Pipeline inspection robot

Abstract

The present application relates to the technical field of mechanical devices, and particularly relates to a pipeline detection robot. The present application aims to provide a pipeline detection robot which can turn, go straight and hover on the inner wall of a pipeline, and is more convenient to use, and specifically comprises a probe device, a middle hovering boost structure and a tail propulsion structure. The probe device comprises a probe body and a central column, the probe body is connected to the central column, the middle hovering boost structure comprises an intermediate shaft, a power device, a plurality of sets of adsorption devices and a plurality of sets of walking devices, the plurality of sets of adsorption devices are adapted to be adsorbed to the inner wall of the pipeline, the plurality of sets of walking devices are adapted to walk on the inner wall of the pipeline, one end of the intermediate shaft is connected to the central column through a universal joint, the other end of the intermediate shaft is connected to the tail propulsion structure, and the tail propulsion structure is used for propelling the probe device and the middle hovering boost structure to move.

Description

TECHNICAL FIELD

[0001] The present application relates to a mechanical device, in particular to a pipeline detection robot. BACKGROUND

[0002] Pipeline is a common device in daily life and industry. Due to the shielding of the pipeline wall, the condition of the inner wall of the pipeline needs to be checked by a specific device. The existing checking device has the defects of poor movement performance in the pipeline wall and inconvenient use. SUMMARY

[0003] The technical problem to be solved by the present application is to provide a pipeline detection robot which can bend, straighten and hover in the inner wall of the pipeline, and is more convenient to use.

[0004] In order to solve the above technical problems, the present application provides the following technical scheme:

[0005] The pipeline detection robot of the present application comprises a probe device, a middle hovering boost structure and a tail propulsion structure, the probe device comprises a probe body and a center column, the probe body is connected to the center column,

[0006] The middle hovering boost structure comprises a middle shaft, a power device, a plurality of adsorption devices and a plurality of walking devices, the plurality of adsorption devices are suitable for adsorbing to the inner wall of the pipeline, the plurality of walking devices are suitable for walking on the inner wall of the pipeline, the plurality of adsorption devices are uniformly distributed along the circumference of the middle shaft, the plurality of walking devices are uniformly distributed along the circumference of the middle shaft, the power device is suitable for driving the plurality of adsorption devices parallel to the middle shaft or perpendicular to the middle shaft, the power device is suitable for driving the plurality of walking devices parallel to the middle shaft or at a certain angle to the axis direction of the middle shaft, and the plurality of walking devices are at a certain angle to the axis direction of the middle shaft when the plurality of adsorption devices are parallel to the middle shaft,

[0007] One end of the middle shaft is connected to the center column through a universal joint, the other end of the middle shaft is connected to the tail propulsion structure, and the tail propulsion structure is used to propel the probe device and the middle hovering boost structure to move.

[0008] The pipeline detection robot of the present application, wherein the probe body is telescopic relative to the center column.

[0009] The pipeline detection robot, wherein the probe device further comprises a first circular support plate and a second circular support plate, the first circular support plate and the second circular support plate are arranged in parallel with each other, the probe body is connected to the outer side of the first circular support plate, and the first circular support plate and the second circular support plate are connected through a tension structure group, so that the first circular support plate is adapted to be close to or away from the second circular support plate.

[0010] The pipeline detection robot, wherein the tension structure group comprises a plurality of elastic flexible ropes and a plurality of elastic rigid ropes, the elastic flexible rope comprises a first spring and a flexible rope body, one end of the first spring is connected to the first circular support plate through a first buckle, the other end of the first spring is connected to the flexible rope, the other end of the flexible rope is hinged to the second circular support plate, the elastic rigid rope comprises a first rod, a second rod and a second spring, the first rod is a hollow rod with an open end, one end of the second rod is connected to one end of the second spring, the other end of the second spring is connected to the first buckle, the other end of the second rod extends into the first rod, the second rod is connected to the first rod, the second rod is adapted to move axially relative to the first rod, and the closed end of the first rod is hinged to the second circular support plate.

