CN217451314U - Wriggling outer pipeline cleaning robot - Google Patents

Abstract

The utility model discloses a wriggling outer pipeline cleans machine people, it includes: two fixed bodies that set up from beginning to end are connected through the telescopic link between two fixed bodies, and the left and right sides below of each fixed body is provided with a lower supporting body, and each fixed body encloses with two lower supporting bodies that correspond and establishes into non-confined cavity, is provided with the casing on each fixed body, and each fixed body is provided with the locking knot with the junction of each lower supporting body that corresponds, and the internal surface of each cavity is provided with inflatable air bag and cleans the brush, is provided with the dust absorption subassembly on each fixed body. The utility model discloses a wriggling outer pipeline cleans machine people cleans the robot body through wriggling outer pipeline, and the concertina movement through the telescopic link realizes the walking process of the formula of wriggling around the robot, and the clamp to embracing of pipeline is realized through inflating and deflating of inflating gasbag, and simultaneously, the surrounding area of inflating gasbag can form the enclosure space, can realize the high-speed circulation of dust in the enclosure space to collect through the dust absorption subassembly.

Description

Wriggling outer pipeline cleaning robot

Technical Field

The utility model relates to a clean the robotechnology field, especially relate to a wriggling outer pipeline and clean robot.

Background

At present, the tobacco manufacturing industry is moved from traditional manufacturing to intelligent manufacturing, network science and technology and intelligent manufacturing technology are applied, original manual operation is replaced by intelligent equipment, the use number of personnel is reduced, the quality can be guaranteed, and equipment loss and personnel danger can be reduced in the production process.

Because of the production process requirement, water, gas and steam pipelines in a tobacco production workshop are densely distributed and are influenced by the production environment, dust is easily accumulated on the pipelines, the distance between the pipelines and the ground is 6-9 meters, a special cleaning channel is not provided, the long wood rod type cleaning cloth is used for cleaning by manpower in daily life, the efficiency is low, the effect is poor, and great potential safety hazards exist.

Therefore, a peristaltic outer pipeline cleaning robot suitable for a field complex environment is needed.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a wriggling outer pipeline cleans machine people to solve the problem among the above-mentioned prior art, can realize the front and back wriggling formula walking process of robot through the concertina movement of telescopic link.

The utility model provides a wriggling outer pipeline cleans machine people, wherein, include:

the dust collector comprises two fixing bodies arranged along the front-back direction, the two fixing bodies are connected through a telescopic rod, a lower clamping body is arranged below the left side and the right side of each fixing body, each fixing body and the corresponding two lower clamping bodies enclose a non-closed cavity, an upper shell is arranged on each fixing body, a locking buckle is arranged at the joint of each fixing body and the corresponding lower clamping body, an inflatable airbag and a cleaning brush are arranged on the inner surface of each cavity, and a dust collection assembly is arranged on each fixing body.

The peristaltic outer pipeline cleaning robot comprises a dust collection assembly, a dust collection motor, a dust bin, a dust blowing gas channel, a dust blowing opening and a dust blowing opening, wherein the dust collection assembly comprises the dust collection motor and the dust bin, the dust collection motor is arranged on the upper surface of each fixed body, the dust bin is arranged at the top end of each fixed body, the air flow channel is arranged inside each fixed body, the dust blowing gas channels on two sides of the dust collection motor are communicated through the air flow channels positioned at the bottom of the dust collection motor, and the dust blowing opening is arranged on the inner surface of each fixed body along the radial direction and communicated with the dust blowing gas channels; the dust collection motor top is provided with the dust absorption gas runner, the dust absorption gas runner with the dust storehouse is connected, dust storehouse bottom be provided with along the axis direction arrange, and with the dust absorption mouth of cavity intercommunication.

The peristaltic outer pipeline cleaning robot as described above, wherein preferably, the cross section of each of the fixed bodies and the lower clamping body is arc-shaped, the number of the dust collection motors and the dust bins corresponding to each of the fixed bodies is two, and the two dust collection motors and the two dust bins are symmetrically distributed in the radial direction of the fixed body; the fixed body is provided with a dust absorption motor mounting hole for mounting the dust absorption motor.

