A kind of inspection robot and inspection method suitable for large height difference main branch pipe

Abstract

The application discloses a kind of suitable for big height difference main branch pipe's inspection robot and inspection method, including telescopic device;Telescopic device includes telescopic rod, rise and fall drive unit, rise and fall support unit;Telescopic rod is fixed on fixed seat;Rise and fall drive unit includes driving piece, moving piece;Moving piece includes rack fixed on walking mechanism, two gears are engaged with two racks;Rise and fall support unit includes rotary arm;Rotary arm one end rotationally fixed on walking mechanism, other end is rotationally fixed with fixed seat.The telescopic rod of the application is compared with traditional scissor telescopic frame, in the case where same extension amount, after telescopic rod is laid down, robot overall height is lower, more suitable for small diameter pipeline, and when telescopic rod is stretched, cylindrical vertical stretching is low to the pipe diameter requirement of shaft, and mechanical damage will not be caused during stretching process due to touching pipe wall, in addition, telescopic rod type structure stretching amount can be up to several meters, satisfy the characteristics of main branch pipe big height difference.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology for converter oil drainage systems, specifically an inspection robot and inspection method suitable for main and branch pipes with large height differences. Background Technology

[0002] The insulating oil and fire extinguishing agents discharged from the converter transformer's active oil drainage system cannot be promptly discharged into the emergency oil drainage network. Liquid accumulation in the sump may cause transformer oil mixtures to float on the surface, potentially flowing towards the converter transformer plaza, posing safety hazards and environmental risks. Furthermore, there are no effective measures for regularly inspecting the internal environment of the emergency oil drainage system network, making it impossible to assess its unobstructed flow in fire scenarios. The emergency oil drainage network of an UHV converter station differs from ordinary municipal drainage pipes; it is primarily used for sewage, drainage, and oil discharge in the event of a fire within the converter station. The internal structure and distribution of the network also have unique characteristics, such as… Figure 8 As shown, the main pipeline is arranged in multiple sections, and the branch pipes are connected to the main pipeline along the vertical shafts of each section. The overall distribution trend of the multiple main pipe sections extends downward at a certain angle. At the same time, there are cliff-like distributions at the connection positions of some main pipe sections. The branch pipes also have different height differences when connecting to the main pipes through the vertical shafts of each section. When conducting unobstructed flow tests, it is necessary to conduct unobstructed flow tests on both the main pipes and the branch pipes at the same time.

[0003] Existing pipeline robots primarily inspect the internal condition of municipal pipelines. In municipal pipeline networks, situations with significant height differences between branch pipes and main pipes are rare. In the few instances where such height differences exist, the robot can be lowered into the branch pipe's vertical shaft for inspection. In the converter station system, branch pipes connect to the converter transformer's water-cooling heat dissipation pool at one end and to a manhole at the other. Since branch pipes themselves do not have separate manholes, the robot can only inspect the internal condition of branch pipes simultaneously with the main pipe. Therefore, it is crucial that the robot itself has the capability to independently inspect the internal condition of branch pipes, and that the branch pipe inspection device can adjust its height for branch pipes with varying height differences, thus enabling successful inspection of the internal condition of all branch pipes in the system network.

[0004] For example, CN114992426A discloses a robotic detection device and method for deep siltation and high water levels. This device has a gimbal mounted on top of its casing. In high water levels, the sonar fixed to the top of the gimbal is raised by opening the gimbal. The gimbal in this device is similar to a scissor lift; if a large lifting height is required, multiple scissor lifts need to be stacked, resulting in a large robot size and height, making it unsuitable for use in converter transformer oil drainage system pipelines with a diameter of approximately 60 cm. Summary of the Invention

[0005] The technical problem to be solved by this invention is how to address the difficulty of inspecting main and branch pipes with large height differences and small diameters.

