阅读说明：本技术 一种可变向追踪的城市管路清污智能机器人 (Urban pipeline intelligent robot that decontaminates that can turn to pursuit ) 是由 高春兰 于 2021-09-09 设计创作，主要内容包括：本发明提供一种可变向追踪的城市管路清污智能机器人,包括中柱主体；所述驱动件的右端固定连接在所述中柱主体的左端,且驱动件左端连接并驱动刮扫机构；所述定位支撑座设有四组,四组定位支撑座环绕中柱主体中心均匀分布在中柱主体外表面上；所述自扩轮架固定连接在定位支撑座的外端；所述吸尘器规定连接在中柱主体的右端,吸尘器罩体固定连接在下方的自扩轮架右端；所述清洁刷体固定连接在刮扫机构的自由伸缩架外端；所述同步滑块滑动连接在导向架上,所述同步滑块为截面呈T形结构的块体；由此可见,在不外设机器人的移动驱动机构的情况下仍然可带动机器人朝向管道左方进行移动,减轻了机器人的制造成本和重量负担。(The invention provides a direction-variable tracking intelligent robot for cleaning urban pipelines, which comprises a center pillar main body; the right end of the driving piece is fixedly connected to the left end of the center pillar main body, and the left end of the driving piece is connected with and drives the scraping and sweeping mechanism; the four positioning support seats are uniformly distributed on the outer surface of the center pillar main body around the center of the center pillar main body; the self-expanding wheel carrier is fixedly connected to the outer end of the positioning support seat; the dust collector is connected to the right end of the center pillar main body in a specified mode, and the dust collector cover body is fixedly connected to the right end of the self-expanding wheel carrier below the dust collector cover body; the cleaning brush body is fixedly connected with the outer end of the free expansion bracket of the scraping and sweeping mechanism; the synchronous sliding block is connected to the guide frame in a sliding mode and is a block body with a T-shaped section; therefore, the robot can be still driven to move towards the left side of the pipeline under the condition that a movement driving mechanism of the robot is not arranged externally, and the manufacturing cost and the weight burden of the robot are reduced.)

1. The utility model provides a city pipeline intelligent robot that decontaminates that can turn to pursuit which characterized in that: comprises a center pillar body (1); the right end of the driving piece (2) is fixedly connected to the left end of the center pillar main body (1), and the left end of the driving piece (2) is connected with and drives the scraping mechanism (3); the four positioning support seats (4) are arranged, and the four positioning support seats (4) surround the center of the center pillar main body (1) and are uniformly distributed on the outer surface of the center pillar main body (1); the self-expanding wheel frame (5), the self-expanding wheel frame (5) is fixedly connected to the outer end of the positioning support seat (4); the dust collector (6) is connected to the right end of the center pillar main body (1) in a specified mode, the opening of a cover body of the dust collector (6) faces downwards, and the cover body of the dust collector (6) is fixedly connected to the right end of the self-expanding wheel frame (5) below; the cleaning brush body (7), the cleaning brush body (7) is fixedly connected with the outer end of a free telescopic frame (301) of the scraping and sweeping mechanism (3); and the synchronous sliding block (8) is connected to the guide frame (401) in a sliding manner.

2. The intelligent urban pipeline sewage disposal robot capable of being tracked directionally according to claim 1, wherein: the scraping and sweeping mechanism (3) comprises: the three groups of free telescopic frames (301) are arranged, the three groups of free telescopic frames (301) are distributed on the scraping and sweeping mechanism (3) in a surrounding manner by taking the scraping and sweeping mechanism (3) as a center, and the free telescopic frames (301) are hinged with the surface of the scraping and sweeping mechanism (3); and the tension springs (302) are connected between the frame bodies on the two sides of each group of free telescopic frames (301).

3. The intelligent urban pipeline sewage disposal robot capable of being tracked directionally according to claim 2, wherein: free expansion bracket (301) are equipped with three groups, and every group is equipped with two support bodies in free expansion bracket (301), and free expansion bracket (301) still including: the outer end of the telescopic inner frame (3011) is hinged with a telescopic outer frame (3012), and the outer end of the telescopic outer frame (3012) is connected with the inner surface of the cleaning brush body (7) through a hinge.

