Abdominal wall pipeline robot

Abstract

This invention discloses a wall-mounted pipeline robot, comprising: a body; three walking mechanisms configured to closely adhere to the inner wall of the pipeline; the three walking mechanisms include one first walking mechanism and two second walking mechanisms; an adaptive diameter-changing mechanism connected to the three walking mechanisms; the adaptive diameter-changing mechanism includes a drive motor, a lead screw connected to the drive motor, a nut threadedly connected to the lead screw, and a moving block connected to the nut; a triangular mechanism connected to the body, the moving blocks, and the first walking mechanism; and two parallelogram mechanisms, respectively corresponding to the two second walking mechanisms, wherein each parallelogram mechanism is connected to the body, the moving block, and one of the second walking mechanisms; wherein, by the nut driving the moving block to move back and forth, the first and second walking mechanisms can synchronously change diameter under the drive of the triangular mechanism and the parallelogram mechanism, respectively. This invention enables the walking mechanism to change diameter, thereby adapting to pipelines of different diameters.

Description

Technical Field

[0001] The invention relates to a pipeline robot, in particular to an abdominal wall type pipeline robot. Background Art

[0002] In modern life, along with the development of social productivity and the needs of the people, the development of industrialization and the needs of national construction, various pipelines have also emerged in society, such as municipal sewage pipes, water pipes, fire pipes, oil and gas pipes, central air-conditioning pipes, household ordinary pipes, etc. The emergence and popularization of these pipes have provided us with a lot of convenience in production and life, but also brought many problems, such as pipe blockage, damage and pipe aging.

[0003] These problems have brought us serious impacts. For example, municipal drainage pipes are blocked, which makes drainage difficult when encountering floods; oil and gas pipelines leak, causing local environmental pollution; long-term dust accumulation in central air conditioners leads to the spread of bacteria and viruses; long-term oil stains in the range hoods cause potential fire hazards; natural gas pipelines corrode and cause leakage, etc. These problems not only cause us resource loss, but also may cause casualties.

[0004] In response to the above problems, pipeline robots came into being. Pipeline robots are an integrated system of machinery, electricity and instrumentation that can automatically walk along the inside or outside of small pipelines, carry one or more sensors and operating machinery, and perform a series of pipeline operations under the remote control of the staff or automatic control of the computer. Pipeline robots can complete pipeline operations such as flaw detection, dredging, inspection and repair in related complex environments by moving inside the pipeline.

[0005] At present, although my country has developed some special pipeline robots to cope with different pipeline structures, there is no universal pipeline robot, mainly because the adaptability of the walking mechanism is insufficient. Existing pipeline robots usually cannot adapt well to pipelines of different diameters. Even if some pipeline robots can achieve variable diameter of the walking mechanism, their structure is too complicated and the manufacturing cost is high.

[0006] In addition, when the pipeline robot passes through bends and irregular pipelines, the lack of driving force caused by internal friction, deformation of the wall and the error of the robot itself can easily cause the robot to deviate from the correct posture in the pipeline, or even roll over and get stuck. In the prior art, differentials and flexible connections are usually used to solve the problem of pipeline robots passing through bends and irregular pipelines, but this will make the structure more complicated and increase the cost. Summary of the invention

[0007] The purpose of the present invention is to provide a belly wall type pipeline robot to address at least one problem existing in the prior art. The robot has an adaptive diameter-changing mechanism connected to a walking mechanism, has a simple structure, and can achieve diameter change of the walking mechanism, thereby adapting to pipelines of different diameters.

[0008] To achieve the above purpose, the present invention adopts the following technical solutions:

[0009] An abdominal wall type pipeline robot, comprising:

[0010] body;

[0011] Three walking mechanisms are circumferentially arranged on the fuselage, and the three walking mechanisms are configured to be closely attached to the inner wall of the pipeline; the three walking mechanisms include a first walking mechanism and two second walking mechanisms;

[0012] An adaptive diameter-changing mechanism connected to the three walking mechanisms; the adaptive diameter-changing mechanism comprises a driving motor, a screw connected to the driving motor, a nut threadedly connected to the screw, and a moving block connected to the nut;

[0013] A triangular mechanism connected to the fuselage, the moving block and the first walking mechanism;

[0014] Two parallelogram mechanisms are respectively arranged corresponding to the two second walking mechanisms, wherein each of the parallelogram mechanisms is connected to the fuselage, the moving block and one of the second walking mechanisms;

[0015] The nut drives the moving block to move forward and backward, so that the first walking mechanism and the second walking mechanism can achieve synchronous diameter change under the drive of the triangular mechanism and the parallelogram mechanism respectively.

