The present invention discloses a multi-mode compound motion
robot for cleaning lumps in ash pipes under ash bins, comprising a head spiral mechanism, an intermediate peristaltic mechanism, a
tail spiral mechanism, and a cleaning mechanism. The head spiral mechanism and the
tail spiral mechanism each comprise a housing, a large
bevel gear, a small
bevel gear, a variable
diameter motor, a support wheel trapezoidal screw, a
drive wheel trapezoidal screw, a bracket, a belt, a light bar, a support wheel, a
drive wheel, a support wheel connector, and a
drive wheel connector. The intermediate peristaltic mechanism comprises an intermediate housing, a reduction motor, a gear, an upper rack, a lower rack, and a guide rail mechanism. The cleaning mechanism is located at the front end of the head spiral mechanism and comprises a sensor module for identifying lumps in the lower ash
pipe and a cleaning device with air jet and rotary cleaning. The present invention is applicable to cleaning pipes made of various materials, can realize support wheel support and drive wheel support
modes, and can realize spiral travel, peristaltic travel, and spiral peristaltic travel
modes, which can effectively improve cleaning efficiency and quality.