CN220362389U - Robot for cleaning pipeline - Google Patents

Abstract

The application relates to the technical field of special tools and discloses a robot for cleaning a pipeline. The robot comprises a polishing device and a driving device. The driving device comprises a main frame, a first telescopic part, a second telescopic part, a first driving assembly and a second driving assembly, wherein the main frame is connected with the polishing device, the first driving assembly is connected with the main frame through the first telescopic part, the second driving assembly is connected with the main frame through the second telescopic part, the first driving assembly and the second driving assembly are respectively positioned on two opposite sides of the main frame, the first telescopic part is used for driving the first driving assembly to do telescopic motion relative to the main frame along the radial direction of the pipeline, the second telescopic part is used for driving the second driving assembly to do telescopic motion relative to the main frame along the radial direction of the pipeline, and the first driving assembly and the second driving assembly are used for being in butt joint with the inner wall of the pipeline and driving the polishing device to advance in the pipeline.

Description

Robot for cleaning pipeline

Technical Field

The application relates to the technical field of special equipment, in particular to a robot for cleaning a pipeline.

Background

The traditional method for cleaning and maintaining the inner wall of the pipeline mainly comprises manual rust removal and manual brushing, so that the rust removal and coating efficiency is low, the labor intensity is high, and the overall service life of the repaired coating is reduced due to partial preferential failure of the coating caused by incomplete surface impurity cleaning and uneven coating, so that frequent maintenance is required. In addition, the operation in the pipeline has high safety risks such as choking, hurting people by a power tool, sucking a large amount of organic solvents and the like, and brings serious challenges to the safety production of enterprises. With the progress of science and technology, robots have become research hotspots at home and abroad in recent years, and can effectively replace traditional manual operation modes to realize dangerous operation.

However, the traditional robot has limited adaptability, can only work in a pipeline with a certain fixed pipe diameter, and cannot adapt to pipelines with different pipe diameters.

The above information disclosed in the background of the present application is only for the purpose of understanding the background of the present application and may contain information that does not constitute prior art.

Disclosure of Invention

Based on this, in view of the above-mentioned problems, it is necessary to provide a robot for cleaning a pipe.

The application provides a robot for cleaning a pipe, it includes:

the polishing device is used for polishing the inner wall of the pipeline;

the driving device comprises a main frame, a first telescopic part, a second telescopic part, a first driving component and a second driving component, wherein the main frame is connected with the polishing device, the first driving component is connected with the main frame through the first telescopic part, the second driving component is connected with the main frame through the second telescopic part, the first driving component and the second driving component are respectively positioned on two opposite sides of the main frame, the first telescopic part is used for driving the first driving component to do telescopic motion relative to the main frame along the radial direction of the pipeline, the second telescopic part is used for driving the second driving component to do telescopic motion relative to the main frame along the radial direction of the pipeline, and the first driving component and the second driving component are used for being in butt joint with the inner wall of the pipeline and driving the polishing device to advance in the pipeline.

According to the robot, the first telescopic piece and the second telescopic piece can stretch out and draw back along the radial direction of the pipeline, and meanwhile, the first driving assembly and the second driving assembly are driven to stretch out and draw back along the radial direction of the pipeline. The first driving component and the second driving component are located on two opposite sides of the main frame, before entering the pipeline, the first driving component and the second driving component can be close to each other, then the robot enters the pipeline, and the first driving component and the second driving component are far away from each other and are abutted to the inner wall of the pipeline. In other words, the first driving component and the second driving component can be mutually close to or far away from each other under the drive of the first telescopic piece and the second telescopic piece, and when encountering a pipeline with smaller pipe diameter, the first driving component and the second driving component can be mutually close to each other; when encountering the pipeline with larger pipe diameter, the first driving assembly and the second driving assembly can be mutually far away and abutted on the inner wall of the pipeline, so that the pipeline with different pipe diameters is suitable for various pipelines.

In one embodiment, the first driving assembly includes a first bracket, a first motor and a first roller, the first motor is disposed in the first bracket, the first roller is rotationally connected with the first bracket, and the first motor is used for driving the first roller to rotate; the second driving assembly comprises a second bracket, a second motor arranged in the second bracket and a second roller rotationally connected with the second bracket, wherein the second motor is used for driving the second roller to rotate. The first motor can drive the first roller to rotate, the second motor can drive the second roller to rotate, and the first roller and the second roller can be used for being abutted with the inner wall of the pipeline and rolling on the inner wall.

