A pipe cleaning robot

Abstract

The utility model belongs to pipeline cleaning technical field, concretely relates to a pipeline cleaning robot, including visual remote control terminal and robot body, visual remote control terminal and robot body electric signal connection, the robot body includes fuselage, the bottom of fuselage is provided with drive unit, and the front and back ends of fuselage unit are provided with liftable cleaning unit respectively, be provided with battery, control unit and camera unit on the fuselage, and control unit is connected with battery, drive unit, liftable cleaning unit and visual remote control terminal electricity, camera unit is arranged at the front and back ends of fuselage respectively, and is connected with visual remote control terminal electricity, and battery is connected with drive unit and liftable cleaning unit electricity. Through the liftable cleaning unit of front and back ends setting, the robot can automatically adjust the height and angle of cleaning component according to the diameter change of pipeline, and the camera unit of front and back ends setting respectively with visual remote control terminal constitutes two -way monitoring system, and operating personnel can observe the internal condition of pipeline and cleaning effect in real time.

Description

Technical Field

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

[0002] Pipeline cleaning technology is mainly applied to the internal maintenance of closed or semi-closed pipeline facilities such as urban drainage systems, industrial pipelines, HVAC pipelines, and petrochemical transmission pipelines. With the acceleration of urbanization and the increasing complexity of industrial pipeline networks, impurities such as silt, oil, and chemical residues easily accumulate inside pipelines. Regular cleaning has become a crucial step in ensuring unobstructed pipeline flow and preventing corrosion and pollution spread. Traditional cleaning methods mainly rely on high-pressure water jet flushing, chemical solvent dissolution, or manual cleaning. However, these methods are difficult to implement in narrow, winding, or vertical pipelines and suffer from low efficiency, poor safety, and high environmental pollution risks.

[0003] The core challenge in current pipeline cleaning operations lies in the unique spatial structure of pipelines. Pipelines are often circular or elliptical in cross-section, creating a continuous curved environment. Furthermore, the internal space is often narrow, poorly lit, and may contain water or harmful gases. Traditional surface cleaning equipment, such as robotic vacuum cleaners and floor scrubbers, cannot effectively conform to the pipe's curvature, resulting in significant gaps between the cleaning components and the pipe walls, leading to poor cleaning performance and low efficiency. In addition, the complex internal environment of pipelines necessitates real-time monitoring of the pipe wall condition and cleaning effectiveness during the cleaning process, but existing equipment lacks effective visualization and adaptive cleaning mechanisms.

[0004] To address these challenges, crawling robots specifically designed for pipeline inspection have emerged in existing technologies. These robots typically employ wheeled or tracked mobile platforms, equipped with industrial endoscopes or cameras, enabling image acquisition and defect detection inside pipelines. Some inspection robots are also equipped with laser scanners or ultrasonic sensors for pipe wall thickness measurement. However, the primary functions of these robots remain limited to inspection and observation; while they can identify areas of dirt accumulation, they lack integrated effective cleaning actuators. The few pipeline robots that attempt to integrate cleaning functions mostly use fixed-mount brushes or scrapers, which cannot adaptively adjust their contact angle according to changes in pipe diameter or curvature, resulting in blind spots during cleaning, particularly difficult to remove firmly attached oil or scale.

[0005] While existing pipeline inspection robots have made some progress in visualization and mobility, the lack of or inadequacy in their cleaning functions remains a significant weakness. Fixed cleaning devices struggle to adapt to different pipe diameters and curved surfaces, resulting in limited cleaning effectiveness; while simple lifting mechanisms lack sufficient fitting accuracy and adjustment range. Furthermore, many unresolved issues remain regarding robot movement and steering control within pipelines, power endurance, and the collection and disposal of cleaning waste. Therefore, the industry urgently needs to develop an intelligent pipeline cleaning robot that integrates an adaptive lifting cleaning device, possesses curved surface fitting capabilities, and supports real-time observation and remote control to fill the current technological gaps in pipeline cleaning applications. Utility Model Content

[0006] The purpose of this invention is to provide a pipeline cleaning robot to solve the technical problem that existing technologies cannot simultaneously perform pipeline inspection and cleaning.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A pipeline cleaning robot, characterized in that it includes a visual remote control terminal and a robot body, wherein the visual remote control terminal and the robot body are electrically connected; The robot body includes a body, a drive unit is provided at the bottom of the body, and a liftable cleaning unit is provided at the front and rear ends of the body unit respectively; a battery, a control unit and a camera unit are provided on the body, and the control unit is electrically connected to the battery, the drive unit, the liftable cleaning unit and the visual remote control terminal; the camera units are respectively provided at the front and rear ends of the body and are electrically connected to the visual remote control terminal, and the battery is electrically connected to the drive unit and the liftable cleaning unit.