[0016] Furthermore, the triangular mechanism includes a first connecting rod hinged to the fuselage and a second connecting rod hinged to the first connecting rod, the end of the first connecting rod is connected to the first walking mechanism, and the second connecting rod is hinged to the moving block.

[0017] Furthermore, the parallelogram mechanism includes a third link hinged to the fuselage, a fourth link located below the third link and hinged to the fuselage, and a fifth link hinged to the moving block. The third link, the fourth link and the fifth link are all hinged to the second walking mechanism, and the third link is parallel to the fourth link.

[0018] Furthermore, the first walking mechanism includes omnidirectional wheels and a first motor for driving the omnidirectional wheels; the second walking mechanism includes a connecting frame, two driving wheels connected to the connecting frame and arranged front and rear, two driven wheels connected to the connecting frame and located between the two driving wheels, tracks arranged along the two driven wheels, and a second motor for driving the two driving wheels, at least one of the driven wheels is connected to the driving wheel to be driven by the driving wheel, and the two driving wheels are Mecanum wheels.

[0019] Furthermore, the driving wheel has a protruding shaft protruding to both sides, the protruding shaft and the connecting frame are connected by a pre-tightening shaft, and the pre-tightening shaft is sleeved with a first pre-tightening spring between the protruding shaft and the connecting frame; one end of the pre-tightening shaft is fixedly connected to the protruding shaft, and the other end passes through the connecting frame; the pre-tightening shaft can move axially relative to the connecting frame, and is provided with a limiting portion to prevent it from escaping from the connecting frame.

[0020] Furthermore, the body is provided with a cleaning device, which includes a main body and a plurality of cleaning brushes circumferentially arranged on the main body, the main body is circumferentially provided with a plurality of sockets, the cleaning brush has a pin that cooperates with the socket and a bristle portion connected to the pin, a second pre-tightening spring is sleeved on the outer side of the pin, and the cleaning brush is configured to be movable along the socket.

[0021] Furthermore, the body is provided with a protective cover made of a transparent material, and a camera module is provided inside the protective cover.

[0022] Furthermore, it also includes a control module, a gyroscope module, a pressure sensor module, and a display module. The gyroscope module, the pressure sensor module, the camera module, and the display module are connected to the control module, and the control module includes an FPGA and a single-chip microcomputer.

[0023] Furthermore, a receiving space is formed in the middle of the moving block, the nut is located in the receiving space, the moving block has a matching hole, and the nut is provided with a matching column that matches with the matching hole.

[0024] Furthermore, the fuselage has a plurality of guide bars arranged circumferentially, the plurality of guide bars enclose a receiving space, the drive motor, the screw rod and the nut are located in the receiving space, and the moving block is sleeved on the outside of the guide bars and guided by the guide bars.

[0025] The beneficial effects of the present invention are as follows: by setting an adaptive diameter-changing mechanism, a triangular mechanism and a parallelogram mechanism, the nut is driven by a motor, and then the moving block is driven to move forward and backward, so that the first walking mechanism and the second walking mechanism can achieve synchronous diameter change under the drive of the triangular mechanism and the parallelogram mechanism respectively, to ensure that when facing pipes with different diameters, the walking mechanism can be close to the inner wall of the pipe, thereby realizing the walking of the pipeline robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a three-dimensional diagram of the pipeline robot of the present invention;

[0027] Figure 2 A three-dimensional diagram of the pipeline robot of the present invention from another angle;

[0028] Figure 3 is a side view of the pipeline robot of the present invention;

[0029] Figure 4 This is a circuit structure framework diagram of the pipeline robot of the present invention.

[0030] Description of the accompanying drawings: 1. body; 11. guide bar; 12. accommodating space; 13. third connecting part; 14. fourth connecting part; 141. upper connecting unit; 142. lower connecting unit; 2. adaptive variable diameter mechanism; 21. driving motor; 22. screw rod; 23. nut; 231. matching column; 24. moving block; 241. accommodating space; 242. matching hole; 243. first connecting part; 244. second connecting part; 3. triangular mechanism; 31. first connecting rod; 32. second connecting rod; 4. parallelogram mechanism; 41. third connecting rod; 42. fourth connecting rod Rod; 43, the fifth connecting rod; 5, the first walking mechanism; 51, the omnidirectional wheel; 6, the second walking mechanism; 61, the connecting frame; 62, the driving wheel; 63, the driven wheel; 64, the track; 65, the protruding shaft; 66, the preload shaft; 661, the limit part; 67, the first preload spring; 7, the protective cover; 8, the camera module; 9, the cleaning device; 91, the main body; 911, the socket; 92, the cleaning brush; 921, the plug column; 922, the bristle part; 923, the second preload spring; 10, the control module; 20, the gyroscope module; 30, the display module; 40, the pressure sensor module. DETAILED DESCRIPTION