In one embodiment, the driving device further comprises a first telescopic guiding shaft, one end of the first telescopic guiding shaft is fixed on the main frame, the other end of the first telescopic guiding shaft is connected with the first driving assembly, the telescopic direction of the first telescopic guiding shaft is parallel to the telescopic direction of the first telescopic member, and the telescopic direction of the first telescopic guiding shaft and the axial direction of the pipeline are arranged at an included angle. And/or, the driving device further comprises a second telescopic guide shaft, one end of the second telescopic guide shaft is fixed on the main frame, the other end of the second telescopic guide shaft is connected with the second driving assembly, the telescopic direction of the second telescopic guide shaft is parallel to the telescopic direction of the second telescopic piece, and the telescopic direction of the second telescopic guide shaft and the axial direction of the pipeline are arranged at an included angle. The first telescopic guide shaft and the second telescopic guide shaft can share the axial force applied to the driving device in the axial direction of the pipeline, so that the first telescopic piece and the second telescopic piece are prevented from being damaged due to the axial force.

In one embodiment, the first telescopic member is a cylinder or an electric putter, and the second telescopic member is a cylinder or an electric putter.

In one embodiment, the first roller includes a first driving wheel and a first driven wheel, and the second roller includes a second driving wheel and a second driven wheel. If the diameter of the pipeline is smaller, the driven wheel on the outer side can be detached, so that the driving device can be reduced in size to adapt to the pipeline with smaller diameter. On the contrary, when the diameter of the pipeline is larger, the driven wheel on the outer side can be additionally arranged so as to adapt to the pipeline with larger diameter.

In one embodiment, the robot further comprises a wire, the main frame is provided with a wire passing hole along the axial direction of the pipeline, the wire passing hole is used for allowing the wire to pass through, one end of the wire is electrically connected with the polishing device, and the other end of the wire is electrically connected with an external power supply.

In one embodiment, the polishing device comprises a support, a travelling wheel, a telescopic wheel assembly and a polishing assembly, wherein the polishing assembly is arranged on one side, opposite to the driving device, of the support, the polishing assembly is used for polishing the inner wall of the pipeline, the travelling wheel and the telescopic wheel assembly are connected with the support, the travelling wheel and the telescopic wheel assembly are circumferentially arranged around the support at intervals along the pipeline, and the telescopic wheel assembly can radially stretch out and draw back along the pipeline so as to be in butt joint or separation with the inner wall of the pipeline. The telescopic wheel assembly can stretch out and draw back along the radial direction of pipeline, make telescopic wheel assembly and walking wheel all with pipeline inner wall butt just, grinding device's structure setting can adapt to the pipeline of various different pipe diameters.

In one embodiment, the telescopic wheel assembly comprises a third telescopic member and a universal wheel, the universal wheel is connected with the third telescopic member, the third telescopic member is fixed on the support, and the third telescopic member is arranged to drive the universal wheel to do telescopic motion along the radial direction of the pipeline.

In one embodiment, the robot further comprises a control device and a corrugated pipe, wherein the control device is connected with the driving device and the polishing device through the corrugated pipe, and the control device is used for controlling the driving device and the polishing device to work.

In one embodiment, the third telescopic member is a cylinder or a gas spring.

In one embodiment, the third telescopic member and the travelling wheel are all provided in plurality.

In one embodiment, the support comprises a connecting plate, a mechanical arm, a screw rod assembly and two supporting plates arranged at two ends of the connecting plate, the travelling wheels and the telescopic wheel assembly are both fixed on the supporting plates, the screw rod assembly is arranged between the two supporting plates, the mechanical arm is connected with the polishing assembly, and the screw rod assembly is used for driving the mechanical arm and the polishing assembly to stretch and retract along the axial direction of the pipeline.

