CN114345851A

CN114345851A - Pipeline cleaning and detecting robot with self-adaptive function

Info

Publication number: CN114345851A
Application number: CN202210024038.7A
Authority: CN
Inventors: 熊英; 高维; 黄亚辉; 石英春
Original assignee: Hunan College of Information
Current assignee: Hunan College of Information
Priority date: 2022-01-12
Filing date: 2022-01-12
Publication date: 2022-04-15
Anticipated expiration: 2042-01-12
Also published as: CN114345851B

Abstract

The invention relates to a robot, in particular to a pipeline cleaning and detecting robot with a self-adaptive function. The invention provides a pipeline cleaning and detecting robot with a self-adaptive function, which can conveniently move up, down, left and right and can adapt to the size of a pipeline. The invention provides a pipeline cleaning and detecting robot with a self-adaptive function, which comprises a first hinging block, a first soft connecting pipe, a second soft connecting pipe, a cross shaft, a first mounting head, a second mounting head and the like, wherein the first hinging block is symmetrically arranged on the left side and the right side of the second soft connecting pipe, the cross shaft is connected between the two first hinging blocks, and the first mounting head and the second mounting head are rotatably arranged on the separated sides of the first hinging blocks on the left side and the right side respectively. The installation rod is rotated, the driving wheel is always in contact with the inner wall of the pipeline under the reset action of the first torsion spring, the self-adaptive effect can be achieved, and the robot can conveniently move up and down, left and right by matching with the auxiliary wheel.

Description

Pipeline cleaning and detecting robot with self-adaptive function

Technical Field

The invention relates to a robot, in particular to a pipeline cleaning and detecting robot with a self-adaptive function.

Background

The pipeline is the device that is used for transmitting various gases, liquid or solid particle, after the pipeline live time is long, the inner wall can adhere to many impurity, if do not clear up these impurity for a long time, light then can lead to impurity more and more to influence the transmission of pipeline, heavy then can lead to the pipeline to be corroded and cracked, the material of transmission flows out influences the environment, prior art is when clearing up the pipeline, mostly adopts chemical method, inject into the pipeline with chemical reagent and decompose the clearance to remaining impurity, this kind of method can't accurately clear up impurity, the efficiency is lower, and few prior art is then clear up the pipeline through pipeline cleaning robot.

According to patent grant publication No. CN210546841U, publication No. 20200519, a pipeline cleaning robot comprises a dirt cleaning mechanism and a cleaning mechanism; dirt clearance mechanism: the sewage cleaning mechanism comprises a trolley body, a water tank is arranged on the trolley body, a motor is installed on the right side of the water tank through an installation groove, an output shaft of the motor is fixedly connected with a sewage collecting cylinder through a connecting shaft, a serrated knife is arranged on the right side of the sewage collecting cylinder, three electric telescopic rods I are distributed on the side surface of the sewage collecting cylinder in an array mode, a hairbrush is arranged at the other end of each electric telescopic rod I, and a cutter is arranged on the right side of the hairbrush; the cleaning mechanism comprises: the cleaning mechanism comprises a submersible pump, and a hose is arranged at a water inlet of the submersible pump. This pipeline cleaning robot removes through the dolly body when clearing up the pipeline inner wall, and the dolly body spouts water to the pipeline inner wall on, this kind of method though can accomplish the clear operation of pipeline, but because the moving part of dolly body only sets up in the below, consequently can't conveniently carry out and remove about from top to bottom to the size of unable self-adaptation pipeline has the limitation.

According to the defects in the prior art, the pipeline cleaning and detecting robot with the self-adaptive function is designed, which can conveniently move up and down, left and right and can adapt to the size of a pipeline.

Disclosure of Invention

In order to overcome the defects that the prior art cannot conveniently move up and down, left and right and cannot adapt to the size of a pipeline, and the pipeline cleaning and detecting robot has limitations, the technical problem to be solved by the invention is to provide the pipeline cleaning and detecting robot with the self-adapting function, which can conveniently move up and down, left and right and can adapt to the size of the pipeline.