4. The intelligent urban pipeline sewage disposal robot capable of being tracked directionally according to claim 1, wherein: the location supporting seat (4) comprises: the guide frame (401), the guide frame (401) is fixedly connected with two positions on each positioning support seat (4), and the middle of the guide frame (401) is provided with a guide rail with a T-shaped section; the telescopic cylinder (402) is fixedly connected to the left end of the guide frame (401), and the telescopic cylinder (402) is perpendicular to the guide frame (401).

5. The intelligent urban pipeline sewage disposal robot capable of being tracked directionally according to claim 4, wherein: the guide way has been seted up to telescopic cylinder (402) right flank, telescopic cylinder (402) still including: the telescopic rod (4021), the telescopic rod (4021) is connected inside the telescopic cylinder (402) in a sliding manner, the right side of the telescopic rod (4021) is connected with the synchronous connecting rod (4022) through a hinge, and the other end of the synchronous connecting rod (4022) is hinged to the synchronous sliding block (8).

6. The intelligent urban pipeline sewage disposal robot capable of being tracked directionally according to claim 1, wherein: the self-expanding wheel frame (5) comprises: the supporting wheel (501) is provided with two positions, and the two supporting wheels (501) are respectively connected to two ends of the self-expanding wheel frame (5) through bearings in a rotating mode.

7. The intelligent urban pipeline sewage disposal robot capable of being tracked directionally according to claim 1, wherein: the cleaning brush body (7) comprises: the front brush end (701), the front brush end (701) is of an arc-shaped surface structure, and the arc surface of the front brush end (701) faces the outer side of the left side; the rear wheel groove (702), the rear wheel groove (702) is arranged on the right side of the cleaning brush body (7), and the rear wheel groove (702) is arranged in a ten-degree inclined manner; the oblique wheel (703) is rotatably connected in the rear wheel groove (702) through a bearing, and the oblique wheel (703) is also obliquely arranged by ten degrees.

8. The intelligent urban pipeline sewage disposal robot capable of being tracked directionally according to claim 7, wherein: the oblique wheel (703) comprises: the wheel surface wale (7031), the wheel surface wale (7031) has two positions, the wheel surface wale (7031) is the wale that the section is triangle-shaped.

9. The intelligent urban pipeline sewage disposal robot capable of being tracked directionally according to claim 1, wherein: synchronous slider (8) are the block that the cross-section is T shape structure, and synchronous slider (8) including: and the spring (801), the spring (801) is fixedly connected to the right surface of the synchronous sliding block (8), and the right end of the spring (801) is fixedly connected to the right end of the guide frame (401).

10. The intelligent urban pipeline sewage disposal robot capable of being tracked directionally according to claim 9, wherein: the synchronous sliding block (8) also comprises: the synchronous connecting frame (802), the synchronous connecting frame (802) is fixedly connected with two adjacent synchronous sliding blocks (8) of the same group of positioning supporting seats (4); the synchronous connecting rods (803), the synchronous connecting rods (803) are fixedly connected to two adjacent synchronous connecting frames (802), and four groups of synchronous connecting rods (803) are spliced and connected with four synchronous connecting frames (802) in an annular structure.

Technical Field

The invention belongs to the field of environment-friendly intelligent robots, and particularly relates to a direction-variable tracking urban pipeline sewage disposal intelligent robot.

Background

The intelligent robot is a product of artificial intelligence, and at present, a large number of intelligent robots are used in factories, restaurants, environmental sanitation, families and rescue sites, and the intelligent robot can be used for finishing work which cannot be finished manually, wherein in the fields of environmental protection and sanitary treatment, a common sweeping robot can be used for cleaning the ground in a family.

For example, application No.: the invention discloses a single-drive bidirectional crawling type pipeline cleaning robot which comprises a front machine body assembly, a transmission assembly and a rear machine body assembly, wherein the front machine body assembly comprises a front machine body and a rear machine body; the transmission assembly is driven by power, and through the transmission action of the connecting rod mechanism, the gear mechanism and the equal-rest cam mechanism, the front machine body assembly and the rear machine body assembly are alternately contracted and supported along the radial direction, the front machine body assembly and the rear machine body assembly are axially stretched and contracted, and the synchronous rotation of the dredging cutter head is realized simultaneously, so that the robot can walk along the pipeline in a creeping manner in the positive and negative directions and can clean the pipeline.