In one embodiment, the support further comprises a rotating motor, a synchronizing shaft and two rotating discs, wherein the two rotating discs are arranged between the two supporting plates, the synchronizing shaft is arranged between the two rotating discs, and the rotating motor is used for driving the rotating discs to rotate so that the polishing assembly rotates along the circumferential direction of the pipeline. Such a structural arrangement can drive the grinding assembly to rotate circumferentially along the pipeline to grind the inner wall of the entire pipeline.

In one embodiment, the polishing assembly comprises a rotating motor, a connecting arm and a polishing piece, wherein the polishing piece is connected with the connecting arm, the connecting arm is connected with the mechanical arm in a rotating way through the rotating motor, and the rotating direction of the connecting arm relative to the mechanical arm is perpendicular to the rotating direction of the rotating disc. The rotating motor and the rotating joint motor are motors with absolute value encoders, the angle detection function is achieved, the current state of the working tool can be monitored in real time, a pressure sensor can be installed at the tail end of polishing, the pressure of the polishing working tool on the inner wall of a pipeline can be monitored, and the fact that the polishing pressure of the robot is constant in the whole circumference polishing process is guaranteed.

In one embodiment, the control device includes a housing and an auxiliary wheel rotatably coupled to a surface of the housing. The control device can also be internally provided with a corresponding control card, a miniature acquisition unit, a power supply conversion module and the like, so that the control of the robot is realized.

In some embodiments, the control device may further be provided with an air plug, where the air plug may plug in a cable according to needs, so as to implement wired control.

In some embodiments, the polishing assembly further comprises a first camera, wherein the first camera is used for observing the environment condition of the inner wall of the pipeline and observing the polishing effect of the inner wall of the pipeline; the grinding assembly further includes a second camera for viewing the forward condition of the pipe while traveling.

Drawings

In order to more clearly illustrate the technical solutions of embodiments or conventional techniques of the present application, the drawings required for the descriptions of the embodiments or conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.

Fig. 1 is a schematic structural diagram of a driving device according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a pipe and a robot according to an embodiment of the present disclosure.

Fig. 3 is a schematic structural diagram of a driving device in a pipeline according to an embodiment of the present disclosure.

Fig. 4 is a schematic diagram of still another structure of a driving device in a pipeline according to an embodiment of the present disclosure.

Fig. 5 is a schematic structural view of a polishing apparatus according to an embodiment of the present application.

Fig. 6 is a schematic view of still another structure of a polishing apparatus according to an embodiment of the present application.

Fig. 7 is a schematic structural diagram of a polishing device in a pipeline according to an embodiment of the present application.

Fig. 8 is a schematic structural diagram of a control device according to an embodiment of the present application.

Reference numerals:

10. a robot; 100. a polishing device; 110. a bracket; 111. a connecting plate; 112. a mechanical arm; 113. a screw assembly; 114. a rotating electric machine; 115. a synchronizing shaft; 116. a rotating disc; 117. a first camera; 118. a second camera; 119. a support plate; 120. a walking wheel; 130. a retractable wheel assembly; 133. a third telescopic member; 134. a universal wheel; 140. a polishing assembly; 141. a rotating motor; 142. a polishing member; 143. a connecting arm; 200. a driving device; 210. a main frame; 211. a wire through hole; 221. a first telescopic member; 222. a second telescopic member; 231. a first drive assembly; 2311. a first bracket; 2313. a first roller; 2313a, a first driving wheel; 2313b, a first driven wheel; 232. a second drive assembly; 2321. a second bracket; 2323. a second roller; 2323a, second drive wheel; 2323b, a second driven wheel; 241. a first telescopic guide shaft; 242. the second telescopic guide shaft; 300. a control device; 310. a housing; 320. an auxiliary wheel; 400. a bellows; 500. a pipeline.

Detailed Description

In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is, however, susceptible of embodiment in many other forms than those described herein and similar modifications can be made by those skilled in the art without departing from the spirit of the application, and therefore the application is not to be limited to the specific embodiments disclosed below.