[0008] Preferably, the liftable cleaning unit includes a front lifting scraper section and a rear lifting roller section, which are respectively installed at the front and rear ends of the machine body and are electrically connected to the battery and control unit.

[0009] Preferably, the front lifting scraper section includes a C-shaped scraper, a connecting rod, a first lifting spring, a scraper connecting piece, and a first servo motor; the first servo motor is fixed to the fuselage, the first servo motor is connected to the scraper connecting piece, the scraper connecting piece is connected to the first lifting spring, the first lifting spring is connected to the C-shaped scraper, one end of the connecting rod is connected to the fuselage, and the other end is connected to the C-shaped scraper.

[0010] Preferably, the C-shaped scraper is arc-shaped with a "C"-shaped cross-section; the opening of the "C"-shaped scraper contacts the pipe wall.

[0011] Preferably, the rear lifting roller section includes: a roller, a second lifting spring, a chain shaft fixing plate, a second servo motor, and a roller connecting plate; the second servo motor is fixed to the body, the second servo motor is connected to the second lifting spring, the second lifting spring is connected to one end of the chain shaft fixing plate, the other end of the chain shaft fixing plate is connected to the body, and the roller is hinged to the chain shaft fixing plate.

[0012] Preferably, the body includes an upper fixed plate, a lower fixed plate, a vehicle body fixing hinge, and a shell; the upper fixed plate and the lower fixed plate are fixedly connected by the vehicle body fixing hinge, the vehicle body fixing hinge is fixed on the upper fixed plate and connected to the drive unit; the drive unit is disposed on the lower fixed plate; the shell is fixed on the upper fixed plate, the battery and the liftable cleaning unit are disposed on the lower fixed plate, the control unit is disposed on the upper fixed plate; and the camera unit is fixed on the shell.

[0013] Preferably, the upper fixing plate and the lower fixing plate are made of aluminum alloy, and the outer shell is made of nylon plastic.

[0014] Preferably, the camera unit includes a front zoom camera and a rear fixed-focus camera; the front zoom camera is rotatably connected to the front of the camera body, and the rear fixed-focus camera is located at the rear of the camera body.

[0015] Preferably, the drive unit includes a reel, a rubber wheel, and several motors; the rubber wheel and the reel are respectively located at the front and rear ends of the machine body, and the several motors are respectively installed at the reel and the rubber wheel.

[0016] Preferably, the control unit includes a control board and a remote control receiving unit; the remote control receiving unit is disposed inside the machine body and is electrically connected to the control board, battery, drive unit, lifting and cleaning unit and visual remote control terminal respectively.

[0017] Compared with the prior art, the present invention has the following beneficial effects: This application utilizes liftable cleaning units at both the front and rear ends. The robot can automatically adjust the height and angle of its cleaning components according to changes in pipe diameter, ensuring the cleaning blades or rollers closely conform to the curved inner wall of the pipe. This effectively solves the cleaning blind spots inherent in traditional planar cleaning equipment within pipe environments, significantly improving the efficiency of removing mud, oil, and other debris. Camera units at both ends, along with a visual remote control terminal, form a two-way monitoring system. Operators can observe the internal condition of the pipe and the cleaning effect in real time. The control unit, as the core of the system, coordinates the operation of the drive unit, lifting cleaning unit, and camera unit, and achieves data interaction with the terminal through a remote control receiver. This integrated design not only simplifies the operation process but also gives the robot the advantages of rapid response and functional synergy, achieving integrated "detection-decision-cleaning" operations. Remote control via the remote terminal eliminates the need for personnel to enter hazardous pipe environments. The lifting function of the cleaning units allows the robot to retract its cleaning components when not in operation, facilitating entry into the pipe and preventing damage during transit, thus extending the equipment's lifespan.

[0018] Furthermore, the drive unit at the bottom of the robot adopts a four-wheel drive structure, combining specially designed auxiliary steering wheels with PU rubber wheels, which not only ensures traction in wet and slippery pipes, but also reduces the scratching of the pipe wall when turning, enabling the robot to adapt to the travel needs of horizontal, vertical and even curved pipes.