[0011] The pipeline detection robot, wherein the middle hovering boost structure further comprises a first push disc and a second push disc, the second push disc is close to the probe device, the first push disc is away from the probe device, the first push disc and the second push disc are sleeved on the middle shaft, the first push disc is connected to the power device, the power device is adapted to drive the first push disc to move relative to the middle shaft, the second push disc is fixed to the middle shaft, each group of the adsorption device comprises a first support rod, a second support rod and a suction disc, the suction disc is connected to one end of the first support rod, the other end of the first support rod is hinged to the first push disc, one end of the second support rod is hinged to the second push disc, and the other end of the second support rod is hinged to the middle part of the first support rod, each group of the walking device comprises an auxiliary wheel, a support plate, a third support rod and a fourth support rod, the auxiliary wheel is hinged to one end of the support plate, the other end of the support plate is hinged to one end of the third support rod, the other end of the third support rod is hinged to the second push disc, one end of the fourth support rod is hinged to the first push disc, and the other end of the fourth support rod is hinged to the middle part of the third support rod.

[0012] The pipeline detection robot, wherein the power device is a linear motor, the linear motor is arranged in a motor storage bin, and the motor storage bin is connected to one end of the middle shaft close to the tail propulsion structure.

[0013] The pipeline detection robot, wherein the tail propulsion structure comprises a third support plate, a motor telescopic device, a third pushing disc and a plurality of working wheel units, the working wheel unit comprises a pushing wheel, a fourth support plate, a fourth spring, a fifth support rod and a sixth support rod, the third support plate and the third pushing disc are arranged in parallel with each other, the pushing wheel is hinged to one end of the fourth support plate, the other end of the fourth support plate is fixed with one end of the fourth spring, the other end of the fourth spring is connected with one end of the sixth support rod, one end of the fifth support rod is connected with the sixth support rod and the fourth spring, the other end of the fifth support rod is fixed with the edge of the third pushing disc, one end of the motor telescopic device is fixedly connected with the middle part of the third pushing disc, and the other end of the motor telescopic device is connected with the third support plate, and the third support plate is connected with the motor storage bin.

[0014] The pipeline detection robot, wherein the working wheel unit is provided with six working wheel units, and the six working wheel units are uniformly distributed around the motor telescopic device, wherein the adsorption device and the walking device are each provided with four adsorption devices and four walking devices, and the four adsorption devices and the four walking devices are uniformly distributed around the intermediate shaft.

[0015] The pipeline detection robot, wherein the motor telescopic device comprises a telescopic motor body and a plurality of sliding blocks, the telescopic motor body is arranged in the motor storage bin, the output shaft of the telescopic motor is connected with the third pushing disc, the sliding blocks are arranged in series between the third support plate and the third pushing disc, each sliding block is provided with a sliding groove, each sliding groove is provided with a limiting block, and the telescopic motor drives the third pushing disc to slide forward or retreat on each sliding block when the telescopic motor is telescoped, and the limiting block is used for preventing the third pushing disc from slipping off.

[0016] The pipeline detection robot, wherein the motor storage bin is a semispherical hollow body.

[0017] Compared with the prior art, the pipeline detection robot has at least the following beneficial effects:

[0018] The pipeline detection robot comprises a tail propulsion structure, a probe device and a middle suspension boosting structure, the suction device of the middle suspension boosting structure is retracted during advancing, the walking device walks on the inner wall of the pipeline, the suction device is adsorbed to the inner wall of the pipeline when the pipeline detection robot stops advancing, and the walking device is retracted, so that the pipeline detection robot can realize linear motion on the inner wall of the pipeline, and the middle shaft is connected to the central column through a universal joint, the universal joint swings left and right to realize turning motion, the middle suspension boosting structure comprises a suction device, the suction device can be adsorbed to the inner wall of the pipeline to realize suspension when work needs to be stopped, the pipeline detection robot is more convenient to use, and the motion performance in the pipeline is greatly improved.

[0019] The pipeline detection robot will be further described below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a general view of the pipeline detection robot of the present application.

[0021] Figure 2 It is a general structure schematic view of the pipeline detection robot of the present application.

[0022] Figure 3 It is a suspension state structure schematic view of the pipeline detection robot of the present application.

[0023] Figure 4 It is a left view of the pipeline detection robot of the present application in a working state.

[0024] Figure 5 It is a left view of the pipeline detection robot of the present application in a suspension state.

[0025] Figure 6 It is a top view of the pipeline detection robot of the present application in a suspension state.

[0026] Figure 7 It is a left view of the tail propulsion structure of the pipeline detection robot of the present application.

[0027] Figure 8 It is a front view of the tail propulsion structure of the pipeline detection robot of the present application.

[0028] Figure 9 It is a left view of the middle suspension boosting structure of the pipeline detection robot of the present application in a suspension state.

[0029] Figure 10 It is a front view of the middle suspension boosting structure of the pipeline detection robot of the present application in a suspension state.

