Automatic pipeline inclination measuring robot

Abstract

The invention relates to the technical field of robots, and discloses an automatic pipeline inclination measuring robot which comprises an upper shell and a lower shell which are fixed to the two sides of a mounting plate correspondingly, a first motor is fixedly mounted on the lower surface of the mounting plate, and a driving wheel is fixed to the output end of the first motor; a first driven wheel and a second driven wheel are sequentially meshed with the side face of the driving wheel, a driving chain wheel is fixed to the lower surface of the second driven wheel through a connecting rod and arranged on the upper surface of a mounting plate, a chain is arranged on the upper surface of the mounting plate, and the driving chain wheel is matched with the chain. According to the invention, the full-automatic and high-precision positioning and movement of the inclinometer robot in the pipeline are realized, and the traditional operation mode of depending on manual traction of a signal line and visual distance marking is replaced, so that operators are liberated from tedious and repeated labor; and random errors such as uneven tension, inaccurate pause position and inconsistent reading intervals caused by human factors can be eliminated.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an automatic pipeline inclination measurement robot. Background Technology

[0002] An inclinometer is a commonly used engineering exploration and surveying device, mainly used to measure the apex and azimuth angles of engineering structures such as boreholes, foundation pits, foundations, walls, and dam slopes. Existing surveying equipment involves inserting the inclinometer head into an inclinometer pipe during measurement, moving it along one of the guide rails. The inclinometer head is pulled along by a signal wire. For downward measurements, after the inclinometer head is fully inserted into the pipe, it is brought to a stop within the pipe to take a reading, which is then transmitted to the control host. The signal wire is then released, allowing the inclinometer head to move downwards under gravity. At specific intervals, the inclinometer head is brought to a stop within the pipe to take a reading, which is then transmitted to the control host again. For upward measurements, the signal wire is pulled to move the inclinometer head upwards along the pipe. At specific intervals, the inclinometer head is brought to a stop within the pipe to take a reading, which is then transmitted to the control host again.

[0003] To ensure measurement accuracy and reduce the probability of errors during the measurement process, the inclinometer head needs to be rotated 180 degrees, and the above operation needs to be repeated to perform downward and upward measurements to complete one measurement. Finally, the control host is connected to a computer to export the data to specific software for reading and analysis, thereby obtaining the apex angle and azimuth angle of the engineering structure. However, in actual use, it has been found that when operators manually pull the signal line or use a line-laying device to control the signal wire, multiple marks need to be set at specific intervals on the signal wire. The movement distance of the inclinometer head is determined by the position of the marks. To ensure measurement accuracy, the measurement is stopped at each mark. The manual operation is tedious and repetitive, and there are many human interference factors during the measurement process. Rotating the inclinometer head 180 degrees and repeating the measurement to reduce the probability of errors consumes a lot of manpower.

[0004] Therefore, it is necessary to solve the above problems by using an automated pipeline inclination measurement robot. Summary of the Invention

[0005] The purpose of this invention is to provide an automated pipeline inclination measurement robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automatic pipeline inclination measurement robot, comprising an upper shell and a lower shell respectively fixed on both sides of a mounting plate, a first motor fixedly mounted on the lower surface of the mounting plate, a drive wheel fixedly mounted on the output end of the first motor, a first driven wheel and a second driven wheel sequentially meshing on the side of the drive wheel, a drive sprocket fixed on the lower surface of the second driven wheel via a connecting rod, the drive sprocket being disposed on the upper surface of the mounting plate, a chain being disposed on the upper surface of the mounting plate, and the drive sprocket and the chain cooperating; The upper and lower shells are interlocked, and the upper shell, mounting plate and lower shell form a hollow movable tube. The mounting plate and chain are both set inside the movable tube. One end of the upper shell is also provided with a mounting tube. A support component is installed inside the mounting tube. The surfaces of the upper shell and the mounting tube are respectively provided with a first through hole and a third through hole corresponding to the chain. The chain passes through the first through hole and the third through hole.

[0007] Preferably, the upper surface of the mounting plate is also equipped with multiple auxiliary sprockets, which cooperate with the chain. An acceleration sensor is also installed on the lower surface of the mounting plate, and a protective shell is provided on the surface of the acceleration sensor. A mounting groove is formed on the lower surface of the mounting plate, and a storage battery is fixedly installed inside the mounting groove.