In order to solve the technical problems, the invention provides a pipeline cleaning and detecting robot with a self-adaptive function, which comprises a first hinging block, a first soft connecting pipe, a second soft connecting pipe, a cross shaft, a first mounting head, a second mounting head, a detector, a mounting pipe, a moving mechanism and a cleaning mechanism, wherein the first hinging block is symmetrically arranged at the left side and the right side of the second soft connecting pipe, the cross shaft is connected between the two first hinging blocks, the first mounting head and the second mounting head are respectively and rotatably arranged at the separated side of the first hinging block at the left side and the right side, the first mounting head and the second mounting head are both connected with the first soft connecting pipe between the first hinging block at the same side, the separated side of the first mounting head and the second mounting head is respectively connected with the detector for detecting the environment and the mounting pipe for mounting components, and the moving mechanism for assisting in moving is commonly arranged on the first mounting head and the second mounting head, the first mounting head is provided with a cleaning mechanism for cleaning the pipeline.

Preferably, the moving mechanism comprises a second hinging block, first torsional springs, a mounting rod, a third hinging block, a driving wheel and auxiliary wheels, wherein three second hinging blocks are uniformly connected to the outer sides of the first mounting head and the second mounting head at intervals, the mounting rod is rotatably arranged on the second hinging block, two first torsional springs are connected between the mounting rod and the second hinging block, the third hinging block is connected to one side, away from the second hinging block, of the mounting rod, the third hinging block is rotatably arranged on the third hinging block and is provided with the driving wheel for autonomous movement, and the left rotating part of the left third hinging block is provided with two auxiliary wheels for auxiliary movement.

Preferably, the cleaning mechanism comprises a water pump, a first hose, a first spraying plate, a first magnetic block, a first stop dog, a first baffle, a first hinged rod and a second torsion spring, the first hinged rod penetrates through the left third hinged block in a rotating mode, two second torsion springs are connected between the first hinged rod and the third hinged block, the first spraying plate connected to the mounting rod in a clamping mode is connected to the first hinged rod, the first magnetic block matched with the first spraying plate in a magnetic mode is connected to one side, close to the second hinged block, of the mounting rod, the first stop dog is symmetrically arranged at the front and back position, close to one end of the second hinged block, of the first spraying plate, the first baffle in contact with the first stop dog is symmetrically arranged at the front and back position of the outer side of the second hinged block, the water pump used for pumping water is installed inside the first mounting head, and the first hose penetrating through the mounting rod in a sliding mode is connected between the first mounting head and the first spraying plate.

Preferably, the device also comprises an air blowing mechanism used for cleaning the pipeline, the air blowing mechanism comprises an air pump, a second hose, a second spray plate and a second magnetic block, the second baffle, the second dog, second articulated pole and third torsional spring, the right-hand third articulated piece is gone up the rotation type and is run through there is the second articulated pole, be connected with two third torsional springs between second articulated pole and the third articulated piece, it spouts the board to be connected with the second of joint on the installation pole on the first articulated pole, be connected with on one side that the installation pole is close to the second articulated piece and spout board magnetic fit's second magnetic path with the second, the second spouts the board and is close to one of the articulated piece of second and serves the fore-and-aft symmetry formula and be equipped with the second dog, the second baffle that contacts with the second dog is equipped with to the articulated piece outside fore-and-aft symmetry formula of second, first installation head internally mounted has the air pump that is used for the pressure boost, second installation head and second spout and be connected with the slidingtype between the board and run through in the second hose of installation pole.

Preferably, still including the expanding mechanism who is used for cleaning the pipeline inner wall, expanding mechanism is including first mounting panel, compression air bag, the sliding cover, second reset spring and second mounting panel, installation pipe right-hand member cover is equipped with two first mounting panels that set up about being, install the compression air bag that is used for cleaning the pipeline between two first mounting panels, the slip cap is equipped with around the slip lid in first mounting panel and compression air bag on the installation pipe, installation pipe middle part cover is equipped with the second mounting panel, be connected with between second mounting panel and the slip lid around establishing the second reset spring in the installation pipe outside.

