阅读说明：本技术 一种具有清洁功能的行走机器人及清洁方法 (Walking robot with cleaning function and cleaning method ) 是由 李振 孔坚斌 王超 于 2021-07-14 设计创作，主要内容包括：本发明涉及一种具有清洁功能的行走机器人及清洁方法,属于自动化清洁领域,该具有清洁功能的行走机器人及清洁方法包括行进模块和清洁模块,其中行进模块包括至少一组动力组件,每个动力组件之间通过连接组件铰接,每组动力组件的外壁交替设有爬行组件和弹性轮组,清洁模块在沿管道的径向发生自转清洁管道内壁。该具有清洁功能的行走机器人及清洁方法采用多级动力组件行进,结合爬行组件转向设计,可以在弯折的管道内行进,同时多级动力组件分担较小的动能,使机器人产生较小的热量,清洁组件采用毛刷对管道内壁进行清理,最后用清水冲刷处附着物即可,定期进行清理,有效延长管道的使用寿命。(The invention relates to a walking robot with a cleaning function and a cleaning method, belonging to the field of automatic cleaning. This walking robot and cleaning method with clean function adopt multistage power component to march, combine the subassembly of crawling to turn to the design, can march in the pipeline of buckling, and multistage power component shares less kinetic energy simultaneously, makes the robot produce less heat, and clean component adopts the brush to clear up the pipeline inner wall, and it can with the attachment that the clear water erodees to locate at last, regularly clears up, effectively prolongs the life of pipeline.)

1. A walking robot with a cleaning function and a cleaning method are provided to clean a bent duct, and are characterized by comprising:

the traveling module comprises at least one group of power assemblies, and each power assembly is hinged through a connecting assembly; the outer wall of each group of power components is alternately provided with a crawling component and an elastic wheel set;

the cleaning module is connected to the power assembly at the edge along the axial direction of the pipeline and rotates along the radial direction of the pipeline; when the pipeline cleaning device is used, the included angle between the adjacent power assemblies is automatically changed according to the bending of the pipeline, so that the pipeline cleaning device is suitable for cleaning various pipelines.

2. The walking robot with cleaning function and the cleaning method according to claim 1, wherein the power assembly comprises:

the inner part of the shell is a cylinder with a hollow structure; the cross section of the cylinder is polygonal, and the maximum inner diameter of the cylinder is larger than the edge length;

the cylinder groups are arranged on the outer wall of the shell, at least two groups of cylinder groups are arranged, and the cylinder groups are symmetrically distributed on the outer wall of the shell by taking the central axis of the shell as the center;

the crawling assembly is arranged at the telescopic end of the cylinder group, the cylinder group controls the crawling assembly to abut against and press the inner wall of the pipeline, the friction force between the crawling assembly and the inner wall of the pipeline is increased, and the power assembly moves in the pipeline.

3. The walking robot with cleaning function and the cleaning method according to claim 2, wherein the crawling assembly comprises:

a first mounting member provided at a control end of the cylinder group;

the first roller is arranged on the first mounting piece; to drive the crawler assembly to travel;

the universal wheel is located on the first installed part: the universal wheels turn at the bent part of the pipeline in the process of advancing, so that the crawling assembly turns in the process of advancing.

4. The walking robot with cleaning function and the cleaning method according to claim 3, wherein the elastic wheel set comprises:

the rotating platform is arranged on the outer wall of the shell; enabling the rest parts of the elastic wheel set to deflect at an angle when the other parts of the elastic wheel set move at the bent position of the pipeline, and enabling the elastic wheel set to abut against the inner wall of the pipeline;

the bearing block is arranged on the rotating table; the bearing seat is provided with a second roller through a second mounting piece;

the rotating shaft is arranged on the second mounting piece; two adjacent two on the power component the axis of rotation is connected through the spring, the second gyro wheel is in the spring elasticity effect is down to propping to at the pipeline inner wall.

5. The walking robot with cleaning function and the cleaning method according to claim 3, wherein the universal wheels, the second roller and the first roller are provided with anti-skid structure.