[0019] Furthermore, the zoom camera at the front end can achieve detailed observation of local areas, providing an intuitive basis for adjusting cleaning strategies and greatly improving the accuracy of operations. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the device structure according to an embodiment of the present utility model; Figure 2 This is a schematic diagram of the front lifting scraper section structure according to an embodiment of the present utility model; Figure 3 This is a schematic diagram of the rear lifting roller section structure according to an embodiment of the present utility model; Figure 4 This is a schematic diagram of the outer shell structure of an embodiment of the present utility model; Figure 5 This is a schematic diagram of the roller structure according to an embodiment of the present utility model; Figure 6This is a schematic diagram of the C-type scraper structure according to an embodiment of the present utility model; Figure 7 This is a schematic diagram of the roller connecting piece structure according to an embodiment of the present utility model; Figure 8 This is a schematic diagram of the vehicle body fixing hinge structure according to an embodiment of the present utility model; Figure 9 This is a schematic diagram of the lifting spring structure according to an embodiment of the present utility model; Figure 10 This is a schematic diagram of the scraper connecting piece structure according to an embodiment of the present utility model; Figure 11 This is a schematic diagram of the servo motor mounting component structure according to an embodiment of the present utility model; Figure 12 This is a schematic diagram of the upper fixing plate structure according to an embodiment of the present utility model; Figure 13 This is a schematic diagram of the lower fixing plate structure according to an embodiment of the present utility model; Figure 14 This is a schematic diagram of the drive unit structure according to an embodiment of the present utility model.

[0022] Among them: 1-C-type scraper; 2-connecting rod; 3-first lifting spring; 4-scraper connecting piece; 5-first servo motor; 6-roller; 7-second lifting spring; 8-chain shaft fixing piece; 9-second servo motor; 10-roller connecting piece; 11-upper fixing plate; 12-lower fixing plate; 13-vehicle body fixing hinge; 14-outer shell; 15-return wheel; 16-rubber wheel; 17-motor; 18-front zoom camera; 19-rear fixed camera; 20-battery; 21-servo motor fixing piece. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0025] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0026] In the description of the embodiments of this utility model, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use, they are only for the convenience of describing the utility model and simplifying the description, and do not 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 on the utility model. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0028] In the description of the embodiments of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of 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.

[0029] The present invention will now be described in further detail with reference to the accompanying drawings: See Figures 1-14 This application discloses a pipeline cleaning robot, including a visual remote control terminal and a robot body, wherein the visual remote control terminal and the robot body are electrically connected. The robot body includes a main body with a drive unit at the bottom. Liftable cleaning units are located at the front and rear ends of the main body. The main body houses a battery, a control unit, and a camera unit. The control unit is electrically connected to the battery, drive unit, lifting cleaning units, and a visual remote control terminal. The camera units are located at the front and rear ends of the main body and are electrically connected to the visual remote control terminal. The battery is electrically connected to the drive unit and the lifting cleaning units. The lifting function of the cleaning units allows the robot to retract its cleaning components when not in operation, facilitating entry into pipelines and preventing damage during transit, thus extending the equipment's lifespan. The control unit, as the core of the system, coordinates the operation of the drive unit, lifting cleaning units, and camera units, and interacts with the terminal via a remote control receiver. This integrated design not only simplifies the operation process but also gives the robot the advantages of rapid response and functional synergy, achieving integrated "detection-decision-cleaning" operations. Remote control via the remote control terminal eliminates the need for personnel to enter hazardous pipeline environments.

[0030] In some embodiments, the liftable cleaning unit includes a front lifting scraper and a rear lifting roller, which are respectively installed at the front and rear ends of the machine body and are electrically connected to the battery and control unit. Through the liftable cleaning units at the front and rear ends, the robot can automatically adjust the height and angle of the cleaning components according to changes in the pipe diameter, ensuring that the cleaning scraper or roller closely conforms to the curved surface of the pipe's inner wall. This effectively solves the problem of cleaning dead angles in pipe environments that exist with traditional planar cleaning equipment, significantly improving the efficiency of removing mud, oil, and other debris.