Preferably, still including the fixed establishment that is used for supplementary expansion mechanism, fixed establishment is including the installation piece, the fixture block, first reset spring, the pipe, stay cord and connecting block, be connected with three installation pieces on the installation pipe right part inside wall at the interval evenly, the installation pipe right part interval evenly slides the formula and runs through three fixture blocks with the sliding closure contact, be connected with first reset spring between fixture block and the close installation piece, three installation pieces all run through the pipe between the installation pipe, the cover is equipped with the connecting block on the second hose, be connected with the stay cord that the slidingtype runs through in the pipe between connecting block and the fixture block that corresponds.

Preferably, the wire winding device further comprises a wire connection mechanism for facilitating retraction, the wire connection mechanism comprises a bottom plate, a coil spring, an electric wire and a pull ring, the bottom plate for supporting the component is connected to the left side of the second mounting head, a coil winding roll is rotatably arranged on the right side of the bottom plate, the coil spring is connected between the coil winding roll and the bottom plate, the electric wire which penetrates through the mounting pipe in a sliding mode is wound on the coil winding roll, and the tail end of the electric wire is connected with the pull ring.

Preferably, the detector is coated with a transparent oil film.

On the basis of overcoming the defects of the prior art, the invention can also achieve the following beneficial effects:

1. the installation rod is rotated, the driving wheel is always in contact with the inner wall of the pipeline under the reset action of the first torsion spring, the self-adaptive effect can be achieved, and the robot can conveniently move up and down, left and right by matching with the auxiliary wheel.

2. First articulated piece and cross can make to turn to more nimble, when carrying out the pipeline clearance, detect impurity through the detector, start the water pump and make the cleaning solution spout from first shower plate to this can accurately clear up the pipeline.

3. Spout the board with the second and expand, start the air pump, the second spouts the board and can spout the air to the pipeline inner wall that spouts the antiseptic solution on to this can be through the air to pipeline inner wall further clearance.

4. When the second spray plate is unfolded, the compression air bag automatically expands along with the second spray plate, and the compression air bag is in contact with the inner wall of the pipeline and takes out attachments on the inner wall of the pipeline, so that the pipeline cleaning effect is improved.

5. The pull ring is connected with external equipment through an electric wire, so that the signal of the robot is more stable, and when the robot moves in the pipeline to clean the pipeline, the pull ring is pulled by an operator, so that the robot can be conveniently retracted.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

FIG. 2 is a schematic view of a first partial body structure according to the present invention.

FIG. 3 is a schematic view of a second partial body structure according to the present invention.

Fig. 4 is a schematic view of a first partial body structure of the moving mechanism of the present invention.

Fig. 5 is a sectional view of a first partial body structure of the moving mechanism and the cleaning mechanism of the present invention.

Fig. 6 is a schematic view of a second partial body structure of the moving mechanism of the present invention.

Fig. 7 is a sectional view of a second partial body structure of the moving mechanism and the cleaning mechanism of the present invention.

Fig. 8 is a schematic perspective view of the expansion mechanism of the present invention.

Fig. 9 is a partial perspective sectional view of the expansion mechanism of the present invention.

Fig. 10 is a partial perspective sectional view of the expansion mechanism and the wire bonding mechanism of the present invention.

Fig. 11 is a partial perspective sectional view of the fastening mechanism of the present invention.

FIG. 12 is a partial perspective sectional view of the wire bonding mechanism, the blowing mechanism and the moving mechanism of the present invention.

FIG. 13 is a sectional view showing a partial perspective structure of the air blowing mechanism of the present invention.