6. The walking robot with cleaning function and the cleaning method according to claim 2, wherein the connecting assembly comprises:

two bearings arranged at the centers of the adjacent polygonal surfaces of the two shells;

two ends of the first universal shaft are respectively connected with the two bearings; when a plurality of power assemblies successively cross the pipeline, the influence that the angle deviation generated by the previous power assembly relative to the latter power assembly in the advancing direction produces the jamming is eliminated, so that the plurality of power assemblies successively cross the bent part of the pipeline.

7. The walking robot with cleaning function and the cleaning method according to claim 2, wherein the cleaning module comprises:

the transmission shaft is arranged at the center of the other polygonal surface of the shell;

one end of the first rotating shaft is connected to the transmission shaft through a second universal joint;

the external member is sleeved on the first rotating shaft, the outer side surface of the external member is provided with a hairbrush, and the hairbrush is attached to the inner wall of the pipeline;

the auxiliary assembly is connected to the other end of the first rotating shaft through a third universal joint; the third universal joint, the second universal joint and the first universal joint are combined into a universal shaft to transmit the torque of the transmission shaft, so that the first universal shaft rotates in the pipeline, and the cleaning module performs cleaning operation.

8. The walking robot with cleaning function and the cleaning method according to claim 7, wherein the auxiliary assembly comprises:

the second rotating shaft is connected to the other end of the third universal joint;

the two third mounting pieces are sleeved on the second rotating shaft in parallel;

the elastic supporting legs are symmetrically arranged on the third mounting piece; the two third installation parts enable the elastic supporting legs to be combined into a three-dimensional elastic assembly by sliding in the pipeline, so that the position of the first rotating shaft is relatively fixed during traveling.

9. The walking robot with cleaning function and the cleaning method according to claim 8, wherein a pull ring is provided at the end of the auxiliary member, and the pull ring is connected with a rope for assisting the robot to be taken out from the pipeline.

10. The cleaning method of a walking robot based on any one of claims 1 to 8, characterized by comprising the steps of:

the method comprises the following steps: the walking module and the cleaning module of the walking robot are sequentially placed in the pipeline, the elastic wheel set automatically abuts against the inner wall of the pipeline, and the cylinder set is adjusted to enable the crawling assembly of the walking module to abut against the inner wall of the pipeline and to be compressed;

step two: the crawling assembly pulls the cleaning module to move along the pipeline, the cleaning module starts to work, and a brush in the cleaning module continuously cleans attachments on the inner wall of the pipeline;

step three: when the cleaning module moves to a bent position of a pipeline, a single power assembly crosses the bent position of the pipeline, a connecting assembly among a plurality of power assemblies is of a universal shaft structure, the plurality of power assemblies sequentially cross the bent position of the pipeline, a second universal joint is arranged between the cleaning module and the power assemblies, the power assemblies drag parts of the cleaning module to sequentially cross the bent position of the pipeline, under the structural action of the universal shaft, a motor transmits torque to a first rotating shaft of the cleaning module through a transmission shaft, a hairbrush in the cleaning module continuously rotates, an auxiliary assembly finally passes through the bent position of the pipeline, the auxiliary assembly deflects for a certain angle along the bending direction of the pipeline, and after the auxiliary assembly crosses the bent position of the pipeline, the auxiliary assembly elastically returns to be positive;

step four: after the pipeline is cleaned, the crawling assembly of the power assembly is controlled not to compress the inner wall of the pipeline, and the rope is slowly pulled, so that the robot exits the pipeline.

Technical Field

The invention relates to a walking robot with a cleaning function and a cleaning method, and belongs to the field of automatic cleaning.

Background

Industrial production needs regular pipeline spare to clear up according to production standard, prevent that the precipitate of carrying liquid from attaching to the pipeline inner wall in a large number, form the jam for a long time, reduce the flow of industrial pipeline, corrode the pipeline inner wall simultaneously, if adopt chemical treatment, its chemical composition is comparatively complicated, part chemical easily forms new attached crop with attachment reaction in pipeline, and the part pipeline of having installed is because of its mounted position, or pipeline length is longer, be not convenient for dismantle, it is comparatively troublesome to handle inside attachment, the pipeline is not the straight line transportation simultaneously, pipeline self has the part design portion of buckling in order to avoid the barrier in the factory, present most robots in the market all are the straight line design, be not suitable for the clearance of this kind of pipeline.