[0031] In some embodiments, see Figure 2 The front lifting scraper section includes a C-shaped scraper 1, a connecting rod 2, a first lifting spring 3, a scraper connecting piece 4, and a first servo motor 5; the first servo motor 5 is fixed to the fuselage, the first servo motor 5 is connected to the scraper connecting piece 4, the scraper connecting piece 4 is connected to the first lifting spring 3, the first lifting spring 3 is connected to the C-shaped scraper 1, one end of the connecting rod 2 is connected to the fuselage, and the other end is connected to the C-shaped scraper 1.

[0032] See Figure 6 The C-shaped scraper 1 is arc-shaped with a "C"-shaped cross-section; the opening of the "C"-shaped scraper is in contact with the pipe wall.

[0033] In some embodiments, see Figure 3 The rear lifting roller section includes: roller 6, second lifting spring 7, chain shaft fixing plate 8, second servo motor 9 and roller connecting plate 10; the second servo motor 9 is fixed on the body, the second servo motor 9 is connected to the second lifting spring 7, the second lifting spring 7 is connected to one end of the chain shaft fixing plate 8, the other end of the chain shaft fixing plate 8 is connected to the body, and the roller 6 is hinged on the chain shaft fixing plate 8.

[0034] In some embodiments, the body includes an upper fixing plate 11, a lower fixing plate 12, a vehicle body fixing hinge 13, and a housing 14; the upper fixing plate 11 and the lower fixing plate 12 are fixedly connected by the vehicle body fixing hinge 13, which is fixed on the upper fixing plate 11 and connected to the drive unit; the drive unit is disposed on the lower fixing plate 12; the housing 14 is fixed on the upper fixing plate 11, the battery and the liftable cleaning unit are disposed on the lower fixing plate 12, the control unit is disposed on the upper fixing plate 11, and the camera unit is fixed on the housing 14.

[0035] In some embodiments, the upper fixing plate 11 and the lower fixing plate 12 are made of aluminum alloy, and the outer shell 14 is made of nylon plastic.

[0036] In some embodiments, the camera unit includes a front zoom camera 18 and a rear fixed-focus camera 19; the front zoom camera 18 is rotatably connected to the front end of the device, and the rear fixed-focus camera 19 is located at the rear end of the device. The front zoom camera enables more detailed observation of local areas, providing a direct basis for adjusting cleaning strategies and significantly improving operational accuracy.

[0037] In some embodiments, see Figure 14 The drive unit includes a chaff wheel 15, a rubber wheel 16, and several motors 17. The rubber wheel 16 and the chaff wheel 15 are respectively located at the front and rear ends of the robot body, and the several motors 17 are respectively installed at the chaff wheel 15 and the rubber wheel 16. The vehicle body fixing hinge 13 is fixed to the upper fixing plate 11. The rubber wheel 16 and the chaff wheel 15 are connected to the vehicle body fixing hinge 13 through a drive shaft. The motors 17 are fixed to the lower fixing plate 12. The drive unit at the bottom of the robot body adopts a four-wheel drive structure. Combined with a specially designed chaff wheel auxiliary steering wheel and a PU rubber wheel combination, it not only ensures traction in wet and slippery pipes, but also reduces the scratching of the pipe wall during turning, enabling the robot to adapt to the travel needs of horizontal, vertical, and even curved pipes.

[0038] In some embodiments, the control unit includes a control board and a remote control receiving unit; the remote control receiving unit is disposed inside the machine body and is electrically connected to the control board, battery, drive unit, lifting and cleaning unit and visual remote control terminal respectively.

[0039] In some embodiments, the robot consists of a visual remote control terminal and a robot body.

[0040] The robot consists of a body, a front lifting scraper section, a rear lifting roller section, a battery, a control board, a remote control receiver unit, four motors, a front zoom camera, a rear fixed-focus camera, two rudder wheels, and two PU rubber wheels. The body is constructed from an aluminum alloy and nylon plastic shell, featuring high strength and lightweight design. Both the front lifting scraper section and the rear lifting roller section utilize servo-driven multi-link mechanisms, enabling the lifting and lowering of the cleaning components. A high-capacity lithium battery provides long battery life. The control board receives control signals from the remote control receiver unit, controlling the motors, lifting mechanism, camera zoom, and image capture. The remote control receiver unit and remote control terminal interact wirelessly, allowing the operator to control the robot solely through remote control operation. The four motors provide four-way drive, resulting in powerful, fast, and less prone-to-jamming robots. The wheels utilize two ordinary rubber wheels and two rudder wheels with small rudders, improving steering capability and preventing excessive friction during steering, which could damage the pipe walls in a four-wheel drive robot structure.

