Pipeline cleaning device

Abstract

The utility model discloses a pipeline cleaning device, and relates to the technical field of pipeline cleaning equipment. Comprising a cylindrical robot, and the cylindrical robot is provided with a first trunk; a walking mechanism for driving the first trunk to walk along the pipeline is arranged on the peripheral wall of the first trunk; a cleaning assembly is arranged at the front end of the first trunk in the advancing direction of the first trunk and comprises a wheel disc rotationally installed on the first trunk and coaxial with the pipeline, a plurality of scrapers are arranged on the peripheral side of the wheel disc in a surrounding mode, the back positions of the scrapers are installed on the peripheral wall of the wheel disc, and the blade positions of the scrapers extend in the rotating direction of the wheel disc. The scraper is arranged on the first trunk and inclines towards the inner wall face of the pipeline, a blade of the scraper is used for abutting against the inner wall face of the pipeline in a sliding mode during cleaning, the first trunk is provided with a wheel disc rotation driving mechanism used for driving the wheel disc to rotate, the overall cleaning range of the inner wall face of the pipeline is enlarged, and effectiveness of cleaning dirt on the inner wall face of the pipeline is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline cleaning equipment technical field, especially a pipeline cleaning device. BACKGROUND

[0002] In the central heating system, the heating pipeline, especially the pipeline with DN250 diameter, as the key conveying channel, will have scale, rust, sundries and other dirt attached to the inner wall after long time operation, which seriously affects the conveying efficiency and heating effect of the pipeline. For the heating pipeline, the traditional manual cleaning method has the problems of high operation difficulty, incomplete cleaning, low efficiency and high safety risk. Although some existing pipeline cleaning equipment can partially solve the cleaning problem, it is difficult to balance the flexible walking and efficient cleaning operation in complex pipeline environment, therefore, an intelligent cleaning robot specially for the heating pipeline is necessary.

[0003] At present, the intelligent cleaning technology of water supply pipe network is proposed for the heating pipeline in China, which adopts ultrasonic guided wave coupling high pressure pulse water jet. The robot is equipped with a brush, which will start the ultrasonic wave to soften the hard layer when it encounters hard dirt, and then emit high pressure water jet to clean the dirt. A high-definition camera is also used for accurate visual detection of the pipeline, which can stably climb in a narrow space. Before heating, the robot enters the pipeline to check whether there are foreign matters such as soil and stones, so as to ensure that there is no foreign matter in the pipeline to avoid damage to the valve. Abroad, the main detection is for the heating pipeline, and the dust removal service is applied to the exhaust system, air conditioning ventilation pipe and industrial waste gas pipe. The multi-angle track belt can be deformed to adapt to various specifications and shapes of the pipeline, and the dry ice below 43 degrees is sprayed from the nozzle while walking, which uses thermal shock to strip dust and pollutants. However, whether domestic or foreign pipeline robots, there are problems of small cleaning range, insufficient power and inability to clean nearby branch pipes. SUMMARY

[0004] The utility model aims at providing a pipeline cleaning device to solve the problems in the prior art, which expands the cleaning range of the whole inner wall surface of the pipeline and ensures the effectiveness of cleaning the dirt on the inner wall surface of the pipeline.

[0005] To achieve the above-mentioned purpose, the utility model provides the following scheme: the utility model provides a pipeline cleaning device, which comprises a cylindrical robot, the cylindrical robot is provided with a first trunk,

[0006] The outer peripheral wall of the first trunk is provided with a walking mechanism for driving the first trunk to walk along the pipeline;

[0007] The front end of the first trunk along its advancing direction is provided with a cleaning assembly, the cleaning assembly comprises a wheel disc which is rotatably installed on the first trunk and coaxially arranged with the pipeline, a plurality of scrapers are arranged around the outer periphery of the wheel disc, the back of the scraper is installed on the outer peripheral wall of the wheel disc, the cutting edge of the scraper extends along the direction of rotation of the wheel disc and is inclined towards the inner wall surface of the pipeline, the cutting edge of the scraper is used to slide against the inner wall surface of the pipeline during cleaning, and the first trunk is provided with a wheel disc rotation driving mechanism for driving the rotation of the wheel disc.