[0008] Preferably, a first slider is fixed to the side of the mounting tube, and a first groove corresponding to the first slider is opened on the side of both the upper and lower housings. The first slider moves inside the first groove, and the mounting tube moves at one end of the movable tube through the first slider and the first groove. Both the first slider and the first groove are "T" shaped.

[0009] Preferably, a second motor is fixed to the end face of the lower housing, a spur gear is fixed to the output end of the second motor, and a toothed ring corresponding to the spur gear is embedded in the inner wall of the mounting tube. The spur gear and the toothed ring mesh with each other, and the mounting tube rotates at one end of the upper housing and the lower housing through the second motor, the spur gear and the toothed ring.

[0010] Preferably, the support assembly includes a fixing frame, a placement groove is formed on the surface of the mounting tube, the fixing frame is fixed inside the placement groove by fixing bolts, a support rod is rotatably connected to the inner wall of the fixing frame, a movable wheel is rotatably connected to one end of the support rod, and a half gear is fixed to the other end of the support rod.

[0011] Preferably, the support assembly further includes a telescopic rod fixed to the inner wall of the fixing frame, and a toothed plate fixed to the other end of the telescopic rod. The toothed plate meshes with a half gear. A second through hole corresponding to the toothed plate is opened on the surface of the mounting plate. The toothed plate passes through the second through hole. A spring is sleeved on the surface of the telescopic rod. The two ends of the spring are respectively fixed to the inner wall of the fixing frame and the side of the toothed plate. The movable wheel moves on the side of the mounting tube through the support rod, the half gear, the toothed plate, the telescopic rod and the spring.

[0012] Preferably, a second slider is fixed on the lower surface of the toothed plate, and a second groove corresponding to the second slider is opened on the surface of the fixing frame. The second slider moves inside the second groove, and the toothed plate moves on the surface of the fixing frame through the second slider and the second groove. There are two of each of the second slider and the second groove, and they are symmetrically arranged on the surface of the fixing frame.

[0013] Preferably, the upper housing surface has multiple mounting holes, the upper housing is fixed to the mounting plate surface through the mounting holes and fixing bolts, the upper housing surface is also fixedly mounted with a maintenance plate by fixing bolts, the lower surface of the mounting plate is also embedded with a sealing ring, and the acceleration sensor, the first motor and the second motor are all connected to an external controller.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention uses a first motor to drive a drive wheel, which in turn drives a second driven wheel via a first driven wheel, thereby rotating a drive sprocket. This enables the robot to move along a fixed chain, achieving fully automatic, high-precision positioning and movement of the inclinometer robot within a pipeline. This replaces the traditional operation mode that relies on manual pulling of signal lines and visual marking of distances. This not only frees operators from tedious and repetitive labor but also eliminates random errors introduced by human factors, such as uneven tension, inaccurate stopping positions, and inconsistent reading intervals. At the same time, it can precisely control the movement distance, automatically stop, and collect data, ensuring extremely high consistency and reliability of the measurement data.

[0015] 2. This invention, through a spring, half-gear, and toothed plate adaptive support mechanism, ensures that the robot remains centered in the pipe, effectively suppressing swaying during movement and wobbling during measurement, providing a stable measurement benchmark for the sensor. Simultaneously, the integrated rotation function driven by a second motor can scrape and clean any debris that may be present on the inner wall of the pipe, preventing the debris adhering to the inner wall from affecting the movement of the moving tube, thereby avoiding interference with the accelerometer's detection and further improving the accuracy of the accelerometer's detection. Furthermore, the modular structural design, excellent sealing, and rigid track support provided by the chain enable the robot to adapt to the complex environment of underground pipes, which is humid, dusty, and may even contain small amounts of water, thus improving the applicability of the device. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of an automatic pipeline inclination measurement robot according to the present invention; Figure 2 This is a bottom view structural schematic diagram of the mounting plate of an automatic pipeline inclination measurement robot according to the present invention; Figure 3 This is a schematic diagram of the structure of the mounting plate of the automatic pipeline inclination measurement robot of the present invention. Figure 4 This is a cross-sectional structural schematic diagram of the upper shell portion of an automatic pipeline inclination measurement robot according to the present invention; Figure 5 This invention relates to an automatic pipeline inclination measurement robot. Figure 4 Enlarged view of point A in the middle; Figure 6 This is a cross-sectional structural schematic diagram of the installation pipe portion of an automatic pipeline inclination measurement robot according to the present invention; Figure 7 This is a side view schematic diagram of an automatic pipeline inclination measurement robot according to the present invention.