Based on the search of above-mentioned patent to and the structure discovery among the combination prior art, be used for the pipeline cleaning robot of municipal environmental improvement similar to in the above-mentioned patent when cleaning the pipeline of different internal diameters, the structure of adjusting the chi footpath is complicated, and needs additional drive arrangement to drive and gos forward, and manufacturing cost is on the high side, and inside drive mechanism receives debris influence in the pipe wall easily to aggravate wearing and tearing, improve the damage probability of robot.

Disclosure of Invention

In order to solve the technical problems, the invention provides a direction-variable tracking urban pipeline cleaning intelligent robot, which aims to solve the problems that when a pipeline cleaning robot for municipal environment management similar to the above patent is used for cleaning pipelines with different inner diameters, the structure for adjusting the diameter is complex, additional driving equipment is needed for driving the pipeline cleaning robot to move forward, the manufacturing cost is high, an internal transmission mechanism is easily influenced by sundries in the pipeline wall, the abrasion is aggravated, and the damage probability of the robot is improved.

The invention relates to a reversible tracking urban pipeline cleaning intelligent robot, which is realized by the following specific technical means:

a direction-variable tracked urban pipeline sewage disposal intelligent robot comprises a center pillar main body; the right end of the driving piece is fixedly connected to the left end of the center pillar main body, and the left end of the driving piece is connected with and drives the scraping and sweeping mechanism; the four positioning support seats are uniformly distributed on the outer surface of the center pillar main body around the center of the center pillar main body; the self-expanding wheel carrier is fixedly connected to the outer end of the positioning support seat; the dust collector is connected to the right end of the center pillar main body in a specified mode, an opening of a cover body of the dust collector faces downwards, and the cover body of the dust collector is fixedly connected to the right end of the self-expanding wheel carrier below the dust collector; the cleaning brush body is fixedly connected with the outer end of the free expansion bracket of the scraping and sweeping mechanism; the synchronous sliding block is connected to the guide frame in a sliding mode, the synchronous sliding block is a block body with a T-shaped cross section, the synchronous sliding block comprises a spring, the spring is fixedly connected to the right surface of the synchronous sliding block, the right end of the spring is fixedly connected to the right end of the guide frame, the synchronous sliding block further comprises a synchronous connecting frame, and the synchronous connecting frame is fixedly connected with two synchronous sliding blocks adjacent to the same group of positioning supporting seats; the synchronous connecting rods are fixedly connected to two adjacent synchronous connecting frames, and the four groups of synchronous connecting rods are in annular structures and are spliced with the four synchronous connecting frames.

Furthermore, the scraping and sweeping mechanism comprises three free telescopic frames, the three free telescopic frames are distributed on the scraping and sweeping mechanism in a surrounding manner by taking the scraping and sweeping mechanism as a center, and the free telescopic frames are hinged with the surface of the scraping and sweeping mechanism; the tension springs are connected between the frame bodies on the two sides of each group of free telescopic frames.

Further, the free expansion bracket is equipped with three groups, and every group free expansion bracket is equipped with two support bodies, and the free expansion bracket is still including flexible inner tower, and flexible outer tower is articulated to the outer end of flexible inner tower, and the outer end of flexible outer tower is through articulating the internal surface of connecting the cleaning brush body.

Furthermore, the positioning support seat comprises a guide frame, two positions are fixedly connected to each positioning support seat by the guide frame, and a guide rail with a T-shaped section is arranged in the middle of the guide frame; the telescopic cylinder is fixedly connected to the left end of the guide frame and is perpendicular to the guide frame.

Further, the guide way has been seted up to a telescopic cylinder right flank, and a telescopic cylinder is still including the telescopic link, and telescopic link sliding connection is inside a telescopic cylinder, and the right side of telescopic link is connected with synchronous connecting rod through articulated to synchronous connecting rod's the other end articulates on synchronous slider.

Furthermore, the cleaning brush body comprises a front brush end head which is of an arc-shaped surface structure, and the arc surface of the front brush end head faces the outer side of the left side; the rear wheel groove is arranged on the right side of the cleaning brush body and is arranged in a ten-degree inclined manner; the oblique wheel is rotatably connected in the rear wheel groove through a bearing and is also obliquely arranged in a ten-degree mode; the oblique wheel comprises wheel surface convex patterns, the wheel surface convex patterns are arranged at two positions, and the wheel surface convex patterns are convex patterns with triangular sections.