Referring to fig. 1, 2, 3, and 4, in some embodiments, the present application provides a robot 10 for placement within a pipe 500 to clean the pipe 500. As shown in fig. 2, the robot 10 includes a polishing device 100 and a driving device 200. The polishing apparatus 100 is used to polish the inner wall of a pipe 500. As shown in fig. 1 and 3, the driving device 200 includes a main frame 210, a first telescopic member 221, a second telescopic member 222, a first driving assembly 231, and a second driving assembly 232. The main frame 210 is connected with the polishing device 100, the first driving component 231 is connected with the main frame 210 through the first telescopic piece 221, the second driving component 232 is connected with the main frame 210 through the second telescopic piece 222, the first driving component 231 and the second driving component 232 are respectively located on two opposite sides of the main frame 210, the first telescopic piece 221 and the second telescopic piece 222 are both fixed on the main frame 210, the first telescopic piece 221 is connected with the first driving component 231, and the second telescopic piece 222 is connected with the second driving component 232. As shown in fig. 3 and 4, the first telescopic member 221 is configured to drive the first driving assembly 231 to perform telescopic motion along a radial direction of the pipeline 500 relative to the main frame 210, the second telescopic member 222 is configured to drive the second driving assembly 232 to perform telescopic motion along a radial direction of the pipeline 500 relative to the main frame 210, and the first driving assembly 231 and the second driving assembly 232 are configured to abut against an inner wall of the pipeline 500 and drive the polishing device 100 to travel in the pipeline 500.

In the robot 10, the first telescopic member 221 and the second telescopic member 222 can be telescopic along the radial direction of the pipe 500, and simultaneously drive the first driving assembly 231 and the second driving assembly 232 to be telescopic along the radial direction of the pipe 500. The first driving assembly 231 and the second driving assembly 232 are located at opposite sides of the main frame 210, as shown in fig. 3, before entering the pipe 500, the first driving assembly 231 and the second driving assembly 232 may be first moved close to each other, and then the robot 10 enters the pipe 500, as shown in fig. 4, the first driving assembly 231 and the second driving assembly 232 are moved away from each other and are abutted against the inner wall of the pipe 500. In other words, the first driving component 231 and the second driving component 232 can be driven by the first telescopic member 221 and the second telescopic member 222 to approach or separate from each other, so as to adapt to the pipelines 500 with various pipe diameters.

Referring to fig. 1 and 2, in some embodiments, the first driving assembly 231 includes a first bracket 2311, a first motor and a first roller 2313. The first motor is disposed in the first bracket 2311, and the first roller 2313 is rotatably connected to the first bracket 2311. The first motor is used for driving the first roller 2313 to rotate. The second driving assembly 232 includes a second support 2321, a second motor disposed in the second support 2321, and a second roller 2323 rotatably connected to the second support 2321, where the second motor is used to drive the first roller 2323 to rotate. The first motor may drive the first roller 2313 to rotate, the second motor may drive the second roller 2323 to rotate, and both the first roller 2313 and the second roller 2323 may be used to abut against and roll on the inner wall of the pipe 500.

Specifically, in some embodiments, the first telescoping member 221 is a cylinder or an electric putter and the second telescoping member 222 is a cylinder or an electric putter. For example, in the embodiment shown in fig. 1, the first telescoping member 221 and the second telescoping member 222 are each air cylinders and are oppositely oriented.

Specifically, as shown in fig. 1, in some embodiments, the first roller 2313 includes a first driving wheel 2313a and a first driven wheel 2313b, and the second roller 2323 includes a second driving wheel 2323a and a second driven wheel 2323b. If the diameter of the pipe 500 is small, the outer driven wheel can be removed, so that the driving device 200 can be reduced in size to adapt to the pipe 500 with the small diameter of the pipe 500. On the contrary, when the diameter of the pipeline 500 is larger, an outer driven wheel can be additionally arranged to adapt to the pipeline 500 with larger diameter of the pipeline 500.

Specifically, as shown in fig. 1, in some embodiments, the driving device 200 further includes a first telescopic guiding shaft 241, one end of the first telescopic guiding shaft 241 is fixed to the main frame 210, the other end of the first telescopic guiding shaft 241 is connected to the first driving component 231, the telescopic direction of the first telescopic guiding shaft 241 is parallel to the telescopic direction of the first telescopic member 221, and the telescopic direction of the first telescopic guiding shaft 241 is disposed at an angle with the axial direction of the pipe 500. The driving device further comprises a second telescopic guiding shaft 242, one end of the second telescopic guiding shaft 242 is fixed on the main frame, the other end of the second telescopic guiding shaft 242 is connected with the second driving component 232, the telescopic direction of the second telescopic guiding shaft 242 is parallel to the telescopic direction of the second telescopic piece 222, and the telescopic direction of the second telescopic guiding shaft 242 is arranged at an included angle with the axial direction of the pipeline 500. The first telescopic guide shaft 241 and the second telescopic guide shaft 242 can share the axial force applied to the driving device 200 in the axial direction of the pipe, so as to avoid the first telescopic member 221 and the second telescopic member 222 from being damaged due to the axial force.