Disclosure of Invention

The present invention provides a walking robot with a cleaning function and a cleaning method thereof to solve the technical problems in the background art.

The invention is realized by adopting the following technical scheme: a walking robot with a cleaning function and a cleaning method, comprising:

the traveling module comprises at least one group of power assemblies, and each power assembly is hinged through a connecting assembly; the outer wall of each group of power components is alternately provided with a crawling component and an elastic wheel set;

the cleaning module is connected to the power assembly at the edge along the axial direction of the pipeline and rotates along the radial direction of the pipeline; when the pipeline cleaning device is used, the included angle between the adjacent power assemblies is automatically changed according to the bending of the pipeline, so that the pipeline cleaning device is suitable for cleaning various pipelines.

Through above-mentioned technical scheme, the subassembly of marcing adopts multistage power component, and power when the increase robot marchs is cut apart traditional power component simultaneously, reduces single power component and marchs to length at it, through reducing the linear contact of robot in-process of marcing to the local of adaptation pipeline is buckled, clean subassembly cleaning pipe inner wall, and the cleaning work of supplementary subassembly support cleaning assembly.

In a further embodiment, the power assembly comprises:

the inner part of the shell is a cylinder with a hollow structure; the cross section of the cylinder is polygonal, and the maximum inner diameter of the cylinder is larger than the edge length;

the cylinder groups are arranged on the outer wall of the shell, at least two groups of cylinder groups are arranged, and the cylinder groups are symmetrically distributed on the outer wall of the shell by taking the central axis of the shell as the center;

the crawling assembly is arranged at the telescopic end of the cylinder group, the cylinder group controls the crawling assembly to abut against and press the inner wall of the pipeline, the friction force between the crawling assembly and the inner wall of the pipeline is increased, and the power assembly moves in the pipeline.

Through above-mentioned technical scheme, come increase frictional force through the pressure that increases between the subassembly of crawling of increase robot and the pipeline, reach and compress tightly at the pipeline inner wall through cylinder group control subassembly promptly, realize the normal work of marcing of robot.

In a further embodiment, the crawler assembly comprises:

a first mounting member provided at a control end of the cylinder group;

the first roller is arranged on the first mounting piece; to drive the crawler assembly to travel;

the universal wheel is located on the first installed part: the universal wheels turn at the bent part of the pipeline in the process of advancing, so that the crawling assembly turns in the process of advancing.

Through above-mentioned technical scheme, the front end of the beginning advancing direction of subassembly of crawling is located to the universal wheel for the subassembly of crawling turns to.

In a further embodiment, the resilient wheel assembly comprises:

the rotating platform is arranged on the outer wall of the shell; enabling the rest parts of the elastic wheel set to deflect at an angle when the other parts of the elastic wheel set move at the bent position of the pipeline, and enabling the elastic wheel set to abut against the inner wall of the pipeline;

the bearing block is arranged on the rotating table; the bearing seat is provided with a second roller through a second mounting piece;

the rotating shaft is arranged on the second mounting piece; two adjacent two on the power component the axis of rotation is connected through the spring, the second gyro wheel is in the spring elasticity effect is down to propping to at the pipeline inner wall.

Through above-mentioned technical scheme, through elastic wheel group in close contact with pipeline inner wall all the time, supplementary subassembly of marcing is stably marchd, and is equipped with the revolving stage to this of pipeline department of buckling, controls elastic wheel group in close contact with pipeline inner wall.

In a further embodiment, the universal wheel, the second roller and the first roller are provided with anti-skid nail structures on the outer sides of the wheels.

Through above-mentioned technical scheme for the frictional force of increase robot when the pipeline is marchd, the attachment on a plurality of wheels are gone on the orbit is smashed simultaneously to the antiskid nail structure, prevents that the attachment from further adhering to at the pipeline inner wall.

In a further embodiment, the connection assembly comprises:

two bearings arranged at the centers of the adjacent polygonal surfaces of the two shells;

two ends of the first universal shaft are respectively connected with the two bearings; when a plurality of power assemblies successively cross the pipeline, the influence that the angle deviation generated by the previous power assembly relative to the latter power assembly in the advancing direction produces the jamming is eliminated, so that the plurality of power assemblies successively cross the bent part of the pipeline.