Furthermore, the self-expanding wheel carrier comprises two supporting wheels, and the two supporting wheels are respectively connected to two ends of the self-expanding wheel carrier through bearings in a rotating manner.

Compared with the prior art, the invention has the following beneficial effects:

1. the intelligent robot is placed at the inlet of a pipeline by matching the self-expanding wheel frame and the synchronous sliding block, the direction of the cleaning brush body faces to the inside of the pipeline, the dust collector is positioned at the outer side of the opening, when the cleaning brush body enters the pipeline, the self-expanding wheel frame is in an expansion state, the synchronous connecting rod moves towards the right side, the synchronous sliding block can slide rightwards, the telescopic rod is driven to move downwards, the self-expanding wheel frame is contracted, after the self-expanding wheel frame enters the inside of the pipeline, the telescopic rod moves outwards on the telescopic cylinder under the propping action of the spring on the synchronous sliding block and the hinging action of the synchronous connecting rod, the automatic expansion of the self-expanding wheel frame is realized, the self-expanding wheel frame is expanded by equal distance under the action of the synchronous connecting rod and the synchronous connecting frame, the support and moving stability of the cleaning robot is kept under the action of the self-expanding wheel frame and the eight support wheels, thereby keeping the central column main body and the scraping and sweeping mechanism positioned in the middle of the pipeline, when making to scrape and sweep the mechanism and drive the clean brush body and rotate, three free expansion bracket of group extend length equal, the clean brush body homoenergetic of time three places is better when removing closely laminates with the pipeline inner wall, avoids scraping and sweeps the mechanism and appear rocking when rotatory, prevents to omit the cleanness of pipeline inner wall, guarantees clean efficiency.

2. Through the matching of the scraping and sweeping mechanism and the cleaning brush body of the structure, under the normal state, two free expansion brackets in the same group are close to each other under the action of the tension spring, so that the cleaning brush body contracts inwards towards the axis direction of the scraping and sweeping mechanism, and is automatically folded, and has good storage performance, the driving piece is started, the driving piece is controlled to rotate towards the left anticlockwise direction, the scraping and sweeping mechanism is driven to rotate through the driving piece, the scraping and sweeping mechanism is connected with the cleaning brush body through the free expansion brackets, and when the scraping and sweeping mechanism rotates, the cleaning brush body is driven to rotate to generate centrifugal force, the cleaning brush body moves outwards towards the radial direction of the scraping and sweeping mechanism under the action of the centrifugal force, the two free expansion brackets in the same group are separated from the tension force of the tension spring and are far away from each other, the distance between the scraping and sweeping mechanism and the cleaning brush body is prolonged, so that the cleaning brush body is contacted with the inner wall of the pipe body, the inner wall of the pipe body is cleaned through the brush hair, after the cleaning is stopped, under the action of the tension spring, the two free telescopic frames are close to each other, and the cleaning brush body is retracted inwards in the direction of the axis of the scraping and sweeping mechanism and automatically folded.

3. Through the cooperation of the cleaning brush body and the oblique wheel of this structure, in the rotation process, the oblique wheel contacts the pipeline inner wall surface equally, because the inclination reason of oblique wheel, when scraping and sweeping the mechanism and carrying out left-hand anticlockwise rotation, the cleaning brush body scrapes at pipeline inner wall surface, the oblique wheel contacts and rolls on the pipeline inner wall equally with the pipeline inner wall, because the structure of oblique wheel slope, can drive the cleaning brush body and remove to one side of oblique wheel body slope when the pipeline is inside pivoted, consequently, can drive the cleaning brush body and remove left, the front brush tip of arc structure can reduce the cleaning brush body and remove the probability that the in-process blocked at the left side, it removes to need not to establish under the circumstances that removes drive mechanism additional at the robot, the weight of robot has been reduced, the load when having saved the robot work, great extension the time of endurance of robot.

4. Through the cooperation of this structure from expanding wheel carrier and dust catcher, center pillar main part rear end is equipped with prior art's miniature dust catcher, be used for collecting the debris that clean and drop, the suction hood of dust catcher is connected from expanding the wheel carrier right-hand member in the below, make the dust catcher keep close distance with the inner wall all the time, dust absorption work is more stable, it is thus visible, still can drive the robot and move towards the pipeline left under the condition of not establishing the removal actuating mechanism of robot outward, the manufacturing cost and the weight burden of robot have been alleviateed.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic front view of the sweeping mechanism of the present invention.