[0008] Preferably, the outer peripheral wall of the wheel disc is provided with a plurality of mounting surfaces corresponding to each of the scrapers, each of the mounting surfaces is arranged around the outer periphery of the wheel disc, the mounting surface is parallel to the axis direction of the wheel disc, and the mounting surface is gradually inclined towards the inner wall surface of the pipeline along the direction of rotation of the mounting surface as a whole, the back of the scraper is correspondingly mounted on each of the mounting surfaces, and the cutting edge extends out of the mounting surface.

[0009] Preferably, the wheel disc is spaced apart from the first trunk, and a transmission shaft is connected between the axis of the wheel disc and the wheel disc rotation driving mechanism.

[0010] Preferably, the walking mechanism comprises a walking wheel assembly and a plurality of support wheel assemblies, the walking wheel assembly and each of the support wheel assemblies are arranged around the outer periphery of the first trunk.

[0011] The walking wheel assembly is used for the first trunk to advance along the pipeline.

[0012] Each of the support wheel assemblies comprises two clamping pieces which are spaced apart along the advancing direction, one end of each of the two clamping pieces is rotatably installed on the first trunk, and the rotation axis thereof is parallel to the tangent direction of the pipeline, an elastic assembly is connected between the other end of each of the two clamping pieces, and a support wheel is installed on each of the two clamping pieces for rotatably abutting against the inner wall surface of the pipeline.

[0013] Preferably, the first trunk is a multi-prism structure coaxial with the pipeline, and the walking wheel assembly and each of the support wheel assemblies are respectively installed on each side surface of the first trunk.

[0014] Preferably, the cylindrical robot is matched with a spider-type robot for driving the advancing thereof, the spider-type robot is provided with a second trunk.

[0015] The tail of the second trunk is detachably connected with the cylindrical robot.

[0016] The outer side of the second trunk is uniformly provided with at least two groups of walking limb assemblies, each of which comprises two walking limbs capable of moving in multiple degrees of freedom, the two walking limbs are distributed at intervals along the advancing direction and are respectively matched with walking driving mechanisms for driving the walking limbs to advance, one end of the walking limb is movably connected to the second trunk, and the other end is movably connected with a walking foot structure, a plurality of first clamping claws are movably connected in a circumferential direction on the walking foot structure, and each first clamping claw is used for clamping on the inner wall surface of the pipeline.

[0017] Preferably, the head of the second trunk is provided with a monitoring mechanism for detecting and identifying the cleaning condition inside the pipeline.

[0018] Preferably, the tail of the second trunk is provided with a tail connecting arm capable of moving in multiple degrees of freedom, the tail connecting arm is matched with a tail driving mechanism for driving the tail connecting arm to move in multiple degrees of freedom, one end of the tail connecting arm is movably connected to the tail position of the second trunk, and the other end is rotatably connected with a connecting structure, a plurality of second clamping claws capable of opening and closing are movably connected in a circumferential direction on the connecting structure, and the second clamping claws are matched with a clamping claw driving mechanism for driving the second clamping claws to open and close.

[0019] A plurality of clamping holes corresponding to the second clamping claws are formed on the wheel disc.

[0020] Each second clamping claw is used for corresponding extension into each clamping hole, and each second clamping claw is synchronously closed for clamping each clamping hole, so that the cylinder robot and the spider robot are connected.

[0021] Preferably, a flexible water spraying pipe moving in multiple degrees of freedom synchronously with the tail connecting arm is arranged on the tail connecting arm, and a water storage structure and a pumping assembly in communication with the flexible water spraying pipe are arranged on the second trunk.

[0022] Preferably, the first clamping claw is provided with an adsorption assembly for connecting the inner wall surface of the pipeline near the position on the inner wall surface of the pipeline.