Through the technical scheme, when the multistage power device advances at the pipeline bending part, the front power assembly and the rear power assembly can generate deflection angles, and the universal shaft structure is adopted to eliminate radial angle deviation generated when the two power assemblies advance at the pipeline bending part successively, so that the advancing assemblies cross the pipeline bending part.

In a further embodiment, the cleaning module comprises:

the transmission shaft is arranged at the center of the other polygonal surface of the shell;

one end of the first rotating shaft is connected to the transmission shaft through a second universal joint;

the external member is sleeved on the first rotating shaft, the outer side surface of the external member is provided with a hairbrush, and the hairbrush is attached to the inner wall of the pipeline;

the auxiliary assembly is connected to the other end of the first rotating shaft through a third universal joint; the third universal joint, the second universal joint and the first universal joint are combined into a universal shaft to transmit the torque of the transmission shaft, so that the first universal shaft rotates in the pipeline, and the cleaning module performs cleaning operation.

According to the technical scheme, the pipeline cleaning device is cleaned in a physical mode, the inner wall of the pipeline is physically cleaned through the brush regularly, so that attachments fall to the bottom of the pipeline, and finally the pipeline is cleaned with clean water.

In a further embodiment, the auxiliary component comprises:

the second rotating shaft is connected to the other end of the third universal joint;

the two third mounting pieces are sleeved on the second rotating shaft in parallel;

the elastic supporting legs are symmetrically arranged on the third mounting piece; the two third installation parts enable the elastic supporting legs to be combined into a three-dimensional elastic assembly by sliding in the pipeline, so that the position of the first rotating shaft is relatively fixed during traveling.

Through above-mentioned technical scheme, after auxiliary assembly crossed pipeline department of buckling, go back just, and in the steering motion in-process, the deviation of process of marcing in the production, produce the angular deviation when auxiliary assembly marchs promptly and eliminate through the third universal joint, utilize both ends to connect the first pivot of universal shaft respectively can free rotation characteristic, make clean subassembly continuously clear up the pipeline inner wall.

In a further embodiment, a pull ring is provided at the end of the auxiliary assembly, said pull ring connecting a cable for assisting the removal of the robot from the pipe.

Through above-mentioned technical scheme, make a precaution when breaking down to the robot, pull out trouble robot through the rope, after the robot work is accomplished, pull out the robot in the pipeline.

In a further embodiment, the method comprises the following steps:

the method comprises the following steps: the walking module and the cleaning module of the walking robot are sequentially placed in the pipeline, the elastic wheel set automatically abuts against the inner wall of the pipeline, and the cylinder set is adjusted to enable the crawling assembly of the walking module to abut against the inner wall of the pipeline and to be compressed;

step two: the crawling assembly pulls the cleaning module to move along the pipeline, the cleaning module starts to work, and a brush in the cleaning module continuously cleans attachments on the inner wall of the pipeline;

step three: when the cleaning module moves to a bent position of a pipeline, a single power assembly crosses the bent position of the pipeline, a connecting assembly among a plurality of power assemblies is of a universal shaft structure, the plurality of power assemblies sequentially cross the bent position of the pipeline, a second universal joint is arranged between the cleaning module and the power assemblies, the power assemblies drag parts of the cleaning module to sequentially cross the bent position of the pipeline, under the structural action of the universal shaft, a motor transmits torque to a first rotating shaft of the cleaning module through a transmission shaft, a hairbrush in the cleaning module continuously rotates, an auxiliary assembly finally passes through the bent position of the pipeline, the auxiliary assembly deflects for a certain angle along the bending direction of the pipeline, and after the auxiliary assembly crosses the bent position of the pipeline, the auxiliary assembly elastically returns to be positive;

step four: after the pipeline is cleaned, the crawling assembly of the power assembly is controlled not to compress the inner wall of the pipeline, and the rope is slowly pulled, so that the robot exits the pipeline.