Fig. 3 is a schematic structural view of the guide frame of the present invention.

Fig. 4 is a schematic top view of fig. 1 according to the present invention.

FIG. 5 is a schematic structural view of the positioning support base of the present invention.

FIG. 6 is a schematic diagram of the structure of the synchronous slide block of the present invention.

Fig. 7 is a schematic diagram of the right-side view of fig. 1 according to the present invention.

Fig. 8 is a partially enlarged view of a portion a of fig. 2 according to the present invention.

Fig. 9 is a partial enlarged structural view of the invention at B of fig. 6.

Fig. 10 is a partially enlarged view of fig. 7C according to the present invention.

In the drawings, the corresponding relationship between the component names and the reference numbers is as follows:

1. a center pillar body; 2. a drive member; 3. a sweeping mechanism; 301. a free telescopic frame; 3011. a telescopic inner frame; 3012. a telescopic outer frame; 302. a tension spring; 4. positioning a supporting seat; 401. a guide frame; 402. a telescopic cylinder; 4021. a telescopic rod; 4022. a synchronous connecting rod; 5. a self-expanding wheel frame; 501. a support wheel; 6. a vacuum cleaner; 7. cleaning the brush body; 701. brushing an end head; 702. a rear wheel groove; 703. an oblique wheel; 7031. wheel surface relief; 8. a synchronous slide block; 801. a spring; 802. a synchronous connection frame; 803. synchronous connecting rod.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The first embodiment is as follows:

as shown in figures 1 to 10:

the invention provides a direction-variable tracking urban pipeline sewage disposal intelligent robot, which comprises a center pillar main body 1, wherein a storage battery is arranged in the center pillar main body 1, and the storage battery is connected with a driving piece 2 and can be used for realizing electric energy supply to the robot; the right end of the driving part 2 is fixedly connected with the left end of the center pillar main body 1, the left end of the driving part 2 is connected with and drives the scraping and sweeping mechanism 3, and the scraping and sweeping mechanism 3 comprises a free telescopic frame 301; the four positioning support seats 4 are uniformly distributed on the outer surface of the center pillar main body 1 around the center of the center pillar main body 1, and each positioning support seat 4 comprises a guide frame 401; the self-expanding wheel frame 5 is fixedly connected to the outer end of the positioning support seat 4, the self-expanding wheel frame 5 comprises two support wheels 501, the two support wheels 501 are arranged at two positions, and the two support wheels 501 are respectively and rotatably connected to the two ends of the self-expanding wheel frame 5 through bearings; the dust collector 6 is connected to the right end of the center post main body 1 in a specified mode, the opening of the cover body of the dust collector 6 faces downwards, and the cover body of the dust collector 6 is fixedly connected to the right end of the self-expanding wheel frame 5 below; the cleaning brush body 7 is fixedly connected with the outer end of a free telescopic frame 301 of the scraping and sweeping mechanism 3; the synchronization slider 8 is slidably attached to the guide frame 401.

Referring to fig. 2, three groups of free telescopic frames 301 are provided, the three groups of free telescopic frames 301 are distributed on the sweeping mechanism 3 around the sweeping mechanism 3 as a center, the free telescopic frames 301 are hinged to the surface of the sweeping mechanism 3, each group of free telescopic frames 301 is provided with two frame bodies, the free telescopic frame 301 further comprises a telescopic inner frame 3011, the outer end of the telescopic inner frame 3011 is hinged to a telescopic outer frame 3012, and the outer end of the telescopic outer frame 3012 is connected to the inner surface of the cleaning brush body 7 through a hinge; extension spring 302 is connected in the middle of the support body of every group free expansion bracket 301 both sides, scrape sweep mechanism 3 and connect cleaning brush body 7 through free expansion bracket 301, under the normality, two free expansion brackets 301 of the same group are close to under extension spring 302 effect, make cleaning brush body 7 to scrape the direction of sweeping mechanism 3 axis shrink inwards, it is automatic folding, good storage performance has, and when scraping sweeping mechanism 3 and rotating, drive cleaning brush body 7 and rotate, produce centrifugal force, make cleaning brush body 7 to scraping the radial direction removal of sweeping mechanism 3 under the centrifugal force effect, realize automatic expansion, the inner wall of in close contact with body, clean the brush through the brush hair to the inner wall of body.

