CN115013639B - Variable-length robot for jet cleaning of inner wall of pipeline - Google Patents
Variable-length robot for jet cleaning of inner wall of pipeline Download PDFInfo
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- CN115013639B CN115013639B CN202210653929.9A CN202210653929A CN115013639B CN 115013639 B CN115013639 B CN 115013639B CN 202210653929 A CN202210653929 A CN 202210653929A CN 115013639 B CN115013639 B CN 115013639B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to a variable-length robot for jet cleaning of the inner wall of a pipeline, which comprises a front side support, a rear side support and at least three connecting rods, wherein one end of each connecting rod is fixed on the rear side support, and the other end of each connecting rod is in sliding connection with the front side support; the invention has the telescopic driving wheels and the variable length of the whole machine, can adaptively stretch according to the pipe diameter, and the front and rear telescopic driving wheels can lead the robot to change the advancing direction in real time along with the pipeline, thereby being suitable for the condition of the pipe with small pipe diameter.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a variable-length robot for jet cleaning of an inner wall of a pipeline.
Background
Liquid and gas conveying pipeline are through long-term use, and inside easily adheres to the pollutant, and metal pipeline can lead to the fact the corrosion because of oxidation, can lead to the fact the pollution to the liquid or the gas of carrying, can cause the leakage in the time of seriously, destroys the environment even harm production safety, consequently needs regularly to clear up and the rust cleaning.
In the existing cleaning mode, more auxiliary equipment is needed to be matched for sand blasting, so that the cost is higher; the vibration is suitable for small-diameter pipelines and is difficult to clean on a large scale. Therefore, in order to overcome the defects, technicians adopt a pipeline inner wall robot to clean the inner wall of the pipeline.
The pipeline is divided into a straight pipe and an elbow pipe, the straight pipe is divided into a diameter-variable straight pipe and a diameter-non-variable straight pipe, at present, a pipeline inner wall cleaning robot is generally provided with three rollers which stretch out and draw back along the radial direction of the pipeline, and the rollers are used for contacting the inner wall of the pipeline and driving the robot to move forward or backward. However, the robot for cleaning the inner wall of the pipeline usually has a certain length and cannot be bent, and can only clean the bent pipeline with a set pipe diameter, and for the bent pipeline with the pipe diameter smaller than the set pipe diameter, the bent pipeline is difficult to pass due to the length limitation of the robot.
In addition, in order to remove pollutants or rust in the pipeline, the cleaning agent sprayed by the robot is generally an acid solution, which is not environment-friendly, has strict limitation on the pipeline material, and has a small application range.
Disclosure of Invention
The invention aims to provide a variable-length robot for cleaning the inner wall of a pipeline by jet flow, and the robot is used for solving the problems that the robot for cleaning the inner wall of the pipeline in the prior art is not suitable for bent pipes with the pipe diameters smaller than a set pipe diameter and the adopted cleaning agent has limitation on the material of the pipeline. In order to achieve the above object, the present invention is achieved by the following technical solutions:
the invention provides a variable-length robot for jet cleaning of the inner wall of a pipeline, which comprises a front side support, a rear side support and at least three connecting rods, wherein one end of each connecting rod is fixed on the rear side support, and the other end of each connecting rod is in sliding connection with the front side support;
at least three first telescopic driving wheels are uniformly distributed on the front side support along the radial direction of the pipeline, the first telescopic driving wheels are linked with the connecting rod, and the connecting rod is driven to retract towards one side of the front side support through the passive shortening of the first telescopic driving wheels;
the back side supports and has the flexible drive wheel of at least three second along the radial equipartition of pipeline, be equipped with the stock solution chamber in the back side supports, the fluid pressure in stock solution chamber does the flexible drive wheel of second provides flexible power, the stock solution intracavity is equipped with the fluid abrasive material and disposes the washing nozzle.
