CN111167814A

CN111167814A - Pipeline cleaning device

Info

Publication number: CN111167814A
Application number: CN202010137692.XA
Authority: CN
Inventors: 李国玉; 曹亚鹏; 周志伟; 吴晓红; 吴刚
Original assignee: Cold and Arid Regions Environmental and Engineering Research Institute of CAS
Current assignee: Northwest Institute of Eco Environment and Resources of CAS
Priority date: 2020-03-03
Filing date: 2020-03-03
Publication date: 2020-05-19
Also published as: NL2026293A; NL2026293B1

Abstract

The invention relates to a pipeline cleaning device which comprises a main body frame, a travelling mechanism, a rotary cutter head assembly and a garbage recovery device, wherein the travelling mechanism, the rotary cutter head assembly and the garbage recovery device are all arranged on the main body frame, and particularly, the pipeline cleaning device also comprises a cooling device arranged on the main body frame. When the invention is applied to permafrost regions, the arrangement of the cooling device can also store cold energy for local strata through the cooling pipeline. Furthermore, the rotary cutter head assembly is formed by uniformly distributing a plurality of rigid cutting blades along the circumferential direction and is driven to rotate by an epicyclic gear train structure, the structure is reasonable, the cutting rigidity is guaranteed, and the cutting efficiency and the cutting effect are greatly improved; the walking mechanism generates friction force by means of magnetic force, so that the whole complexity is simplified, the loss degree of related parts is reduced, and the walking mechanism has obstacle crossing capability when contacting small obstacles.

Description

Pipeline cleaning device

Technical Field

The invention relates to the technical field of cleaning of oil and gas transmission pipelines, in particular to a pipeline cleaning device.

Background

The pipeline is one of the main modes of oil gas transportation, and after long-time operation, wax, oxide, sulfide, gravel and the like with complex components stored in oil and natural gas are attached to the inner wall of the pipeline, so that the frictional resistance of the inner wall of the pipeline is increased, and the kinetic energy loss is increased. Therefore, the periodical cleaning and inspection of the pipeline is an essential work for the safe operation of the pipeline. The accumulation of a waxy layer in a crude oil pipeline has long been one of the difficulties in the industry.

Common pipeline cleaning means mainly include chemical cleaning, mechanical cleaning, high-pressure water jet cleaning, abrasive cleaning, ultrasonic cleaning and the like, wherein the mechanical cleaning is widely applied due to simplicity and high efficiency. The invention patent with application number 2a811338134.9 claims a pipeline cleaning robot, which mainly comprises a driving device, a pressing device, a high-pressure spraying device, a dust absorption and filtration device, a rotary cutter head assembly and a monitoring system, but has the following defects:

(1) the deposited stains have poor cutting effect: although the rotary cutter head assembly is added on the basis of high-pressure spraying, the rotary cutter head assembly specifically adopts a large-blade rubber scraper blade distributed like a windmill, on one hand, the large blades of the scraper blade are arranged, only the end part really plays a cutting role in the rotary cutting process, the structure is unreasonable in arrangement, the cutting efficiency is low, and on the other hand, the rubber scraper blade has lower rigidity and can not effectively cut off sediments.

(2) The driving device has a complex structure and is easy to damage: the driving device adopts a traditional track friction driving mode, the structure is complex, the driving mode is complex, and when the device works, the wheels and the track always keep a tensioning state and a pipeline inner wall pressing state, so that parts are seriously damaged.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: how to provide a deposit dirt cutting efficiency height, pipeline cleaning device that cutting effect is good.

In order to solve the problems, the invention provides a pipeline cleaning device, which comprises a main body frame, a travelling mechanism, a rotary cutter head assembly and a garbage recovery device which are all arranged on the main body frame, and is characterized by also comprising a cooling device arranged on the main body frame, wherein at least the front end of the pipeline cleaning device is provided with a cold air outlet; the rotary cutter head assembly is used for cutting and removing the deposited stains after the cooling device sprays cold air.

Preferably, the rotary cutter head assembly comprises an annular blade mounting frame, a plurality of rigid cutting blades uniformly arranged on the blade mounting frame along the circumferential direction, and an epicyclic gear train structure for bearing and driving the blade mounting frame to rotate.