The invention has the beneficial effects that: the walking robot with the cleaning function and the cleaning method adopt the multi-stage power assembly to move, reduce the size and length of the shape of the power assembly, and combine the steering design of the crawling assembly to realize that the power assembly does not collide with the inner wall of the pipeline when the pipeline deflects so as to cross the bent part of the pipeline; meanwhile, the multi-stage power assembly shares smaller kinetic energy, so that the robot generates smaller heat in a narrow pipeline space, and the stable operation of the robot is ensured; the cleaning assembly adopts a physical mode, namely the inner wall of the pipeline is cleaned by using the brush, the inner wall of the pipeline is not damaged, the attachment can be well cleaned, and finally the attachment is washed by using clean water, so that the cleaning assembly can be cleaned regularly, and the service life of the pipeline is effectively prolonged.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view of the traveling module structure of the present invention.

Fig. 3 is a schematic view of the connection assembly of the present invention.

Fig. 4 is a schematic structural diagram of the elastic wheel set of the present invention.

FIG. 5 is a schematic diagram of a plurality of rollers according to the present invention.

Fig. 6 is a partial structural schematic view of the cleaning module of the present invention.

Fig. 7 is a schematic structural view of the auxiliary assembly of the present invention.

Each of fig. 1 to 6 is labeled as: the pipe 1, the traveling module 2, the power assembly 21, the housing 211, the cylinder block 212, the crawler assembly 213, the first mounting member 2131, the universal wheel 2132, the first roller 2133, the elastic wheel set 214, the rotating table 2141, the bearing seat 2142, the second mounting member 2143, the rotating shaft 2144, the spring 2145, the second roller 2146, the connecting assembly 22, the first universal shaft 221, the bearing 222, the cleaning module 3, the transmission shaft 31, the first rotating shaft 32, the sleeve 33, the brush 34, the second universal joint 35, the third universal joint 36, the auxiliary assembly 37, the second rotating shaft 371, the third mounting member 372, the elastic supporting leg 373, and the pull ring 38.

Detailed Description

The pipeline in industrial production is not the straight line design, still design many buckles and be in order to avoid the barrier or save space, to the regular clearance of pipeline inner wall attachment, the optimum still chooses the brush to select for use and carries out the physical cleaning, the clearance scope of commonly used high-pressure squirt structure is limited, it is not suitable for some installed and longer pipelines, and chemistry clearance itself knows corrosivity, easily form new deposit attachment, probably corrode the pipeline inner wall simultaneously, influence its life, most pipeline cleaning robot on the market only adopts one-level power component, in the narrow and small space of pipeline, one-level power component easily produces great heat, influence the internal control chip of robot. To solve the above problems, a walking robot with a cleaning function and a cleaning method are provided.

The robot in the embodiment comprises a traveling module 2 and a cleaning module 3, wherein the traveling module 2 adopts a plurality of stages of power assemblies 21, at least one group of power assemblies 21 is arranged, firstly, the power of the robot during traveling is increased, secondly, the traditional power assemblies 21 are divided, the length of a single power assembly 21 in the traveling direction is reduced, the linear contact in the traveling process of the robot is reduced to adapt to the local bending of the pipeline 1, so that the robot freely travels in the pipeline 1, for the pipeline 1 which has a certain angle relative to the horizontal plane, the contact area with the inner wall of the pipeline 1 is increased through a plurality of groups of power assemblies 21, the traveling of the inner wall of the pipeline 1 is realized, a crawling assembly 213 and an elastic wheel set 214 are alternately arranged outside the single power assembly 21, the crawling assembly 213 and the inner wall of the pipeline 1 pass through the friction force between the crawling assembly 213 and the inner wall of the pipeline 1, so that the robot travels, the elastic wheel set 214 is elastically arranged in the pipeline 1 to roll and is used for assisting the advancing module 2 to be positioned at the central position of the pipeline 1, the plurality of groups of power assemblies 21 are connected through the connecting assembly 22, for example, a rotatable connecting component 22 is arranged between the first power component 21 and the second power component 21, so that when the robot crosses the bend of the pipeline 1, the angular deviation between the first power module 21 and the second power module 21, a power source is arranged in the second power assembly 21 and used for providing working power for the cleaning module 3, the cleaning module 3 is also provided with an auxiliary assembly 37, the cleaning module 3 adopts a rotating mode for cleaning, acting force is exerted on the pipeline 1 during cleaning, otherwise, acting force is exerted on the device by the pipeline 1, supporting force needs to be increased, so that the auxiliary assembly 37 is additionally arranged, i.e. a support function for the cleaning module 3 which is fixed in position relative to the pipe 1 is achieved by the auxiliary assembly 37.