[0031] In order to better understand the purpose, structure, features and effects of the present invention, the present invention is further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that the features shown in the drawings are not necessarily drawn to scale. In addition, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right", "front", "back" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. In addition, in the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0033] like Figure 1 and Figure 2 As shown, a preferred embodiment of the present invention is a abdominal wall type pipeline robot, comprising a body 1, three walking mechanisms circumferentially arranged on the body 1, an adaptive diameter-changing mechanism 2 connected to the three walking mechanisms, a triangular mechanism 3, and a parallelogram mechanism 4.

[0034] The three walking mechanisms are configured to cling to the inner wall of the pipe, thereby pushing the robot forward. Figure 3 As shown, the three running mechanisms are evenly arranged circumferentially on the fuselage 1, that is, the three running mechanisms are spaced 120 degrees apart from each other. The three running mechanisms include a first running mechanism 5 and two second running mechanisms 6.

[0035] The first walking mechanism 5 includes an omnidirectional wheel 51 and a first motor (not shown) for driving the omnidirectional wheel 51. The connection between the motor and the omnidirectional wheel 51 is a prior art and will not be described in detail here. When the pipeline robot is walking, the omnidirectional wheel 51 is close to the inner wall of the pipeline, which can provide pressure for the pipeline robot so that it can move stably when rotating or going up and down slopes.

[0036] The second walking mechanism 6 is parallel to the fuselage 1. The second walking mechanism 6 includes a connecting frame 61, two driving wheels 62 connected to the connecting frame 61 and arranged front and rear, two driven wheels 63 connected to the connecting frame 61 and located between the two driving wheels 62, a crawler 64 arranged along the two driven wheels 63, and a second motor (not shown) for driving the two driving wheels 62. In each walking mechanism, two second motors can be provided corresponding to the two driving wheels 62 to independently drive each driving wheel 62 to rotate. The two driving wheels 62 are Mecanum wheels. The connection between the motor and the Mecanum wheel is a prior art and will not be described in detail here. By setting the Mecanum wheel, the pipeline robot can be driven forward and backward under a certain angle adjustment, and can also rotate around the pipeline in the pipeline. The driven wheel 63 is connected to the driving wheel 62 to be driven by the driving wheel 62. Specifically, the rotating shaft of the driving wheel 62 can be connected to the rotating shaft of the driven wheel 63 through a structure such as a belt or a chain. By providing the driven wheels 63 and the crawler tracks 64 , when the pipeline robot passes through a curve, the crawler tracks 64 can be pressed against the curve to prevent the pipeline robot from getting stuck when passing through the curve.

[0037] The adaptive variable diameter mechanism 2 includes a driving motor 21, a screw rod 22 connected to the driving motor 21, a nut 23 threadedly connected to the screw rod 22, and a moving block 24 connected to the nut 23. A receiving space 241 is formed in the middle of the moving block 24, and the nut 23 is located in the receiving space 241. The moving block 24 has a matching hole 242, and the nut 23 is provided with a matching column 231 that matches the matching hole 242. The matching hole 242 passes through in a straight line, and the matching column 231 is in a straight line shape and extends into the matching hole 242, thereby realizing the connection between the nut 23 and the moving block 24, and realizing the limiting of the moving block 24. The driving motor 21 can drive the screw rod 22 to rotate, thereby driving the nut 23 to move forward and backward, thereby driving the moving block 24 to move forward and backward. The fuselage 1 has a plurality of guide bars 11 arranged circumferentially, and the plurality of guide bars 11 enclose a receiving space 12 . The driving motor 21 , the screw rod 22 and the nut 23 are located in the receiving space 12 . The moving block 24 is sleeved on the outer side of the guide bar 11 and guided by the guide bar 11 .

[0038] The triangular mechanism 3 is connected to the body 1, the moving block 24 and the first walking mechanism 5. The two parallelogram mechanisms 4 are respectively provided corresponding to the two second walking mechanisms 6, wherein each parallelogram mechanism 4 is connected to the body 1, the moving block 24 and one second walking mechanism 6. The nut 23 drives the moving block 24 to move forward and backward, so that the first walking mechanism 5 and the second walking mechanism 6 can realize synchronous diameter change under the drive of the triangular mechanism 3 and the parallelogram mechanism 4, respectively.