[0030] Figure 11 It is a left view of the middle suspension boosting structure of the pipeline detection robot of the present application in a propulsion state.

[0031] Figure 12 is a front view of the middle hovering boost structure in the pipeline detection robot of the present application in the propulsion state;

[0032] Figure 13 is a front view of the probe device in the pipeline detection robot of the present application;

[0033] Figure 14 is a left view of the probe device in the pipeline detection robot of the present application;

[0034] Figure 15 is a sectional view of the motor telescopic device in the pipeline detection robot of the present application. DETAILED DESCRIPTION

[0035] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 The pipeline detection robot of the present application comprises a probe device 50, a middle hovering boost structure 60, and a tail propulsion structure 70. The probe device 50 comprises a probe body 1 and a center column. The probe body 1 is connected to the center column. The probe body 1 can adopt a detection camera to feed back the real scene inside the pipeline in real time. The probe body 1 can be telescopic relative to the center column. The probe body 1 is used to detect the situation inside the pipeline.

[0036] As shown in Figure 9 , Figure 10 , Figure 11 , Figure 12 The middle hovering boost structure 60 comprises a middle shaft 11, a power device, a plurality of sets of adsorption devices, and a plurality of sets of walking devices. The plurality of sets of adsorption devices are suitable for adsorbing to the inner wall of the pipeline. The plurality of sets of walking devices are suitable for walking on the inner wall of the pipeline. The plurality of sets of adsorption devices are uniformly distributed along the circumference of the middle shaft 11. The plurality of sets of walking devices are uniformly distributed along the circumference of the middle shaft 11. The power device is suitable for driving the plurality of sets of adsorption devices to be parallel to the middle shaft 11 or perpendicular to the middle shaft 11. The power device is suitable for driving the plurality of sets of walking devices to be parallel to the middle shaft 11 or to be at a certain angle to the axial direction of the middle shaft 11. When the plurality of sets of adsorption devices are parallel to the middle shaft 11, the plurality of sets of walking devices are at a certain angle to the axial direction of the middle shaft 11.

[0037] One end of the middle shaft 11 is connected to the center column through a universal joint 32. The other end of the middle shaft 11 is connected to the tail propulsion structure 70. The tail propulsion structure 70 is used to propel the probe device 50 and the middle hovering boost structure 60 to move.

[0038] The pipeline detection robot is pushed by the tail propulsion structure 70 and advances by the middle hovering boost structure 60, the suction device of the middle hovering boost structure 60 is retracted during the advancing process, the walking device walks on the inner wall of the pipeline, when the pipeline detection robot stops advancing, the suction device is adsorbed to the inner wall of the pipeline, the walking device is retracted, the pipeline detection robot can realize the linear motion on the inner wall of the pipeline, and in addition, since one end of the middle shaft 11 is connected with the center column through the universal joint 32, the universal joint 32 swings left and right to realize the turning motion, meanwhile, since the middle hovering boost structure 60 comprises the suction device, the pipeline detection robot can be adsorbed to the inner wall of the pipeline to realize the hovering when it is necessary to stop working, the use is more convenient, and the motion performance in the pipeline is greatly improved.

[0039] Optionally, the probe body 1 can be telescopic relative to the center column, so that the probe body has a protection mechanism and is prevented from being damaged due to impact and the like.

[0040] Optionally, as shown in Figure 13 , Figure 14 The probe device 50 further comprises a first circular support plate 4 and a second circular support plate 33, the first circular support plate 4 and the second circular support plate 33 are arranged in parallel with each other, the probe body 1 is connected to the outer side of the first circular support plate 4 through a plurality of screws 2, the first circular support plate 4 and the second circular support plate 33 are connected through a tension structure group, so that the first circular support plate 4 is adapted to be close to or away from the second circular support plate 33, the first circular support plate 4 and the second circular support plate 33 are both made of light material, so as to improve the motion efficiency of the pipeline detection robot. Specifically, the first circular support plate 4, the second circular support plate 33 and the center column are all welded with each other.