[0006] The present invention solves the above-mentioned technical problems through the following technical means:

[0007] An inspection robot suitable for main pipes with large height differences includes a walking mechanism and a monitoring system; the monitoring system is arranged on the walking mechanism; it also includes a telescopic device; the telescopic device includes a telescopic rod, a tilting / lifting drive unit, and a tilting / lifting support unit; the telescopic rod is fixed on a fixed base; the tilting / lifting drive unit includes a drive component and a moving component; the drive component is fixed on the fixed base, and gears are mounted on the two output shafts of the drive component; the moving component includes a rack fixed on the walking mechanism, and two gears mesh with two racks; the tilting / lifting support unit includes a rotating arm; one end of the rotating arm is rotatably fixed on the walking mechanism, and the other end is rotatably fixed to the fixed base; after the drive component is activated, through the meshing of the gears and racks, and the supporting action of the rotating arm, the fixed base moves linearly along the rack direction, thereby driving the telescopic rod to tilt / lift.

[0008] Compared to traditional scissor-type telescopic frames, the telescopic rod of this invention has a lower overall robot height when the telescopic rod is lowered, making it more suitable for pipes with small diameters. Furthermore, the vertical extension of the telescopic rod during extension has lower requirements for the pipe diameter of the shaft, and will not cause mechanical damage due to contact with the pipe wall during the extension process. In addition, the extension range of the telescopic rod structure can reach up to tens of meters or even higher, which meets the characteristics of large height differences between the main and branch pipes.

[0009] Furthermore, the telescopic rod is a pneumatic telescopic rod, comprising multiple rods that are sealed together; its tail end is sealed and fixed to the air intake unit; the air intake unit is connected to an air pump.

[0010] Furthermore, the telescopic device also includes a reset unit, which includes a pull rope, a take-up motor, and a pull rope reel. One end of the pull rope passes through the tail of the telescopic rod and is fixed to the top of the telescopic rod, while the other end is wound around the pull rope reel. The take-up motor drives the pull rope reel to take up and release the rope.

[0011] Furthermore, one end of the pull rope enters the telescopic rod from the air intake unit.

[0012] Furthermore, the reset unit is fixed to the tail of the telescopic rod and sealed inside the housing; the housing has a pull rope outlet, and the pull rope outlet is sealed to the pull rope inlet of the air intake unit through a pull rope sleeve.

[0013] Furthermore, two upright plates are fixed on the walking mechanism, located on both sides of the telescopic device. Guide grooves are symmetrically opened on the two upright plates, and the two output shafts of the driving component are respectively limited in the guide grooves.

[0014] Furthermore, the rack is located inside the vertical plate, and a sliding shaft is fixed to the outside of the gear, with the sliding shaft slidingly engaging with the guide groove.

[0015] Furthermore, the walking mechanism includes two walking units symmetrically arranged and independently driven, and a walking torso; each walking unit includes a driving wheel, a driven wheel, an obstacle-jumping wheel, and a drive motor. The drive motor is fixed on the walking torso and drives the driving wheel through a straight bevel gear transmission. The driving wheel and the driven wheel are driven by a belt transmission; the obstacle-jumping wheel is located between the driving wheel and the driven wheel, and its diameter is smaller than that of the driving wheel and the driven wheel; a tensioning wheel is fixed on the inner side of the walking torso, and the belt passes around the tensioning wheel and engages with the gear transmission of the obstacle-jumping wheel.

[0016] Furthermore, when on flat ground, the driving and driven wheels are on the ground, while the obstacle-jumping wheel is suspended in the air. When there is an obstacle, after the driven wheel crosses the obstacle, the obstacle-jumping wheel contacts the obstacle. Even if the driven wheel is lifted into the air by the obstacle, the obstacle-jumping wheel can assist the driving wheel in crossing the obstacle.