Preferably, the rotary cutter head assemblies are arranged in tandem in the axial direction, and brush assemblies which are uniformly arranged along the circumferential direction and can integrally rotate along the circumferential direction are arranged between the rotary cutter head assemblies in tandem.

Preferably, a flexible conduit extending outwards for a certain distance is arranged at the suction inlet of the garbage recycling device.

Preferably, the pipe cleaning device further comprises a monitoring assembly provided on the main body frame.

Preferably, the running gear adopts a magnetic wheel assembly, the magnetic wheel assembly comprises a wheel body and a rotary driving part connected with a rotary central shaft of the wheel body, and friction force required for movement is generated between the wheel body and the metal pipeline by means of magnetic attraction force.

Preferably, the wheel body is a strong magnetic roller with a magnetic adsorption function.

Preferably, the wheel body has a current carrying component for supplying current thereto; the wheel body comprises an insulating inner wheel body positioned in the middle and conductive outer wheel bodies positioned at two sides in the axial direction, the conductive outer wheel bodies are connected with the current conveying component, and the conductive outer wheel bodies, the metal pipeline and the current conveying component form a closed loop to generate magnetism at two sides in work; or the wheel body is an electric conductor internally provided with a conductive coil, the conductive coil is connected with the current transmission component, and the conductive coil is electrified to enable the whole wheel body to generate magnetism when the wheel works.

Preferably, the magnetic wheel assembly further comprises a magnetic induction sensor arranged beside the wheel body and a processor connected with the magnetic induction sensor, and the processor is connected with the current transmission component; when the magnetic induction type wheel is in work, the processor controls the loading current of the current transmission component according to the magnetic induction intensity of the magnetic induction sensor, so that the magnetic attraction force between the wheel body and the pipeline is kept within a certain range.

Preferably, the pipeline cleaning device also comprises a guide connecting rod, a spring and a limit sleeve, wherein the guide connecting rod is arranged in the axial vertical direction of the magnetic wheel assembly and is connected with the magnetic wheel assembly; one end of the spring, which is close to the magnetic wheel assembly, is fixed on the guide connecting rod, the other end of the spring is limited and clamped by an annular platform on the limiting sleeve, and a space for the guide connecting rod to stretch into when the end of the guide connecting rod, which is far away from the magnetic wheel assembly, extends into is formed in the limiting sleeve.

Compared with the prior art, the invention has the following advantages:

1. according to the invention, the cooling device is further arranged on the basis of the traditional pipeline cleaning device, deposited stains can be cooled and become crisp by the aid of the sprayed cold air, and the deposited stains are easy to remove, so that the cutting efficiency is obviously improved, and the cutting effect is good. In addition, when the invention is applied to permafrost regions, the arrangement of the cooling device can also store cold energy for local strata through the cooling pipeline, so that the permafrost is protected from inclining or breaking of the pipeline caused by the thawing and sinking of the frozen soil.

2. According to the invention, the rotary cutter head assembly is formed by uniformly distributing a plurality of rigid cutting blades along the circumferential direction and is driven to rotate by the epicyclic gear train structure, the structure is reasonable, the cutting rigidity is guaranteed, and the cutting efficiency and the cutting effect are greatly improved; furthermore, the modular cutting edges reduce tool cutting costs. Furthermore, the double-rotating-cutter-head assembly and the brush cleaning are matched, so that a good efficient cutting and cleaning effect is achieved.

3. According to the pipeline cleaning device, the walking mechanism generates magnetic attraction force between the magnetic wheel assembly and the metal pipeline so as to generate friction force required by movement, so that the whole pipeline cleaning device is driven to move axially along the pipeline, the structural complexity of the whole walking mechanism is reduced, and the loss degree of related parts is reduced. The magnetic force wheel assembly further can adjust the magnetic force according to the thickness of deposited stains so that the magnetic attraction between the magnetic force wheel assembly and the pipeline can be kept within a certain range, and the magnetic force wheel assembly is guaranteed to be always in a stable attraction state between the magnetic force wheel assembly and the pipeline.

4. According to the invention, the arrangement of the guide connecting rod, the spring and the limiting sleeve on the magnetic wheel assembly enables the walking mechanism to have obstacle crossing capability when contacting small obstacles.

Drawings

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

Fig. 1 is a schematic view of an overall appearance structure of a pipe cleaning device according to an embodiment of the present invention.

Fig. 2 is an exploded view of a rotary head assembly according to an embodiment of the present invention.