As a further technical scheme, the cleaning nozzles are directly communicated with the liquid storage cavity, the number of the cleaning nozzles is two, the cleaning nozzles can rotate around the liquid storage cavity, and the cleaning nozzles are oppositely arranged and the spraying directions are opposite.
As a further technical scheme, the abrasive fluid grinding device further comprises a liquid supply device, and the liquid supply device provides fluid abrasive with set pressure to the liquid storage cavity.
As a further technical scheme, the rear side support is inserted with a flow guide shaft from the rear side to the front side, one end of the flow guide shaft is communicated with the liquid supply device, the other end of the flow guide shaft is inserted into the liquid storage cavity, and a groove for circulating abrasive materials is formed in the outer wall of the flow guide shaft.
As a further technical scheme, the back side support includes back side support body, end cover and sets up the rotatory sleeve between the two, back side support body the end cover with rotatory sleeve forms the stock solution chamber, rotatory sleeve with the end cover back side support body is rotatory the block, the washing nozzle sets up on the rotatory sleeve.
As a further technical scheme, the connecting rods are all fixed on the end covers.
As a further technical scheme, the second flexible drive wheel is of a hydraulic type flexible structure, a second piston cavity with the same number as the second flexible drive wheel is arranged in the rear side support, the second piston cavity is isolated from the liquid storage cavity by a second hydraulic disc, the second hydraulic disc is provided with a second piston rod matched with the second piston cavity, and the second piston cavity is communicated with a flexible inner cavity of the second flexible drive wheel.
As a further technical scheme, the first telescopic driving wheel is of a hydraulic telescopic structure, a plurality of first piston cavities, a plurality of third piston cavities and a first hydraulic disc are arranged in the front side support, the first hydraulic disc is provided with a first piston rod matched with the first piston cavities, the third piston cavities are matched with the connecting rod, part of the first piston cavities are communicated with the telescopic inner cavity of the first telescopic driving wheel independently, and the rest of the first piston cavities are communicated with the third piston cavities independently.
As a further technical solution, the first piston cavity is communicated with the third piston cavity through a pipeline, and the movement directions of the first piston rod and the connecting rod are opposite.
As a further feature, the first hydraulic disc is provided with a spring that resists the first piston rod from being pushed out of the first piston chamber.
The beneficial effects of the invention are as follows:
(1) The invention has the telescopic driving wheels and the variable length of the whole machine, can adaptively stretch according to the pipe diameter, and the front and rear telescopic driving wheels can lead the robot to change the advancing direction in real time along with the pipeline, thereby being suitable for the condition of the pipe with small pipe diameter.
(2) The invention adopts the water jet impact mode to clean the inner wall of the pipeline, has the advantages of convenient material acquisition, low cost and no pollution, is suitable for pipelines made of almost all materials, can clean various types of pollution and corrosion, and enlarges the application range.
(3) According to the invention, through the matching of the first piston rod of the first hydraulic disc and the first piston cavity, the retraction movement of the first telescopic driving wheel is converted into the retraction movement of the connecting rod, so that the length of the whole machine is reduced, and the self-adaptive adjustment of the first telescopic driving wheel and the connecting rod in the process of passing through the arc-shaped part of the pipeline is realized.
(4) According to the invention, the piston formed by matching the second piston cavity and the second piston rod transmits the fluid pressure in the liquid storage cavity to the second telescopic driving wheel for use, and when the pipeline changes, the second telescopic driving wheel transmits the pressure back, so that the self-adaptive telescopic adjustment is realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are included to illustrate an exemplary embodiment of the invention and not to limit the invention. It will be further appreciated that the drawings are for simplicity and clarity and have not necessarily been drawn to scale. The invention will now be described and explained with additional specificity and detail through the use of the accompanying drawings in which:
FIG. 1 shows an axial schematic diagram of a variable-length robot for jet cleaning of the inner wall of a pipeline in an embodiment of the invention;
FIG. 2 is a schematic front view of a variable-length robot for jet cleaning of the inner wall of a pipeline in an embodiment of the invention;
FIG. 3 showsbase:Sub>A schematic section A-A of FIG. 2;
FIG. 4 shows a schematic axial side view of a first hydraulic disc in an embodiment of the invention;
FIG. 5 shows a second hydraulic platen shaft-side schematic in an embodiment of the invention;
fig. 6 shows a schematic axial side view of a guide shaft in an embodiment of the invention.