[0041] Operating instructions.

[0042] Turn on the robot's power and start the system; the remote control will automatically pair with it. Place the robot at the pipe inlet and confirm that all cleaning devices are in the raised position; Drive the machine into the far end of the pipe and observe the situation inside the pipe through a camera; The lifting cleaning device is lowered, and the robot moves backward to scrape the objects out of the pipe. After a quick cleaning of the cleaning squeegee, proceed to cleaning the next pipe; The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A pipeline cleaning robot, characterized in that, Includes a visual remote control terminal and the robot body, with the visual remote control terminal and the robot body connected by electrical signals; The robot body includes a body, a drive unit is provided at the bottom of the body, and a liftable cleaning unit is provided at the front and rear ends of the body unit respectively; a battery, a control unit and a camera unit are provided on the body, and the control unit is electrically connected to the battery, the drive unit, the liftable cleaning unit and the visual remote control terminal; the camera units are respectively provided at the front and rear ends of the body and are electrically connected to the visual remote control terminal, and the battery is electrically connected to the drive unit and the liftable cleaning unit.

2. The pipeline cleaning robot according to claim 1, characterized in that, The liftable cleaning unit includes a front lifting scraper section and a rear lifting roller section, which are respectively installed at the front and rear ends of the machine body and are electrically connected to the battery and control unit.

3. A pipeline cleaning robot according to claim 2, characterized in that, The front lifting scraper section includes a C-shaped scraper (1), a connecting rod (2), a first lifting spring (3), a scraper connecting piece (4), and a first servo motor (5); the first servo motor (5) is fixed on the fuselage, the first servo motor (5) is connected to the scraper connecting piece (4), the scraper connecting piece (4) is connected to the first lifting spring (3), the first lifting spring (3) is connected to the C-shaped scraper (1), one end of the connecting rod (2) is connected to the fuselage, and the other end is connected to the C-shaped scraper (1).

4. A pipeline cleaning robot according to claim 3, characterized in that, The C-shaped scraper (1) is arc-shaped with a "C"-shaped cross section; the opening of the "C"-shaped scraper contacts the pipe wall.

5. A pipeline cleaning robot according to claim 2, characterized in that, The rear lifting roller section includes: roller (6), second lifting spring (7), chain shaft fixing plate (8), second servo motor (9) and roller connecting plate (10); the second servo motor (9) is fixed on the body, the second servo motor (9) is connected to the second lifting spring (7), the second lifting spring (7) is connected to one end of the chain shaft fixing plate (8), the other end of the chain shaft fixing plate (8) is connected to the body, and the roller (6) is hinged on the chain shaft fixing plate (8).

6. A pipeline cleaning robot according to claim 1, characterized in that, The body includes an upper fixed plate (11), a lower fixed plate (12), a vehicle body fixed hinge (13), and a shell (14); the upper fixed plate (11) and the lower fixed plate (12) are fixedly connected by the vehicle body fixed hinge (13), the vehicle body fixed hinge (13) is fixed on the upper fixed plate (11) and connected to the drive unit; the drive unit is set on the lower fixed plate (12); the shell (14) is fixed on the upper fixed plate (11), the battery and the liftable cleaning unit are set on the lower fixed plate (12), the control unit is set on the upper fixed plate (11); the camera unit is fixed on the shell (14).

7. A pipeline cleaning robot according to claim 6, characterized in that, The upper fixing plate (11) and the lower fixing plate (12) are made of aluminum alloy, and the outer shell (14) is made of nylon plastic.

8. A pipeline cleaning robot according to claim 1, characterized in that, The camera unit includes a front zoom camera (18) and a rear fixed-focus camera (19); the front zoom camera (18) is rotatably connected to the front of the body, and the rear fixed-focus camera (19) is located at the rear of the body.

9. A pipeline cleaning robot according to claim 1, characterized in that, The drive unit includes a rotary wheel (15), a rubber wheel (16), and several motors (17); the rubber wheel (16) and the rotary wheel (15) are respectively located at the front and rear ends of the machine body, and the several motors (17) are respectively installed at the rotary wheel (15) and the rubber wheel (16).

10. A pipeline cleaning robot according to claim 1, characterized in that, The control unit includes a control board and a remote control receiving unit; the remote control receiving unit is located inside the machine body and is electrically connected to the control board, battery, drive unit, lifting and cleaning unit and visual remote control terminal respectively.

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