[0017] The components represented by each number in the attached diagram are listed below: 1. Upper housing; 101. First through hole; 2. Mounting plate; 201. Mounting groove; 3. Lower housing; 4. Chain; 5. First motor; 6. Drive wheel; 7. First driven wheel; 8. Second driven wheel; 9. Drive sprocket; 10. Auxiliary sprocket; 11. Mounting tube; 1101. Placement slot; 1102. Second through hole; 1103. First slider; 1104. Second motor; 1105. Spur gear; 1106. Gear ring; 1107. Third through hole; 12. Support assembly; 1201. Support rod; 1202. Movable wheel; 1203. Gear plate; 1204. Telescopic rod; 1205. Half gear; 1206. Spring; 1207. Second slider; 1208. Fixing frame; 13. Battery; 14. Accelerometer; 15. Protective shell; 16. Mounting hole; 17. Inspection plate; 18. Sealing ring. Detailed Implementation

[0018] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0019] This invention provides, for example Figures 1 to 7An automated pipeline inclination measurement robot, as shown, includes an upper housing 1 and a lower housing 3 respectively fixed to both sides of a mounting plate 2. A first motor 5 is fixedly mounted on the lower surface of the mounting plate 2, and a drive wheel 6 is fixed to the output end of the first motor 5. A first driven wheel 7 and a second driven wheel 8 are sequentially meshed on the side of the drive wheel 6. A drive sprocket 9 is fixed to the lower surface of the second driven wheel 8 via a connecting rod. The drive sprocket 9 is disposed on the upper surface of the mounting plate 2, and a chain 4 is disposed on the upper surface of the mounting plate 2. The drive sprocket 9 and the chain 4 cooperate. In this invention, the first motor 5 drives the drive wheel 6, and the drive wheel 6 drives the first driven wheel. 7 drives the second driven wheel 8 to rotate, which in turn drives the drive sprocket 9 to rotate, enabling it to move on the fixed chain 4. This achieves fully automatic, high-precision positioning and movement of the inclinometer robot within the pipeline, replacing the traditional operation mode that relies on manual pulling of signal lines and visual marking of distances. This not only frees operators from tedious and repetitive labor, but also eliminates random errors introduced by human factors, such as uneven tension, inaccurate stopping positions, and inconsistent reading intervals. At the same time, it can precisely control the movement distance, automatically stop, and collect data, ensuring extremely high consistency and reliability of the measurement data.

[0020] The upper housing 1 and the lower housing 3 are interlocked, and the upper housing 1, the mounting plate 2, and the lower housing 3 form a hollow movable tube. The mounting plate 2 and the chain 4 are both set inside the movable tube. One end of the upper housing 1 is also provided with a mounting tube 11, and a support component 12 is installed inside the mounting tube 11. The surfaces of the upper housing 1 and the mounting tube 11 are respectively provided with a first through hole 101 and a third through hole 1107 corresponding to the chain 4. The chain 4 passes through the first through hole 101 and the third through hole 1107. The first motor 5 drives the drive wheel 6, and transmits power to the drive sprocket 9 through the first driven wheel 7 and the second driven wheel 8. With the help of the auxiliary sprocket 10, the movable tube formed by the upper housing 1, the lower housing 3, and the mounting plate 2 can move along the chain 4 inside the tube, replacing the traditional manual operation of pulling the signal line. This fundamentally eliminates the distance error and position deviation caused by the instability of manual control, laying a solid foundation for high-precision fixed-point measurement.

[0021] Multiple auxiliary sprockets 10 are also installed on the upper surface of the mounting plate 2. The auxiliary sprockets 10 cooperate with the chain 4. An acceleration sensor 14 is also installed on the lower surface of the mounting plate 2. The surface of the acceleration sensor 14 is provided with a protective shell 15. A mounting groove 201 is opened on the lower surface of the mounting plate 2. A storage battery 13 is fixedly installed inside the mounting groove 201. The multiple auxiliary sprockets 10 mesh with the chain 4, forming a stable multi-point support transmission system, which greatly enhances the stability and anti-torsion ability of the moving tube during movement and avoids jamming or slippage that may occur due to single-point drive. The built-in acceleration sensor 14 can collect high-precision attitude and displacement data in real time. Its acquisition frequency and position information are automatically triggered by the control system, without relying on manual marking, ensuring the automation and accuracy of data acquisition.

