CN112916532A

CN112916532A - Pipeline cleaning robot

Info

Publication number: CN112916532A
Application number: CN202110333437.7A
Authority: CN
Inventors: 陈悦; 王焱; 欧广志; 杨毅忠; 张�杰; 张荣杰
Original assignee: China Nuclear Engineering Consulting Co Ltd
Current assignee: China Nuclear Engineering Consulting Co Ltd
Priority date: 2021-03-29
Filing date: 2021-03-29
Publication date: 2021-06-08

Abstract

The invention discloses a pipeline cleaning robot which comprises a universal connecting mechanism, wherein a cleaning mechanism is arranged in front of the universal connecting mechanism, a dust suction mechanism is arranged behind the universal connecting mechanism, driving mechanisms are arranged between the cleaning mechanism and the universal connecting mechanism and between the dust suction mechanism and the universal connecting mechanism respectively, each driving mechanism comprises a support, a plurality of supporting arms are arranged on each support, a driving wheel set is arranged at one end, far away from the support, of each supporting arm, each universal connecting mechanism comprises a connecting seat, a plurality of flexible connecting pieces are arranged between each connecting seat and the corresponding support, and the connecting seats and the corresponding supports are connected with the flexible connecting pieces through universal joints. The robot has universal connection and an automatic diameter changing function, and meanwhile, the robot is provided with the camera and the dust collection mechanism, so that automation and integration of the pipeline cleaning process can be realized.

Description

Pipeline cleaning robot

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a pipeline cleaning robot.

Background

The pipeline is used as a device for conveying gas, liquid or fluid with solid particles, and is widely applied to nuclear power, petroleum, natural gas, hydraulic engineering and various industrial devices. At present, in the field of pipeline cleaning, most of cleaning equipment adopts an unpowered cable dragging and walking mode to clean, the cleaning method is low in efficiency and automation degree, the cleaning posture of the equipment cannot be adjusted according to the pipe diameter, and the requirement of the modern society for increasing day by day cannot be met.

At present, some achievements have been made on the research of a pipeline cleaning robot, such as "a robot for pipeline cleaning" (patent of invention: CN 201410123349.4) which proposes that a horizontal rotating device and a vertical rotating device are arranged to move a cleaning brush in four directions, up, down, left and right, the robot needs to change the position of a cleaning brush head continuously to clean, so the cleaning efficiency is low and cleaning dead angles may exist; the robot carries the cleaning brush head through the flat car body with wheels, the car body is large in size, specific requirements are met on the pipe diameter specification of the cleaning robot, and the passing performance of the robot at the bent pipe is poor. A synchronous driving device of a pipeline robot supporting arm with a self-adaptive function (patent of invention: CN 201711471796.9) provides the synchronous driving device of the pipeline robot supporting arm with the self-adaptive function, which has more carried motors, gears and the like, has a complex structure, is in a poor surrounding environment when a pipeline is cleaned, and has a reducing mechanism with an excessively complex structure, which is easy to accumulate dust, slag and the like to cause the mechanism to be stuck and can not normally run.

An effective solution to the problems in the related art has not been proposed yet.

Disclosure of Invention

In order to solve the technical problems in the related art, the invention provides a pipeline cleaning robot which is universal in connection and has an automatic diameter changing function, and meanwhile, the robot is provided with a camera and a dust suction mechanism, so that automation and integration of a pipeline cleaning process can be realized.

In order to achieve the technical purpose, the technical scheme of the invention is realized as follows:

the utility model provides a pipeline cleaning robot, includes universal coupling mechanism, universal coupling mechanism's the place ahead is provided with wiper mechanism, universal coupling mechanism's rear is provided with dust absorption mechanism, wiper mechanism with between the universal coupling mechanism and dust absorption mechanism with all be provided with actuating mechanism between the universal coupling mechanism, actuating mechanism includes the support, be provided with a plurality of support arms on the support, the support arm is kept away from the one end of support is provided with the driving wheel group, universal coupling mechanism includes the connecting seat, the connecting seat with be provided with a plurality of flexonics between the support, the connecting seat with the support all is connected through the universal joint flexonics.