[0023] The utility model discloses relative to the prior art has obtained the following technical effect:

[0024] The utility model discloses a cylinder robot and a spider robot are connected. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0026] Figure 1 Structure diagram of the cylindrical robot disclosed by the present application Figure 1 ;

[0027] Figure 2 Structure diagram of the cylindrical robot disclosed by the present application Figure 1 ;

[0028] Figure 3 Structure diagram of the wheel disc disclosed by the present application

[0029] Figure 4 Structure diagram of the spider robot disclosed by the present application

[0030] Figure 5 Structure diagram of the second trunk disclosed by the present application

[0031] Figure 6 Structure diagram of the tail connecting arm disclosed by the present application

[0032] Figure 7 Structure diagram of the second clamping jaw disclosed by the present application

[0033] 1- first trunk, 2- clamping piece, 3- elastic assembly, 4- supporting wheel, 5- wheel disc, 6- scraper, 7- walking wheel, 8- wheel frame, 9- second trunk, 10- walking limb, 11- walking foot structure, 12- tail connecting arm, 13- connecting structure, 14- first clamping jaw, 15- second clamping jaw, 16- transmission shaft, 17- first rotary joint, 18- mechanical arm, 19- mechanical leg, 20- second rotary joint, 21- first connecting section, 22- second connecting section, 23- monitoring mechanism, 24- blade back, 25- blade edge, 26- mounting surface, 27- third rotary joint, 28- first connecting arm, 29- second connecting arm, 30- bearing platform, 31- connecting platform, 32- telescopic cylinder, 33- hinged piece, 34- first driving connecting rod, 35- first driving connecting rod. DETAILED DESCRIPTION

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] The purpose of this invention is to provide a pipe cleaning device to solve the problems existing in the prior art, expand the overall cleaning range of the inner wall of the pipe, and ensure the effectiveness of cleaning dirt on the inner wall of the pipe.

[0036] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] like Figures 1 to 7 As shown, this embodiment provides a pipe cleaning device, including a cylindrical robot. The cylindrical robot has a first body 1. A walking mechanism for driving the robot to move along the pipe is provided on the outer peripheral wall of the first body 1. A cleaning component is provided at the front end of the first body 1 along its walking direction. The cleaning component includes a wheel 5 rotatably mounted on the first body 1 and coaxially arranged with the pipe. A plurality of scrapers 6 are arranged around the outer peripheral side of the wheel 5. Preferably, the wheel 5 has a disc-shaped structure so that the wheel 5 can be coaxially arranged with the pipe and so that each scraper 6 can be evenly distributed along the circumference of the wheel 5. The back 24 of the scraper 6 is mounted on the outer peripheral wall of the wheel 5, and the blade 25 of the scraper 6 extends along the rotation direction of the wheel 5 and is inclined towards the inner wall surface of the pipe. The blade 25 is used to slide against the inner wall of the pipe during cleaning. Preferably, the blades 25 of each scraper 6 are located on the same circumference coaxial with the pipe, and the first body 1 is provided with a wheel 5 rotation drive mechanism for driving the wheel 5 to rotate. This utility model sets a walking mechanism on the first body 1 to drive the first body 1 to move along the inside of the pipe. The first body 1 carries the wheel 5 along the pipe. During the movement of the wheel 5, the wheel 5 rotation drive mechanism drives the entire wheel 5 to rotate. Since the blades 25 of each scraper 6 abut against the inner wall of the pipe, the dirt on the inner wall of the pipe is scraped off as a whole, which expands the overall cleaning range of the inner wall of the pipe and ensures the effectiveness of cleaning the dirt on the inner wall of the pipe.

