traveling member 12 and abutting against the support leg drive rod 132, and the other end located outside the rear traveling member 12. The second direction is perpendicular to the first direction.

[0057] By aligning the front support leg 111 along a second direction perpendicular to the first direction, it facilitates contact between the front protrusion 1321 and the inner wall of the pipe, ensuring high contact stability. The two ends of the front support leg 111 are located inside and outside the forward traveling member 11, respectively, preventing the front support leg 111 from detaching. Alternatively, the front support leg 111 can be designed with an I-beam shape to further prevent it from detaching. The rear support leg 121 follows the same principle.

[0058] Along the first direction, the distance between the front protrusion 1321 and the rear protrusion 1322 is different from the distance between the front support leg 111 and the rear support leg 121. Thus, when the front support leg 111 abuts against the front protrusion 1321 and the inner wall of the pipe, the rear support leg 121 avoids the rear protrusion 1322. At this time, the front traveling member 11 is fixed to the inner wall of the pipe, the connecting assembly 20 retracts, and the rear traveling member 12 moves forward. When the rear support leg 121 abuts against the rear protrusion 1322 and the inner wall of the pipe, the front support leg 111 avoids the front protrusion 1321. At this time, the rear traveling member 12 is fixed to the inner wall of the pipe, the connecting assembly 20 extends, and the front traveling member 11 moves forward. This process continues, enabling the traveling member 10 to move inside the pipe.

[0059] In some embodiments, an elastic element 14 is provided between the front support leg 111 and the forward traveling member 11. When the front support leg 111 is not in contact with the front protrusion 1321, the front support leg 111 moves away from the inner wall of the pipe under the action of the elastic element 14. The same applies to the rear support leg 121.

[0060] In some embodiments of this utility model, there are three or more front support legs 111 and the front protrusion 1321 is annular; there are three or more rear support legs 121 and the rear protrusion 1322 is annular.

[0061] The front protrusion 1321 is designed as a ring, specifically, it is set around the circumference of the support leg drive rod 132. In this way, when there are more than three front supports 111, it is not necessary to set multiple front protrusions 1321 corresponding one-to-one with the front supports 111, which reduces the machining accuracy and machining difficulty. The rear protrusion 1322 is designed in the same way.

[0062] In some embodiments of this utility model, reference is made to Figure 2 The connecting component 20 includes a first connecting member 21 and a second connecting member 22. One end of the first connecting member 21 is connected to the front traveling member 11, and one end of the second connecting member 22 is connected to the rear traveling member 12. One of the other ends of the first connecting member 21 and the other end of the second connecting member 22 is provided with an internal thread, and the other is provided with an external thread 221221. The first connecting member 21 and the second connecting member 22 are threadedly connected by the internal thread and the external thread 221221.

[0063] The threaded connection between the first connector 21 and the second connector 22 allows the forward traveling member 11 and the rear traveling member 12 to extend and retract by rotation.

[0064] Specifically, the first connector 21 may be provided with an internal thread, in which case the second connector 22 is provided with an external thread 221221, and the first connector 21 is sleeved on the second connector 22; or, the first connector 21 is provided with an external thread 221221, the second connector 22 is provided with an internal thread, and the second connector 22 is sleeved on the first connector 21.

[0065] The first connecting member 21 and the second connecting member 22 can each be provided individually or in multiple corresponding pairs. The connecting assembly 20 can be driven by a rotary drive, for example, by a rotary motor. For example, the rotary drive can be connected to the forward traveling member 11, and the output end of the rotary drive can be an L-shaped structure, so that the rotary drive can be located at a non-axial position of the forward traveling member 11.

[0066] In some embodiments of this utility model, reference is made to Figure 3 and Figure 4 The connecting component 20 includes a third connector and a fourth connector 24. The third connector is connected to the forward traveling member 11, and one end of the fourth connector 24 is connected to the rear traveling member 12. One of the third connector and the fourth connector 24 is provided with a groove 231 along the first direction, and the other is provided with a sliding protrusion 241 that cooperates with the groove 231. The sliding protrusion 241 is inserted into the groove 231 and slides along the groove 231.