Furthermore, the support comprises a middle clamping plate and at least one bottom plate, the middle clamping plate and the bottom plate are arranged at intervals and are fixedly connected with each other, a transmission gear capable of rotating around the axis of the middle clamping plate and a plurality of ratchet bars capable of sliding along the radial direction of the transmission gear are respectively arranged between the middle clamping plate and the bottom plate, the transmission gear is meshed with the ratchet bars, the transmission gear is connected with a support driving motor, the ratchet bars are fixedly connected with one end of a connecting sleeve, the other end of the connecting sleeve is slidably connected with the support arm, and one end, far away from the driving wheel set, of the support arm extends into a position between the middle clamping plate and the bottom plate and is hinged with the middle clamping plate.

Furthermore, the support comprises a front bottom plate and a rear bottom plate, the middle clamping plate is positioned between the two bottom plates, and the bottom plate close to the universal connection mechanism is fixedly connected with the universal joint.

Furthermore, the driving wheel set comprises a driving wheel support, the driving wheel support is fixedly connected with one end, far away from the support, of the support arm, a plurality of driving wheel shafts are rotatably connected to the driving wheel support, a plurality of driving wheels are fixedly connected to the driving wheel shafts, all the driving wheel shafts are connected with driving wheel motors through transmission mechanisms, each transmission mechanism comprises a synchronous belt and a plurality of synchronous wheels, and the synchronous wheels are fixedly connected to the driving wheel shafts or motor shafts of the driving wheel motors.

Furthermore, the cleaning mechanism comprises a brush head base, the rear side of the brush head base is fixedly connected with the bottom plate which is closest to the brush head base, the front side of the brush head base is detachably connected with a brush head top cover through a detachably connected fixed shaft, a cleaning brush head is sleeved outside the fixed shaft, the rear end of the cleaning brush head is fixedly connected with an outer ring of a bearing, an inner ring of the bearing is fixedly connected outside the fixed shaft, a driven gear is fixedly connected to the outer ring of the bearing, the driven gear is meshed with a brush head driving gear, and the brush head driving gear is connected with a brush head driving motor.

Further, dust absorption mechanism includes dust absorption fan, dust absorption fan includes fan section of thick bamboo and flabellum, the flabellum is connected with fan motor, the sealed fixedly connected with fairing of one end of fan section of thick bamboo, the sealed fixedly connected with dust storage tank of the other end of fan section of thick bamboo, fan motor is located in the dust storage tank, fairing or dust storage tank fixed connection is apart from its nearest the bottom plate.

Furthermore, the front side of the brush head top cover is fixedly connected with a first camera facing the front, and the dust collection mechanism is fixedly connected with a second camera facing the rear.

Further, the support driving motor, the driving wheel motor, the brush head driving motor, the fan motor, the first camera and the second camera are all connected with cables, wire passing holes corresponding to the cables are formed in the bottom plate and the connecting seat, the connecting seat is connected with the bottom plate through a middle hose, and the middle hose is located outside the cables.

Furthermore, the universal joint comprises a cross rotating shaft and two end heads, and the cross rotating shaft is respectively and rotatably connected with the two end heads.

Furthermore, a plurality of limiting plates which are respectively in one-to-one sliding fit with the ratchet bars are fixedly connected to the bottom plate, and the ratchet bars are located between the limiting plates and the transmission gears.

The invention has the beneficial effects that: 1) the driving mechanism has the function of self-adapting to the pipe diameter, can unfold and recover the supporting arm according to the size of the pipe diameter to be cleaned, ensures that the robot is always positioned at the central position of the pipeline and the driving wheel group is contacted with the inner wall of the pipeline, realizes the driving and advancing of the robot under different pipe diameters, has compact structure, is easy to maintain and clean, and is beneficial to ensuring the stable operation of the mechanism under the severe pipeline cleaning working condition of the robot;

2) the universal connecting mechanism is arranged, so that the robot can flexibly pass through the pipeline with the bending angle of more than 90 degrees and perform cleaning operation, and the types of the pipeline which can be cleaned by the robot are wider;

