Active reducing pipeline cleaning equipment and method

Abstract

The invention discloses active reducing pipeline cleaning equipment and method.The active reducing pipeline cleaning equipment comprises an in-pipe robot, an out-pipe conveying mechanism, a wire winding and pipe collecting mechanism and a water pump which are electrically connected with a control cabinet, and when a cylinder rod of an electric cylinder is driven to retract, a movable flange and a movable shell are pulled to contract inwards; the walking mechanism moves to drive the whole robot in the pipe to realize small-stroke micro motion in the pipe; when the cylinder rod of the driving electric cylinder extends out, the movable flange and the movable shell are pushed to extend out, the lower branch of the shear fork mechanism extends to jointly drive the walking mechanism to move in the outer diameter reducing direction, and therefore reducing movement is achieved. The innovative scheme of cooperative driving inside and outside the pipe is adopted, more accurate and efficient control over the robot is achieved, the driving system outside the pipe provides a stable power source for the robot, the driving system inside the pipe conducts real-time adjustment according to changes of the pipeline environment, it is ensured that the robot can always keep the optimal motion state, and the robot is more stable. And the movement efficiency and stability of the robot are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline robots and relates to an active variable-diameter pipeline cleaning device. Background Art

[0002] There are many ways for pipeline robots to move. Among them, wheeled pipeline robots have unstable movement, are prone to tilting, have limited obstacle-crossing ability, have small traction, and are difficult to miniaturize. Foot-type pipeline robots have slow speed, low efficiency, difficulty in turning, and a relatively complex control system. Spiral pipeline robots are often used in pipelines with smaller diameters. Their disadvantages are small thrust and low work efficiency. The crawler pipeline robot has the characteristics of large traction, high obstacle crossing ability, good grip and strong ability to adapt to the pipeline environment. Under the same conditions, the obstacle crossing ability of the crawler pipeline robot is the highest among all mobile methods. The crawler walking method is widely used in military products, engineering equipment, agricultural machinery and other mechanical equipment because of its advantages such as good adhesion, non-slip and good off-road performance. However, compared with other walking methods, the crawler walking method has a relatively complex structure and turning is more troublesome.

[0003] The defects of existing pipeline robots are: Patent document CN20241113 0759.1 discloses a pipeline robot with adjustable radial size and a method of use, but the robot in the above document cannot automatically adjust its own curvature according to changes in the pipeline when detecting the pipeline, resulting in technical problems such as instability of the robot when moving. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an active variable diameter pipeline cleaning device and method, which can maintain a stable travel trajectory even in a complex and changeable pipeline environment, improve the flexibility of the robot's movement in the pipe, and enable it to easily adapt to various pipeline shapes and sizes, thereby broadening the application scope of the robot.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: an active variable diameter pipe cleaning equipment, which includes an in-pipe robot, an out-pipe conveying mechanism, a wire winding and pipe collecting mechanism and a water pump electrically connected to a control cabinet; the out-pipe conveying mechanism is located at the rear end of the in-pipe robot, and the composite pipeline of the wire winding and pipe collecting mechanism is installed at the rear end of the in-pipe robot through the inside of the out-pipe conveying mechanism, the clean water tank and the sewage tank are independent of each other and are both connected to the wire winding and pipe collecting mechanism, and the water pump is installed above the sewage tank and connected to the wire winding and pipe collecting mechanism.

[0006] The in-tube robot is arranged in a bilaterally symmetrical manner; the transverse rotation motor of the in-tube robot is located in the middle of the in-tube robot, the longitudinal rotation motor is respectively installed at both ends of the transverse rotation motor through a connector B, and the fixed base is fixedly connected to the longitudinal rotation motor through a connector A.

[0007] The fixed flange and the fixed base of the in-tube robot are connected as a whole through an extension rod. A square hole is processed in the middle of the fixed flange. The tail end of the driving electric cylinder body is fixedly connected to the fixed base. The movable shell is mounted on the outside of the driving electric cylinder, and the end with the flange faces the fixed base. One end of the three-sided shell is slidably installed in the square hole in the middle of the fixed flange.

[0008] The flangeless side of the connecting rod of the in-tube robot is inserted into the central circular blind hole of the movable flange, and is fixedly connected to the top of the cylinder rod of the driving electric cylinder by fixing screws. The buffer spring is installed inside the movable flange and between the connecting rod flange and the movable flange.