[0038] In one specific embodiment, the outer peripheral wall of the wheel 5 is provided with a plurality of mounting surfaces 26 corresponding to each scraper 6. Each mounting surface 26 surrounds the outer peripheral side of the wheel 5, the mounting surface 26 is parallel to the axial direction of the wheel 5, and the mounting surface 26 as a whole gradually tilts toward the inner wall of the pipe along its rotation direction. The back of the blade 24 is correspondingly mounted on each mounting surface 26, and the blade 25 extends out of the mounting surface 26.

[0039] In a specific embodiment, the wheel discs 5 are spaced apart from the first trunk 1, and a transmission shaft 16 is connected between the wheel disc 5 and the wheel disc 5 rotation driving mechanism, so that the wall wheel discs 5 are driven to be close to the first trunk 1 by the transmission shaft 16, and the rotation of the wheel discs 5 is easily affected.

[0040] In a specific embodiment, the walking mechanism includes a walking wheel assembly and a plurality of support wheel assemblies; the walking wheel assembly and each support wheel assembly are arranged around the outer circumferential side of the first trunk 1; the walking wheel assembly is used for the first trunk 1 to travel along the pipeline; preferably, the walking wheel assembly includes two wheel frames 8 spaced apart along the traveling direction and mounted on the first trunk 1, and each wheel frame 8 is rotatably connected with a walking wheel 7; each support wheel assembly includes two clamping pieces 2 spaced apart along the traveling direction, one end of each clamping piece 2 is rotatably mounted on the first trunk 1, and the rotation axis is parallel to the tangent direction of the pipeline, and the other end of each clamping piece 2 is connected with an elastic assembly 3, which is preferably a spring, and each clamping piece 2 is rotatably connected with a support wheel 4 for abutting against the inner wall of the pipeline, so that the two support wheels 4 can be supported on the inner wall of the pipeline, and the spring can be stretched or contracted to adapt to the change of the pipe diameter, so that the two support wheels 4 can move in response to the change of the pipe diameter, especially when the inner wall of the pipeline is dirty, the two support wheels 4 can move correspondingly.

[0041] In a specific embodiment, the first trunk 1 is a coaxial polygonal structure with the pipeline, and is preferably a regular hexagonal structure; the walking wheel assembly and each support wheel assembly are mounted on each side of the first trunk 1, so as to more effectively adapt to the internal structure of the pipeline and ensure the stability during the traveling.

[0042] In a specific embodiment, the cylindrical robot is provided with a spider robot for driving the cylindrical robot to move, wherein the spider robot is in the shape of a spider as a whole, the spider robot is provided with a second trunk 9, the tail of the second trunk 9 is detachably connected with the cylindrical robot, and the outer side of the second trunk 9 is uniformly provided with at least two groups of walking limbs 10 assemblies, each walking limb 10 assembly comprises two walking limbs 10 capable of moving in multiple degrees of freedom, the two walking limbs 10 are distributed in the moving direction at intervals, and are respectively provided with a walking driving mechanism for driving the walking limbs 10 to move, one end of the walking limb 10 is movably connected with the second trunk 9, the other end is movably connected with a walking foot structure 11, a plurality of first clamping claws 14 are movably connected with the walking foot structure 11 in the circumferential direction, and each first clamping claw 14 is used for clamping on the inner wall surface of the pipeline, wherein each first clamping claw 14 is rotatably installed on the walking foot structure 11, and the rotation axis is perpendicular to the rotation axis of the walking foot structure 11, so that each first clamping claw 14 can be opened or closed under the condition of different inner wall surfaces of the pipeline, thereby adapting to the moving conditions; and preferably, the first clamping claw 14 at least comprises a first connecting section 21 and a second connecting section 22, the first connecting section 21 is rotatably connected with the walking foot structure 11, and the second connecting section 22 is rotatably connected with the end of the first connecting section 21 away from the walking foot structure 11, so that a rotatable connection structure is formed between the first connecting section 21 and the second connecting section 22, thereby ensuring that the first clamping claw 14 can be deformed in response to the inner wall surface of the pipeline under the driving of the walking limb 10, specifically, the opening and closing angle between the first connecting section 21 and the second connecting section 22 is changed, so as to ensure that the first clamping claw 14 can fully clamp the inner wall surface of the pipeline. When encountering an upward pipeline in which the cylindrical robot cannot directly move, the tail of the spider robot can be combined with the cylindrical robot, and the power is provided by the spider robot and the cylindrical robot together, so that the cylindrical robot can realize omnidirectional movement in the pipeline.