In the figure: 1. a front side support; 10. a front support body; 11. a first telescopic drive wheel; 111. a first telescopic rod; 112. a first support wheel; 12. a first piston chamber; 13. a pipeline; 14. a spring; 15. a third piston chamber; 16. a motion space; 17. a first hydraulic disc; 171. a first disc; 172. a first piston rod; 2. supporting the back side; 20. a flow guide shaft; 201. a joint; 202. a trench; 203. a shaft body; 21. a second telescopic drive wheel; 211. a second telescopic rod; 212. a second support wheel; 22. the back side supports the body; 23. a second piston chamber; 24. a second hydraulic disc; 241. a second disc; 242. a second piston rod; 243. a through hole; 25. cleaning the nozzle; 26. rotating a first sleeve portion; 27. a second rotating sleeve; 28. a fastening part; 29. an end cap; 3. a connecting rod.
Detailed Description
The technical solutions in the exemplary embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
As shown in fig. 1, 2 and 3, the present embodiment provides a variable-length robot for jet cleaning of the inner wall of a pipeline, which comprises a front support 1, a rear support 2 and at least three connecting rods 3, wherein one end of each connecting rod 3 is fixed on the rear support 2, and the other end is slidably connected with the front support 1;
the front side support 1 is uniformly provided with at least three first telescopic driving wheels 11 along the radial direction of the pipeline, the first telescopic driving wheels 11 are linked with the connecting rod 3, and the connecting rod 3 is driven to retract towards one side of the front side support 1 through the passive shortening of the first telescopic driving wheels 11;
the back side supports 2 and has the flexible drive wheel 21 of at least three second along the radial equipartition of pipeline, is equipped with the stock solution chamber in the back side supports 2, and the fluid pressure in stock solution chamber provides flexible power for the flexible drive wheel 21 of second, and the stock solution intracavity is equipped with the fluid abrasive material and disposes washing nozzle 25.
In the present embodiment, the number of the connecting rods 3, the first telescopic driving wheels 11 and the second telescopic driving wheels 21 is three. It is understood that in other embodiments, the number may be greater than three, and is not limited to three in this embodiment.
The end parts of the first telescopic driving wheel 11 and the second telescopic driving wheel 21 are provided with driving wheels, and the driving wheels are in contact with the inner wall of the pipeline and provide power for the robot to move forwards.
The first telescopic driving wheel 11 is linked with the connecting rod 3, and the connecting rod 3 is driven to retract towards the front side support 1 side through the passive shortening of the first telescopic driving wheel 11. When encountering the return bend that is less than the settlement pipe diameter, the pipeline inner wall diminishes and will make first flexible drive wheel 11 retract certainly, and under the effect of linkage, the connecting rod 3 also takes place to retract, and then reduces the interval that front side supported 1 and rear side supported 2 for the length of complete machine diminishes, can make the robot smoothly through the return bend that is less than the settlement pipe diameter. The flexible power of second flexible drive wheel 21 comes from the fluid pressure in the stock solution chamber, and the flexible drive wheel 21 of second takes place to retract when the pipeline inner wall diminishes and oppresses the fluid in the stock solution chamber, when the pipeline inner wall grow, makes its extension under the fluidic effect in the stock solution chamber. Under the action of fluid pressure, the second telescopic driving wheel 21 is always in contact with the inner wall of the pipeline and can be adjusted in a self-adaptive telescopic mode.