Further, the power assembly 21 provided by the first power assembly 21 is not completely capable of supporting the robot to continuously travel, and therefore, a multi-stage power system needs to be designed, for example, the power source of the cleaning module 3 is installed on the first power assembly 21, the weight of the first power assembly 21 is undoubtedly increased, the crawling assembly 213 needs to provide higher kinetic energy, and heat is continuously generated under the higher kinetic energy, which affects the safety of the robot in the narrow space of the pipeline 1, in a further embodiment, the kinetic energy required by the traveling module 2 to travel is shared by a plurality of power assemblies 21, for example, the second housing 211 is provided with the same arrangement as the housing 211 of the first power assembly 21, and a motor is arranged in the second housing 211, and the kinetic energy is transmitted to the cleaning module 3 by driving the transmission shaft 31 to rotate, and the actual weight of the second power assembly 21 is larger than that of the first power assembly 21, when the robot is supported only by the power of the robot, the device is easy to overload, and when the power of the second power assembly 21 is designed to be larger, the shape space of the second power assembly 21 is undoubtedly increased, and the second power assembly cannot deflect when the pipeline 1 moves.

Based on the above structure, the periodic cleaning of the pipeline 1 is to reduce the adsorbate from accumulating and adhering to the inside of the pipeline 1 to form blockage or pollution, while the friction force is small when the pipeline 1 with a certain angle relative to the horizontal plane travels, in order to increase the friction force of the robot when the pipeline 1 moves, in a further embodiment, the friction force is increased by increasing the pressure between the crawling assembly 213 of the robot and the pipeline 1 to realize the normal traveling work of the robot, the shell 211 is a polygonal cylinder and at least two sets of crawling assemblies 213 are symmetrically arranged on the edge surface of the shell 211 along the center of the inner diameter of the shell 211, the crawling assemblies 213 are arranged on the edge surface of the shell 211 through the cylinder set 212, the cylinder set 212 controls the crawling assembly 213 to be tightly pressed on the inner wall of the pipeline 1 to enable the traveling module 2 to stably travel in the pipeline 1,

based on the above structure, when the crawling assembly 213 drives the single power assembly 21 to advance at the bending position of the pipeline 1, the crawling assembly 213 needs to deflect a certain angle corresponding to the bending degree of the pipeline 1, in a further embodiment, in order to cross the bending position of the pipeline 1, the crawling assembly 213 is divided into a universal wheel 2132 for steering and a first roller 2133 for providing advancing power, a motor is arranged on the first mounting piece 2131 and drives the first roller 2133 to roll through gear transmission, the universal wheel 2132 turns along with the bending of the pipeline 1 in the forward direction, the crawling assembly 213 is controlled to steer so as to cross the bending position of the pipeline 1, meanwhile, the shell 211 is designed to have the maximum inner diameter larger than the edge length of the shell, and the rotation of the robot in the pipeline 1 is prevented from being influenced by the long and long shell pieces.

Based on the above structure, installing too many crawling assemblies 213 increases the weight of the traveling machine itself, and requires more kinetic energy, and a more complex operating system is also required for the crawling assemblies 213 to press the inner wall of the pipe 1 during the synchronous control of the whole system, in order to improve the stability of the traveling module 2 during traveling, in a further embodiment, a second roller 2146 capable of rotating is respectively installed on the other edge surfaces of the housing 211, that is, the bearing 222 seat 2142 is installed through the rotating platform 2141, the bearing 222 seat 2142 is installed with the second roller 2146 and the rotating shaft 2144 through the second installation part 2143, wherein the rotating shafts 2144 on the housings 211 of two adjacent power assemblies 21 are connected through the spring 2145, and at this time, when the traveling module 2 travels, the elastic roller set 214 always contacts the inner wall of the pipe 1 tightly, which assists the traveling module 2 to travel stably.