[0039] The moving block 24 is evenly provided with a first connection portion 243 corresponding to the first walking mechanism 5 and two second connection portions 244 respectively corresponding to the two second walking mechanisms 6 along the circumferential direction. The fuselage 1 is evenly provided with a third connection portion 13 corresponding to the first walking mechanism 5 and two fourth connection portions 14 respectively corresponding to the second walking mechanisms 6 along the circumferential direction. The fourth connection portion 14 includes an upper connection unit 141 and a lower connection unit 142 located below the upper connection unit 141.

[0040] The triangular mechanism 3 includes a first link 31 hinged to the third connection portion 13 of the fuselage 1 and a second link 32 hinged to the first link 31 . The end of the first link 31 is connected to the first walking mechanism 5 , and the second link 32 is hinged to the first connection portion 243 of the moving block 24 .

[0041] The parallelogram mechanism 4 includes a third link 41 hinged to the fourth connection portion 14 of the fuselage 1, a fourth link 42 located below the third link 41 and hinged to the fourth connection portion 14 of the fuselage 1, and a fifth link 43 hinged to the second connection portion 244 of the moving block 24. The third link 41, the fourth link 42 and the fifth link 43 are all hinged to the connecting frame 61 of the second walking mechanism 6. The third link 41 is hinged to a hinge point located at the front end above the upper connecting unit 141, and the fourth link 42 is hinged to a hinge point located at the rear end below the lower connecting unit 142. Correspondingly, the third link 41 is hinged to a hinge point located at the front end above the connecting frame 61, and the fourth link 42 is hinged to a hinge point located at the rear end below the connecting frame 61. The height of the connecting frame 61 is substantially equal to the overall height of the fourth connection portion 14, so that the third link 41 and the fourth link 42 are substantially parallel and horizontal. By providing the parallelogram mechanism 4, the second walking mechanism 6 and the fuselage 1 can be kept parallel, so that the fuselage 1 can be stable in the pipeline.

[0042] As described above, the driving motor 21 can drive the moving block 24 to move forward or backward. When the moving block 24 moves forward, the second connecting rod 32 can be driven to rise, thereby driving the first connecting rod 31 to rise (i.e., the triangular mechanism 3 contracts upward, and the first connecting rod 31 and the second connecting rod 32 move in a direction close to each other), thereby driving the first walking mechanism 5 to rise upward, so that the omnidirectional wheel 51 rises upward; at the same time, the moving block 24 can drive the fifth connecting rod 43 to move outward, so that the second walking mechanism 6, the third connecting rod 41 and the fourth connecting rod 42 move outward (i.e., the parallelogram mechanism 4 contracts outward, and the fifth connecting rod 43 and the third connecting rod 41 (the fourth connecting rod 42) move in a direction close to each other), so that the driving wheel 62 moves outward. That is, when the moving block 24 moves forward, the first walking mechanism 5 and the second walking mechanism 6 expand outward to achieve diameter change, so that the omnidirectional wheel 51 and the driving wheel 62 can always be close to the pipe wall, thereby adapting to a pipe with a larger diameter.

[0043] When the moving block 24 moves backward, it can drive the second connecting rod 32 to descend, thereby driving the first connecting rod 31 to descend (i.e., the triangular mechanism 3 extends downward, and the first connecting rod 31 and the second connecting rod 32 move in a direction away from each other), thereby driving the first running mechanism 5 to descend downward, so that the omnidirectional wheel 51 descends downward; at the same time, the moving block 24 can drive the fifth connecting rod 43 to move inward, so that the second running mechanism 6, the third connecting rod 41 and the fourth connecting rod 42 move inward (i.e., the parallelogram mechanism 4 extends inward, and the fifth connecting rod 43 and the third connecting rod 41 (the fourth connecting rod 42) move inward), so that the driving wheel 62 moves inward. That is, when the moving block 24 moves forward, the first running mechanism 5 and the second running mechanism 6 move inward to achieve diameter change, so that the omnidirectional wheel 51 and the driving wheel 62 can always be close to the pipe wall, thereby adapting to pipes with smaller diameters.

[0044] It can be seen that by providing the adaptive diameter-changing mechanism 2, the triangular mechanism 3 and the parallelogram mechanism 4, the diameter-changing of the pipeline robot can be achieved to adapt to pipelines of different diameters.