[0022] A first slider 1103 is fixed to the side of the mounting tube 11. Both the upper housing 1 and the lower housing 3 have first grooves corresponding to the first slider 1103 on their sides. The first slider 1103 moves within the first groove. The mounting tube 11 moves at one end of the movable tube via the first slider 1103 and the first groove. Both the first slider 1103 and the first groove are "T" shaped. A second motor 1104 is fixed to the end face of the lower housing 3. A spur gear 1105 is fixed to the output end of the second motor 1104. A gear ring 1106 corresponding to the spur gear 1105 is embedded in the inner wall of the mounting tube 11. The spur gear 1105 and the gear ring 1106 mesh. The mounting tube 11 moves through the first... The second motor 1104, spur gear 1105, and gear ring 1106 rotate at one end of the upper housing 1 and the lower housing 3. The second motor 1104 drives the gear ring 1106 through the spur gear 1105, which can drive the entire mounting tube 11, its support assembly 12, and the sensor to rotate around the axis of the movable tube. When the support assembly 12 is tightly attached to the inner wall of the pipe, the rotation of the mounting tube 11 and the support assembly 12 can scrape and clean any debris that may be present on the inner wall of the pipe, avoiding the impact of debris adhering to the inner wall of the pipe on the movement of the movable tube, thereby avoiding the impact on the detection of the acceleration sensor 14 and further improving the detection accuracy of the acceleration sensor 14.

[0023] The support assembly 12 includes a fixing frame 1208. A placement groove 1101 is formed on the surface of the mounting pipe 11. The fixing frame 1208 is fixed inside the placement groove 1101 by fixing bolts. A support rod 1201 is rotatably connected to the inner wall of the fixing frame 1208. A movable wheel 1202 is rotatably connected to one end of the support rod 1201, and a half-gear 1205 is fixed to the other end of the support rod 1201. The movable wheel 1202 at one end of the support rod 1201 is used to contact the inner wall of the pipe. Its unique hinge design... The design allows the movable wheel 1202 to adapt to slight unevenness in the inner wall of the pipe. The half gear 1205 provides a basis for the transmission mechanism that converts radial support force into control of the movement of the toothed plate 1203, thereby achieving adaptive expansion. The support assembly 12 also includes a telescopic rod 1204 fixed to the inner wall of the fixed frame 1208. The other end of the telescopic rod 1204 is fixed to the toothed plate 1203, which meshes with the half gear 1205. The surface of the mounting plate 2 has openings that interact with the toothed plate 1203. Corresponding to the second perforation 1102, the toothed plate 1203 passes through the second perforation 1102. A spring 1206 is sleeved on the surface of the telescopic rod 1204. The two ends of the spring 1206 are respectively fixed to the inner side wall of the fixing frame 1208 and the side of the toothed plate 1203. The movable wheel 1202 moves on the side of the mounting tube 11 through the support rod 1201, the half gear 1205, the toothed plate 1203, the telescopic rod 1204 and the spring 1206. When the movable wheel 1202 contacts the tube wall, the support rod 1201 swings and drives the half gear 1205 to rotate, which in turn drives the toothed plate 1203 that meshes with it to move axially along the telescopic rod 1204 and compress the spring 1206. The reaction force provided by the spring 1206 continuously presses the movable wheel 1202 against the tube wall, ensuring that the robot is always in the center of the pipe, effectively preventing swaying and vibration during overall movement, thereby ensuring that the measurement reference of the accelerometer is consistent with the pipe axis and improving the measurement accuracy of the apex angle and azimuth angle data.

[0024] A second slider 1207 is fixed on the lower surface of the toothed plate 1203. A second groove corresponding to the second slider 1207 is opened on the surface of the fixing frame 1208. The second slider 1207 moves inside the second groove. The toothed plate 1203 moves on the surface of the fixing frame 1208 through the second slider 1207 and the second groove. There are two second sliders 1207 and two grooves, which are symmetrically arranged on the lower surface of the fixing frame 1208. The symmetrically arranged double slider and groove mechanism provides high-precision linear guidance for the movement of the toothed plate 1203, ensuring that the toothed plate 1203 can only move smoothly in the preset direction when subjected to force, without deviation or jamming. This enhances the reliability and durability of the support component 12 and ensures the uniformity and stability of the adaptive tightening effect.