[0041] Optionally, the tension structure group comprises a plurality of elastic flexible ropes and a plurality of elastic rigid ropes, the elastic flexible rope comprises a first spring 6, a flexible rope body 7, one end of the first spring 6 is connected with the first circular support plate 4 through the first clasp 3, the other end of the first spring 6 is connected with the flexible rope body 7, the other end of the flexible rope body 7 is hinged to the second circular support plate 33, the elastic rigid rope comprises a first rod 35, a second rod 36 and a second spring 5, the first rod 35 and the second rod 36 are rigid rods, and light materials are adopted, the first rod 35 is a hollow rod with an open end, one end of the second rod 36 is connected with one end of the second spring 5, the other end of the second spring 5 is connected with the first clasp 3, the first clasp 3 is connected with the first circular support plate 4, the other end of the second rod 36 extends into the first rod 35, the second rod 36 is connected with the first rod 35, the second rod 36 is adapted to move axially relative to the first rod 35, and the closed end of the first rod 35 is hinged to the second circular support plate 33 through the ball hinge 34. Since the tension structure group comprises a plurality of elastic flexible ropes and a plurality of elastic rigid ropes, the probe device has good pressure resistance and flexibility, has the characteristics of rigid and flexible combination, can have good buffering to the impact on the inner wall of the pipeline during the advancement of the robot, and the plurality of elastic flexible ropes and the plurality of elastic rigid ropes disperse the force on the circumference when the probe body 1 transmits the pressure to the first circular support plate 4, so that the first circular support plate 4 does not have angular displacement.

[0042] Optionally, the middle hovering boost structure 60 further comprises a first push disc 43 and a second push disc 8, the second push disc 8 is close to the probe device 50, and the first push disc 43 is away from the probe device 50, the first push disc 43 and the second push disc 8 are sleeved on the middle shaft 11, the first push disc 43 is connected with the power device, the power device is adapted to drive the first push disc 43 to move relative to the middle shaft 11, and the second push disc 8 is fixed with the middle shaft 11, each group of adsorption devices comprises a first support rod 26, a second support rod 45 and a suction disc 25, the suction disc 25 is connected at one end of the first support rod 26, the other end of the first support rod 26 is hinged to the first push disc 43, one end of the second support rod 45 is hinged to the second push disc 8 through the hinge 46, and the other end of the second support rod 45 is hinged to the middle part of the first support rod 26 through the hinge 10, each group of walking devices comprises an auxiliary wheel 9, a support plate 42, a third support rod 41 and a fourth support rod 40, the auxiliary wheel 9 is hinged to one end of the support plate 42 through the hinge 28, the other end of the support plate 42 is hinged to one end of the third support rod 41 through the hinge 29, the other end of the third support rod 41 is hinged to the second push disc 8 through the hinge 31, one end of the fourth support rod 40 is hinged to the first push disc 43 through the hinge 27, and the other end of the fourth support rod 40 is hinged to the middle part of the third support rod 41 through the hinge 30. Specifically, the auxiliary wheel 9 is provided with a pair of auxiliary wheels, which is more convenient for sliding on the inner wall of the pipeline.

[0043] Optionally, the power device is a linear motor, the linear motor is arranged in the motor storage bin 12, the motor storage bin 12 is a semi-spherical hollow device, and the motor storage bin 12 is connected to one end of the middle shaft 11 close to the tail propulsion structure 70. When the robot starts to work or needs to stop working at a certain moment, the motor in the motor storage bin 12 pushes the first push disc 43, the fourth supporting rod 40 connected to the first push disc 43 through the hinge 44 is stretched out, the fourth supporting rod 40 drives the second supporting rod 45 to stretch out through the hinge 10, the first supporting rod 26 is fixedly connected with the suction cup 25, so that the suction cup 25 contacts the pipeline wall.

[0044] Optionally, as shown in Figure 7 、 Figure 8 、 Figure 15 The tail propulsion structure 70 includes a third supporting plate 13, a motor telescopic device 14, a third push disc 15, and a plurality of working wheel units, the working wheel unit includes a pushing wheel 17, a fourth supporting plate 19, a fourth spring 20, a fifth supporting rod 21, and a sixth supporting rod 23, the third supporting plate 13 and the third push disc 15 are arranged in parallel with each other, the pushing wheel 17 is hinged to one end of the fourth supporting plate 19 through the hinge 18, the other end of the fourth supporting plate 19 is fixed with one end of the fourth spring 20, the other end of the fourth spring 20 is connected with one end of the sixth supporting rod 23 through the hinge 22, one end of the fifth supporting rod 21 is connected with the sixth supporting rod 23 and the fourth spring 20 through the hinge 22, the other end of the fifth supporting rod 21 is fixed with the edge of the third push disc 15, one end of the motor telescopic device 14 is fixedly connected with the middle part of the third push disc 15 through a plurality of screws 16, the other end of the motor telescopic device 14 is connected with the third supporting plate 13, and the third supporting plate 13 is connected with the motor storage bin 12 through the fixing screw 46. The working wheel unit is provided with a spring, so that the pushing wheel 17 has better buffering when moving in the pipeline.