The labels in the figures are: 1-a first articulated block, 11-a first flexible joint pipe, 12-a second flexible joint pipe, 2-a cross shaft, 3-a first mounting head, 31-a second mounting head, 32-a detector, 33-a mounting pipe, 4-a moving mechanism, 41-a second articulated block, 42-a first torsion spring, 43-a mounting rod, 44-a third articulated block, 45-a driving wheel, 46-an auxiliary wheel, 5-a cleaning mechanism, 51-a water pump, 52-a first hose, 53-a first spray plate, 54-a first magnet, 55-a first stopper, 56-a first baffle, 57-a first articulated rod, 58-a second torsion spring, 6-an air blowing mechanism, 61-an air pump, 62-a second hose, 63-a second spray plate, 64-a second magnet, 65-second flap, 66-second stop, 67-second hinge lever, 68-third torsion spring, 7-wire connection mechanism, 71-base plate, 72-coil spring, 73-wire, 74-pull ring, 8-fixing mechanism, 81-mounting block, 82-stop block, 83-first return spring, 84-guide tube, 85-pull rope, 86-connecting block, 9-expansion mechanism, 91-first mounting plate, 92-compression air bag, 93-sliding cover, 94-second return spring, 95-second mounting plate.

Detailed Description

The invention is further described below with reference to the figures and examples.

Example 1

A pipeline cleaning and detecting robot with a self-adaptive function comprises a first hinging block 1, a first soft connecting pipe 11, a second soft connecting pipe 12, a cross shaft 2, a first mounting head 3, a second mounting head 31, a detector 32, a mounting pipe 33, a moving mechanism 4 and a cleaning mechanism 5, wherein the first hinging block 1 is symmetrically arranged on the left side and the right side of the second soft connecting pipe 12, the cross shaft 2 is bolted between the two first hinging blocks 1, the first mounting head 3 and the second mounting head 31 are rotatably arranged on the side, away from the first hinging block 1, of the left side and the right side respectively, the first mounting head 3 and the second mounting head 31 are both bolted with the first soft connecting pipe 11 between the first hinging block 1 on the same side, the detector 32 and the mounting pipe 33 are respectively bolted on the side, a transparent oil film is pasted on the detector 32, foreign matters can be prevented from being stained, the first mounting head 3 and the second mounting head 31 are provided with a moving mechanism 4 in common, and the first mounting head 3 is provided with a cleaning mechanism 5.

As shown in fig. 6 and 7, the moving mechanism 4 includes a second hinge block 41, a first torsion spring 42, a mounting rod 43, a third hinge block 44, a driving wheel 45 and an auxiliary wheel 46, three second hinge blocks 41 are welded on the outer sides of the first mounting head 3 and the second mounting head 31 at equal intervals, the mounting rod 43 is rotatably provided on the second hinge block 41, two first torsion springs 42 are connected between the mounting rod 43 and the second hinge block 41, the third hinge block 44 is welded on the side of the mounting rod 43 away from the second hinge block 41, the driving wheel 45 is rotatably provided on the third hinge block 44, and two auxiliary wheels 46 are rotatably provided on the left side of the third hinge block 44.

As shown in fig. 5-7, the cleaning mechanism 5 includes a water pump 51, a first hose 52, a first spray plate 53, a first magnet 54, a first stopper 55, a first baffle 56, a first hinge rod 57 and a second torsion spring 58, the left third hinge block 44 is rotatably provided with the first hinge rod 57, two second torsion springs 58 are connected between the first hinge rod 57 and the third hinge block 44, the first spray plate 53 clamped on the mounting rod 43 is welded on the first hinge rod 57, the first magnet 54 magnetically matched with the first spray plate 53 is bolted on one side of the mounting rod 43 close to the second hinge block 41, the first stopper 55 is welded on one end of the first spray plate 53 close to the second hinge block 41 in a front-back symmetrical manner, the first baffle 56 contacting with the first stopper 55 is symmetrically arranged on the outer side of the second hinge block 41 in a front-back manner, the water pump 51 is installed inside the first hinge block 3 in a screw connection manner, a first hose 52 slidably inserted through the mounting rod 43 is connected between the first mounting head 3 and the first nozzle plate 53.