3) the dust collection mechanism has the functions of dust collection and storage, can collect dust and stains falling off during cleaning of the cleaning brush head in time, avoids secondary pollution of pipeline cleaning, and realizes integration of efficient cleaning of the pipeline;

4) the cleaning brush head can be replaced, the cleaning brush heads with different sizes can be replaced according to the cleaning requirements of different pipe diameters, and the robot always keeps the central position in the pipeline to move, so that the inner wall of the pipeline can be fully covered in the cleaning range of the cleaning brush head when the robot moves, and the cleaning process is more efficient as being different from the traditional pipeline cleaning robot which continuously changes the position of the brush head in the cleaning process;

5) through the mode that the driving wheel group tightly contacts with the inner wall of the pipeline in a jacking mode, the robot can be always positioned at the central position of the pipeline when moving in the pipeline, so that the robot is more stable in cleaning posture and has the function of preventing side turning.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is an axial view of a pipe cleaning robot according to an embodiment of the present invention;

FIG. 2 is a rear view of a pipe cleaning robot according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a first camera according to an embodiment of the invention;

FIG. 4 is a schematic diagram of a second camera according to an embodiment of the invention;

FIG. 5 is an exploded view of a cleaning mechanism according to an embodiment of the present invention;

FIG. 6 is an exploded view of a drive mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic view of a base plate according to an embodiment of the invention;

FIG. 8 is a schematic view of a drive mechanism for retracting the support arm in accordance with an embodiment of the present invention;

FIG. 9 is a schematic view of a drive mechanism for deployment of a support arm according to an embodiment of the invention;

FIG. 10 is a schematic illustration of a drive wheel set according to an embodiment of the present invention;

FIG. 11 is a schematic view of a gimbal mechanism according to an embodiment of the present invention;

FIG. 12 is a schematic view of a gimbal according to an embodiment of the present invention;

figure 13 is an exploded view of a suction mechanism according to an embodiment of the present invention.

In the figure:

1. a first camera; 2. a cleaning mechanism; 21. a brush head cover; 22. cleaning the brush head; 23. the brush head drives the gear; 24. a driven gear; 25. a bearing; 26. a fixed shaft; 27. a brush head base; 3. a drive mechanism; 31. a driving wheel set; 311. a drive wheel support; 312. a drive wheel motor; 313. a drive wheel; 314. a drive wheel bearing; 315. a drive axle; 316. a synchronizing wheel; 317. a synchronous belt; 32. a support arm; 33. a connecting sleeve; 34. a ratchet bar; 35. a base plate; 351. a limiting plate; 36. a transmission gear; 37. a middle splint; 38. a bolt pin; 4. a universal connection mechanism; 41. a universal joint; 42. a connecting spring; 43. a middle hose; 44. a connecting seat; 5. a dust suction mechanism; 51. a cowling; 52. a dust collection fan; 53. a fan motor; 54. a dust storage tank; 6. and a second camera.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.

As shown in fig. 1 to 13, the pipeline cleaning robot according to the embodiment of the present invention includes a universal connection mechanism 4, a cleaning mechanism 2 is disposed in front of the universal connection mechanism 4, a dust suction mechanism 5 is disposed behind the universal connection mechanism 4, driving mechanisms 3 are disposed between the cleaning mechanism 2 and the universal connection mechanism 4 and between the dust suction mechanism 5 and the universal connection mechanism 4, each driving mechanism 3 includes a support, a plurality of support arms 32 are disposed on the support, a driving wheel set 31 is disposed at one end of each support arm 32 away from the support, the universal connection mechanism 4 includes a connection seat 44, a plurality of flexible connection pieces are disposed between the connection seat 44 and the support, and the connection seat 44 and the support are connected to the flexible connection pieces through a universal joint 41.

In an embodiment of the present invention, the bracket includes a middle clamping plate 37 and at least one bottom plate 35, the middle clamping plate 37 and the bottom plate 35 are arranged at an interval and fixedly connected to each other, a transmission gear 36 capable of rotating around its axis and a plurality of ratchet bars 34 capable of sliding along the transmission gear 36 are respectively arranged between the middle clamping plate 37 and the bottom plate 35, the transmission gear 36 is engaged with the ratchet bars 34, the transmission gear 36 is connected with a bracket driving motor, the ratchet bars 34 are fixedly connected with one end of a connecting sleeve 33, the other end of the connecting sleeve 33 is slidably connected with the supporting arm 32, and one end of the supporting arm 32 away from the driving wheel set 31 extends into between the middle clamping plate 37 and the bottom plate 35 and is hinged to the middle clamping plate 37.