[0017] Corresponding to the aforementioned robot, the present invention also provides an inspection method for a main branch pipe with a large height difference using an inspection robot, comprising the following steps:

[0018] After the robot is assembled and inspected above ground, it is hoisted into the main pipeline from the shaft. The walking mechanism is then activated, and the robot's front-end camera transmits real-time information about the pipeline's interior to the ground. When encountering a turn, the robot can independently drive its left and right walking units to complete the turn. Based on the robot's radar, when it reaches the next shaft, its position is adjusted to the center. The drive mechanism is then activated to raise the telescopic rod, and the air pump is started to extend it. The camera on the top of the telescopic rod determines if it has reached the branch pipe position. Once reached, the internal environment of the branch pipe is photographed and inspected. After inspection, the solenoid valve is opened to release the gas inside the telescopic rod, and the rope retraction motor is started to retract the rope. When the rope retraction amount equals the extension amount, the telescopic rod is considered fully retracted. The drive mechanism is then reversed to lower the telescopic rod, completing the inspection of that branch pipe. The robot continues its inspection until all branch pipes have been inspected.

[0019] The advantages of this invention are:

[0020] Compared to traditional scissor-type telescopic frames, the telescopic rod of this invention results in a lower overall robot height after being lowered, making it more suitable for pipes with small diameters. Furthermore, the vertical extension of the telescopic rod requires less stringent pipe diameter requirements in vertical shafts, and avoids mechanical damage from contact with the pipe wall during extension. Additionally, the telescopic rod structure can achieve extensions of up to tens of meters, meeting the requirements for large height differences between main and branch pipes. The support unit provides a fulcrum for raising and lowering the telescopic rod, ensuring both its lifting and stability after lifting.

[0021] The present invention employs a rack and pinion mechanism, along with a limiting groove, to ensure the stability of the telescopic rod during lifting and lowering.

[0022] The telescopic rod of this invention is pneumatically driven and features a pull-rope reset mechanism. Pneumatic drive is easier to implement within a pipeline (unlike hydraulic systems which require oil pipes), resulting in a lighter robot and a simpler structure. The pull-rope reset mechanism requires only one motor and one encoder, simplifying assembly and further reducing the robot's weight and size. The reset unit is entirely sealed, connected to the pneumatic circuit board via a sealing sleeve, thus sealing the internal cavity of the reset unit and the pneumatic circuit board. The pull rope passes through the sealing sleeve, satisfying both the rope's retraction and extension while maintaining a seal. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the side structure of the robot in an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the axonal structure of the robot in an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of the robot's hidden reset unit housing in an embodiment of the present invention;

[0026] Figure 4 for Figure 3 Another perspective structural diagram;

[0027] Figure 5 This is a schematic diagram of the structure of the robot when the telescopic rod is erected in an embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of the robot walking mechanism in an embodiment of the present invention;

[0029] Figure 7 This is a schematic diagram of the structure of the robot's right-side walking unit in an embodiment of the present invention;

[0030] Figure 8 This is a schematic diagram of the application scenario structure described in the background section of this invention.

[0031] Explanation of reference numerals in the attached drawings: 1. Walking mechanism; 2. Monitoring system; 3. Telescopic pole; 4. Lifting / lowering drive unit; 5. Lifting / lowering support unit; 6. Air intake unit; 7. Reset unit; 8. Cable connector; 11. Walking body; 12. Drive wheel; 13. Driven wheel; 14. Obstacle-jumping wheel; 15. Drive motor; 21. Camera; 22. Pan-tilt unit; 31. Fixing base; 41. Lifting / lowering drive unit; 41. Drive component; 42. Gear; 43. Rack; 44. Vertical plate; 44. Guide groove; 441. Rotating arm; 51. Rotating shaft; 52. Solenoid valve; 61. Pressure gauge; 62. Air circuit board; 63. Take-up motor; 71. Rope reel; 72. Encoder; 73. E1 inspection well (DN700); 10. E1 heat sink; 20. E1 branch pipe (DN500); 30. Main pipe (DN600); 40. E12 inspection well; 50. E24 inspection well; 60. Oil tank inspection well; 70. Emergency sewage oil tank; 80. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] This embodiment discloses an inspection robot suitable for main branch pipes with large height differences, such as... Figure 1 As shown, it includes a walking mechanism 1 and a monitoring system 2; the monitoring system 2 is arranged on the walking mechanism 1; it also includes a telescopic device with the following specific structure:

[0034] like Figure 1 , Figure 5 As shown, the telescopic device includes a telescopic rod 3, a tilting / lifting drive unit 4, a tilting / lifting support unit 5, and a reset unit 7. In this embodiment, the telescopic rod 3 is formed by sequentially sealing and connecting multiple hollow rods of different diameters, with the top of the innermost rod being a blind end. The camera 21 is fixed to the top of the telescopic rod 3 via a pan-tilt unit 22. The tail of the telescopic rod 3 is fixed to a mounting base 31; the mounting base 31 is generally a cuboid structure, providing a mounting foundation for other components.

[0035] The tilting drive unit 4 includes a drive component 41 (which can be driven by a motor) and a moving component. The drive component 41 is fixed to the tail of the fixed base 31. In this embodiment, the drive component 41 is fixed below the tail of the fixed base 31. The drive component 41 has two output shafts, which are perpendicular to the telescopic rod 3. Gears 42 are installed at the ends of the two output shafts. The moving component includes two racks 43 fixed to the traveling mechanism 1. The racks 43 are located on both sides of the fixed base 31, and the two gears 42 mesh with the two racks 43. The tilting support unit 5 includes a rotating arm 51. One end of the rotating arm 51 is rotatably fixed to the front end of the traveling mechanism 1, and the other end is rotatably fixed to the front end of the fixed base 31. After the drive component 41 is started, the fixed base 31 moves linearly along the direction of the racks 43 through the meshing of the gears 42 and the racks 43, as well as the supporting action of the rotating arm 51, thereby driving the telescopic rod 3 to tilt. In this embodiment, in order to ensure the stable lifting and lowering of the telescopic rod 3, two rotating arms 51 are designed. A rotating shaft 52 is fixed on the walking mechanism 1. One end of the two rotating arms 51 is rotatably connected to both ends of the rotating shaft 52 through bearings. The other ends of the two rotating arms 51 are respectively rotatably connected to both sides of the fixed base 31, providing stable support for the lifting and lowering action.

[0036] like Figure 2 , Figure 3 As shown, in this embodiment, two upright plates 44 are further fixed on the walking mechanism 1, located on both sides of the telescopic device; guide grooves 441 are symmetrically opened on the two upright plates 44, and the two output shafts of the driving member 41 are respectively limited within the guide grooves 441. Specifically, the rack 43 is located inside the upright plate 44, and a sliding shaft is fixed on the outside of the gear 42, which slides in cooperation with the guide groove 441. When the driving member 41 is started, under the meshing action of the gear 42 and the rack 43, as well as the supporting action of the rotating arm 51 and the guiding action of the guide groove 441, the fixed seat 31 is forced to move linearly along the guide groove 441, thereby driving the telescopic rod 3 to rise and fall. In this embodiment, when the telescopic rod 3 is fully raised, it is located at the center of the walking mechanism 1. In this way, the ground staff can ensure that the camera 21 is located in the middle of the shaft after the telescopic rod 3 is extended, based on the positioning of the walking mechanism 1 (by the radar positioning configured on the walking mechanism 1), so that the camera 21 at the top of the telescopic rod 3 can capture the internal situation of the branch pipe.

[0037] In this embodiment, the telescopic rod 3 is pneumatically driven, and its specific structure is as follows: Figure 4As shown, an air intake unit 6 is sealed and fixed at the tail of the telescopic rod 3. The air intake unit 6 is connected to an air pump, which is fixed to the walking mechanism 1. The air intake unit 6 includes a solenoid valve 61, a pressure gauge 62, and an air circuit board 63. The air circuit board 63 is sealed and fixed to the tail of the telescopic rod 3. The solenoid valve 61 and the pressure gauge 62 are both fixed on the air circuit board 63. The air circuit board 63 has an air inlet that is connected to the air pump. The pressure gauge 62 is used to detect the current air pressure inside the telescopic rod 3, and the solenoid valve 61 is used to exhaust air. The pressure gauge 62 and the solenoid valve 61 can be controlled and have their information collected via a ground workbench. The sealing and fixing structure between the air circuit board 63 and the tail of the telescopic rod 3 is a conventional structure and will not be described in detail here.