The peristaltic outer pipeline cleaning robot is characterized in that a micro air pump, a cleaning motor, a controller and a power module are preferably arranged in each lower clamping body, the micro air pump is used for inflating the inflatable air bag, the cleaning motor is used for driving the cleaning brush to clean, the power module is used for supplying power to the micro air pump, the cleaning motor, the dust collection motor and the controller, and the controller is used for sending control signals to the micro air pump, the cleaning motor and the dust collection motor.

The creeping outer pipeline cleaning robot as described above, wherein preferably, the number of the telescopic rods is three, the inner edges of the left and right sides of each of the fixed bodies and the upper surface of the middle position are respectively provided with a propulsion cylinder mounting port penetrating along the axis direction, the two fixed bodies are connected by penetrating through the propulsion cylinder mounting ports corresponding to the two fixed bodies, and the outer edges of the propulsion cylinder mounting ports are provided with propulsion cylinders for propelling the telescopic rods to stretch.

The peristaltic outer pipeline cleaning robot is characterized in that a telescopic rod fixing groove matched with the propelling cylinder mounting opening is formed in the middle position of the inner side of the upper shell, so that the telescopic rod in the middle position can pass through an accommodating cavity formed by the telescopic rod fixing groove and the propelling cylinder mounting opening in a surrounding mode.

The peristaltic outer pipeline cleaning robot is characterized in that the motor fixing groove corresponding to the position of the dust collection motor is formed in the edge of the inner side of the upper shell and used for fixing the dust collection motor; and the top of the upper shell is provided with a dust collection box corresponding to the position of the dust bin.

The peristaltic outer pipeline cleaning robot is characterized in that the number of the inflatable air bags corresponding to each cavity is preferably five, three inflatable air bags are uniformly arranged in the middle of the fixed body along the radial direction, and one inflatable air bag is respectively arranged at the front end and the rear end of each lower clamping body at two sides of the fixed body along the radial direction; five inflatable air bags corresponding to each cavity are communicated to realize simultaneous inflation and deflation.

The cleaning robot for the peristaltic outer pipeline is preferably configured such that the number of the cleaning brushes corresponding to each cavity is six, wherein one cleaning brush is respectively arranged at the edges of the front end and the rear end of the fixed body along the radial direction, one cleaning brush is distributed at the edge of each lower clamping body at the two sides of the fixed body along the radial direction, and the inflatable airbag corresponding to the lower clamping body is located inside the cleaning brush.

The peristaltic external pipeline cleaning robot as described above, wherein preferably, each of the fixing bodies is connected to the lower clamping bodies on the left and right sides by a connecting hinge; the number of the locking buckles is 4, the locking buckles are respectively arranged at the middle position of the joint of each fixed body and each corresponding lower clamping body, and locking buckle mounting holes for mounting the locking buckles are formed in the positions of the locking buckles on each fixed body and each lower clamping body.

The utility model provides a wriggling outer pipeline cleaning robot, the back and forth wriggling formula walking process of robot is realized to the concertina movement through the telescopic link, adopt the centre gripping formula walking mode of advancing, through the flexible walking of two sets of fixed bodies and lower cramping body in turn, the clamp action of treating the pipeline that cleans is realized through the gassing of inflatable air bag, when the clamp is embraced, the enclosed space can be formed in the surrounding area of inflatable air bag, under the effect of high-speed fan, can realize the high-speed circulation of dust in the enclosed space, and filter the collection of dust through the dust absorption subassembly, thereby realize the purpose of cleaning; the utility model discloses structural design is simple, greatly reduced energy consumption and manufacturing cost.