[0067] By engaging the sliding protrusion 241 with the sliding groove 231 and sliding along the sliding groove 231, the sliding connection between the third connecting member and the fourth connecting member 24 is achieved, thereby achieving the sliding connection between the forward traveling member 11 and the rear traveling member 12.

[0068] In some embodiments, there can be multiple slide grooves 231, and the multiple slide grooves 231 can be arranged at intervals along the circumference of the third connector. The slide protrusions 241 correspond one-to-one with the slide grooves 231, which can improve the stability of sliding.

[0069] In some embodiments, a limiting part may be provided at one end of the sliding protrusion 241 that is inserted into the sliding groove 231 to prevent the sliding protrusion 241 from coming out of the sliding groove 231.

[0070] In some embodiments, the third connector and the fourth connector 24 can be driven by a linear drive, such as a linear motor or a cylinder.

[0071] In some embodiments of this utility model, reference is made to Figure 5 The connecting assembly 20 includes a fifth connecting member 25 and a sixth connecting member 26 that are hinged in a cross shape. One end of the fifth connecting member 25 is hinged to the front traveling member 11 and the other end is hinged to the rear sliding member 261. The rear sliding member 261 is slidably connected to the rear traveling member 12. One end of the sixth connecting member 26 is hinged to the rear traveling member 12 and the other end is hinged to the front sliding member 251. The front sliding member 251 is slidably connected to the front traveling member 11.

[0072] The fifth connector 25 and the sixth connector 26 can rotate relative to each other, and the two ends of the fifth connector 25 and the two ends of the sixth connector 26 are rotatably connected to the front traveling member 11 and the rear traveling member 12, respectively. At the same time, the fifth connector 25 and the rear traveling member 12 can slide relative to each other, and the sixth connector 26 and the front traveling member 11 can slide relative to each other. This allows the change of the included angle between the fifth connector 25 and the sixth connector 26 to achieve the extension and retraction of the connecting assembly 20 in the first direction, that is, to achieve the mutual approach and mutual distance between the front traveling member 11 and the rear traveling member 12.

[0073] In some embodiments, the front traveling member 11 and the rear traveling member 12 are respectively provided with uprights or crossbars on one side facing each other, and the sliding member is sleeved on the crossbar or upright and slides in cooperation with the crossbar or upright.

[0074] In some embodiments of this utility model, reference is made to Figure 1 The cleaning component 30 includes a brush head 31, which is rotatably connected to the walking component 10.

[0075] Specifically, there can be one or more brush heads 31, and the brush heads 31 can be rotatably connected to the walking assembly 10 about a first direction. For example, the brush head 31 can be connected to the front walking member 11, the rear walking member 12, or the front walking member 11 and the rear walking member 12.

[0076] In some embodiments, the brush head 31 may be retractable in a second direction to reduce friction with the inner wall of the pipe when not brushing. The brush head 31 may be rotated by connecting a drive motor.

[0077] In some embodiments of this utility model, reference is made to Figure 1The cleaning assembly 30 also includes a plurality of spray heads 32, with the front traveling member 11 having a plurality of spray heads 32 spaced apart around the first direction, and / or the rear traveling member 12 having a plurality of spray heads 32 spaced apart around the first direction.

[0078] By setting multiple spray heads 32, water or other cleaning solutions can be sprayed onto the pipe wall for easy cleaning.

[0079] In some embodiments, the angle of the spray head 32 can be adjusted. Specifically, the spray head 32 can rotate 90°, 180°, 360°, etc.

[0080] In some embodiments, the front traveling member 11 is provided with a plurality of spray heads 32 for spraying before the brush head 31 is brushed, and the rear traveling member 12 is provided with a plurality of spray heads 32 for spraying and rinsing after the brush head 31 is brushed.

[0081] In some embodiments of this utility model, reference is made to Figure 1 A camera 40 is installed at the end of the rear walking component 12 that is away from the front walking component 11.

[0082] By setting up camera 40, the cleaning effect can be observed.

[0083] In some embodiments, the pipeline cleaning robot 100 also includes a control system, which is connected to the camera 40, the cleaning component 30, the walking component 10, and the connecting component 20. The control system can determine whether to continue moving forward or perform secondary cleaning based on the observed cleaning effect.