It should be noted that, when a bent pipe with a small pipe diameter is encountered, the inner wall of the pipe will generate pressure on the first telescopic driving wheel 11 and the second telescopic driving wheel 21 to force the pipe to retract.
The embodiment has telescopic driving wheels and variable overall length, can be self-adaptively telescopic according to the pipe diameter, and the front and rear telescopic driving wheels can enable the robot to change the advancing direction in real time along with the pipeline, so that the robot can adapt to the condition of a small-pipe-diameter bent pipe.
The inner wall of the pipeline is cleaned in a water jet impact mode, consumables are convenient to obtain, the cost is low, no pollution is caused, the pipeline cleaning device is suitable for pipelines made of almost all materials, various types of pollution and corrosion can be cleaned, and the use range is enlarged.
The first telescopic driving wheel 11 is a hydraulic telescopic structure, and includes a first telescopic rod 111 and a first supporting wheel 112, as shown in fig. 3. The first supporting wheel 112 is provided with a motor, and the roller is driven by the motor to rotate, so that the walking on the inner wall of the pipeline is realized. First telescopic link 111 is inside to be equipped with flexible inner chamber, and flexible inner chamber can let in hydraulic oil, and is flexible through first telescopic link 111 of hydraulic oil drive.
As shown in fig. 3 and 4, a plurality of first piston cavities 12, a plurality of third piston cavities 15 and a first hydraulic plate 17 are arranged in the front side support 1, the first hydraulic plate 17 is provided with a first piston rod 172 matched with the first piston cavities 12, the third piston cavities 15 are matched with the connecting rod 3, part of the first piston cavities 12 are communicated with the telescopic inner cavity of the first telescopic driving wheel 11 independently, and the rest first piston cavities 12 are communicated with the third piston cavities 15 independently.
Specifically, six first piston chambers 12 are provided, the same number is provided for the first piston rods 172, and three third piston chambers 15 are provided.
The front support 1 comprises a front support body 10 which is columnar, a first piston cavity 12 is arranged on the front support body 10, a central cavity is arranged in the center of the front support body 10, and the first piston cavity 12 is uniformly arranged around the central cavity. Wherein three first piston chamber 12 all communicates with the flexible inner chamber of first flexible drive wheel 11 alone, and all the other three first piston chamber 12 all communicate with third piston chamber 15 alone. It will be appreciated that the first piston chamber 12 and the third piston chamber 15 are filled with hydraulic oil.
Through the cooperation of the first piston rod 172 of the first hydraulic disc 17 and the first piston cavity 12, the retraction motion of the first telescopic driving wheel 11 is converted into the retraction motion for the connecting rod 3, the length of the whole machine is reduced, and the self-adaptive telescopic adjustment is realized.
Three of the first piston chambers 12 communicate with the third piston chamber 15 via the line 13, the first piston rod 172 moving in the opposite direction to the connecting rod 3. In this embodiment, the first telescopic driving wheel 11 retracts, the hydraulic oil in the first piston chamber 12 pushes the first piston rod 172 outwards, and at this time, the first hydraulic disc 17 moves as a whole, so that the connecting rod 3 in the third piston chamber 15 retracts, and the pushing direction of the first piston rod 172 is opposite to the retracting direction of the connecting rod, thereby adjusting the length of the whole machine.
The first hydraulic plate 17 is provided with a spring 14 which prevents the first piston rod 172 from being pushed out from the first piston chamber 12, the spring 14 is provided in the center chamber of the front side support body 10, the spring 14 is extended when the first piston rod 172 is pushed out, and the first piston rod 172 is retracted by the spring 14 when the first piston rod 172 crosses the pipe arc.
As shown in fig. 4, the first hydraulic plate 17 includes a first disc 171 and six first piston rods provided on the first disc 171. The front support body 10 is provided with a movement space 16 in which a first hydraulic disc 17 can move back and forth.