[0038] Since the telescopic rod 3 opens using high air pressure, it needs to be reset by the reset unit 7. The reset unit 7 is fixed to the tail of the telescopic rod 3 and includes a pull rope, a take-up motor 71, a pull rope reel 72, and an encoder 73. One end of the pull rope passes through the tail of the telescopic rod 3 and is fixed to the top of the telescopic rod 3; the other end is wound around the pull rope reel 72. The take-up motor 71 drives the pull rope reel 72 to take in and release the rope, and the encoder 73 is used to detect the amount of rope taken in and released. In this embodiment, one end of the pull rope enters the telescopic rod 3 through the pull rope inlet of the air circuit plate 63. To ensure the airtightness of the air circuit plate 63, the reset unit 7 is completely sealed inside a housing, which is fixed to the tail of the telescopic rod 3. The housing has a pull rope outlet, and the pull rope outlet of the housing and the pull rope inlet of the air circuit plate 63 are sealed together by a pull rope sleeve (not shown in the figure). The pull rope enters the air intake unit 6 through the sealed sleeve, thus ensuring the airtightness of the air intake unit 6. When the telescopic rod 3 is opened, the camera 21 on top of the telescopic rod 3 observes whether it has reached the branch pipe position. When it reaches the branch pipe, the encoder 73 records the elongation of the pull rope. When the telescopic rod 3 is reset, the take-up motor 71 is started. At this time, the encoder 73 records the amount of pull rope retraction. When the retraction amount equals the elongation amount, it indicates that the telescopic rod 3 has finished resetting. The drive unit 41 is then started to reverse, and the telescopic rod 3 can be laid down. In this embodiment, the outer shell is divided into upper and lower parts. The mounting surfaces of the upper and lower parts are sealed together and wrapped around the tail of the telescopic rod after assembly.

[0039] In this embodiment, the positional relationship of the reset unit 7, air intake unit 6, drive component 41, and fixed base 31 can have various combinations. As shown in the figure, the reset unit 7 is located above the fixed base 31, and the drive component 41 is located below the fixed base 31. Any configuration that satisfies the tilting function and the extension and reset of the telescopic rod 3 is acceptable.

[0040] In this embodiment, cameras 21 and radar are installed at both the front and rear of the walking mechanism 1. A cable connector 8 is also fixed at the rear of the walking mechanism 1. The cable connector 8 is fixed to the rear of the walking mechanism 1 by means of screws or welding. One end of the cable is fixed to the cable connector 8, and the other end of the cable is located on the ground. It mainly provides constant tension for the robot to drag when it moves forward or back in the pipeline, as well as for signal transmission.

[0041] The specific structure of the walking mechanism 1 in this embodiment is as follows: Figure 6 As shown, the walking mechanism 1 includes a walking trunk 11, a right walking unit, and a left walking unit; the left and right walking units are symmetrically fixed on both sides of the walking trunk 11, and the two walking units are driven independently. The specific structure is introduced by taking the right walking unit as an example.

[0042] like Figure 7 As shown, the right-side walking unit includes a drive wheel 12, a driven wheel 13, an obstacle-jumping wheel 14, and a drive motor 15. The drive motor 15 is fixed to the walking body 11 and drives the drive wheel 12 via a spur bevel gear 42. The drive wheel 12 and the driven wheel 13 are driven by a belt. The obstacle-jumping wheel 14 is located between the drive wheel 12 and the driven wheel 13, and its diameter is smaller than that of the drive wheel 12 and the driven wheel 13. A tensioning wheel is fixed inside the walking body 11, and the belt passes around the tensioning wheel and engages with the gear 42 of the obstacle-jumping wheel 14. When on flat ground, the drive wheel 12 and the driven wheel 13 are on the ground, while the obstacle-jumping wheel 14 is suspended in the air. When there is an obstacle, after the driven wheel 13 crosses the obstacle, the obstacle-jumping wheel 14 contacts the obstacle. Even if the driven wheel 13 is lifted into the air by the obstacle, the obstacle-jumping wheel 14 can assist the drive wheel 12 in crossing the obstacle. In this embodiment, the left and right walking units are driven independently, which facilitates turning within the pipe. The walking frame 11 is a rectangular sealed structure. The axles of the drive wheel 12, driven wheel 13, and obstacle-jumping wheel 14 are all rotary sealed to prevent water from entering the walking frame 11 and damaging components such as the drive motor 15. The telescopic device is fixed to the top of the walking frame 11.