[0045] The driving wheel 62 has a protruding shaft 65 protruding to both sides, and the protruding shaft 65 and the connecting frame 61 are connected by a pre-tightening shaft 66. The pre-tightening shaft 66 is sleeved with a first pre-tightening spring 67 between the protruding shaft 65 and the connecting frame 61; one end of the pre-tightening shaft 66 is fixedly connected to the protruding shaft 65, and the other end passes through the connecting frame 61; the pre-tightening shaft 66 can move axially relative to the connecting frame 61, and is provided with a limiter 661 to prevent it from escaping from the connecting frame 61. By arranging the first pre-tightening spring 67 on the driving wheel 62, the second walking mechanism 6 can be pressed against the pipe wall, so that there is enough positive pressure between the second walking mechanism 6 and the pipe wall, and the pipeline robot can move forward smoothly. In particular, when the pipeline robot changes its diameter, under the action of the parallelogram mechanism 4, the first pre-tightening spring 67 can apply a pre-tightening force to the second walking mechanism 6 to ensure the positive pressure between the second walking mechanism 6 and the pipe wall.

[0046] The front end of the fuselage 1 is provided with a protective cover 7 made of a transparent material, especially a material with good optical properties, such as polymethyl methacrylate. A camera module 8 is provided inside the protective cover 7. The camera module 8 is used to record the walking trajectory. When the underground pipeline engineering drawing is lost, it can be used to re-draw the information of the underground pipeline, and can intelligently identify the pipeline, record the information of the pipeline, and facilitate people to understand the pipeline. The protective cover 7 is fisheye-shaped or bullet-shaped. According to the law of refraction, the protective cover 7 protects the front camera while also expanding the field of view of the camera module 8.

[0047] A cleaning device 9 is provided at the rear end of the body 1. The cleaning device 9 includes a body 91 and a plurality of cleaning brushes 92 arranged circumferentially on the body 91. The body 91 is provided with a plurality of insertion holes 911 circumferentially. The cleaning brush 92 has a plug post 921 matched with the insertion hole 911 and a bristle part 922 connected with the plug post 921. A second preload spring 923 is sleeved on the outer side of the plug post 921. The cleaning brush 92 is configured to move along the insertion hole 911. When applied to pipes with different pipe diameters, the cleaning brush 92 can move inward along the insertion hole 911 under the action of the pipe wall, or move outward along the insertion hole 911 under the action of the second preload spring 923, so that the cleaning brush 92 can adapt to pipes of various pipe diameters, and the second preload spring 923 can provide a preload force to the bristle part 922, so that the bristle part 922 can be pressed against the pipe wall, so as to work better. In addition, a motor (not shown) can be connected to the cleaning device 9 to drive the cleaning device 9 to rotate, so as to clean better.

[0048] The pipeline robot can also be provided with a maintenance module (not shown). The camera module 8 can transmit the pipeline inner wall data and identify the damaged part of the pipeline. If the damaged part is below the pipeline, the maintenance module of the pipeline robot moves to the top of the damaged part for repair and maintenance. If the damaged part is above the pipeline, the pipeline robot can move through the walking mechanism to move its maintenance module below the damaged part.

[0049] like Figure 4 As shown, the pipeline robot can also include a control module 10, a gyroscope module 20, a display module 30 and a pressure sensor module 40, and the pressure sensor module 40, the camera module 8, and the display module 30 are connected to the control module 10, and the control module 10 includes an FPGA and a single-chip microcomputer. The control module is a combination of an FPGA and a single-chip microcomputer to improve the performance of the control module, thereby greatly simplifying the peripheral circuit, improving the stability and reliability of the entire system, and the control pins can be sufficient to meet the design requirements. The gyroscope module 20 is used to monitor the pipeline angle of the pipeline in real time, and the model of the gyroscope module 20 can be the Kyushu gyroscope module GY-9150. When encountering a turn or a vertical drop, the angle value analyzed by the gyroscope module 20 and the return value of the pressure sensor can better control and adjust the pipeline robot so that it can run stably in the pipeline. The display module 30 can be used in conjunction with the camera module 8 to display the pipeline conditions captured by the camera module 8, and the model of the display module 30 can be LCD12864.

[0050] The above detailed description is only an explanation of the preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Therefore, all equivalent technical changes made using the content of this creation are included in the patent scope of this creation.