[0009] The fixed branches at the lower end of the scissor mechanism of the in-tube robot are respectively installed on the mounting seats of the movable flange and the fixed base flange, the movable branches are respectively installed on the fixed flange and the flange mounting seats of the fixed base, the walking mechanism is fixedly installed on the upper end of the scissor mechanism, and the outer shell is installed on the fixed base.

[0010] The frame of the outer-tube conveying mechanism is the framework foundation of the outer-tube conveying mechanism. The two side arms are symmetrically processed with circular through holes of the outer-tube conveying mechanism. The spring guide rods pass through the circular through holes on the side of the frame and are fixedly installed on the side wall of the frame. The compression spring is sleeved on the outside of the spring guide rods.

[0011] The floating frame of the outer tube conveying mechanism is fixedly mounted on the spring guide rod, and contacts and compresses the compression spring. The driving wheel is rotatably mounted on the floating frame. The driven gear is only mounted on one side of the floating frame, and the driven gear is fixedly connected to the buffer spring on the lower side. The guide wheel is mounted on the input shaft of the encoder and is rotatably mounted inside the frame together with the encoder through the fixed frame. The driving assembly is mounted on the upper surface of the frame. The driving gear is fixedly mounted on the output shaft of the driving assembly and meshes with the driven gears on both sides.

[0012] The composite pipeline of the wire winding and tube collecting mechanism is connected to the tail of the in-pipe robot through the gap between the guide wheel and the driving wheel. When the driving component is in action, the composite pipeline can push the in-pipe robot to achieve a large stroke forward and backward in the pipeline.

[0013] The side plates of the walking mechanism are the frames of the walking mechanism. The walking shaft passes through the circular through holes on both sides of the side plates and the middle circular through holes of the driven pulley and gear B, so that the side plates and the walking shaft form a stable whole. The walking drive motor is installed between the two side plates, and gear A is fixedly installed on the output shaft of the walking drive motor and meshes with gear B.

[0014] The diameter changing method of the active variable diameter pipeline cleaning equipment as described above, when the driving electric cylinder rod is retracted, the movable flange and the movable shell are pulled inwardly to retract, and at this time, the lower branch of the scissors-type mechanism contracts and moves, and jointly drives the walking mechanism to move in the direction of increasing the outer diameter, and when the walking mechanism is close to the inner side of the pipe wall, the movement of the walking mechanism can drive the robot as a whole in the pipe to realize small stroke micro-movement in the pipe; when the driving electric cylinder rod is extended, the movable flange and the movable shell are pushed outwardly, and the lower branch of the scissors-type mechanism is extended, and jointly drives the walking mechanism to move in the direction of reducing the outer diameter, thereby realizing diameter changing movement.

[0015] The main beneficial effects of the present invention are: A unique three-stage configuration was designed to improve the overall performance of the in-pipe robot. By dividing the robot body into three independent but cooperative parts, the load capacity of the in-pipe robot is increased, enabling it to cope with more complex and arduous tasks. At the same time, the three-stage configuration also improves the robot's motion stability, allowing it to maintain a stable trajectory even in a complex and changeable pipeline environment. The flexibility of the robot's in-pipe movement is improved, allowing it to easily adapt to various pipeline shapes and sizes, thereby broadening the robot's application range.

[0016] The advanced four-branch double scissor mechanism design not only achieves a large diameter ratio, allowing the robot to easily cross pipes of different diameters, but also provides stable and reliable support through multiple support branches. It enhances the structural strength of the robot and improves its adaptability and stability in complex pipeline environments.

[0017] A 3-DOF waist joint consisting of three active rotating joint components is designed to connect the front and rear variable diameter walking units of the pipeline robot. Each part of the pipeline robot can independently complete rolling and yaw movements, thus achieving more flexible and diverse movement modes. This improves the robot's movement flexibility and adaptability, and also provides more possibilities for its operation in various complex pipeline environments.

[0018] In the design of the drive mechanism, an innovative solution of coordinated drive inside and outside the pipe is adopted. Through the synergy of the two drive systems inside and outside, more precise and efficient control of the robot is achieved. The drive system outside the pipe provides a stable power source for the robot, while the drive system inside the pipe makes real-time adjustments according to changes in the pipeline environment, ensuring that the robot can always maintain the best movement state, improving the robot's movement efficiency and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0020] Figure 1 It is a schematic diagram of the working state of the present invention.