[0025] The upper housing 1 has multiple mounting holes 16 on its surface. The upper housing 1 is fixed to the surface of the mounting plate 2 through the mounting holes 16 and fixing bolts. The surface of the upper housing 1 is also fixed with a maintenance plate 17 through fixing bolts. A sealing ring 18 is also embedded in the lower surface of the mounting plate 2. The acceleration sensor 14, the first motor 5 and the second motor 1104 are all connected to an external controller. The mounting holes 16 and fixing bolts make it easy to disassemble and maintain core components such as the upper housing 1, the lower housing 3 and the mounting plate 2. At the same time, the setting of the maintenance plate 17 facilitates quick maintenance of internal components. The embedding of the sealing ring 18 effectively prevents moisture, mud and other pollutants in underground pipelines from entering the equipment, protecting the precision transmission mechanism and electronic components, and extending the service life of the equipment in harsh engineering environments.

[0026] This invention utilizes an adaptive support mechanism consisting of a spring 1206, a gear, and a toothed plate 1203 to ensure the robot remains centered within the pipe, effectively suppressing swaying during movement and deviation during measurement, thus providing a stable measurement reference for the sensor. Simultaneously, the integrated rotation function driven by the second motor 1104 scrapes and cleans any debris that may be present on the pipe's inner wall, preventing such debris from affecting the movement of the moving tube and consequently avoiding interference with the accelerometer 14's detection, further improving the accuracy of the accelerometer 14's detection. Furthermore, the modular structural design, excellent sealing, and rigid track support provided by the chain 4 enable the robot to adapt to complex environments within underground pipes, including humid, dusty conditions and even areas with some water accumulation, thereby enhancing the device's applicability.

[0027] The working principle of the above embodiment is as follows: First, the two ends of the chain 4 are fixed to the two ends of the pipe, and the chain 4 is placed in the center of the pipe. Then, the operator presses the support rod 1201, so that the movable wheel 1202 moves towards the installation pipe 11, thereby placing the inclinometer robot inside the pipe and making the chain 4 pass through the first through hole 101 and the third through hole 1107. At the same time, the drive sprocket 9 and the auxiliary sprocket 10 cooperate with the chain 4. Then, the operator releases the support rod 1201. Under the reaction force of the telescopic rod 1204 and the spring 1206, the toothed plate 1203 can be pushed to move, thereby driving the half gear 1205 meshing with it to rotate. This drives the support rod 1201 and the movable wheel 1202 rotatably connected to one end of the support rod 1201 to move towards the inner wall of the pipe, so that the movable wheel 1202 can fit against the inner wall of the pipe.

[0028] Subsequently, the staff controls the operation of the first motor 5 through the controller. The first motor 5 drives the drive wheel 6 to rotate, and the drive wheel 6 drives the second driven wheel 8 to rotate through the first driven wheel 7, thereby driving the drive sprocket 9 to rotate. With the cooperation of the auxiliary sprocket 10, the movable tube composed of the upper housing 1, the lower housing 3, and the mounting plate 2 can move along the chain 4 inside the pipe. At the same time, the staff controls the operation of the second motor 1104 through the controller. The second motor 1104 drives the spur gear 1105 to rotate, and the spur gear 1105 drives the toothed ring 1106 that meshes with it to rotate, thereby driving the mounting tube 11 and the support assembly 12 installed on the mounting tube 11 to rotate. Since the movable wheel 1202 is in close contact with the inner wall of the pipe, the support assembly 12 can clean the inner wall of the pipe as it rotates with the mounting tube 11, avoiding the impact of debris adhering to the inner wall of the pipe on the movement of the movable tube, thereby avoiding the impact on the detection of the acceleration sensor 14 and ensuring the accurate detection of the acceleration sensor 14.