Firstly, an operator opens the first mounting head 3, adds cleaning solution into the first mounting head 3, then closes the first mounting head 3, and then aligns the detector 32 with the pipeline to be cleaned, when the distance between the driving wheel 45 and the detector 32 is greater than the radius of the pipeline, the operator rotates the mounting rod 43 around the second hinged block 41, so that the driving wheels 45 on the left and right sides move in the direction away from each other, the first torsion spring 42 deforms, the first magnetic block 54 initially magnetically attracts the first nozzle plate 53, the second torsion spring 58 is in the deformed state, the left mounting rod 43 drives the first nozzle plate 53 to move through the first magnetic block 54, the first nozzle plate 53 drives the first stopper 55 to move to contact with the first baffle 56, the first stopper 55 drives the first nozzle plate 53 to separate from the first magnetic block 54 under the force, the second torsion spring 58 resets, the first hinged rod 57 drives the first nozzle plate 53 to rotate around the driving wheel 45 in the counterclockwise direction under the action of the reset of the second torsion spring 58, the first hose 52 is extended, then the robot is placed into the pipeline by the operator, the mounting rod 43 is released, the driving wheel 45 can automatically adapt to the diameter of the inner wall of the pipeline through the first torsion spring 42, then the operator starts the driving wheel 45 to rotate counterclockwise, the driving wheel 45 rubs against the inner wall of the pipeline, so that the robot can move along the pipeline, when the detector 32 detects that the position of the inner part of the pipeline needs to be cleaned, the operator starts the water pump 51 at this time, the water pump 51 inputs the cleaning liquid in the first mounting head 3 into the first spraying plate 53 through the first hose 52, the first spraying plate 53 sprays the cleaning liquid to the inner wall of the pipeline, so that the inner wall of the pipeline can be cleaned, then the operator turns off the water pump 51, when the robot encounters the transverse bend of the pipeline, the auxiliary wheel 46 contacts with the pipeline, so that the robot can be assisted to steer, the first mounting head 3 can rotate on the first hinge block 1, the front first hinging block 1 can drive the front part of the cross shaft 2 to rotate, then the rear part of the cross shaft 2 can drive the rear first hinging block 1 to rotate on the second mounting head 31, when the robot meets a vertical bending part of a pipeline, the first hinging block 1 can directly drive the front part of the cross shaft 2 to rotate, the rear part of the cross shaft 2 directly drives the second hinging block 41 to move along with the cross shaft, so that the robot can be assisted to steer, the first flexible connecting pipe 11 can deform and then reset in the process, after the robot moves out from the tail end of the pipeline, the first torsion spring 42 resets, the mounting rod 43 moves and resets under the action of the resetting of the first torsion spring 42, the operator closes the driving wheel 45 again, then the driving wheel 45 is used as a circle center to drive the first spraying plate 53 to rotate clockwise to be in contact with the first magnetic block 54, the second torsion spring 58 deforms, and the first spraying plate 53 is adsorbed by the first magnetic block 54, the first nozzle plate 53 is retracted and the first hose 52 is restored, thereby completing the pipe cleaning operation.

Example 2

On the basis of embodiment 1, as shown in fig. 1, 9 and 13, the air blowing device further includes an air blowing mechanism 6, the air blowing mechanism 6 includes an air pump 61, a second hose 62, a second spray plate 63, a second magnetic block 64, a second baffle 65, a second baffle 66, a second hinge rod 67 and a third torsion spring 68, the right third hinge block 44 is rotatably penetrated by the second hinge rod 67, two third torsion springs 68 are connected between the second hinge rod 67 and the third hinge block 44, the first hinge rod 57 is welded with the second spray plate 63 clamped on the mounting rod 43, one side of the mounting rod 43 close to the second hinge block 41 is connected with the second magnetic block 64 magnetically matched with the second spray plate 63, one end of the second spray plate 63 close to the second hinge block 41 is welded with the second baffle 66 in a front-back symmetrical manner, the outer side of the second hinge block 41 is welded with the second baffle 65 in contact with the second baffle 66 in a front-back symmetrical manner, an air pump 61 is installed inside the first mounting head 3 by means of screw connection, and a second hose 62 slidably penetrating the mounting rod 43 is connected between the second mounting head 31 and the second nozzle plate 63.