In one embodiment of the present invention, the bracket comprises a front bottom plate 35 and a rear bottom plate 35, the middle clamping plate 37 is located between the two bottom plates 35, wherein the bottom plate 35 near the universal connection mechanism 4 is fixedly connected with the universal joint 41.

In a specific embodiment of the present invention, the driving wheel set 31 includes a driving wheel support 311, the driving wheel support 311 is fixedly connected to one end of the supporting arm 32 away from the bracket, a plurality of driving wheel shafts 315 are rotatably connected to the driving wheel support 311, a plurality of driving wheels 313 are fixedly connected to the driving wheel shafts 315, all the driving wheel shafts 315 are connected to a driving wheel motor 312 through a transmission mechanism, the transmission mechanism includes a timing belt 317 and a plurality of synchronizing wheels 316, and the synchronizing wheels 316 are fixedly connected to the driving wheel shafts 315 or a motor shaft of the driving wheel motor 312.

In an embodiment of the present invention, the cleaning mechanism 2 includes a brush head base 27, a rear side of the brush head base 27 is fixedly connected to the bottom plate 35 nearest thereto, a brush head top cover 21 is detachably connected to a front side of the brush head base 27 through a detachably connected fixed shaft 26, a cleaning brush head 22 is sleeved outside the fixed shaft 26, a rear end of the cleaning brush head 22 is fixedly connected to an outer ring of a bearing 25, an inner ring of the bearing 25 is fixedly connected to an outside of the fixed shaft 26, an outer ring of the bearing 25 is further fixedly connected to a driven gear 24, the driven gear 24 is engaged with a brush head driving gear 23, and the brush head driving gear 23 is connected to a brush head driving motor.

In an embodiment of the present invention, the dust suction mechanism 5 includes a dust suction fan 52, the dust suction fan 52 includes a fan cylinder and fan blades, the fan blades are connected with a fan motor 53, one end of the fan cylinder is fixedly connected with a fairing 51 in a sealing manner, the other end of the fan cylinder is fixedly connected with a dust storage tank 54 in a sealing manner, the fan motor 53 is located in the dust storage tank 54, and the fairing 51 or the dust storage tank 54 is fixedly connected with the bottom plate 35 closest to the fairing 51 or the dust storage tank 54.

In an embodiment of the present invention, a first camera 1 facing forward is fixedly connected to the front side of the brush head top cover 21, and a second camera 6 facing backward is fixedly connected to the dust suction mechanism 5.

In an embodiment of the present invention, cables are connected to the bracket driving motor, the driving wheel motor 312, the brush head driving motor, the fan motor 53, the first camera 1 and the second camera 6, wire passing holes corresponding to the cables are formed in the bottom plate 35 and the connecting seat 44, the connecting seat 44 is connected to the bottom plate 35 through a middle hose 43, and the middle hose 43 is located outside the cables.

In an embodiment of the present invention, the universal joint 41 includes a cross shaft and two end heads, and the cross shaft is rotatably connected to the two end heads respectively.

In an embodiment of the present invention, a plurality of position-limiting plates 351 are fixedly connected to the bottom plate 35, and the ratchet bars 34 are slidably engaged with the ratchet bars 34 one by one, and the ratchet bars 34 are located between the position-limiting plates 351 and the transmission gears 36.

In order to facilitate understanding of the above-described embodiments of the present invention, the following detailed description of the embodiments of the present invention is provided by way of specific usage.