[0043] In the embodiment, the walking limb 10 comprises a first rotation joint 17, a mechanical arm 18, a mechanical leg 19 and a second rotation joint 20, one end of the rotation joint is rotatably installed on the second trunk 9, and the rotation axis extends along the radial section of the pipeline, the other end is rotatably connected with the end of the mechanical arm 18, the end of the mechanical arm 18 away from the rotation joint is rotatably connected with the end of the mechanical leg 19, the end of the mechanical leg 19 away from the mechanical arm 18 is rotatably connected with the second rotation joint 20, and the end of the second rotation joint 20 away from the mechanical leg 19 is coaxially rotatably connected with the walking foot structure 11, for self-rotation of the walking foot structure 11 at the end of the second rotation joint 20, so as to realize the multiple degrees of freedom movement of the walking limb 10 and drive the movement of the walking foot structure 11. Specifically, the walking driving mechanism comprises driving units for respectively driving each rotation connection to realize multiple degrees of freedom movement.

[0044] In the embodiment, the first clamping jaw 14 is provided with an adsorption assembly for connecting the inner wall of the pipeline at a position close to the inner wall of the pipeline. The adsorption assembly is preferably a suction cup assembly. After the walking limb 10 drives the walking foot structure 11 to move to a position, the first clamping jaw 14 is pressed so that the first clamping jaw 14 can be adsorbed on the inner wall of the pipeline by the suction cup assembly, so as to ensure that the second trunk 9 or the second trunk 9 and the first trunk 1 connected together have sufficient driving force. As another preferred, the adsorption assembly can also be an electromagnet assembly. When the inner wall of the pipeline made of stainless steel or iron is traveled, the first clamping jaw 14 can be adsorbed on the inner wall of the pipeline by the electromagnet assembly, thereby providing sufficient driving force.

[0045] In a specific embodiment, the head of the second trunk 9 is provided with a monitoring mechanism 23 for detecting and identifying the cleaning condition of the pipeline. The monitoring mechanism 23 is preferably a pipeline internal detection camera, etc. The monitoring mechanism 23 detects and identifies the cleaning condition of the pipeline.

[0046] In a specific embodiment, the tail of the second trunk 9 is provided with a tail connecting arm 12 capable of moving in multiple degrees of freedom. The tail connecting arm 12 is matched with a tail driving mechanism for driving the multiple degrees of freedom movement of the tail connecting arm 12. One end of the tail connecting arm 12 is movably connected at the tail position of the second trunk, and the other end is rotatably connected with a connecting structure 13. The connecting structure 13 is movably connected with a plurality of second clamping jaws 15 capable of opening and closing in the circumferential direction. The second clamping jaw 15 is matched with a clamping jaw driving mechanism for driving the opening and closing of the second clamping jaw 15. A plurality of clamping holes corresponding to each second clamping jaw 15 are formed on the wheel disc 5. Each second clamping jaw 15 is used to correspondingly extend into each clamping hole, and each second clamping jaw 15 is synchronously closed for clamping each clamping hole, for the connection of the barrel type robot and the spider type robot. Each second clamping jaw 15 is driven to open by the clamping jaw driving mechanism, and can correspond to each clamping hole. Under the driving of the tail connecting arm 12, each second clamping jaw 15 can correspondingly pass through each clamping hole, and then each second clamping jaw 15 is driven to close by the clamping jaw driving mechanism, so that the second clamping jaw 15 can clamp each clamping hole, thereby realizing the connection of the barrel type robot and the spider type robot.