Drawings

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be further described with reference to the accompanying drawings, in which:

fig. 1 is a schematic perspective view of an embodiment of a peristaltic external pipe cleaning robot provided by the present invention;

fig. 2 is a left side view of an embodiment of the peristaltic outer pipe cleaning robot provided by the present invention;

fig. 3 is a schematic structural view of a dust bin and a dust collection motor mounting hole on a fixed body of the embodiment of the peristaltic external pipe cleaning robot provided by the present invention;

fig. 4 is a schematic structural view of a dust-collecting gas flow passage inside the fixed body of the embodiment of the peristaltic external pipe cleaning robot of the present invention;

FIG. 5 is a schematic structural view of a dust collection motor and an inflatable air bag of the embodiment of the peristaltic external pipe cleaning robot provided by the present invention;

fig. 6 is a schematic structural view of a fixing body of the embodiment of the peristaltic external pipe cleaning robot provided by the present invention;

fig. 7 is a schematic structural view of a telescopic rod fixing groove and a motor fixing groove inside an upper shell of the peristaltic outer pipe cleaning robot according to the embodiment of the present invention;

fig. 8 is a schematic structural view of a dust collecting box on an upper housing of an embodiment of the peristaltic outer pipe cleaning robot provided by the present invention;

fig. 9 is a schematic structural view of a cleaning brush and an inflatable air bag inside a lower clamping body of the peristaltic outer pipeline cleaning robot according to the embodiment of the present invention;

fig. 10 is a schematic structural view of a locking buckle mounting hole inside a lower clamping body according to an embodiment of the peristaltic outer pipe cleaning robot of the present invention.

Description of reference numerals: 1-fixed body, 2-upper shell, 3-locking buckle, 4-lower clamping body, 5-sweeping brush, 6-inflatable air bag, 7-dust bin, 8-dust suction motor mounting hole, 9-dust blowing gas flow channel, 10-dust suction motor, 11-dust blowing port, 12-dust suction port, 13-pushing cylinder mounting port, 14-connecting hinge, 15-telescopic rod fixing groove, 16-motor fixing groove, 17-dust collection box, 18-locking buckle mounting hole, 19-dust suction gas flow channel, 20-telescopic rod and 21-cavity.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments are to be construed as merely illustrative, and not restrictive, unless specifically stated otherwise.

As used in this disclosure, "first", "second": and the like, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", and the like are used only to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationship may also be changed accordingly.

In the present disclosure, when a specific component is described as being located between a first component and a second component, there may or may not be intervening components between the specific component and the first component or the second component. When it is described that a specific component is connected to other components, the specific component may be directly connected to the other components without having an intervening component, or may be directly connected to the other components without having an intervening component.

All terms (including technical or scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

As shown in fig. 1 and 2, an embodiment of the present invention provides a peristaltic external pipe cleaning robot, which includes:

the dust collector comprises two fixing bodies 1 arranged along the front-back direction, the two fixing bodies 1 are connected through a telescopic rod 20, a lower clamping body 4 is arranged below each of the left side and the right side of each fixing body 1, each fixing body 1 and the corresponding two lower clamping bodies 4 enclose an unsealed cavity 21, an upper shell 2 is arranged on each fixing body 1, a locking buckle 3 is arranged at the joint of each fixing body 1 and the corresponding lower clamping body 4, an inflatable airbag 6 and a cleaning brush 5 are arranged on the inner surface of each cavity 21, and a dust collection assembly is arranged on each fixing body 1.

Wherein, the utility model discloses in, the fore-and-aft direction indicates the axis direction of waiting to clean the pipeline, and the left and right sides direction indicates the radial direction of waiting to clean the pipeline.

Further, as shown in fig. 3 to 5, the dust collection assembly includes a dust collection motor 10 and a dust bin 7, wherein the dust collection motor 10 is disposed on an upper surface of each of the fixing bodies 1, the dust bin 7 is disposed at a top end of each of the fixing bodies 1, an airflow channel is disposed inside each of the fixing bodies 1, dust blowing air channels 9 are disposed on two sides of the dust collection motor 10, the dust blowing air channels 9 on two sides are communicated with each other through the airflow channel located at a bottom of the dust collection motor 10, and a dust blowing port 11 disposed in a radial direction and communicated with the dust blowing air channels 9 is disposed on an inner surface of each of the fixing bodies 1; dust absorption motor 10 top is provided with dust absorption gas runner 19, dust absorption gas runner 19 with dust storehouse 7 is connected, dust storehouse 7 bottom be provided with along the axis direction arrange, and with the dust absorption mouth 12 of cavity 21 intercommunication. When the dust collection motor 10 works, the dust collection motor 10 blows air flow out from the dust blowing openings 11 on the two sides, dust is sucked into the dust bin 7 through the dust collection opening 12 on the top, air circulation is completely realized in the holding range of the inflatable air bag 6, and pollution to the outside is reduced to the lowest extent.