[0029] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. An automated pipeline inclination measurement robot, characterized in that: The device includes an upper housing (1) and a lower housing (3) fixed on both sides of the mounting plate (2). A first motor (5) is fixedly mounted on the lower surface of the mounting plate (2). A drive wheel (6) is fixed at the output end of the first motor (5). A first driven wheel (7) and a second driven wheel (8) are sequentially meshed on the side of the drive wheel (6). A drive sprocket (9) is fixed on the lower surface of the second driven wheel (8) through a connecting rod. The drive sprocket (9) is set on the upper surface of the mounting plate (2). A chain (4) is set on the upper surface of the mounting plate (2). The drive sprocket (9) and the chain (4) cooperate with each other. The upper shell (1) and the lower shell (3) are fastened together, and the upper shell (1), the mounting plate (2) and the lower shell (3) form a hollow movable tube. The mounting plate (2) and the chain (4) are both set inside the movable tube. The upper shell (1) is also provided with a mounting tube (11) at one end. A support component (12) is installed inside the mounting tube (11). The upper shell (1) and the mounting tube (11) are respectively provided with a first through hole (101) and a third through hole (1107) corresponding to the chain (4). The chain (4) passes through the first through hole (101) and the third through hole (1107).

2. The automatic pipeline inclination measurement robot according to claim 1, characterized in that: The upper surface of the mounting plate (2) is also equipped with a plurality of auxiliary sprockets (10), which cooperate with the chain (4). The lower surface of the mounting plate (2) is also equipped with an acceleration sensor (14), which is provided with a protective shell (15). The lower surface of the mounting plate (2) is provided with a mounting groove (201), and a storage battery (13) is fixedly installed inside the mounting groove (201).

3. The automatic pipeline inclination measurement robot according to claim 1, characterized in that: The mounting tube (11) is fixed with a first slider (1103) on its side. The upper shell (1) and the lower shell (3) are both provided with a first groove corresponding to the first slider (1103) on their sides. The first slider (1103) moves inside the first groove. The mounting tube (11) moves at one end of the movable tube through the first slider (1103) and the first groove. The first slider (1103) and the first groove are both "T" shaped.

4. The automatic pipeline inclination measurement robot according to claim 3, characterized in that: The end face of the lower housing (3) is fixed with a second motor (1104), and the output end of the second motor (1104) is fixed with a spur gear (1105). The inner wall of the mounting tube (11) is embedded with a toothed ring (1106) corresponding to the spur gear (1105). The spur gear (1105) and the toothed ring (1106) mesh with each other. The mounting tube (11) rotates at one end of the upper housing (1) and the lower housing (3) through the second motor (1104), the spur gear (1105) and the toothed ring (1106).

5. An automatic pipeline inclination measurement robot according to claim 4, characterized in that: The support assembly (12) includes a fixed frame (1208), and a placement groove (1101) is provided on the surface of the mounting tube (11). The fixed frame (1208) is fixed inside the placement groove (1101) by fixing bolts. A support rod (1201) is rotatably connected to the inner wall of the fixed frame (1208). A movable wheel (1202) is rotatably connected to one end of the support rod (1201), and a half gear (1205) is fixed to the other end of the support rod (1201).

6. An automatic pipeline inclination measurement robot according to claim 5, characterized in that: The support assembly (12) also includes a telescopic rod (1204) fixed to the inner wall of the fixed frame (1208). The other end of the telescopic rod (1204) is fixed with a toothed plate (1203). The toothed plate (1203) meshes with a half gear (1205). The surface of the mounting plate (2) is provided with a second through hole (1102) corresponding to the toothed plate (1203). The toothed plate (1203) passes through the second through hole (1102). A spring (1206) is sleeved on the surface of the telescopic rod (1204). The two ends of the spring (1206) are respectively fixed to the inner wall of the fixed frame (1208) and the side of the toothed plate (1203). The movable wheel (1202) moves on the side of the mounting tube (11) through the support rod (1201), the half gear (1205), the toothed plate (1203), the telescopic rod (1204) and the spring (1206).

7. An automatic pipeline inclination measurement robot according to claim 6, characterized in that: The toothed plate (1203) has a second slider (1207) fixed on its lower surface. The surface of the fixed frame (1208) has a second groove corresponding to the second slider (1207). The second slider (1207) moves inside the second groove. The toothed plate (1203) moves on the surface of the fixed frame (1208) through the second slider (1207) and the second groove. There are two of each of the second slider (1207) and the second groove, and they are symmetrically arranged on the surface of the fixed frame (1208).

8. An automatic pipeline inclination measurement robot according to claim 1, characterized in that: The upper housing (1) has multiple mounting holes (16) on its surface. The upper housing (1) is fixed to the surface of the mounting plate (2) through the mounting holes (16) and fixing bolts. The upper housing (1) is also fixed to the surface of the maintenance plate (17) by fixing bolts. The lower surface of the mounting plate (2) is also fitted with a sealing ring (18).

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