[0045] Specifically, as shown in Figure 15 The motor telescopic device 14 includes a telescopic motor body and a plurality of sliding blocks 141, the telescopic motor body is arranged in the motor storage bin 12, the output shaft of the telescopic motor is connected with the third push disc 15, the sliding blocks 141 are arranged in sequence between the third supporting plate 13 and the third push disc 15, each sliding block 141 is provided with a sliding groove, each sliding groove is provided with a limiting block, the telescopic motor drives the third push disc 15 to slide forward or retreat on each sliding block 141 when the telescopic motor is telescoped, and the third push disc 15 is prevented from slipping off under the action of the limiting block.

[0046] The motor drives the motor telescopic device 14 to extend and retract, the pushing wheel 17 extends out, the pushing wheel 17 works on the inner wall of the pipeline by relying on the built-in rotating motor, the tail propulsion structure 70 pushes the pipeline detection robot to advance, and the auxiliary wheel 9 rolls on the pipeline. When the pipeline detection robot is placed on the inner wall of the pipeline, the motor telescopic device 14 starts to work to retract, drives the third push plate 15 to retract, the third push plate 15 drives the fifth supporting rod 21, the fifth supporting rod 21 drives the working wheel 17 to slide on the pipeline, when the robot starts to work, the motor of the motor storage bin 12 pushes the second push plate 43, so that the auxiliary wheel 9 is in the extended state, and the suction cup 25 and the connecting mechanism thereof are in the retracted state, so that the working wheel 17 pushes the auxiliary wheel 9 to roll on the pipeline when working.

[0047] Since the pushing wheel 17 can extend or retract, the pipeline detection robot of the present application can move in the pipeline with a diameter equal to that of the third supporting plate 13 at the minimum, and can move in the pipeline with a diameter equal to that of the circle surrounded by the pushing wheel 17 when the motor telescopic device 14 retracts at the maximum, and can realize the advantage of adaptive motion in the pipeline with a diameter ranging from the minimum diameter to the maximum diameter.

[0048] Optionally, six working wheel units are arranged, and the six working wheel units are uniformly distributed around the motor telescopic device 14.

[0049] Optionally, four suction devices and four walking devices are arranged, and the four suction devices and the four walking devices are uniformly distributed around the middle shaft 11.

[0050] The above-described embodiments are merely preferred embodiments of the present application and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those skilled in the art shall fall within the protection scope of the present application as defined by the claims.

Claims

1. A pipe inspection robot, characterized by, The probe device (50) comprises a probe body (1) and a central column, the probe body (1) is connected to the central column, The middle hovering boost structure (60) comprises an intermediate shaft (11), a power device, a plurality of sets of adsorption devices and a plurality of sets of walking devices, the plurality of sets of adsorption devices are suitable for being adsorbed to the inner wall of the pipeline, the plurality of sets of walking devices are suitable for walking on the inner wall of the pipeline, the plurality of sets of adsorption devices are uniformly distributed along the circumference of the intermediate shaft (11), the plurality of sets of walking devices are uniformly distributed along the circumference of the intermediate shaft (11), the power device is suitable for driving the plurality of sets of adsorption devices to be parallel to the intermediate shaft (11) or perpendicular to the intermediate shaft (11), the power device is suitable for driving the plurality of sets of walking devices to be parallel to the intermediate shaft (11) or to be at a certain angle with the axial direction of the intermediate shaft (11), when the plurality of sets of adsorption devices are parallel to the intermediate shaft (11), the plurality of sets of walking devices are at a certain angle with the axial direction of the intermediate shaft (11), The intermediate shaft (11) is connected with the central column through a universal joint (32) at one end, and is connected with the tail propulsion structure (70) at the other end, the tail propulsion structure (70) is used for propelling the probe device (50) and the middle hovering boost structure (60) to move, the probe body (1) can be telescopic relative to the central column, the probe device (50) further comprises a first circular support plate (4) and a second circular support plate (33), the first circular support plate (4) and the second circular support plate (33) are arranged in parallel with each other, the probe body (1) is connected to the outer side of the first circular support plate (4), the first circular support plate (4) and the second circular support plate (33) are connected through a tension structure group, so that the first circular support plate (4) is adapted to be close to or away from the second circular support plate (33), the tension structure group comprises a plurality of elastic flexible ropes and a plurality of elastic rigid ropes, the elastic flexible rope comprises a first spring (6) and a flexible rope body (7), one end of the first spring (6) is connected with the first circular support plate (4) through a first buckle (3), the other end of the first spring (6) is connected with the flexible rope body (7), the other end of the flexible rope body (7) is hinged to the second circular support plate (33), the elastic rigid rope comprises a first rod (35), a second rod (36) and a second spring (5), the first rod (35) is a hollow rod with an open end, one end of the second rod (36) is connected with one end of the second spring (5), the other end of the second spring (5) is connected to the first buckle (3), the other end of the second rod (36) extends into the first rod (35), the second rod (36) is connected with the first rod (35), the second rod (36) is adapted to move axially relative to the first rod (35), and the closed end of the first rod (35) is hinged to the second circular support plate (33).