Based on the above structure, the wheels press the attached objects to further attach the attached objects to the inner wall of the pipe 1 on the traveling path of the universal wheels 2132, the second rollers 2146 and the first rollers 2133, and in a further embodiment, the attached objects are crushed on the traveling path of the wheels to separate the fragments of the attached objects from the inner wall of the pipe 1 by providing a structure such as a cleat on the outer side of the wheels, and the friction force between the traveling module 2 and the inner wall of the pipe 1 is further increased, so that the robot travels stably.

Based on the above structure, when the multistage power device advances at the bent part of the pipeline 1, the front and rear power assemblies 21 will generate deflection angles, and a conventional connection structure is adopted, the multistage power assemblies 21 themselves will be clamped at the bent part of the pipeline 1, in a further embodiment, such deflection angles are eliminated by using the connection assembly 22, that is, the bearings 222 are installed in the adjacent surfaces of the shells 211 of the two adjacent power assemblies 21, the bearings 222 are respectively connected with the two ends of the first universal shaft 221, and the radial angle deviation generated when the two power assemblies 21 advance at the bent part of the pipeline 1 in sequence is eliminated, so that the advancing module 2 crosses the bent part of the pipeline 1.

Based on the structure, the robot cleans the inner wall of the pipeline 1 regularly, the attachments on the inner wall of the pipeline 1 are easy to accumulate on the inner wall of the pipeline 1 under the action of the self gravity, if chemical liquid is used for cleaning, the required amount is large, and secondary pollution is formed on part of the living pipeline 1, in a further embodiment, a physical mode is used for cleaning, the inner wall of the pipeline 1 is cleaned physically by a brush 34 regularly, the attachments fall to the bottom of the pipeline 1, and finally, the cleaning is carried out by clean water, a sleeve 33 is arranged outside the first rotating shaft 32, the surface of the sleeve 33 is provided with the brush 34, the brush 34 is attached inside the pipeline 1 and rotates through the first rotating shaft 32, so that the attachments in the pipeline 1 are cleaned by the brush 34, wherein the rotating force of the first rotating shaft 32 comes from a motor in a second shell, namely, the driving shaft 31 is connected with the first rotating shaft 32 through a second universal joint 35, transmitting torque to the first rotation shaft so that the cleaning module 3 operates rotationally.

Based on the above structure, the cleaning module 3 itself is unstable when rotating, the brush 34 thereof abuts against the inner wall of the pipe 1, but not enough to make the cleaning module 3 stably rotate, and the second universal joint 35 transmits power, which is also an obvious shake when the cleaning module 3 rotates, in a further embodiment, an auxiliary component 37 is disposed at the other side of the cleaning module 3 for controlling the stability of the cleaning module 3 when rotating, two third mounting components 372 are parallelly sleeved outside the second rotating shaft 371, the third mounting components 372 are respectively provided with a plurality of elastic supporting legs 373, so that a relatively stable supporting component for timely adjusting the center position during movement can be formed, such adjustment often occurs at the bending position of the pipe 1, when the auxiliary component 37 passes over the bending position of the pipe 1, the adjustment is performed, the second rotating shaft 371 is connected to the first rotating shaft 32 through the third universal joint 36, and the other end of the first rotating shaft 32 is connected to the second universal joint 35, a universal joint structure is formed, during the steering movement, the deviation generated during the travel, namely the angular deviation generated during the travel of the auxiliary assembly 37 is eliminated by the third universal joint 36, during which the first rotating shaft 32 with two ends connected with the two universal shafts continuously rotates, and the universal shafts continuously transmit the torque, so that the cleaning module 3 continuously works.

Based on the structure, for cleaning the inner wall of the pipeline 1, the pipeline 1 needs to take a preventive measure for the robot due to the particularity of the pipeline 1, such as long cleaning time, long pipeline 1, shielding of part signals of the pipeline 1, inconvenient disassembly of the partially installed pipeline 1, and stoppage and suspension of the robot due to faults of the robot, in a further embodiment, the pull ring 38 is arranged at the tail end of the shell 211, the other end of the pull ring 38 is connected with the rope, and the robot is conveniently recovered when the robot goes beyond the expected working range and breaks down after the robot finishes working except that the robot is taken out.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.