Firstly, the operator opens the second mounting head 31, when the operator rotates the mounting rod 43 around the second hinge block 41, the first second magnetic block 64 magnetically attracts the second spray plate 63, the third torsion spring 68 is in a deformed state, the right mounting rod 43 drives the second spray plate 63 to move through the second magnetic block 64, the second spray plate 63 drives the second stopper 66 to move to contact with the second stopper 65, the second stopper 66 drives the second spray plate 63 to separate from the second magnetic block 64 under the stress, the third torsion spring 68 resets, the second hinge rod 67 drives the second spray plate 63 to rotate and expand counterclockwise around the driving wheel 45 under the action of the reset of the third torsion spring 68, the second hose 62 extends, when the first spray plate 53 sprays disinfectant to clean the pipeline, the operator starts the air pump 61, the air pump 61 transmits air to the second spray plate 63 through the second hose 62, the second spray plate 63 can spray air to the inner wall of the pipeline sprayed with disinfectant, dirty water on the pipeline inner wall can be driven by the air, and after the air injection operation was accomplished, the air pump 61 was closed to the operating personnel to drive second spout board 63 anticlockwise rotation and the contact of second magnetic path 64 as the centre of a circle to drive wheel 45, and third torsional spring 68 deformation spouts board 63 through second magnetic path 64 and adsorbs the second, and second spouts board 63 and packs up, and second hose 62 resets to this operation that can accomplish the further clearance of pipeline.

Example 3

On the basis of embodiment 2, as shown in fig. 1 to 8, 9 and 10, the expansion device further comprises an expansion mechanism 9, the expansion mechanism 9 comprises a first mounting plate 91, a compression air bag 92, a sliding cover 93, a second return spring 94 and a second mounting plate 95, the two first mounting plates 91 arranged left and right are welded at the right end of the mounting pipe 33, the compression air bag 92 is mounted between the two first mounting plates 91, the sliding cover 93 surrounding the first mounting plates 91 and the compression air bag 92 is slidably arranged on the mounting pipe 33, the second mounting plate 95 is welded at the middle part of the mounting pipe 33, and the second return spring 94 surrounding the outer side of the mounting pipe 33 is connected between the second mounting plate 95 and the sliding cover 93.

As shown in fig. 1, 11 and 12, the fixing device 8 further includes a fixing mechanism 8, the fixing mechanism 8 includes a mounting block 81, a latch 82, a first return spring 83, a guide tube 84, a pull rope 85 and a connecting block 86, three mounting blocks 81 are uniformly bolted on the inner side wall of the right portion of the mounting tube 33 at intervals, three latch 82 contacting with the sliding cover 93 are uniformly slidably penetrated on the right portion of the mounting tube 33 at intervals, the first return spring 83 is connected between the latch 82 and the adjacent mounting block 81, the guide tube 84 is penetrated between each of the three mounting blocks 81 and the mounting tube 33, the second flexible tube 62 is sleeved with the connecting block 86, and the pull rope 85 penetrating through the guide tube 84 in a sliding manner is connected between the connecting block 86 and the corresponding latch 82.

Initially, the latch 82 holds the sliding cover 93, the second return spring 94 is in a compressed state, when the second nozzle plate 63 is deployed, the second hose 62 extends, the pull rope 85 is pulled through the connecting block 86, the pull rope 85 pulls the latch 82 inwards to move, the first return spring 83 is compressed, the latch 82 releases the sliding cover 93 along with the latch, the second return spring 94 is reset, the sliding cover 93 moves leftwards under the reset action of the second return spring 94 to release the compression airbag 92, the compression airbag 92 expands on the first mounting plate 91 along with the expansion, when the robot moves to clean the pipeline, the compression airbag 92 contacts with the inner wall of the pipeline, so that the compression airbag 92 can take out attachments on the inner wall of the pipeline, after the robot moves out the pipeline, the second hose 62 resets to release the pull rope 85, the first return spring 83 resets, the operator plugs the compression airbag 92 back on the first mounting plate 91, the sliding cover 93 is driven to move rightwards, the sliding cover 93 moves rightwards to press the clamping block 82 to move, the first return spring 83 is compressed, the sliding cover 93 continues moving rightwards to release the clamping block 82, the first return spring 83 resets, the clamping block 82 clamps the sliding cover 93 again under the reset effect of the first return spring 83, and therefore the sliding cover 93 can cover the compression air bag 92 again.