[0021] Figure 2 This is the first axonometric view of the present invention.

[0022] Figure 3 This is the second axonometric view of the present invention.

[0023] Figure 4 It is the third axonometric drawing of the present invention.

[0024] Figure 5 It is an isometric view of the robot inside the present invention.

[0025] Figure 6 This is a partial disassembly diagram of the in-tube robot of the present invention.

[0026] Figure 7 It is a front cross-sectional view of the intra-tube robot of the present invention.

[0027] Figure 8 It is the left side view of the in-tube robot of the present invention.

[0028] Fig. 9 It is an axonometric view of the walking mechanism of the in-tube robot of the present invention.

[0029] Fig.10 This is an axonometric view of the walking mechanism of the in-tube robot of the present invention with the tracks removed.

[0030] Fig.11 This is a top view of the walking mechanism of the in-tube robot of the present invention with the tracks removed.

[0031] Fig.12 It is an axonometric view of the outer tube conveying mechanism of the present invention.

[0032] Fig.13 It is another axial view of the outer tube conveying mechanism of the present invention.

[0033] Fig.14 It is a top view of the outer tube conveying mechanism of the present invention.

[0034] Markings in the figure: 1-robot inside the tube; 2-transport mechanism outside the tube; 3-control cabinet; 4-clean water tank; 5-sewage tank; 6-winding and collecting mechanism; 7-water pump; 101-housing; 102-travel mechanism; 103-scissor mechanism; 104-moving flange; 105-connecting rod; 106-buffer spring; 107-fixing screw; 108-moving housing; 109-fixing flange; 110-driving electric cylinder; 111-fixed base; 112-longitudinal rotation motor; 113-lateral rotation motor; 114 -Connector A; 115-Connector B; 1021-side plate; 1022-travel shaft; 1023-follower pulley; 1024-travel drive motor; 1025-gear A; 1026-gear B; 1027-track; 201-drive assembly; 202-frame; 203-drive gear; 204-driven gear; 205-floating frame; 206-drive wheel; 207-guide wheel; 208-encoder; 209-fixed frame; 210-compression spring; 211-spring guide rod. DETAILED DESCRIPTION

[0035] like Figure 1 to Figure 6 In the invention, an active variable diameter pipeline cleaning device is provided, which comprises an in-pipe robot 1, an out-pipe conveying mechanism 2, a wire winding and collecting mechanism 6 and a water pump 7 electrically connected to a control cabinet 3; the out-pipe conveying mechanism 2 is located at the rear end of the in-pipe robot 1, and the composite pipeline of the wire winding and collecting mechanism 6 is installed at the rear end of the in-pipe robot 1 through the inside of the out-pipe conveying mechanism 2, the clean water tank 4 and the sewage tank 5 are independent of each other and are both connected to the wire winding and collecting mechanism 6, and the water pump 7 is installed above the sewage tank 5 and is connected to the wire winding and collecting mechanism 6.

[0036] Embodiment 1, like Figures 1 to 4 An active variable diameter pipeline cleaning device includes: an in-pipe robot 1, an out-pipe conveying mechanism 2, a control cabinet 3, a clean water tank 4, a sewage tank 5, a wire winding and pipe collecting mechanism 6 and a water pump 7.

[0037] The in-tube robot 1 is the executive component of the equipment, the out-tube conveying mechanism 2 is placed at the rear end of the in-tube robot 1, and the composite pipeline of the wire winding and taking-up mechanism 6 is installed at the rear end of the in-tube robot 1 through the inside of the out-tube conveying mechanism 2. The clean water tank 4 and the sewage tank 5 are independent of each other and are both connected to the wire winding and taking-up mechanism 6. The clean water tank 4 is installed on the rear side of the device, and the water pump 7 is installed above the sewage tank 5 and connected to the wire winding and taking-up mechanism 6.

[0038] The composite pipeline in the winding and collecting mechanism 6 includes clean water and sewage pipelines, power cables, signal cables, and control cables, and the pipelines are reinforced with steel wires; the longitudinal rotating motor 112 and the transverse rotating motor 113 are follow-up motion units.

[0039] The surface of the housing 101 is sprayed with a waterproof coating and sealed.