Fig. 3 is a schematic structural view of a limiting sleeve according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a magnetic wheel assembly and associated components according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a magnetic wheel assembly according to an embodiment of the present invention.

In the figure: 1-brush subassembly, 2-rotatory tool bit subassembly, 3-air conditioning spout, 4-surveillance camera head, 5-magnetic force wheel subassembly, 6-installation cutting ferrule, 7-screw thread, 8-stopper, 9-direction connecting rod, 10-spring, 11-spacing sleeve.

2 a-tail transparent cover, 2 b-fixed gear mounting shaft, 2 c-first motor, 2 d-packaging connecting rod, 2

e-same

2c, 2 f-same 2b, 2 g-first thrust ball bearing, 2 h-blade mounting frame, 2 i-blade mounting opening, 2 j-epicyclic wheel, 2 k-rigid cutting blade, 2 l-fixed gear, 2 m-same 2g, 2 n-top cover.

5 a-a second motor, 5 b-a gear, 5 c-a transmission shaft, 5 d-a wheel bearing, 5 e-a graphite contact, 5 f-a rotating central shaft, 5 g-a conductive outer wheel body, 5 h-an insulating inner wheel body, 5 i-5 g, 5 j-5 e, 5 k-a second thrust ball bearing, 5 l-an installation limiting part, 5 m-a packaging protective shell and 5 n-a conducting wire; 5 o-wheel body, 5 p-conductive coil, 5 q-coil contact.

Detailed Description

Example 1

The embodiment of the invention provides a pipeline cleaning device, which is approximately cylindrical in overall appearance, and comprises a main body frame, a travelling mechanism, a rotary cutter head assembly and a garbage recovery device which are all arranged on the main body frame, and a cooling device arranged on the main body frame. It will be appreciated that in practice the structures provided on the main frame are encapsulated with a protective casing except for the parts required to perform the corresponding functions.

The travelling mechanism is used for driving the whole pipeline cleaning device to move along the axial direction of the pipeline; the rotary cutter head assembly is used for cutting deposited stains on the inner wall of the pipeline; the garbage recycling device is used for sucking and recycling the cut garbage.

Referring to fig. 1, the cooling device is provided with cold air discharge ports 3 at least at the front end of the duct cleaning device, the number of which is set as appropriate; the sprayed cold air can make the deposited stains become cold and brittle and is easy to remove; the rotary cutter head component is used for cutting and removing deposited stains after the cooling device sprays cold air.

In practical application, the cooling device can be composed of dry ice, a fan, a cold air delivery pipe, a cold air outlet 3 and the like; the garbage recycling device can comprise a garbage containing box, a suction inlet, a suction mechanism for sucking the cleaned garbage from the suction inlet into the garbage containing box and a corresponding transportation channel.

The invention further comprises a monitoring component arranged on the main body frame, for example, as shown in fig. 1, the monitoring camera 4 is arranged at the foremost end of the pipeline cleaning device, so that the condition inside the pipeline can be observed in real time conveniently, and the pipeline cleaning working scheme can be adjusted in real time; in order to avoid the influence of the cable on the cleaning work, the cleaning work is carried out in a wireless transmission mode.

In practical application, the pipeline cleaning device is provided with a control and monitoring terminal outside the pipeline, so that the control of structures such as a travelling mechanism, a rotary cutter head assembly and a garbage recovery device and the monitoring of working states are realized.

Example 2

On the basis of the embodiment 1, the invention provides a new implementation mode for the rotary cutter head assembly, compared with the prior art, the rotary cutter head assembly has reasonable structure arrangement and guaranteed cutting rigidity, and greatly improves the cutting efficiency and the cutting effect.

Specifically, referring to fig. 1 and 2, the rotary cutter head assembly 2 includes an annular blade mounting frame 2h, a plurality of rigid cutting blades 2k uniformly provided on a predetermined blade mounting opening 2i of the blade mounting frame 2h in the circumferential direction, and an epicyclic gear train structure that carries and drives the blade mounting frame 2h to rotate. The main function of the rotary cutter head component 2 is to perform rigid cutting on attachments on the inner wall of the pipeline, the motor drives the fixed gear to rotate, the fixed gear drives the turnover gear to move through transmission, and meanwhile, the turnover gear drives the cutting device to work.