Further, as shown in fig. 6, each of the fixing bodies 1 is connected to the lower clamping bodies 4 on the left and right sides by a connection hinge 14.

Further, as shown in fig. 8, a dust collection box 17 corresponding to the position of the dust bin 7 is disposed at the top of the upper housing 2. Thus, after the upper shell 2 is connected with the fixed body 1, the dust collection motor 10 and the telescopic rod 20 can be completely fixed, and the dust collection box 17 can be taken out without detaching the upper shell 2, so that the replacement is convenient.

Further, as shown in fig. 2, the cross section of each of the fixed bodies 1 and the lower clamping body 4 is arc-shaped, the number of the dust collection motors 10 and the number of the dust bins 7 corresponding to each of the fixed bodies 1 are two, and the two dust collection motors 10 and the two dust bins 7 are respectively and symmetrically distributed in the radial direction of the fixed body 1. Further, as shown in fig. 4, a dust suction motor mounting hole 8 is formed in the fixing body 1 for mounting the dust suction motor 10.

Furthermore, a micro air pump, a cleaning motor, a controller and a power module are arranged in each lower clamping body 4, the micro air pump is used for inflating the inflatable air bag 6, the cleaning motor is used for driving the cleaning brush 5 to clean, the power module is used for supplying power to the micro air pump, the cleaning motor, the dust collection motor 10 and the controller, and the controller is used for sending control signals to the micro air pump, the cleaning motor and the dust collection motor 10. Therefore, the gravity center of the whole robot is lowered, and the stability in the advancing process is improved. It should be noted that the present invention is not limited to the type, model, distribution position, etc. of the micro air pump, the cleaning motor, the controller and the power module.

In the work, after the robot is placed on the pipeline to be cleaned, the robot is clamped on the pipeline to be cleaned by adjusting the locking buckle 3, and at the moment, the inflatable air bags 6 in the cavity 21 are inflated by the miniature air pumps respectively positioned in the lower clamping bodies 4, so that the robot can be sufficiently and firmly clamped with the pipeline to be cleaned; in the cleaning process, the inflatable air bags 6 corresponding to the front cavity 21 and the rear cavity 21 are alternately inflated and deflated, and the front-rear creeping type walking process of the robot is realized through the telescopic motion of the telescopic rod 20; in the walking process, the dust collection motor 10 can be always in a working state, the cleaning brushes 5 which are arranged on the inner wall of the cavity and distributed along the front-back direction clean the pipe wall of the pipeline to be cleaned in the moving process, blow dust off from the pipe wall through high-speed airflow and collect the dust in the dust collection box 17, so that the whole cleaning process is realized.

Therefore, compared with the prior art, the peristaltic external pipeline cleaning robot provided by the embodiment has the advantages that the forward and backward peristaltic walking process of the robot is realized through the telescopic motion of the telescopic rod, a progressive clamping type walking mode is adopted, the robot alternately stretches and retracts to walk through the two groups of fixing bodies and the lower clamping body, the clamping action of a pipeline to be cleaned is realized through the inflation and deflation of the inflatable air bag, a closed space is formed in the surrounding area of the inflatable air bag while clamping is performed, the high-speed circulation of dust in the closed space can be realized under the action of the high-speed fan, and the dust is filtered and collected through the dust collection assembly, so that the cleaning purpose is realized; the utility model discloses structural design is simple, greatly reduced energy consumption and manufacturing cost.

Further, as shown in fig. 2, the number of the telescopic rods 20 is three, specifically, as shown in fig. 6, pushing cylinder mounting ports 13 penetrating along the axis direction are respectively formed at the inner edges of the left side and the right side of each of the fixed bodies 1 and the upper surface of the middle position, the two fixed bodies 1 are connected by penetrating through the pushing cylinder mounting ports 13 corresponding to the two fixed bodies 1, and pushing cylinders for pushing the telescopic rods 20 to extend and retract are arranged at the outer edges of the pushing cylinder mounting ports 13. It should be noted that the present invention does not specifically limit the number, length, diameter, material, etc. of the telescopic rods 20.