[0040] Embodiment 2, like Figures 5 to 11 The in-tube robot 1 includes: a shell 101, a walking mechanism 102, a scissor mechanism 103, a movable flange 104, a connecting rod 105, a buffer spring 106, a fixing screw 107, a movable shell 108, a fixing flange 109, a driving electric cylinder 110, a fixed base 111, a longitudinal rotation motor 112, a lateral rotation motor 113, a connector A114 and a connector B115.

[0041] The in-tube robot 1 has a bilaterally symmetrical layout, with the transverse rotation motor 113 being located in the middle of the in-tube robot 1 , and the longitudinal rotation motor 112 being respectively installed at both ends of the transverse rotation motor 113 through connectors B115 .

[0042] The fixed base 111 is fixedly connected to the longitudinal rotating motor 112 via a connector A114; the fixed flange 109 and the fixed base 111 are connected as a whole via an extension rod, and a square hole is processed in the middle of the fixed flange 109.

[0043] The tail end of the driving electric cylinder 110 is fixedly connected to the fixed base 111, and the movable shell 108 is mounted on the outside of the driving electric cylinder 110, with the end with the flange facing the fixed base 111, and one end of the three-sided shell is slidably installed in the square hole in the middle of the fixed flange 109.

[0044] The flange-free side of the connecting rod 105 is inserted into the central circular blind hole of the movable flange 104 , and is fixedly connected to the top of the cylinder rod of the driving electric cylinder 110 by means of a fixing screw 107 .

[0045] The buffer spring 106 is installed inside the movable flange 104 and is located between the flange of the connecting rod 105 and the movable flange 104 .

[0046] The fixed branches at the lower end of the scissor mechanism 103 are respectively mounted on the mounting seats of the movable flange 104 and the flange of the fixed base 111, and the movable branches are respectively mounted on the flange mounting seats of the fixed flange 109 and the fixed base 111.

[0047] The traveling mechanism 102 is fixedly mounted on the upper end of the scissor mechanism 103 , and the housing 101 is mounted on a fixed base 111 .

[0048] The walking mechanism 102 includes: a side plate 1021, a walking shaft 1022, a follower pulley 1023, a walking drive motor 1024, a gear A1025, a gear B1026 and a crawler track 1027. The side plate 1021 is the frame of the walking mechanism 102. The walking shaft 1022 passes through the circular through holes on both sides of the side plate 1021 and the middle circular through holes of the follower pulley 1023 and the gear B1026, so that the side plate 1021 and the walking shaft 1022 form a stable whole.

[0049] The travel drive motor 1024 is installed between the two side plates 1021, and the gear A1025 is fixedly installed on the output shaft of the travel drive motor 1024 and meshes with the gear B1026.

[0050] A unique three-stage configuration was designed to improve the overall performance of the in-pipe robot. By dividing the robot body into three independent but cooperative parts, the load capacity of the in-pipe robot is increased, enabling it to cope with more complex and arduous tasks. At the same time, the three-stage configuration also improves the robot's motion stability, allowing it to maintain a stable trajectory even in a complex and changeable pipeline environment. The flexibility of the robot's in-pipe movement is improved, allowing it to easily adapt to various pipeline shapes and sizes, thereby broadening the robot's application range.

[0051] Embodiment 3, like Figure 12 to Figure 14 The outer tube conveying mechanism 2 includes a driving assembly 201, a frame 202, a driving gear 203, a driven gear 204, a floating frame 205, a driving wheel 206, a guide wheel 207, an encoder 208, a fixed frame 209, a compression spring 210 and a spring guide rod 211.

[0052] The frame 202 is the framework foundation of the outer tube conveying mechanism 2. Two circular through holes of the outer tube conveying mechanism are symmetrically processed on the two side arms. The spring guide rods 211 pass through the circular through holes on the sides of the frame 202 and are fixedly installed on the side walls of the frame 202. The compression spring 210 is sleeved on the outside of the spring guide rods 211.

[0053] The floating frame 205 is fixedly mounted on the spring guide rod 211 , and contacts and compresses the compression spring 210 .

[0054] The driving wheel 206 is rotatably mounted on the floating frame 205 .

[0055] The driven gear 204 is only mounted on the floating frame 205 on one side, and the driven gear 204 is fixedly connected to the buffer spring 106 on the lower side.