The implementation of the epicyclic gear train structure can be realized by referring to the prior art, or in order to directly understand the relevant contents, the following is briefly described here: referring to the exploded view shown in fig. 2, the

first motors

2c and 2f rotate the fixed gear 2l, the fixed gear 2l drives the epicyclic 2j to move through transmission, and the epicyclic 2j drives all the rigid cutting blades 2k on the blade mount 2h to rotate for cutting. After all the components are connected, the components are sealed and connected by the sealing connecting rod 2d and the top cover 2 n. It will be appreciated that the situation shown in figure 2 corresponds to the rotary cutter head assembly 2 being provided at the forwardmost end of the overall pipe cleaning apparatus and hence the top cover 2 n.

Further, the rotary cutter head assemblies 2 are arranged in tandem in the axial direction (for example, the double-cutter-head arrangement shown in fig. 1, a larger number of rotary cutter head assemblies can be arranged according to specific requirements), and the brush assemblies 1 which are uniformly arranged in the circumferential direction and can integrally rotate in the circumferential direction are arranged between the two rotary cutter head assemblies 2 in tandem. When the pipeline cleaning device works, the travelling mechanism generates driving force to enable the whole pipeline cleaning device to move forwards, the double cutter discs remove stains on the pipe wall through rotary cutting, the brush assembly 1 enables sundries adhered on the pipe wall to be brushed away, the stains can fall on the position, close to the lower portion, of the pipe wall under the action of gravity, and the garbage recovery device recovers the stains, so that a good efficient cutting and cleaning effect is achieved.

The garbage recycling device is correspondingly provided with a plurality of stages (namely a plurality of suction ports) so as to realize better recycling effect. In the prior art, a connecting and guiding part is not arranged between the suction inlet and the garbage, the garbage can be sucked by strong suction force due to the self gravity of the garbage and the like, and the suction inlet is further provided with a flexible guide pipe which extends outwards for a certain distance, so that the defect is effectively overcome, and the garbage suction efficiency and the completion rate are improved.

Example 3

Based on the disclosure of the above embodiments, the traveling unit on the traveling mechanism of the invention adopts a magnetic wheel assembly, the magnetic wheel assembly mainly comprises a wheel body and a rotation driving part connected with a rotation central shaft of the wheel body, the wheel body has magnetism, magnetic attraction is generated between the wheel body and a pipeline (usually an iron pipeline), and then the wheel body is adsorbed on the inner wall of the metal pipeline to generate friction, and meanwhile, due to the existence of the friction, the whole wheel body is driven by the rotation driving part to rotate so as to realize the movement of advancing, retreating and the like. Compared with the prior art, the crawler belt driving mode has the advantages that the structure is simple, the driving principle is simplified, and the loss degree of related parts is reduced. Considering the existence of deposited stains (mainly wax layers) between the travelling mechanism and the metal pipeline, the travelling mechanism is arranged at least after the first rotary cutter head component in the advancing direction, so that the travelling mechanism directly travels on a channel for cutting, and the influence of the wax layers on the magnetic attraction force is reduced.

Particularly, compared with the prior art that the travelling mechanism needs to uniformly have enough pressing force in the whole circumferential direction, namely three groups of travelling units are uniformly arranged at least in the circumferential direction at 120 degrees, the travelling mechanism advances and retreats through the friction force generated by the magnetic adsorption force, so that the basic travelling requirement can be met only by symmetrically arranging two groups of travelling units at 120 degrees included angles right below in the circumferential direction, and the structural complexity of the whole travelling mechanism is reduced. It can be understood that the focus of this section is that compared with the prior art which needs three sets of walking units, the invention can meet the basic walking requirement under the condition of only two sets of walking units, rather than only two sets, and in practical application, more sets can be used without considering the simplified structure and reducing the cost.

In the invention, the wheel body in the magnetic wheel assembly has magnetism in the following three realization modes: the first is that the wheel body is a strong magnetic roller with magnetic adsorption function; the latter two are that the wheel body needs to be energized to be magnetic, i.e. the wheel body has current carrying components to provide it with current. The latter two are described separately below. And the second method comprises the following steps: referring to fig. 1 and 4, the wheel body includes an insulating inner wheel body 5h in the middle and conductive outer wheel bodies 5g, 5i on both sides in the axial direction, and both the conductive outer wheel bodies 5g, 5i are connected to the current feeding member. When in work, the conductive outer wheel bodies 5g and 5i at two sides, the metal pipeline and the current transmission component form a closed loop, and magnetism is generated due to the electromagnetic effect

The rotary driving means mainly comprises a second motor 5a and a transmission shaft 5c having a driving gear 5b at its end, which are formed into a rectangular structure in cooperation with a rotation center shaft 5f of the wheel body. In operation, the driving force of the second motor 5a is transmitted to the rotation center shaft 5f via the left and right drive gears 5b and the transmission shaft 5c, and the wheel body is rotated.