[0084] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0085] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0086] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or that the first feature is at a lower horizontal level than the second feature.

[0087] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0088] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A pipe cleaning robot, characterized in that, The walking assembly comprises a front walking piece and a rear walking piece, and the front walking piece is connected with the rear walking piece through a connection assembly which is retractable along a first direction; The front walking piece is provided with at least two front legs which are uniformly distributed around the first direction, and the front legs have a first position for abutting against a pipeline and a second position for separating from the pipeline; The rear walking piece is provided with at least two rear legs which are uniformly distributed around the first direction, and the rear legs have a third position for abutting against a pipeline and a fourth position for separating from the pipeline; The walking assembly further comprises a leg driving assembly which cooperates with the front legs and the rear legs to drive the front legs to switch between the first position and the second position and to drive the rear legs to switch between the third position and the fourth position, wherein the front legs are located at the first position when the rear legs are located at the fourth position, and the rear legs are located at the third position when the front legs are located at the second position; The walking assembly further comprises a cleaning assembly which is connected with at least one of the front walking piece and the rear walking piece.

2. The pipe cleaning robot of claim 1, wherein, The front legs are retractably connected with the front walking piece, and the rear legs are retractably connected with the rear walking piece.

3. The pipe cleaning robot of claim 2, wherein, The leg driving assembly comprises a leg driving piece and a leg driving rod which is connected with the leg driving piece; The leg driving rod is movable along the first direction through the front walking piece and the rear walking piece, and the leg driving rod is provided with at least two arc-shaped front protrusions in the front walking piece and at least two arc-shaped rear protrusions in the rear walking piece; The front legs are movably arranged along a second direction, one end of the front legs is located in the front walking piece and abuts against the leg driving rod, and the other end of the front legs is located outside the front walking piece; the rear legs are movably arranged along the second direction, one end of the rear legs is located in the rear walking piece and abuts against the leg driving rod, and the other end of the rear legs is located outside the rear walking piece, and the second direction is perpendicular to the first direction; Along the first direction, the distance between the front protrusions and the rear protrusions is different from the distance between the front legs and the rear legs.

4. The pipe cleaning robot of claim 3, wherein, The front legs are more than three, the front protrusions are annular; the rear legs are more than three, and the rear protrusions are annular.

5. The pipe cleaning robot of claim 1, wherein, The connection assembly comprises a first connecting piece and a second connecting piece, one end of the first connecting piece is connected with the front walking piece, one end of the second connecting piece is connected with the rear walking piece, one of the other end of the first connecting piece and the other end of the second connecting piece is provided with an internal thread, and the other is provided with an external thread, and the first connecting piece and the second connecting piece are threadedly connected through the internal thread and the external thread.

6. The pipe cleaning robot of claim 1, wherein, The connecting assembly comprises a third connecting piece and a fourth connecting piece, the third connecting piece is connected with the front walking piece, one end of the fourth connecting piece is connected with the rear walking piece, one of the third connecting piece and the fourth connecting piece is provided with a sliding groove along the first direction, and the other is provided with a sliding convex matched with the sliding groove, the sliding convex is inserted into the sliding groove and slides along the sliding groove.

7. The pipe cleaning robot of claim 1, wherein, The connecting assembly comprises a fifth connecting piece and a sixth connecting piece which are crossly hinged, one end of the fifth connecting piece is hinged with the front walking piece, the other end is hinged with a rear sliding piece, the rear sliding piece is slidingly connected with the rear walking piece, one end of the sixth connecting piece is hinged with the rear walking piece, the other end is hinged with a front sliding piece, the front sliding piece is slidingly connected with the front walking piece.

8. The pipe cleaning robot of claim 1, wherein, The cleaning assembly comprises a brush head, the brush head is rotatably connected with the walking assembly.

9. The pipe cleaning robot of claim 8, wherein, The cleaning assembly further comprises a plurality of spray heads, the front walking piece is provided with a plurality of spray heads which are arranged at intervals around the first direction, and / or the rear walking piece is provided with a plurality of spray heads which are arranged at intervals around the first direction.

10. The pipe cleaning robot of claim 1, wherein, A camera is installed at one end of the rear walking piece away from the front walking piece.

Images