[0047] In the embodiment, the tail connecting arm 12 comprises a third rotary joint 27, a first connecting arm 28 and a second connecting arm 29, one end of the third rotary joint 27 is rotatably connected at a tail position of the second trunk 9, the rotary axis extends along the axial section of the pipeline, the other end is rotatably connected with the end of the first connecting arm 28, the end of the first connecting arm 28 away from the third rotary joint 27 is rotatably connected with the end of the second connecting arm 29, and the end of the second connecting arm 29 away from the first connecting arm 28 is rotatably connected with the connecting structure 13, so as to realize the multi-degree-of-freedom movement of the whole tail connecting arm 12 and complete the multi-degree-of-freedom driving of the connecting structure 13 and each second jaw 15. Specifically, the tail driving mechanism comprises driving units for driving each rotary connection to realize the multi-degree-of-freedom movement.

[0048] In the embodiment, the connecting structure 13 comprises a bearing platform 30 rotatably connected with the second connecting arm 29 and a connecting platform 31 arranged on the side of the bearing platform 30 away from the second connecting arm 29, a telescopic cylinder 32 is arranged on the bearing platform 30, a hinge piece 33 is mounted on the telescopic rod of the telescopic cylinder 32, a first driving link 34 and a second driving link 35 are respectively hinged at the tail and the middle position of the second jaw 15, the first driving link 34 has an arc structure, the middle position is hinged on the connecting platform 31, and the end away from the second jaw 15 is hinged at the outer peripheral edge of the hinge piece 33, the second driving link 35 is arranged on the side of the first driving link 34 away from the second trunk 9, one end of the second driving link 35 is hinged at the middle position of the second jaw 15, and the other end is hinged on the connecting platform 31, and the whole second jaw 15 is distributed at an angle with the axis of the telescopic rod, so as to be able to hook and clamp the clamping hole.

[0049] In a specific embodiment, a flexible water spraying pipe is arranged on the tail connecting arm 12 and moves synchronously with the tail connecting arm 12, a water storage structure and a pumping assembly are arranged on the second trunk 9 and are communicated with the flexible water spraying pipe, the flexible water spraying pipe can deform in response to the multi-degree-of-freedom movement of the tail connecting arm 12, and the water storage structure and the flexible water spraying pipe are communicated through the pumping assembly, so that high-pressure water flow can be sprayed out of the flexible water spraying pipe. Specifically, a water outlet of the flexible water spraying pipe is arranged at the end position of the tail connecting arm 12 away from the second trunk 9, so that the end of the tail connecting arm 12 can correspond to the position to be cleaned when the tail connecting arm 12 is driven, and then the water outlet sprays water flow for flushing. The barrel-shaped robot and the spider-shaped robot move synchronously in the pipeline, the internal situation of the pipeline is detected by the monitoring mechanism 23, the spider-shaped robot can clean the branch pipeline with a small cross section, and the barrel-shaped robot can clean the main pipeline with a large cross section, so that the main pipeline and the branch pipeline connected to the main pipeline can be cleaned in all directions without replacing the pipeline opening.

[0050] The adaptive changes according to actual needs are within the protection scope of the utility model.

[0051] It should be noted that, for those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be considered as limiting the claims involved.

[0052] The principles and implementation modes of the present application are described by applying specific examples in the present application. The above embodiment description is only used to help understand the method and core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in specific implementation modes and application ranges. In conclusion, the content of the present application should not be understood as a limitation of the present application.

Claims

1. A pipe cleaning device, characterized in that, Includes a cylindrical robot, the cylindrical robot having a first torso; The outer peripheral wall of the first torso is provided with a walking mechanism that drives it to move along the pipe. The first torso has a cleaning assembly at its front end along its direction of travel. The cleaning assembly includes a wheel rotatably mounted on the first torso and coaxially arranged with the pipe. A plurality of scrapers are arranged around the outer periphery of the wheel. The back of the scrapers is mounted on the outer peripheral wall of the wheel, and the blade of the scrapers extends along the rotation direction of the wheel and is inclined toward the inner wall of the pipe. The blade of the scrapers is used to slide against the inner wall of the pipe during cleaning. The first torso also has a wheel rotation drive mechanism for driving the wheel to rotate.