Claims

1. An abdominal wall pipeline robot, characterized in that: include: body; Three walking mechanisms, including a first walking mechanism and two second walking mechanisms, wherein the first walking mechanism and the two second walking mechanisms are evenly arranged on the fuselage in a circumferential direction, and the three walking mechanisms are spaced 120 degrees apart from each other and are configured to be closely attached to the inner wall of the pipeline; An adaptive diameter-changing mechanism connected to the three walking mechanisms; the adaptive diameter-changing mechanism comprises a driving motor, a screw connected to the driving motor, a nut threadedly connected to the screw, and a moving block connected to the nut; A triangular mechanism connected to the fuselage, the moving block and the first walking mechanism; Two parallelogram mechanisms are respectively arranged corresponding to the two second walking mechanisms, wherein each of the parallelogram mechanisms is connected to the fuselage, the moving block and one of the second walking mechanisms; Wherein, by driving the moving block to move forward and backward by the nut, the first walking mechanism and the second walking mechanism can realize synchronous diameter change under the drive of the triangular mechanism and the parallelogram mechanism respectively; The first walking mechanism includes an omnidirectional wheel and a first motor for driving the omnidirectional wheel; each of the second walking mechanisms includes a connecting frame, two driving wheels connected to the connecting frame and arranged front and rear, two driven wheels connected to the connecting frame and located between the two driving wheels, a crawler provided along the two driven wheels, and a second motor for driving the two driving wheels, at least one of the driven wheels is connected to the driving wheel to be driven by the driving wheel, and the two driving wheels are Mecanum wheels; The two driving wheels are located on the outside of the crawler, the two driven wheels are located on the inside of the crawler, and the crawler is located between the two driving wheels; when the pipeline robot moves forward and backward, the driving wheels are close to the pipe wall; when the pipeline robot passes through a curve, the crawler is against the curve to prevent the pipeline robot from getting stuck when passing the curve.

2. The abdominal wall type pipeline robot according to claim 1, characterized in that: The triangular mechanism includes a first connecting rod hinged to the fuselage and a second connecting rod hinged to the first connecting rod, the end of the first connecting rod is connected to the first walking mechanism, and the second connecting rod is hinged to the moving block.

3. The abdominal wall type pipeline robot according to claim 1, characterized in that: The parallelogram mechanism includes a third link hinged to the fuselage, a fourth link located below the third link and hinged to the fuselage, and a fifth link hinged to the moving block. The third link, the fourth link and the fifth link are all hinged to the second walking mechanism, and the third link is parallel to the fourth link.

4. The abdominal wall type pipeline robot according to claim 1, characterized in that: The driving wheel has a protruding shaft protruding to both sides, the protruding shaft and the connecting frame are connected by a pre-tightening shaft, and the pre-tightening shaft is sleeved with a first pre-tightening spring between the protruding shaft and the connecting frame; one end of the pre-tightening shaft is fixedly connected to the protruding shaft, and the other end passes through the connecting frame; the pre-tightening shaft can move axially relative to the connecting frame, and is provided with a limiting portion to prevent it from escaping from the connecting frame.

5. The abdominal wall type pipeline robot according to claim 1, characterized in that: The body is provided with a cleaning device, which includes a main body and a plurality of cleaning brushes circumferentially arranged on the main body, the main body is circumferentially provided with a plurality of insertion holes, the cleaning brush has a plug column that cooperates with the insertion hole and a bristle part connected to the plug column, a second pre-tightening spring is sleeved on the outer side of the plug column, and the cleaning brush is configured to be movable along the insertion hole.

6. The abdominal wall type pipeline robot according to claim 1, characterized in that: The fuselage is provided with a protective cover made of a transparent material, and a camera module is arranged inside the protective cover.

7. The abdominal wall type pipeline robot according to claim 6, characterized in that: It also includes a control module, a gyroscope module, a pressure sensor module, and a display module. The gyroscope module, the pressure sensor module, the camera module, and the display module are connected to the control module. The control module includes an FPGA and a single-chip microcomputer.

8. The abdominal wall type pipeline robot according to claim 1, characterized in that: A receiving space is formed in the middle of the moving block, the nut is located in the receiving space, the moving block has a matching hole, and the nut is provided with a matching column matched with the matching hole.

9. The abdominal wall type pipeline robot according to claim 1, characterized in that: The fuselage has a plurality of guide bars arranged circumferentially, the plurality of guide bars enclose a receiving space, the drive motor, the lead screw and the nut are located in the receiving space, and the moving block is sleeved on the outer side of the guide bars and guided by the guide bars.

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