Example 4

In addition to embodiment 3, as shown in fig. 3 and 10, the mounting device further includes a wire connecting mechanism 7, the wire connecting mechanism 7 includes a base plate 71, a coil spring 72, a wire 73 and a pull ring 74, the base plate 71 is bolted to the left side of the second mounting head 31, a winding roll is rotatably disposed on the right side of the base plate 71, the coil spring 72 is connected between the winding roll and the base plate 71, the wire 73 slidably penetrating through the mounting tube 33 is wound on the winding roll, and the pull ring 74 is connected to the tail end of the wire 73.

Be connected with external equipment through electric wire 73, when the robot removed, the operator pulled electric wire 73 through pull ring 74, electric wire 73 pulled the take-up reel, the take-up reel rotated thereupon and paid out electric wire 73, wind spring 72 deformation, after the robot removed to certain stroke, wind spring 72 can deform to the limit, the operator made drive wheel 45 reversal this moment, made the robot go back along the pipeline, wind spring 72 reset, the take-up reel was rotatory under the effect that wind spring 72 reset thereupon and was packed up electric wire 73, with this convenient with the robot recovery.

The above examples are merely representative of preferred embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, various changes, modifications and substitutions can be made without departing from the spirit of the present invention, and these are all within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A pipeline cleaning and detecting robot with a self-adaptive function comprises a first hinging block (1), a first soft connecting pipe (11), a second soft connecting pipe (12), a cross shaft (2), a first mounting head (3), a second mounting head (31), a detector (32) and a mounting pipe (33), wherein the first hinging block (1) is symmetrically arranged on the left side and the right side of the second soft connecting pipe (12), the cross shaft (2) is connected between the two first hinging blocks (1), the first mounting head (3) and the second mounting head (31) are rotatably arranged on the separated side of the first hinging blocks (1) on the left side and the right side respectively, the first soft connecting pipe (11) is connected between the first mounting head (3) and the second mounting head (31) and the first hinging block (1) on the same side, the separated side of the first mounting head (3) and the second mounting head (31) is respectively connected with the detector (32) for detecting the environment and the mounting pipe (33) for mounting components, the pipeline cleaning device is characterized by further comprising a moving mechanism (4) and a cleaning mechanism (5), wherein the moving mechanism (4) for assisting in moving is arranged on the first mounting head (3) and the second mounting head (31) together, and the cleaning mechanism (5) for cleaning a pipeline is arranged on the first mounting head (3).

2. The self-adaptive pipeline cleaning and detecting robot as claimed in claim 1, the automatic moving mechanism is characterized in that the moving mechanism (4) comprises a second hinging block (41), a first torsion spring (42), a mounting rod (43), a third hinging block (44), a driving wheel (45) and an auxiliary wheel (46), three second hinging blocks (41) are uniformly connected to the outer sides of the first mounting head (3) and the second mounting head (31) at intervals, the second hinging block (41) is rotatably provided with the mounting rod (43), two first torsion springs (42) are connected between the mounting rod (43) and the second hinging blocks (41), one side, away from the second hinging block (41), of the mounting rod (43) is connected with the third hinging block (44), the third hinging block (44) is rotatably provided with the driving wheel (45) for automatic moving, and the left part of the left third hinging block (44) is rotatably provided with two auxiliary wheels (46) for auxiliary moving.

3. The pipeline cleaning and detecting robot with the self-adaptive function as claimed in claim 2, wherein the cleaning mechanism (5) comprises a water pump (51), a first hose (52), a first spray plate (53), a first magnetic block (54), a first stopper (55), a first baffle (56), a first hinge rod (57) and a second torsion spring (58), the left third hinge block (44) is rotatably penetrated by the first hinge rod (57), two second torsion springs (58) are connected between the first hinge rod (57) and the third hinge block (44), the first spray plate (53) clamped on the mounting rod (43) is connected to the first hinge rod (57), the first magnetic block (54) magnetically matched with the first spray plate (53) is connected to one side of the mounting rod (43) close to the second hinge block (41), the first stopper (55) is symmetrically arranged on the front and back of one end of the first spray plate (53) close to the second hinge block (41), first baffles (56) contacting with the first stop blocks (55) are symmetrically arranged at the front and back of the outer side of the second hinged block (41), a water pump (51) for pumping water is installed inside the first mounting head (3), and a first hose (52) which penetrates through the mounting rod (43) in a sliding manner is connected between the first mounting head (3) and the first spray plate (53).