Further, as shown in fig. 7, a telescopic rod fixing groove 15 matched with the propelling cylinder mounting opening 13 is formed at a middle position inside the upper casing 2, so that an accommodating cavity defined by the telescopic rod fixing groove 15 and the propelling cylinder mounting opening 13 can be penetrated by the telescopic rod 20 at the middle position.

Further, as shown in fig. 7, a motor fixing groove 16 corresponding to the position of the dust collection motor 10 is provided at an inner edge of the upper housing 2, and is used for fixing the dust collection motor 10.

Further, as shown in fig. 2, 5 and 6, the number of the inflatable air bags 6 corresponding to each cavity 21 is five, wherein three inflatable air bags 6 are uniformly arranged in the radial direction at the middle position of the fixing body 1, and one inflatable air bag 6 is arranged in the radial direction at each of the front and rear ends of each lower clamping body 4 at both sides of the fixing body 1; five inflatable air bags 6 corresponding to each cavity 21 are arranged in a communication way so as to realize simultaneous inflation and deflation. It should be noted that the present invention does not specifically limit the number and the distribution position of the inflatable air bags 6. The upper and lower inflatable air bags corresponding to each cavity 21 are arranged in a communicated manner so as to realize the action of inflation and deflation at the same time; when the robot is inflated, the middle position of the fixed body 1 is provided with the inflatable air bag 6, and the lower clamping bodies 4 on two sides are also provided with the air bags, so that a triangular structure is formed, and the robot is guaranteed to be tightly clamped on a pipeline to be cleaned.

Further, as shown in fig. 2, 6 and 9, the number of the cleaning brushes 5 corresponding to each cavity 21 is six, wherein one cleaning brush 5 is respectively arranged at the edges of the front end and the rear end of the fixed body 1 along the radial direction, one cleaning brush 5 is distributed at the edge of each lower clamping body 4 at the two sides of the fixed body 1 along the radial direction, and the inflatable airbag 6 corresponding to the lower clamping body 4 is located at the inner side of the cleaning brush 5. It should be noted that the present invention does not specifically limit the number and distribution positions of the cleaning brushes 5.

Further, as shown in fig. 2, the number of the locking buckles 3 is 4, and the locking buckles are respectively arranged at the middle position of the connection position of each fixing body 1 and each corresponding lower clamping body 4. Further, as shown in fig. 10, each of the fixing bodies 1 and each of the lower clamps 4 are provided with a locking buckle mounting hole 18 for mounting the locking buckle 3 at a position of the locking buckle 3.

The embodiment of the utility model provides a wriggling outer pipeline cleaning robot, the back and forth wriggling formula walking process of robot is realized to the concertina movement through the telescopic link, adopt the centre gripping formula walking mode of advancing, through the flexible walking of two sets of fixed bodies and lower cramping body in turn, the clamp action of treating the pipeline that cleans is realized to the gassing of aerifing gasbag, when the clamp is embraced, the enclosure region of aerifing gasbag can form the enclosure space, under the effect of high-speed fan, can realize the high-speed circulation of dust in the enclosure space, and filter the collection with the dust through the dust absorption subassembly, thereby realize the purpose of cleaning; the utility model discloses structural design is simple, greatly reduced energy consumption and manufacturing cost.

Thus, various embodiments of the present disclosure have been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.

Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that various changes may be made in the above embodiments or equivalents may be substituted for elements thereof without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims (10)

1. A peristaltic external tubing cleaning robot, comprising:

the dust collector comprises two fixing bodies arranged along the front-back direction, the two fixing bodies are connected through a telescopic rod, a lower clamping body is arranged below the left side and the right side of each fixing body, each fixing body and the corresponding two lower clamping bodies enclose a non-closed cavity, an upper shell is arranged on each fixing body, a locking buckle is arranged at the joint of each fixing body and the corresponding lower clamping body, an inflatable airbag and a cleaning brush are arranged on the inner surface of each cavity, and a dust collection assembly is arranged on each fixing body.