The driving device 200 further comprises a telescopic guiding shaft 240, the telescopic guiding shaft 240 is fixed on the main frame 210, the telescopic direction of the telescopic guiding shaft 240 is parallel to the telescopic direction of the first telescopic member 221, one end of the telescopic guiding shaft 240 is connected with the first driving component 231, the other end of the telescopic guiding shaft 240 is connected with the second driving component 232, and the telescopic direction of the telescopic guiding shaft 240 is arranged at an included angle with the axial direction of the pipeline 500. The telescopic guide shaft 240 can share the axial force applied to the driving device 200 in the axial direction of the pipe 500, so as to prevent the first telescopic member 221 and the second telescopic member 222 from being damaged due to the axial force.

More specifically, as shown in fig. 1, in some embodiments, the robot 10 further includes a wire, the main frame 210 is provided with a wire through hole 211 along an axial direction of the pipe 500, the wire through hole 211 is used for passing a wire, one end of the wire is electrically connected to the polishing device 100, and the other end of the wire is electrically connected to an external power source.

Referring to fig. 2, 5 and 6, in some embodiments, the polishing device 100 includes a support 110, a travelling wheel 120, a retractable wheel assembly 130 and a polishing assembly 140, the polishing assembly 140 is disposed on a side of the support 110 facing away from the driving device, the polishing assembly 140 is connected with the support 110 and is used for polishing an inner wall of the pipe 500, the travelling wheel 120 and the retractable wheel assembly 130 are connected with the support 110, the travelling wheel 120 and the retractable wheel assembly 130 are disposed around the support 110 along a circumferential direction of the pipe 500 at intervals, and the retractable wheel assembly 130 can extend and retract along a radial direction of the pipe 500 to be abutted against or separated from the inner wall of the pipe 500. As shown in fig. 7, the telescopic wheel assembly 130 can extend and retract along the radial direction of the pipeline 500, so that the telescopic wheel assembly 130 and the travelling wheel 120 are just abutted against the inner wall of the pipeline 500, and the structural arrangement of the polishing device 100 can adapt to pipelines 500 with various pipe diameters.

Specifically, as shown in fig. 7, in some embodiments, the telescopic wheel assembly 130 includes a third telescopic member 133 and a universal wheel 134, the universal wheel 134 is connected to the third telescopic member 133, the third telescopic member 133 is fixed to the support 110, and the third telescopic member 133 is configured to enable the universal wheel 134 to perform telescopic movement along the radial direction of the pipe 500.

Specifically, in some of these embodiments, the third telescoping member 133 is a cylinder or gas spring. For example, in the embodiment shown in fig. 7, the third telescopic member 133 is a cylinder, and the free end of the piston of the cylinder is fixed to the universal wheel 134.

More specifically, as shown in fig. 7, in some embodiments, the third telescopic member 133 and the travelling wheel 120 are each provided in plurality and spaced apart along the circumferential direction of the pipe 500.

Referring to fig. 2 and 8, in some embodiments, the robot 10 further includes a control device 300 and at least two bellows 400. The control device 300 is connected to the main frame 210 of the driving device 200 via a bellows 400, and the control device 300 is used for controlling the driving device 200 and the polishing device 100 to work. The driving device 200 is connected with the polishing device 100 through a corrugated tube 400, and the corrugated tube 400 is aligned with the wire through hole 211 on the main frame 210 of the driving device 200, i.e. the wires in the wire through hole 211 can pass through the corrugated tube 400. The bellows 400 has a degree of flexibility such that when a curved conduit 500 is encountered, the bellows 400 may also flex appropriately to accommodate the environment of the conduit 500.