2. The pipe cleaning device according to claim 1, characterized in that, The outer peripheral wall of the wheel is provided with a plurality of mounting surfaces corresponding to each of the scrapers. Each mounting surface surrounds the outer peripheral side of the wheel, and the mounting surface is parallel to the axial direction of the wheel. The mounting surface gradually tilts toward the inner wall of the pipe along its rotation direction. The back of the blade is mounted on each of the mounting surfaces, and the blade extends out of the mounting surface.

3. The pipe cleaning device according to claim 2, characterized in that, The wheel is spaced apart from the first torso, and a transmission shaft is connected between the axis of the wheel and the wheel rotation drive mechanism.

4. The pipe cleaning device according to claim 1, characterized in that, The walking mechanism includes a walking wheel assembly and multiple sets of support wheel assemblies; the walking wheel assembly and each of the support wheel assemblies surround the outer periphery of the first torso. The walking wheel assembly is used to allow the first torso to move along the pipe; Each set of support wheel assemblies includes two clamps spaced apart along the direction of travel. One end of each clamp is rotatably mounted on the first body, and its rotation axis is parallel to the tangential direction of the pipe. An elastic component is connected between the other ends of the two clamps, and each is equipped with a support wheel for rotating against the inner wall surface of the pipe.

5. The pipe cleaning device according to claim 4, characterized in that, The first torso is a multi-faceted prism structure coaxial with the pipe, and the walking wheel assembly and each of the support wheel assemblies are respectively installed on each side of the first torso.

6. The pipe cleaning device according to claim 2 or 4, characterized in that, The cylindrical robot is equipped with a spider-type robot that drives it to move, and the spider-type robot is provided with a second torso; The tail of the second torso is detachably connected to the cylindrical robot; At least two sets of walking limb components are evenly provided on the outer side of the second torso. Each walking limb component includes two walking limbs that can move with multiple degrees of freedom. The two walking limbs are distributed at intervals along the direction of travel and are respectively equipped with a walking drive mechanism to drive them. One end of each walking limb is movably connected to the second torso, and the other end is movably connected to a walking foot structure. Multiple first grippers are movably connected to the walking foot structure along the circumferential direction. Each first gripper is used to grip the inner wall surface of the pipe.

7. The pipe cleaning device according to claim 6, characterized in that, The head of the second torso is equipped with a monitoring mechanism for detecting and identifying the cleanliness of the inside of the pipe.

8. The pipe cleaning device according to claim 7, characterized in that, The tail of the second torso is provided with a tail connecting arm that can move in multiple degrees of freedom. The tail connecting arm is equipped with a tail drive mechanism that drives its multi-degree-of-freedom movement. One end of the tail connecting arm is movably connected to the tail position of the second torso, and the other end is rotatably connected to a connecting structure. The connecting structure is movably connected in the circumferential direction to a plurality of second grippers that can open and close, and the second grippers are equipped with gripper drive mechanisms that drive their opening and closing. The wheel is provided with a plurality of clamping holes that correspond one-to-one with each of the second jaws; Each of the second grippers is used to extend into each of the gripping holes, and each of the second grippers retracts synchronously to clamp each of the gripping holes, for the connection of the cylindrical robot and the spider robot.

9. The pipe cleaning device according to claim 7, characterized in that, The tail connecting arm is equipped with a flexible water spray pipe that moves synchronously with it in multiple degrees of freedom, and the second body is equipped with a water storage structure and a pumping assembly that are connected to the flexible water spray pipe.

10. The pipe cleaning device according to claim 6, characterized in that, An adsorption component for connecting to the inner wall of the pipe is provided at a position of the first gripper near the inner wall of the pipe.

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