Wherein, two positions are fixedly connected on each positioning support seat 4 of the guide frame 401, and a guide rail with a T-shaped section is arranged in the middle of the guide frame 401; the telescopic cylinder 402 is fixedly connected to the left end of the guide frame 401, and the telescopic cylinder 402 is perpendicular to the guide frame 401; the guide way has been seted up to telescopic tube 402 right flank, telescopic tube 402 still includes telescopic link 4021, telescopic link 4021 sliding connection is inside telescopic tube 402, and the right side of telescopic link 4021 is connected with synchronous connecting rod 4022 through the articulated, and the other end of synchronous connecting rod 4022 articulates on synchronous slider 8, leading truck 401 and telescopic tube 402 of this structure are as shown in figure 5, after getting into the pipeline inside from expanding wheel carrier 5, under the tight effect in top of spring 801 to synchronous slider 8 and synchronous connecting rod 4022 articulated effect, make telescopic link 4021 move outward on telescopic tube 402, realize the automatic expansion from expanding wheel carrier 5.

Referring to fig. 1, the cleaning brush body 7 includes a front brush head 701, the front brush head 701 is of an arc-shaped surface structure, and the arc surface of the front brush head 701 faces to the left outer side, so that the front brush head 701 of the arc-shaped structure can reduce the probability of the cleaning brush body 7 being stuck in the left moving process; the rear wheel groove 702 is arranged at the right side of the cleaning brush body 7, and the rear wheel groove 702 is arranged in a ten-degree inclined manner; the oblique wheel 703 is rotatably connected in the rear wheel groove 702 through a bearing, and when the sweeping mechanism 3 rotates, the cleaning brush body 7 is driven to rotate to generate centrifugal force, and the cleaning brush body 7 moves in the radial direction of the sweeping mechanism 3 under the action of the centrifugal force, so that the cleaning brush body contacts with the inner wall of the pipe body, and the inner wall of the pipe body is cleaned through bristles.

Wherein, the synchronous sliding block 8 is a block body with a T-shaped section, the synchronous sliding block 8 comprises a spring 801, the spring 801 is fixedly connected with the right surface of the synchronous sliding block 8, and the right end of the spring 801 is fixedly connected to the right end of the guide frame 401, the synchronous slide block 8 of this structure is shown in fig. 3, when the cleaning brush body 7 enters the pipeline, the self-expanding wheel frame 5 is in an expanding state, moves towards the right side of the synchronous connecting rod 803, the synchronous slide block 8 can slide rightwards to drive the telescopic rod 4021 to move downwards, so that the self-expanding wheel frame 5 contracts and enters the pipeline from the self-expanding wheel frame 5, under the pushing action of the spring 801 on the synchronous sliding block 8 and the hinging action of the synchronous connecting rod 4022, the telescopic rod 4021 moves outwards on the telescopic cylinder 402 to realize the automatic expansion of the self-expanding wheel frame 5, therefore, the stability of the support and the movement of the cleaning robot is kept through the action of the self-expanding wheel frame 5 and the eight support wheels 501.

Example two: based on the intelligent urban pipeline sewage disposal robot with the variable-direction tracking function provided by the first embodiment, after the self-expanding wheel frames 5 of the intelligent urban pipeline sewage disposal robot are automatically expanded, the same distance for expansion needs to be ensured for the self-expanding wheel frames 5 at four positions, so that the middle column main body 1 and the scraping and sweeping mechanism 3 are kept in the middle of a pipeline; in order to solve the above problem, with reference to fig. 6, the intelligent city pipeline decontamination robot capable of directionally tracking further includes: the synchronous connecting frame 802 is fixedly connected with two adjacent synchronous sliding blocks 8 of the same group of positioning supporting seats 4; the synchronous connecting rods 803 are fixedly connected to two adjacent synchronous connecting frames 802, and four groups of synchronous connecting rods 803 are spliced and connected with four synchronous connecting frames 802 in an annular structure; namely, the expansion of the four self-expanding wheel frames 5 is asynchronous, and the corresponding solution is made under the unstable supporting condition, the four self-expanding wheel frames 5 are expanded by the same distance under the action of the synchronous connecting rod 803 and the synchronous connecting frame 802, so that the middle column main body 1 and the scraping and sweeping mechanism 3 are kept at the middle axial line position of the pipeline, the middle column main body 1 and the scraping and sweeping mechanism 3 are always kept coaxial, and the support and moving stability of the cleaning robot is kept under the action of the self-expanding wheel frames 5 and the eight supporting wheels 501.

