The invention discloses a pipeline
robot walking device capable of being automatically adapted to diameters. A variable-
diameter mechanism of the pipeline
robot walking device is structurally characterized in that a lead screw driven by a variable-
diameter motor is installed on the axis of a
barrel body, a nut of a crisscross
moving frame is matched with the lead screw in a screwed mode, the end of the crisscross
moving frame extends out of the
barrel body,
parallelogram connecting rod assemblies are arranged on positions, corresponding to ends of the crisscross
moving frame, outside the
barrel body, one end of each
parallelogram connecting rod
assembly is hinged to the barrel body, and variable-
diameter elastic supporting rods are hinged to the ends of the
parallelogram connecting rod assemblies and the ends of the crisscross moving frame respectively. A walking mechanism of the pipeline
robot walking device is structurally characterized in that wheel cages are arranged corresponding to the parallelogram connecting rod assemblies respectively and are hinged to the other ends of the parallelogram connecting rod assemblies, a plurality of walking wheel assemblies are installed on walking wheel frames, the walking wheel frames elastically stretch out of the wheel cages in the radial direction, and guide wheel assemblies are arranged at the two ends of the walking wheel assemblies respectively. The pipeline robot walking device can
walk in a square pipeline as well as a circular pipeline, can successfully pass through corners of the pipelines and can be used for
welding, installing, detecting and maintaining the pipelines and carrying out other operations after being additionally provided with relevant auxiliary tools.