Specifically, as shown in fig. 6, in some embodiments, the bracket 110 includes a connecting plate 111, a mechanical arm 112, a screw assembly 113, and two support plates 119 disposed at two ends of the connecting plate 111, and the travelling wheel 120 and the telescopic wheel assembly 130 are both fixed to the support plates 119. As shown in fig. 5, the screw assembly 113 is disposed between the two support plates 119, the mechanical arm 112 is connected to the polishing assembly 140, and the screw assembly 113 is used for driving the mechanical arm 112 and the polishing assembly 140 to stretch along the axial direction of the pipeline 500.

More specifically, as shown in fig. 5 and 6, in some embodiments, the support 110 further includes a rotating motor 114, a synchronizing shaft 115, and two rotating discs 116, the two rotating discs 116 are disposed between two support plates 119, the synchronizing shaft 115 is disposed between the two rotating discs 116, and a planetary gear train is disposed in the selecting disc, and the rotating motor 114 is used to rotate the rotating discs 116 to rotate the polishing assembly 140 along the circumferential direction of the pipe 500. Such a configuration may provide for the sanding assembly 140 to rotate circumferentially about the pipe 500 to sand the entire inner wall of the pipe 500.

More specifically, as shown in fig. 6, in some embodiments, the polishing assembly 140 includes a rotating motor 141, a polishing member 142, and a connecting arm 143 connected to the polishing member 142, where the connecting arm 143 is rotationally connected to the mechanical arm 112 by the rotating motor 141, and a rotation direction of the connecting arm 143 relative to the mechanical arm 112 is perpendicular to a rotation direction of the rotating disc 116. The rotating motor 114 and the rotating joint motor are motors with absolute value encoders, so that the angle detection function is realized, the current state of the working tool can be monitored in real time, a pressure sensor can be installed at the tail end of polishing, the pressure of the polishing working tool on the inner wall of the pipeline 500 can be monitored, and the fact that the polishing pressure of the robot 10 is constant in the whole circumference polishing process is ensured.

More specifically, as shown in FIG. 5, in some of these embodiments, the sanding assembly 140 further includes a first camera 117, the first camera 117 being configured to view the environmental conditions of the interior wall of the pipe 500, and to view the sanding effect of the interior wall of the pipe 500; the sanding assembly 140 also includes a second camera 118, the second camera 118 being used to view the front of the pipe 500 as it travels.

In some embodiments, the control device 300 includes a housing 310 and an auxiliary wheel 320 rotatably coupled to a surface of the housing 310. The control device 300 may also be provided with a corresponding control card, a micro acquisition unit, a power conversion module, etc., to control the robot 10.

In some embodiments, the control device 300 may further be provided with an air plug, where the air plug may plug a cable according to needs, so as to implement wired control.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the claims. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

In the description of the present application, it should be understood that, if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., these terms refer to the orientation or positional relationship based on the drawings, which are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, if any, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the terms "plurality" and "a plurality" if any, mean at least two, such as two, three, etc., unless specifically defined otherwise.

In this application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly. For example, the two parts can be fixedly connected, detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, the meaning of a first feature being "on" or "off" a second feature, and the like, is that the first and second features are either in direct contact or in indirect contact through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that if an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. If an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein, if any, are for descriptive purposes only and do not represent a unique embodiment.

In the description of the present specification, the descriptions of the terms "one embodiment," "other embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

Claims (10)

1. A robot for cleaning a pipe, comprising:

the polishing device is used for polishing the inner wall of the pipeline;

the driving device comprises a main frame, a first telescopic part, a second telescopic part, a first driving component and a second driving component, wherein the main frame is connected with the polishing device, the first driving component is connected with the main frame through the first telescopic part, the second driving component is connected with the main frame through the second telescopic part, the first driving component and the second driving component are respectively positioned on two opposite sides of the main frame, the first telescopic part is used for driving the first driving component to do telescopic motion relative to the main frame along the radial direction of the pipeline, the second telescopic part is used for driving the second driving component to do telescopic motion relative to the main frame along the radial direction of the pipeline, and the first driving component and the second driving component are used for being in butt joint with the inner wall of the pipeline and driving the polishing device to advance in the pipeline.