Example three: based on the intelligent city pipeline sewage disposal robot that a first embodiment provided, when the scraping and sweeping mechanism 3 of the device drives the cleaning brush body 7 to rotate, have the function of cleaning, simultaneously, add the structure of the oblique wheel 703 on the basis of the cleaning brush body 7, combine fig. 7, the oblique wheel 703 is the ten degrees of slope settings too, the oblique wheel 703 includes the wheel face wale 7031, the wheel face wale 7031 has two places, the wheel face wale 7031 is the wale whose section is triangle; in the rotating process, the oblique wheel 703 is also in contact with the surface of the inner wall of the pipeline, and due to the reason of the inclination angle of the oblique wheel 703, when the cleaning brush body 7 rotates in the left-hand anticlockwise direction, the oblique wheel 703 can drive the cleaning brush body 7 to move leftwards in the rolling process of the surface of the inner wall of the pipeline, so that the cleaning brush body can move leftwards without additionally arranging a moving traction mechanism, the weight of the robot is reduced, the load of the robot during working is saved, and the cruising time of the robot is greatly prolonged.

When in use: firstly, in the process of urban environmental management, when cleaning the inner wall of a pipe body with a cylindrical structure, and when the pipe with a zigzag structure and a pipe with a long length cannot be cleaned manually, the intelligent robot is placed at the inlet of the pipe, the direction of the cleaning brush body 7 faces the inside of the pipe, the dust collector 6 is positioned in the direction outside the opening, when the cleaning brush body 7 enters the pipe, the self-expanding wheel frame 5 is in an expansion state, the synchronous connecting rod 803 moves towards the right side, so that the synchronous slider 8 can slide rightwards, the telescopic rod 4021 is driven to move downwards, the self-expanding wheel frame 5 contracts, after the self-expanding wheel frame 5 enters the inside of the pipe, the telescopic rod 4021 moves outwards on the telescopic cylinder 402 under the jacking action of the spring 801 on the synchronous slider 8 and the hinging action of the synchronous connecting rod 4022, the self-expansion of the self-expanding wheel frame 5 is realized, and the self-expanding wheel frame 5 expands for equal distance under the action of the synchronous connecting rod 803 and the synchronous connecting frame 802, thereby keeping the central column main body 1 and the sweeping mechanism 3 in the middle of the pipeline, and keeping the stability of the support and the movement of the cleaning robot through the action of the self-expanding wheel carrier 5 and the eight support wheels 501; the driving part 2 is started, the driving part 2 rotates in the left-looking anticlockwise direction, the scraping and sweeping mechanism 3 is driven to rotate by the driving part 2, the scraping and sweeping mechanism 3 is connected with the cleaning brush body 7 through the free telescopic frame 301, two free telescopic frames 301 in the same group approach under the action of the tension spring 302, the cleaning brush body 7 is contracted, when the scraping and sweeping mechanism 3 rotates, the cleaning brush body 7 is driven to rotate to generate centrifugal force, the cleaning brush body 7 moves towards the radial direction of the scraping and sweeping mechanism 3 under the action of the centrifugal force so as to contact the inner wall of the pipe body, the inner wall of the pipe body is cleaned and brushed through bristles, in the rotating process, the oblique wheel 703 also contacts the surface of the inner wall of the pipeline, due to the inclination angle of the oblique wheel 703, when the cleaning brush body 7 rotates in the left-looking anticlockwise direction, the oblique wheel 703 can drive the cleaning brush body 7 to move leftwards in the rolling process of the surface of the inner wall of the pipeline, the front brush with an arc structure can reduce 701 the probability of clamping of the end of the cleaning brush body 7 in the left-moving process, and the rear end of the center pillar main body 1 is provided with a miniature dust collector 6 in the prior art for collecting the fallen sundries, and a dust hood of the dust collector 6 is connected to the right end of the self-expanding wheel carrier 5 below, so that the dust collector can always keep a close distance with the inner wall, therefore, the robot can be still driven to move towards the left side of the pipeline under the condition of not externally arranging a movement driving mechanism of the robot, and the manufacturing cost and the weight burden of the robot are reduced.

The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.