4. The self-adaptive pipeline cleaning and detecting robot with the function of self-adaption according to claim 3, characterized by further comprising a blowing mechanism (6) for cleaning a pipeline, wherein the blowing mechanism (6) comprises an air pump (61), a second hose (62), a second spraying plate (63), a second magnetic block (64), a second baffle plate (65), a second stop block (66), a second hinge rod (67) and a third torsion spring (68), the right third hinge block (44) is rotatably penetrated by the second hinge rod (67), two third torsion springs (68) are connected between the second hinge rod (67) and the third hinge block (44), the first hinge rod (57) is connected with the second spraying plate (63) clamped on the mounting rod (43), the side of the mounting rod (43) close to the second hinge block (41) is connected with the second magnetic block (64) magnetically matched with the second spraying plate (63), one end of the second spraying plate (63) close to the second hinging block (41) is symmetrically provided with a second stop block (66) in a front-back manner, the outer side of the second hinging block (41) is symmetrically provided with a second baffle (65) contacted with the second stop block (66) in a front-back manner, an air pump (61) for boosting is arranged in the first mounting head (3), and a second hose (62) which penetrates through the mounting rod (43) in a sliding manner is connected between the second mounting head (31) and the second spraying plate (63).

5. The self-adaptive pipeline cleaning and detecting robot as claimed in claim 4, its characterized in that, still including expansion mechanism (9) that are used for wiping the pipeline inner wall, expansion mechanism (9) are including first mounting panel (91), compression gasbag (92), sliding cover (93), second reset spring (94) and second mounting panel (95), installation pipe (33) right-hand member cover is equipped with two and is first mounting panel (91) of controlling the setting, install compression gasbag (92) that are used for wiping the pipeline between two first mounting panel (91), sliding cover is equipped with around sliding cover (93) in first mounting panel (91) and compression gasbag (92) on installation pipe (33), installation pipe (33) middle part cover is equipped with second mounting panel (95), be connected with between second mounting panel (95) and sliding cover (93) around establishing second reset spring (94) in the installation pipe (33) outside.

6. The self-adaptive pipeline cleaning and detecting robot as claimed in claim 5, further comprising a fixing mechanism (8) for the auxiliary expansion mechanism (9), wherein the fixing mechanism (8) comprises mounting blocks (81), clamping blocks (82), a first return spring (83), a guide pipe (84), a pull rope (85) and a connecting block (86), three mounting blocks (81) are uniformly connected to the inner side wall of the right portion of the mounting pipe (33) at intervals, three clamping blocks (82) contacting with the sliding cover (93) are uniformly slidably penetrated through the right portion of the mounting pipe (33) at intervals, the first return spring (83) is connected between each clamping block (82) and the corresponding mounting block (81), the guide pipe (84) penetrates through each of the three mounting blocks (81) and the mounting pipe (33), the connecting block (86) is sleeved on the second hose (62), and the pull rope (84) slidably penetrates through each connecting block (86) and the corresponding clamping block (82) 85).

7. The self-adaptive pipeline cleaning and detecting robot as claimed in claim 6, further comprising a wire connecting mechanism (7) for facilitating retraction, wherein the wire connecting mechanism (7) comprises a base plate (71), a coil spring (72), an electric wire (73) and a pull ring (74), the base plate (71) for supporting the component is connected to the left side of the second mounting head (31), a coil winding disc is rotatably arranged on the right side of the base plate (71), the coil spring (72) is connected between the coil winding disc and the base plate (71), the electric wire (73) slidably penetrating through the mounting pipe (33) is wound on the coil winding disc, and the pull ring (74) is connected to the tail end of the electric wire (73).

8. The self-adaptive pipeline cleaning and detecting robot as claimed in claim 7, wherein a transparent oil film is pasted on the detector (32).