2. The robot of claim 1, wherein the first driving assembly comprises a first bracket, a first motor and a first roller, the first motor is arranged in the first bracket, the first roller is rotationally connected with the first bracket, and the first motor is used for driving the first roller to rotate; the second driving assembly comprises a second bracket, a second motor arranged in the second bracket and a second roller rotationally connected with the second bracket, wherein the second motor is used for driving the second roller to rotate.

3. The robot of claim 2, wherein the first telescoping member is a cylinder or an electric putter and the second telescoping member is a cylinder or an electric putter;

and/or the first roller comprises a first driving wheel and a first driven wheel, and the second roller comprises a second driving wheel and a second driven wheel;

and/or, the robot further comprises a wire, the main frame is provided with a wire passing hole along the axial direction of the pipeline, the wire passing hole is used for allowing the wire to pass through, one end of the wire is electrically connected with the polishing device, and the other end of the wire is electrically connected with an external power supply.

4. The robot of claim 1, wherein the driving device further comprises a first telescopic guiding shaft, one end of the first telescopic guiding shaft is fixed on the main frame, the other end of the first telescopic guiding shaft is connected with the first driving assembly, the telescopic direction of the first telescopic guiding shaft is parallel to the telescopic direction of the first telescopic member, and the telescopic direction of the first telescopic guiding shaft is arranged at an included angle with the axial direction of the pipeline;

and/or, the driving device further comprises a second telescopic guide shaft, one end of the second telescopic guide shaft is fixed on the main frame, the other end of the second telescopic guide shaft is connected with the second driving assembly, the telescopic direction of the second telescopic guide shaft is parallel to the telescopic direction of the second telescopic piece, and the telescopic direction of the second telescopic guide shaft and the axial direction of the pipeline are arranged at an included angle.

5. The robot of any one of claims 1 to 4, wherein the polishing device comprises a bracket, a travelling wheel, a telescopic wheel assembly and a polishing assembly, the polishing assembly is arranged on one side of the bracket facing away from the driving device, the polishing assembly is used for polishing the inner wall of the pipeline, the travelling wheel and the telescopic wheel assembly are connected with the bracket, the travelling wheel and the telescopic wheel assembly are arranged around the bracket along the circumferential direction of the pipeline, and the telescopic wheel assembly can stretch and retract along the radial direction of the pipeline to be abutted or separated with the inner wall of the pipeline.

6. The robot of claim 5, wherein the telescoping wheel assembly comprises a third telescoping member and a universal wheel, the universal wheel is connected to the third telescoping member, the third telescoping member is fixed to the support, and the third telescoping member is configured to drive the universal wheel to move telescopically in a radial direction of the pipe.

7. The robot of claim 6, further comprising a control device and a bellows, wherein the control device is connected to the driving device and the polishing device through the bellows, and the control device is configured to control the driving device and the polishing device to operate;

and/or, the third telescopic piece is a cylinder or a gas spring:

and/or the third telescopic piece and the travelling wheel are arranged in a plurality;

and/or, the support includes connecting plate, arm, lead screw subassembly and locates two backup pads at connecting plate both ends, the walking wheel with flexible round subassembly is all fixed in the backup pad, the lead screw subassembly is located two between the backup pad, the arm with the subassembly of polishing is connected, the lead screw subassembly is used for driving the arm with the subassembly of polishing is followed the axial of pipeline is flexible.

8. The robot of claim 7, wherein the support further comprises a rotating motor, a synchronizing shaft and two rotating disks, the two rotating disks are arranged between the two support plates, the synchronizing shaft is arranged between the two rotating disks, and the rotating motor is used for driving the rotating disks to rotate so that the polishing assembly rotates along the circumferential direction of the pipeline.

9. The robot of claim 8, wherein the polishing assembly comprises a rotating motor, a connecting arm and a polishing member, the polishing member is connected with the connecting arm, the connecting arm is rotationally connected with the mechanical arm through the rotating motor, and the rotating direction of the connecting arm relative to the mechanical arm is perpendicular to the rotating direction of the rotating disc.

10. The robot of claim 7 wherein said control means comprises a housing and an auxiliary wheel rotatably attached to a surface of said housing.