The pipeline cleaning robot is matched with a replaceable cleaning brush head 22 for use, and mainly comprises a cleaning mechanism 2, a camera monitoring module, a driving mechanism 3, a universal connecting mechanism 4 and a dust collection mechanism 5; when the robot works, the support driving motor drives the supporting arm 32 to be unfolded according to the inner diameter of a pipeline to be cleaned, so that the driving wheel set 31 is tightly attached to the inner wall of the pipeline, the driving wheel motor 312 drives the driving wheel 313 to rotate through the synchronous belt 317, and the robot finishes the actions of advancing and retreating in the pipeline. In the process of advancing the robot, the universal connecting mechanism 4 is connected between the front driving mechanism and the rear driving mechanism 3 in series, so that the main body structure of the robot is bent, the center of the robot is always ensured to be superposed with the axis of the pipeline, and the cleaning posture of the robot is always centered and stable. The camera shooting detection module comprises a first camera 1 and a second camera 6, the first camera 1 and the second camera 6 are zoom cameras, the first camera 1 is arranged at the front end of the cleaning mechanism 2, and the second camera 6 is arranged at the rear end of the dust collection mechanism 5. Before cleaning, an image right in front of the interior of a transmission pipeline of a first camera 1 positioned at the front end of a robot is fed back in real time, local stains, corrosion and the like on the inner wall of the pipeline can be found through a zooming function, and preparation is made for pipeline cleaning; the second camera 6 positioned at the rear part of the robot transmits images in the pipeline right behind, so that the condition of the pipeline after cleaning can be monitored in real time, the zoom function is also realized, and an operator can judge whether the pipeline cleaning reaches the required cleaning degree. The cleaning mechanism 2 can be assembled with a cleaning brush head 22 with a corresponding size according to the inner diameter of a pipeline to be cleaned, the cleaning brush head 22 is driven to rotate by a brush head driving motor during cleaning, dirt and floating rust on the inner wall of the pipeline are cleaned by utilizing a high-speed centrifugal principle, the dust and the dirt falling during cleaning are concentrated at the bottom position in the pipeline under the action of gravity, and the dirt and the rust are adsorbed and temporarily stored by a dust absorption mechanism 5 carried at the rear end of the robot.

As shown in fig. 5, a fixed shaft 26 of the cleaning mechanism 2 is connected to the middle of a brush head base 27 through threads, a brush head driving gear 23 is connected with a brush head driving motor, a driven gear 24 is welded and fixed to the outer ring of a bearing 25, and a replaceable cleaning brush head 22 is also welded and fixed to the outer ring of the bearing 25, so that the driven gear 24, the bearing 25 and the cleaning brush head 22 can be replaced integrally to achieve the replacement and connection fixation of the cleaning brush head 22 during rotation, and a brush head top cover 21 is connected with the fixed shaft 26 through threads. The brush head driving motor realizes the rotation of the cleaning brush head 22 through the transmission of the brush head driving gear 23 and the driven gear 24. The diameter of the cleaning brush head 22 is slightly larger than the inner diameter of the pipe to be cleaned.

As shown in fig. 6-9, the driving gear 36 of the driving mechanism 3 is fixedly connected with the bracket driving motor, the supporting arm 32 is hinged on the middle clamping plate 37 through a screw pin 38 on the bottom plate 35, the ratchet bar 34 is connected with the supporting arm 32 through the connecting sleeve 33, the bottom plate 35 is provided with a limiting plate 351 for limiting the vertical direction of the ratchet bar 34, and the driving gear 36 is meshed with the ratchet bar 34 to enable the ratchet bar 34 to move horizontally; the driving wheel set 31 is fixedly connected with the supporting arm 32, and the bottom plate 35 is fixedly connected with the middle clamping plate 37 through a screw pin 38. The support driving motor drives the ratchet bar 34 to horizontally move for a corresponding distance by controlling the transmission gear 36 to rotate forward and backward for a certain angle, so that the supporting arm 32 is unfolded or retracted to adapt to the size of the inner diameter of the pipeline to be cleaned.

As shown in fig. 10, the driving wheel 313, the driving wheel bearing 314, and the synchronizing wheel 316 of the driving wheel set 31 are all connected to the driving wheel support 311 through the driving wheel shaft 315, the driving wheel motor 312 is connected to other synchronizing wheels 316, all the synchronizing wheels 316 are engaged with the synchronous belt 317 to form a transmission mechanism, and the driving wheel motor 312 can drive the driving wheel 313 to rotate through the transmission of the transmission mechanism, thereby realizing the advancing and retreating of the robot in the pipeline.