[0056] The guide wheel 207 is mounted on the input shaft of the encoder 208 and is rotatably mounted inside the frame 202 together with the encoder 208 through a fixed frame 209 .

[0057] The driving assembly 201 is mounted on the upper surface of the frame 202 , and the driving gear 203 is fixedly mounted on the output shaft of the driving assembly 201 and meshes with the driven gears 204 on both sides.

[0058] The advanced four-branch double scissor mechanism design not only achieves a large diameter ratio, allowing the robot to easily cross pipes of different diameters, but also provides stable and reliable support through multiple support branches. It enhances the structural strength of the robot and improves its adaptability and stability in complex pipeline environments.

[0059] A 3-DOF waist joint consisting of three active rotating joint components is designed to connect the front and rear variable diameter walking units of the pipeline robot. Each part of the pipeline robot can independently complete rolling and yaw movements, thus achieving more flexible and diverse movement modes. This improves the robot's movement flexibility and adaptability, and also provides more possibilities for its operation in various complex pipeline environments.

[0060] Embodiment 4, The composite pipeline of the wire winding and collecting mechanism 6 is connected to the tail of the in-pipe robot 1 through the gap between the guide wheel 207 and the driving wheel 206. When the driving component 201 acts, the composite pipeline can push the in-pipe robot 1 to achieve a large stroke forward and backward in the pipeline.

[0061] When the cylinder rod of the driving electric cylinder 110 is retracted, it pulls the movable flange 104 and the movable shell 108 inward, and at this time, the lower branch of the scissors-type mechanism 103 contracts and moves, jointly pushing the walking mechanism 102 to move in the direction of increasing the outer diameter. When the walking mechanism 102 is close to the inner side of the pipe wall, the movement of the walking mechanism 102 can drive the robot 1 as a whole to achieve small-stroke micro-movement in the pipe; when the cylinder rod of the driving electric cylinder 110 is extended, it pushes the movable flange 104 and the movable shell 108 outward, and the lower branch of the scissors-type mechanism 103 extends, jointly driving the walking mechanism 102 to move in the direction of reducing the outer diameter, thereby achieving variable diameter movement.

[0062] In the design of the drive mechanism, an innovative solution of coordinated drive inside and outside the pipe is adopted. Through the synergy of the two drive systems inside and outside, more precise and efficient control of the robot is achieved. The drive system outside the pipe provides a stable power source for the robot, while the drive system inside the pipe makes real-time adjustments according to changes in the pipeline environment, ensuring that the robot can always maintain the best movement state, improving the robot's movement efficiency and stability.

[0063] The above-mentioned embodiments are only preferred technical solutions of the present invention and should not be regarded as limitations of the present invention. The embodiments and features in the embodiments of the present application can be arbitrarily combined with each other without conflict. The protection scope of the present invention shall be the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. An active variable diameter pipeline cleaning device, characterized by: It comprises an in-pipe robot (1), an out-pipe conveying mechanism (2), a wire winding and collecting mechanism (6) and a water pump (7) electrically connected to a control cabinet (3); the out-pipe conveying mechanism (2) is located at the rear end of the in-pipe robot (1); a composite pipeline of the wire winding and collecting mechanism (6) is installed at the rear end of the in-pipe robot (1) through the inside of the out-pipe conveying mechanism (2); a clean water tank (4) and a sewage tank (5) are independent of each other and are both connected to the wire winding and collecting mechanism (6); and the water pump (7) is installed above the sewage tank (5) and is connected to the wire winding and collecting mechanism (6).

2. The active variable diameter pipeline cleaning device according to claim 1 is characterized in that: The in-tube robot (1) is arranged in a bilaterally symmetrical manner; the transverse rotation motor (113) of the in-tube robot (1) is located in the middle of the in-tube robot (1); the longitudinal rotation motor (112) is respectively mounted on both ends of the transverse rotation motor (113) via a connecting member B (115); and the fixed base (111) is fixedly connected to the longitudinal rotation motor (112) via a connecting member A (114).

3. The active variable diameter pipeline cleaning device according to claim 2 is characterized in that: The fixed flange (109) and the fixed base (111) of the in-tube robot (1) are connected as a whole via an extension rod; a square hole is processed in the middle of the fixed flange (109); the rear end of the cylinder body of the driving electric cylinder (110) is fixedly connected to the fixed base (111); the movable housing (108) is sleeved on the outside of the driving electric cylinder (110), with one end with a flange facing the fixed base (111); and one end of the three-sided housing is slidably mounted in the square hole in the middle of the fixed flange (109).