The current-carrying member mainly comprises a lead wire 5n connected to a power supply and

graphite contacts

5e, 5j connecting the lead wire 5n and the conductive outer wheels 5g, 5i, the graphite contacts being sliding or rolling contact bodies made of a carbonaceous material or a graphite material as a base material and guiding a current from one member to the other member.

It should be noted here that not all positions in the pipe have deposits, and the thickness is not the same if there are deposits, and for the case where there are deposits between the conductive outer wheels 5g, 5i and the inner wall of the metal pipe, as long as the thickness of the deposits is within a certain range (the range is determined by the magnitude of the applied fixed current), a closed loop is still formed between the conductive outer wheels 5g, 5i on both sides and the metal pipe, but the magnetic property is weaker than that in the absence of deposits, but the basic required magnetic attraction force can still be generated.

And the third is that: referring to fig. 5, the wheel body 5o itself in the magnetic wheel assembly is a conductive body, and a conductive coil 5p is arranged in the magnetic wheel assembly, and two ends of the conductive coil 5p are connected with the current transmission component; coil contact pieces 5q at two ends of the conductive coil 5p ensure that the conductive coil is contacted with the

graphite contacts

5e and 5j at the moment; other structures and related contents refer to the above. When the wheel works, the conductive coil 5p is electrified, so that the wheel body 5o is also electrified, and the wheel body 5o generates magnetism due to the electromagnetic effect.

In consideration of the existence of the wax layer between the wheel body and the metal pipe, theoretically, as long as the magnetic force generated or carried by the wheel body is strong enough, although the magnetic attraction force can be changed along with the change of the thickness of the wax layer, the magnetic attraction force meeting the basic requirement can be generated for the sediment in a certain thickness range. However, if a further requirement for maintaining stable magnetic attraction exists, the proper loading current can be set according to the thickness of the sediment on the inner wall of the pipeline on the basis that the two rear wheel bodies need to be electrified to have magnetism. Such as: the magnetic wheel assembly also comprises a magnetic induction sensor arranged beside the wheel body and a processor connected with the magnetic induction sensor, and the processor is connected with the current transmission component; the during operation treater is according to the loading electric current size that comes from magnetic induction sensor's magnetic induction intensity size control current transport unit to make the magnetic attraction between wheel body and the pipeline keep in certain extent, guarantee to be in comparatively stable attraction state between the two all the time.

Example 4

In addition to the disclosure of embodiment 3, the traveling mechanism of the pipe cleaning device according to the present invention has an obstacle crossing capability when it contacts a small obstacle by utilizing the cushioning effect of the spring. Specifically, referring to fig. 3 and 4, the pipe cleaning device of the present invention further includes a guide connecting rod 9 disposed in a direction perpendicular to the axial direction of the magnetic wheel assembly 5 and connected thereto, a spring 10 disposed on the guide connecting rod 9, and a limit sleeve 11 used in cooperation therewith; one end of the spring 10 close to the magnetic wheel assembly 5 is fixed on the guide connecting rod 9, the other end of the spring is clamped by an annular platform on the limiting sleeve 11 in a limiting way, and a space for the guide connecting rod 9 to stretch into when the end of the spring far away from the magnetic wheel assembly 5 is arranged in the limiting sleeve 11.

Specifically, the limiting sleeve 11 comprises a small inner diameter cylinder and a large inner diameter cylinder which are coaxially arranged, the large inner diameter cylinder faces the magnetic wheel assembly 5, the guide connecting rod 9 and all the springs 10 extend into the large inner diameter cylinder, and a joint of the small inner diameter cylinder and the large inner diameter cylinder forms an annular platform; the small inner diameter cylinder is fixed on the main body frame, and the inner space of the small inner diameter cylinder is the space for the guiding connecting rod 9 to extend into far away from one end of the magnetic wheel component 5. In order to ensure the coaxiality of the guide connecting rod 9 and the limiting sleeve 11, one end of the limiting sleeve 11, which is close to the magnetic wheel assembly 5, is provided with an installation clamping sleeve 6 through threaded connection of a thread 7, and the center of the installation clamping sleeve 6 is provided with a through hole with a diameter matched with that of the guide connecting rod 9.