2. The pipe inspection robot of claim 1, wherein, The middle hovering boost structure (60) further comprises a first push disc (43) and a second push disc (8), the second push disc (8) is close to the probe device (50), the first push disc (43) is away from the probe device (50), the first push disc (43) and the second push disc (8) are sleeved on the intermediate shaft (11), the first push disc (43) is connected with the power device, the power device is suitable for driving the first push disc (43) to move relative to the intermediate shaft (11), the second push disc (8) is fixed with the intermediate shaft (11), each group of the adsorption device comprises a first supporting rod (26), a second supporting rod (45) and a suction disc (25), the suction disc (25) is connected at one end of the first supporting rod (26), the other end of the first supporting rod (26) is hinged to the first push disc (43), one end of the second supporting rod (45) is hinged to the second push disc (8), the other end of the second supporting rod (45) is hinged to the middle of the first supporting rod (26), each group of the walking device comprises an auxiliary wheel (9), a supporting plate (42), a third supporting rod (41) and a fourth supporting rod (40), the auxiliary wheel (9) is hinged to one end of the supporting plate (42), the other end of the supporting plate (42) is hinged to one end of the third supporting rod (41), the other end of the third supporting rod (41) is hinged to the second push disc (8), one end of the fourth supporting rod (40) is hinged to the first push disc (43), the other end of the fourth supporting rod (40) is hinged to the middle of the third supporting rod (41).

3. The pipe inspection robot of claim 2, wherein, The power device is a linear motor, the linear motor is arranged in a motor storage bin (12), and the motor storage bin (12) is connected to one end of the intermediate shaft (11) close to the tail propulsion structure (70).

4. The pipe inspection robot of claim 3, wherein, The tail propulsion structure (70) comprises a third supporting plate (13), a motor telescopic device (14), a third push disc (15) and a plurality of working wheel units, the working wheel unit comprises a pushing wheel (17), a fourth supporting plate (19), a fourth spring (20), a fifth supporting rod (21) and a sixth supporting rod (23), the third supporting plate (13) and the third push disc (15) are arranged in parallel, the pushing wheel (17) is hinged to one end of the fourth supporting plate (19), the other end of the fourth supporting plate (19) is fixed with one end of the fourth spring (20), the other end of the fourth spring (20) is connected with one end of the sixth supporting rod (23), one end of the fifth supporting rod (21) is connected with the sixth supporting rod (23) and the fourth spring (20), the other end of the fifth supporting rod (21) is fixed with the edge of the third push disc (15), one end of the motor telescopic device (14) is fixedly connected with the middle of the third push disc (15), the other end of the motor telescopic device (14) is connected with the third supporting plate (13), and the third supporting plate (13) is connected with the motor storage bin (12).

5. The pipe inspection robot of claim 4, wherein, The working wheel units are six, and the six working wheel units are evenly distributed around the motor telescopic device (14). The adsorption devices and the walking devices are four, and the four adsorption devices and the four walking devices are evenly distributed around the intermediate shaft (11).

6. The pipe inspection robot of claim 5, wherein, The motor telescopic device (14) comprises a telescopic motor body and a plurality of sliding blocks (141). The telescopic motor body is arranged in the motor storage bin (12), and the output shaft of the telescopic motor body is connected with the third push disc (15). The sliding blocks (141) are arranged in series between the third supporting plate (13) and the third push disc (15) and are arranged apart. Each sliding block (141) is provided with a sliding groove, and each sliding groove is provided with a limiting block. When the telescopic motor body is telescoped, the third push disc (15) is driven to slide forward or retreat on each sliding block (141). The limiting block is used to prevent the third push disc (15) from slipping off.

7. The pipe inspection robot of claim 6, wherein, The motor storage bin (12) is a semispherical hollow body.

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