2. The peristaltic outer pipeline cleaning robot as claimed in claim 1, wherein the dust collection assembly comprises a dust collection motor and a dust bin, wherein the dust collection motor is arranged on the upper surface of each fixed body, the dust bin is arranged at the top end of each fixed body, an airflow channel is arranged inside each fixed body, dust blowing gas channels are arranged on two sides of the dust collection motor, the dust blowing gas channels on the two sides are communicated through the airflow channel at the bottom of the dust collection motor, and a dust blowing port which is arranged in the radial direction and is communicated with the dust blowing gas channels is arranged on the inner surface of each fixed body; the dust collection motor top is provided with the dust absorption gas runner, the dust absorption gas runner with the dust storehouse is connected, dust storehouse bottom be provided with along the axis direction arrange, and with the dust absorption mouth of cavity intercommunication.

3. The peristaltic outer pipeline cleaning robot as claimed in claim 2, wherein the cross section of each of the fixed bodies and the lower clamping bodies is arc-shaped, the number of the dust collection motors and the dust bins corresponding to each of the fixed bodies is two, and the two dust collection motors and the two dust bins are symmetrically distributed in the radial direction of the fixed bodies respectively; the fixed body is provided with a dust absorption motor mounting hole for mounting the dust absorption motor.

4. The peristaltic outer pipeline cleaning robot according to claim 2, wherein a micro air pump, a cleaning motor, a controller and a power module are arranged in each lower clamping body, the micro air pump is used for inflating the inflatable air bag, the cleaning motor is used for driving the cleaning brush to clean, the power module is used for supplying power to the micro air pump, the cleaning motor, the dust collection motor and the controller, and the controller is used for sending control signals to the micro air pump, the cleaning motor and the dust collection motor.

5. The peristaltic outer pipeline cleaning robot as claimed in claim 2, wherein the number of the telescopic rods is three, pushing cylinder mounting ports penetrating along the axis direction are respectively formed in the inner edges of the left side and the right side of each fixing body and the upper surface of the middle position of each fixing body, the two fixing bodies are connected by penetrating through the pushing cylinder mounting ports corresponding to the two fixing bodies, and pushing cylinders used for pushing the telescopic rods to stretch and retract are arranged at the outer edges of the pushing cylinder mounting ports.

6. The peristaltic external pipe cleaning robot as claimed in claim 5, wherein a telescopic rod fixing groove matched with the propelling cylinder mounting opening is formed in a middle position on the inner side of the upper shell, so that an accommodating cavity defined by the telescopic rod fixing groove and the propelling cylinder mounting opening can be penetrated by the telescopic rod in the middle position.

7. The peristaltic outer pipeline cleaning robot as claimed in claim 6, wherein a motor fixing groove corresponding to the position of the dust collection motor is formed in the edge of the inner side of the upper shell and used for fixing the dust collection motor; and the top of the upper shell is provided with a dust collection box corresponding to the position of the dust bin.

8. The peristaltic external pipeline cleaning robot as claimed in claim 1, wherein the number of the inflatable air bags corresponding to each cavity is five, wherein three inflatable air bags are uniformly arranged in the middle of the fixed body along the radial direction, and one inflatable air bag is respectively arranged at the front end and the rear end of each lower clamping body at two sides of the fixed body along the radial direction; five inflatable air bags corresponding to each cavity are arranged in a communicated manner so as to realize simultaneous inflation and deflation.

9. The peristaltic outer pipe cleaning robot as claimed in claim 8, wherein the number of the cleaning brushes corresponding to each cavity is six, wherein one cleaning brush is arranged at each of the edges of the front and rear ends of the fixed body in the radial direction, one cleaning brush is arranged at each of the edges of the lower clamping bodies at both sides of the fixed body in the radial direction, and the inflatable air bags corresponding to the lower clamping bodies are located inside the cleaning brushes.

10. The peristaltic external pipe cleaning robot as claimed in claim 1, wherein each of the fixing bodies is connected to the lower clamping bodies at left and right sides by a connection hinge; the number of the locking buckles is 4, the locking buckles are respectively arranged at the middle position of the joint of each fixed body and each corresponding lower clamping body, and locking buckle mounting holes for mounting the locking buckles are formed in the positions of the locking buckles on each fixed body and each lower clamping body.

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