As shown in fig. 3, the rear support 2 includes a rear support body 22, an end cap 29, and a rotary sleeve disposed therebetween, the rear support body 22 is in a cylindrical shape, the rear support body 22, the end cap 29, and the rotary sleeve form a liquid storage chamber, the rotary sleeve is rotatably engaged with the end cap 29 and the rear support body 20, and the cleaning nozzle 25 is disposed on the rotary sleeve.
The end cap 29 is provided with a folded-back engaging portion 28, and the rear support body 22 is also provided with a folded-back engaging portion, so that the rotating sleeve is divided into a first rotating sleeve portion 26 and a second rotating sleeve portion 27 for easier assembly, and the two portions are connected together after assembly, and a specific assembly method is a method in the prior art, which is not described in detail herein.
In this embodiment, the connecting rods 3 are all fixed to the end caps 29.
As shown in fig. 3, the second telescopic driving wheel 21 is of a hydraulic telescopic structure, and includes a second telescopic rod 211 and a second supporting wheel 212, the principle of the second telescopic driving wheel is the same as that of the first telescopic driving wheel 11, a second piston cavity 23 with the same number as that of the second telescopic driving wheel 21 is arranged in the rear side support 2, the second piston cavity 23 is isolated from the liquid storage cavity by arranging a second hydraulic disc 24, the second hydraulic disc 24 has a second piston rod 242 matched with the second piston cavity 23, and the second piston cavity 23 is communicated with a telescopic inner cavity of the second telescopic driving wheel 21.
Specifically, the number of the second piston chambers 23 is three.
As shown in fig. 5, the second hydraulic pressure plate 24 includes a second disc 241 and a second piston rod 242.
The piston formed by the cooperation of the second piston cavity 23 and the second piston rod 242 transmits the fluid pressure in the fluid storage cavity to the second telescopic driving wheel 21 for use, and when the pipeline changes, the second telescopic driving wheel 21 transmits the pressure back, so that the self-adaptive telescopic adjustment is realized.
The rear support 2 is inserted with a flow guide shaft 20 from the rear side to the front side, one end of the flow guide shaft 20 is communicated with the liquid supply device, the other end of the flow guide shaft 20 is inserted into the liquid storage cavity, and a groove 202 for flowing fluid abrasive is arranged on the outer wall of the flow guide shaft 20.
Specifically, as shown in fig. 6, the guide shaft 20 includes a joint 201, a shaft body 203, and a groove 202 provided on the shaft body 203.
The shaft body 203 is first inserted through the center of the rear support body 22 and then through the through hole 243 of the second hydraulic plate 24, and the end is fixed to the end cap 29. The shaft body 203, where it is fixed to the end cap 29, is not grooved and the fluid supply is connected to the fitting 201 and the fluid abrasive is introduced into the reservoir through the fitting 201 and the grooves 202.
The cleaning nozzles 25 are directly communicated with the liquid storage cavity, the number of the cleaning nozzles is two, the cleaning nozzles can rotate around the liquid storage cavity, and the two cleaning nozzles 25 are arranged oppositely and the spraying directions are opposite. Due to the relative arrangement and the opposite spraying direction, when the fluid abrasive is sprayed out, a moment is generated to drive the cleaning nozzle 25 to rotate. The rotary spraying of the washing nozzles 25 is achieved only by the pressure of the fluid and the arrangement of the washing nozzles. In this embodiment, the cleaning nozzle 25 is a flat nozzle.
The liquid supply device is used for supplying fluid grinding materials with set pressure to the liquid storage cavity. The liquid supply device comprises a high-pressure pump, a movable pipeline and the like, the fluid abrasive is conveyed through the movable pipeline under the action of the high-pressure pump, a rubber pipe is adopted when the pressure is low, and a movable metal pipe is adopted when the pressure is high, and the selection is carried out according to the actual condition.