Furthermore, based on the above structure, for the current transmission component (including the lead 5n and the

graphite contacts

5e and 5 j) for supplying current to the wheel body in embodiment 3, the lead 5n is led out from the packaging protection shell 5m of the magnetic wheel assembly 5 and then passes through the axial inner channel of the guide connecting rod 9 to be connected to the power supply, and such a hidden line arrangement ensures the smoothness and aesthetic appearance of the structure.

The technical solution provided by the present invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the structure and the core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims

1. A pipeline cleaning device comprises a main body frame, a traveling mechanism, a rotary cutter head assembly and a garbage recovery device which are all arranged on the main body frame, and is characterized by further comprising a cooling device arranged on the main body frame, wherein at least the front end of the cooling device is provided with a cold air outlet, and deposited stains can be cooled and become crisp by the sprayed cold air and can be easily removed; the rotary cutter head assembly is used for cutting and removing the deposited stains after the cooling device sprays cold air.

2. The pipe sweeping apparatus of claim 1, wherein said rotary cutter head assembly includes an annular blade mount, a plurality of rigid cutting blades circumferentially disposed uniformly on said blade mount, and an epicyclic gearing structure carrying and rotating said blade mount.

3. The pipe cleaning apparatus as claimed in claim 1 or 2, wherein the rotary cutter head assemblies are arranged in tandem in the axial direction, and a brush assembly which is uniformly arranged in the circumferential direction and can rotate in the circumferential direction as a whole is arranged between the tandem rotary cutter head assemblies.

4. A pipe cleaning apparatus as claimed in claim 1, wherein a flexible duct extending outwardly for a certain distance is provided at the suction port of the garbage collection apparatus.

5. The pipe sweeping apparatus of claim 1, further comprising a monitoring assembly provided on the main frame.

6. The pipe cleaning apparatus as claimed in claim 1, wherein the traveling mechanism employs a magnetic wheel assembly, the magnetic wheel assembly includes a wheel body and a rotation driving part coupled to a rotation center shaft of the wheel body, and a friction force required for movement is generated between the wheel body and the metal pipe by means of a magnetic attraction force.

7. A pipe cleaning device as claimed in claim 6, wherein the wheel body itself is a strong magnetic roller with magnetic attraction function.

8. A pipe sweeping apparatus according to claim 6, wherein said wheel body has current carrying means for supplying current thereto; the wheel body comprises an insulating inner wheel body positioned in the middle and conductive outer wheel bodies positioned at two sides in the axial direction, the conductive outer wheel bodies are connected with the current conveying component, and the conductive outer wheel bodies, the metal pipeline and the current conveying component form a closed loop to generate magnetism at two sides in work; or the wheel body is an electric conductor internally provided with a conductive coil, the conductive coil is connected with the current transmission component, and the conductive coil is electrified to enable the whole wheel body to generate magnetism when the wheel works.

9. The pipe cleaning apparatus as claimed in claim 8, wherein said magnetic wheel assembly further comprises a magnetic induction sensor disposed beside said wheel body and a processor connected to said magnetic induction sensor, said processor being connected to said current carrying member; when the magnetic induction type wheel is in work, the processor controls the loading current of the current transmission component according to the magnetic induction intensity of the magnetic induction sensor, so that the magnetic attraction force between the wheel body and the pipeline is kept within a certain range.

10. The pipe cleaning device according to claim 6, further comprising a guide connecting rod disposed in a direction perpendicular to an axial direction of the magnetic wheel assembly and connected thereto, a spring fitted over the guide connecting rod, and a limit sleeve engaged therewith; one end of the spring, which is close to the magnetic wheel assembly, is fixed on the guide connecting rod, the other end of the spring is limited and clamped by an annular platform on the limiting sleeve, and a space for the guide connecting rod to stretch into when the end of the guide connecting rod, which is far away from the magnetic wheel assembly, extends into is formed in the limiting sleeve.