As shown in fig. 11, the universal connection mechanism 4 is composed of a connection base 44, twelve connection springs 42, twenty-four universal joints 41 and two middle hoses 43, the middle hoses 43 mainly allow cables (including control lines and power supply lines) to pass through, the connection springs 42 form flexible connection pieces, two ends of each connection spring 42 are respectively welded and fixed with one universal joint 41, the universal joints 41 are connected with the bottom plate 35 of the driving mechanism 3 in the same direction in a welding manner, and movement interference caused by the connection of the universal joints 41 in different directions is prevented. The universal connection mechanism 4 can realize the adaptive deformation of the main structure of the robot when the robot passes through the elbow. The universal connection mechanism 4 can provide the installation space for the robot control and power supply circuit, and can increase the main structure segmentation of the robot, thereby improving the passing ability and flexibility of the robot in the pipeline.

As shown in fig. 12, the universal joint 41 is a cross joint.

As shown in fig. 13, the dust suction mechanism 5 includes a cowling 51, a dust suction fan 52, a fan motor 53, and a dust storage tank 54. The dust suction fan 52 is fixedly connected to the fan motor 53. The fan motor 53 drives the blades of the dust suction fan 52 to rotate, and guides the airflow through the cowling 51 to adsorb rust, dirt, and the like from the cleaning head 22 and temporarily store the adsorbed dirt in the dust storage tank 54.

In summary, by means of the technical scheme of the invention, the driving mechanism has a function of self-adapting to the pipe diameter, the supporting arms can be unfolded and recovered according to the size of the pipe diameter to be cleaned, the robot is always positioned at the central position of the pipeline and the driving wheel set is in contact with the inner wall of the pipeline, the robot can be driven to advance under different pipe diameters, and the driving mechanism has a compact structure, is easy to maintain and clean, and is beneficial to ensuring that the robot still operates stably under severe pipeline cleaning working conditions; the universal connecting mechanism is arranged, so that the robot can flexibly pass through the pipeline with the bending angle of more than 90 degrees and perform cleaning operation, and the types of the pipeline which can be cleaned by the robot are wider; the dust collection mechanism has the functions of dust collection and storage, can collect dust and stains falling off during cleaning of the cleaning brush head in time, avoids secondary pollution of pipeline cleaning, and realizes integration of efficient cleaning of the pipeline; the cleaning brush head can be replaced, the cleaning brush heads with different sizes can be replaced according to the cleaning requirements of different pipe diameters, and the robot always keeps the central position in the pipeline to move, so that the inner wall of the pipeline can be fully covered in the cleaning range of the cleaning brush head when the robot moves, and the cleaning process is more efficient as being different from the traditional pipeline cleaning robot which continuously changes the position of the brush head in the cleaning process; through the mode that the driving wheel group tightly contacts with the inner wall of the pipeline in a jacking mode, the robot can be always positioned at the central position of the pipeline when moving in the pipeline, so that the robot is more stable in cleaning posture and has the function of preventing side turning.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A pipeline cleaning robot is characterized by comprising a universal connecting mechanism (4), a cleaning mechanism (2) is arranged in front of the universal connecting mechanism (4), a dust suction mechanism (5) is arranged behind the universal connecting mechanism (4), driving mechanisms (3) are respectively arranged between the cleaning mechanism (2) and the universal connecting mechanism (4) and between the dust absorption mechanism (5) and the universal connecting mechanism (4), the driving mechanism (3) comprises a bracket, a plurality of supporting arms (32) are arranged on the bracket, one end of the supporting arm (32) far away from the bracket is provided with a driving wheel set (31), the universal connecting mechanism (4) comprises a connecting seat (44), a plurality of flexible connecting pieces are arranged between the connecting seat (44) and the bracket, the connecting seat (44) and the support are connected with the flexible connecting piece through a universal joint (41).