4. The active variable diameter pipeline cleaning device according to claim 2 is characterized in that: The flange-free side of the connecting rod (105) of the in-tube robot (1) is inserted into the central circular blind hole of the movable flange (104) and is fixedly connected to the top of the cylinder rod of the driving electric cylinder (110) via a fixing screw (107); the buffer spring (106) is installed inside the movable flange (104) and is located between the flange of the connecting rod (105) and the movable flange (104).

5. The active variable diameter pipeline cleaning device according to claim 2 is characterized in that: The fixed branches at the lower end of the scissor mechanism (103) of the in-tube robot (1) are respectively mounted on the mounting seats of the movable flange (104) and the flange of the fixed base (111); the movable branches are respectively mounted on the flange mounting seats of the fixed flange (109) and the fixed base (111); the walking mechanism (102) is fixedly mounted on the upper end of the scissor mechanism (103); and the housing (101) is mounted on the fixed base (111).

6. The active variable diameter pipeline cleaning device according to claim 1 is characterized in that: The frame (202) of the outer tube conveying mechanism (2) is the frame foundation of the outer tube conveying mechanism (2), and the two side arms are symmetrically processed with circular through holes of the outer tube conveying mechanism (2), and the spring guide rods (211) pass through the circular through holes on the side of the frame (202) and are fixedly installed on the side wall of the frame (202), and the compression spring (210) is sleeved on the outside of the spring guide rods (211).

7. The active variable diameter pipeline cleaning device according to claim 6 is characterized in that: The floating frame (205) of the outer tube conveying mechanism (2) is fixedly mounted on the spring guide rod (211) and contacts and compresses the compression spring (210). The driving wheel (206) is rotatably mounted on the floating frame (205). The driven gear (204) is only mounted on one side of the floating frame (205), and the driven gear (204) is fixedly connected to the buffer spring (106) on the lower side. The guide wheel (207) is mounted on the input shaft of the encoder (208) and is rotatably mounted inside the frame (202) together with the encoder (208) through the fixed frame (209). The driving assembly (201) is mounted on the upper surface of the frame (202). The driving gear (203) is fixedly mounted on the output shaft of the driving assembly (201) and meshes with the driven gears (204) on both sides.

8. The active variable diameter pipeline cleaning device according to claim 1 is characterized in that: The composite pipeline of the wire winding and tube collecting mechanism (6) is connected to the tail of the in-pipe robot (1) via the gap between the guide wheel (207) and the driving wheel (206); when the driving component (201) acts, the composite pipeline can push the in-pipe robot (1) to achieve a large stroke forward and backward in the pipeline.

9. The active variable diameter pipeline cleaning device according to claim 5 is characterized in that: The side plates (1021) of the walking mechanism (102) are the frames of the walking mechanism (102); the walking shaft (1022) passes through the circular through holes on both sides of the side plates (1021) and the circular through holes in the middle of the follower pulley (1023) and the gear B (1026), so that the side plates (1021) and the walking shaft (1022) form a stable whole; the walking drive motor (1024) is installed between the two side plates (1021); the gear A (1025) is fixedly installed on the output shaft of the walking drive motor (1024) and meshes with the gear B (1026).

10. The diameter-changing method of the active diameter-changing pipeline cleaning device according to any one of claims 1 to 9, characterized in that: When the cylinder rod of the driving electric cylinder (110) is retracted, the movable flange (104) and the movable housing (108) are pulled inwardly, and at this time, the lower branch of the scissor mechanism (103) contracts and moves, and together pushes the walking mechanism (102) to move in the direction of increasing the outer diameter. When the walking mechanism (102) is in close contact with the inner side of the pipe wall, the movement of the walking mechanism (102) can drive the robot (1) in the pipe as a whole to achieve a small stroke micro-motion in the pipe; when the cylinder rod of the driving electric cylinder (110) is extended, the movable flange (104) and the movable housing (108) are pushed outwardly, and the lower branch of the scissor mechanism (103) is extended, and together drives the walking mechanism (102) to move in the direction of reducing the outer diameter, thereby achieving diameter-changing movement.

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