It should be noted that, in the present embodiment, the sealing structure in the prior art is adopted for the places that need to be sealed, and details are not described here.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (7)
1. A variable-length robot for jet cleaning of the inner wall of a pipeline is characterized by comprising a front side support, a rear side support and at least three connecting rods, wherein one end of each connecting rod is fixed on the rear side support, and the other end of each connecting rod is in sliding connection with the front side support;
at least three first telescopic driving wheels are uniformly distributed on the front side support along the radial direction of the pipeline, the first telescopic driving wheels are linked with the connecting rod, and the connecting rod is driven to retract towards one side of the front side support through the passive shortening of the first telescopic driving wheels;
at least three second telescopic driving wheels are uniformly distributed on the rear side support along the radial direction of the pipeline, a liquid storage cavity is arranged in the rear side support, the fluid pressure of the liquid storage cavity provides telescopic power for the second telescopic driving wheels, and a fluid grinding material is arranged in the liquid storage cavity and is provided with a cleaning nozzle;
the first telescopic driving wheel is of a hydraulic telescopic structure, a plurality of first piston cavities, a plurality of third piston cavities and a first hydraulic disc are arranged in the front side support, the first hydraulic disc is provided with a first piston rod matched with the first piston cavities, the third piston cavities are matched with the connecting rod, part of the first piston cavities are independently communicated with the telescopic inner cavity of the first telescopic driving wheel, and the rest of the first piston cavities are independently communicated with the third piston cavities;
the first piston cavity is communicated with the third piston cavity through a pipeline, and the moving directions of the first piston rod and the connecting rod are opposite;
the first hydraulic disc is provided with a spring that blocks the first piston rod from being pushed out of the first piston chamber.
2. The jet cleaning variable-length robot for the inner wall of the pipeline according to claim 1, wherein the cleaning nozzles are directly communicated with the liquid storage cavity, are two in number and can rotate around the liquid storage cavity, and are oppositely arranged and jet in opposite directions.
3. The variable length robot for jet cleaning of inner walls of pipes according to claim 2, further comprising a liquid supply device providing fluid abrasive of a set pressure to the reservoir chamber.
4. The variable-length robot for jet cleaning of the inner wall of the pipeline according to claim 3, wherein the rear support is inserted with a flow guide shaft from the rear side to the front side, one end of the flow guide shaft is communicated with the liquid supply device, the other end of the flow guide shaft is inserted into the liquid storage cavity, and a groove for flowing abrasive is arranged on the outer wall of the flow guide shaft.
5. The variable-length robot for jet cleaning of the inner wall of the pipeline according to claim 2, wherein the rear support comprises a rear support body, an end cover and a rotating sleeve arranged therebetween, the rear support body, the end cover and the rotating sleeve form the liquid storage cavity, the rotating sleeve is rotatably engaged with the end cover and the rear support body, and the cleaning nozzle is arranged on the rotating sleeve.
6. The variable length robot for jet cleaning of inner walls of pipes according to claim 5, wherein said connecting rods are fixed to said end caps.
7. The variable-length robot for jet cleaning of the inner wall of the pipeline according to claim 1, wherein the second telescopic driving wheels are of a hydraulic telescopic structure, second piston cavities with the same number as the second telescopic driving wheels are arranged in the rear support, the second piston cavities are separated from the liquid storage cavity by arranging a second hydraulic disc, the second hydraulic disc is provided with a second piston rod matched with the second piston cavities, and one second piston cavity is communicated with a telescopic inner cavity of one second telescopic driving wheel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210653929.9A CN115013639B (en) | 2022-06-10 | 2022-06-10 | Variable-length robot for jet cleaning of inner wall of pipeline |
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| CN202210653929.9A CN115013639B (en) | 2022-06-10 | 2022-06-10 | Variable-length robot for jet cleaning of inner wall of pipeline |
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| CN115013639A CN115013639A (en) | 2022-09-06 |
| CN115013639B true CN115013639B (en) | 2023-04-18 |
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