2. The pipe cleaning robot according to claim 1, wherein the bracket comprises a middle clamping plate (37) and at least one bottom plate (35), the middle clamping plate (37) and the bottom plate (35) are arranged at an interval and fixedly connected with each other, a transmission gear (36) capable of rotating around its axis and a plurality of ratchet bars (34) capable of sliding along the transmission gear (36) in the radial direction are respectively arranged between the middle clamping plate (37) and the bottom plate (35), the transmission gear (36) is engaged with the ratchet bars (34), the transmission gear (36) is connected with a bracket driving motor, the ratchet bars (34) are fixedly connected with one end of a connecting sleeve (33), the other end of the connecting sleeve (33) is slidably connected with the supporting arm (32), and one end of the supporting arm (32) far away from the driving wheel set (31) extends into the space between the middle clamping plate (37) and the bottom plate (35) and the middle clamping plate (35) The plate (37) is hinged.

3. The pipe cleaning robot according to claim 2, wherein the bracket comprises a front bottom plate (35) and a rear bottom plate (35), the middle clamping plate (37) is located between the two bottom plates (35), and the bottom plate (35) close to the universal connection mechanism (4) is fixedly connected with the universal joint (41).

4. The pipe cleaning robot according to claim 2, wherein the driving wheel set (31) comprises a driving wheel support (311), the driving wheel support (311) is fixedly connected with one end of the supporting arm (32) far away from the support, a plurality of driving wheel shafts (315) are rotatably connected to the driving wheel support (311), a plurality of driving wheels (313) are fixedly connected to the driving wheel shafts (315), all the driving wheel shafts (315) are connected to a driving wheel motor (312) through a transmission mechanism, the transmission mechanism comprises a synchronous belt (317) and a plurality of synchronous wheels (316), and the synchronous wheels (316) are fixedly connected to the driving wheel shafts (315) or a motor shaft of the driving wheel motor (312).

5. The pipe cleaning robot according to claim 4, characterized in that the cleaning mechanism (2) comprises a brush head base (27), the rear side of the brush head base (27) is fixedly connected with the bottom plate (35) which is closest to the brush head base, the front side of the brush head base (27) is detachably connected with a brush head top cover (21) through a detachably connected fixed shaft (26), the outside of the fixed shaft (26) is sleeved with a cleaning brush head (22), the rear end of the cleaning brush head (22) is fixedly connected with the outer ring of a bearing (25), the inner ring of the bearing (25) is fixedly connected with the outside of the fixed shaft (26), the outer lane of bearing (25) still fixedly connected with driven gear (24), driven gear (24) meshing is connected with brush head drive gear (23), brush head drive gear (23) are connected with brush head driving motor.

6. The pipe cleaning robot according to claim 5, wherein the dust suction mechanism (5) comprises a dust suction fan (52), the dust suction fan (52) comprises a fan cylinder and fan blades, the fan blades are connected with a fan motor (53), one end of the fan cylinder is fixedly connected with a fairing (51) in a sealing manner, the other end of the fan cylinder is fixedly connected with a dust storage groove (54) in a sealing manner, the fan motor (53) is positioned in the dust storage groove (54), and the fairing (51) or the dust storage groove (54) is fixedly connected with the bottom plate (35) closest to the fairing.

7. The pipe cleaning robot according to claim 6, wherein a first camera (1) facing forward is fixedly connected to the front side of the brush head top cover (21), and a second camera (6) facing rearward is fixedly connected to the dust suction mechanism (5).

8. The pipe cleaning robot according to claim 7, wherein the bracket driving motor, the driving wheel motor (312), the brush head driving motor, the fan motor (53), the first camera (1) and the second camera (6) are all connected with cables, the bottom plate (35) and the connecting seat (44) are all provided with wire passing holes corresponding to the cables, the connecting seat (44) is connected with the bottom plate (35) through a middle hose (43), and the middle hose (43) is located outside the cables.

9. The pipe cleaning robot according to claim 1, wherein the universal joint (41) comprises a cross shaft and two end heads, and the cross shaft is rotatably connected with the two end heads respectively.

10. The pipe cleaning robot according to claim 2, wherein a plurality of limiting plates (351) respectively slidably engaged with the ratchet bars (34) are fixedly connected to the bottom plate (35), and the ratchet bars (34) are located between the limiting plates (351) and the transmission gears (36).