[0043] Based on the above robot, its working principle is as follows:

[0044] After the robot is assembled and inspected above ground, it is hoisted into the main pipeline from the shaft. Then, the walking mechanism 1 is activated. The robot's front-end camera transmits real-time information about the pipeline to the ground. When encountering a turn, the robot can independently drive the left and right walking units to complete the turn. Based on the robot's radar, when it reaches the next shaft, the robot's position is adjusted to be in the center of the shaft. Then, the drive unit 41 is activated to raise the telescopic rod 3. The air pump is then activated to extend the telescopic rod 3. The camera on top of the telescopic rod 3 determines whether its height reaches the branch pipe position. Once it reaches the branch pipe position, it begins photographing and inspecting the internal environment of the branch pipe. After inspection, the solenoid valve 61 is opened to release the gas inside the telescopic rod 3, and the rope rewinding motor is activated to retract the rope. When the rope retraction amount equals the extension amount, the telescopic rod 3 is considered fully retracted. Then, the drive unit 41 is reversed to lower the telescopic rod 3. The inspection of this branch pipe is now complete. The robot continues to move forward and inspect until all branch pipes have been traversed.

[0045] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An inspection robot suitable for main branch pipes with large height differences, comprising a walking mechanism (1) and a monitoring system (2); the monitoring system (2) is arranged on the walking mechanism (1); characterized in that, It also includes a telescopic device; the telescopic device includes a telescopic rod (3), a tilting drive unit (4), and a tilting support unit (5); the telescopic rod (3) is fixed on a fixed seat (31); the tilting drive unit (4) includes a drive component (41) and a moving component; the drive component (41) is fixed on a fixed seat (31), and gears (42) are installed on the two output shafts of the drive component (41); the moving component includes a rack (43) fixed on a walking mechanism (1), and two gears (42) mesh with two racks (43); the tilting support unit (5) includes a rotating arm (51); one end of the rotating arm (51) is rotatably fixed on the walking mechanism (1), and the other end is rotatably fixed to the fixed seat (31); after the drive component (41) is started, through the meshing of the gears (42) and the racks (43), and the supporting effect of the rotating arm (51), the fixed seat (31) moves linearly along the rack (43), thereby driving the telescopic rod (3) to tilt; The telescopic rod (3) is a pneumatic telescopic rod (3), which includes multiple rods that are sealed together; its tail is sealed and fixed to the air intake unit (6); the air intake unit (6) is connected to the air pump.

2. The inspection robot suitable for main branch pipes with large height differences according to claim 1, characterized in that, The telescopic device also includes a reset unit (7), which includes a pull rope, a take-up motor (71), and a pull rope reel (72). One end of the pull rope passes through the tail of the telescopic rod (3) and is fixed to the top of the telescopic rod (3), while the other end is wound around the pull rope reel (72). The take-up motor (71) drives the pull rope reel (72) to take up and release the rope.

3. The inspection robot for main branch pipes with large height differences according to claim 2, characterized in that, One end of the pull rope enters the telescopic rod (3) from the air intake unit (6).

4. An inspection robot suitable for main branch pipes with large height differences according to claim 2 or 3, characterized in that, The reset unit (7) is fixed at the tail of the telescopic rod (3) and sealed inside the housing; the housing has a pull rope outlet, and the pull rope outlet and the pull rope inlet of the air intake unit (6) are sealed and connected by a pull rope sleeve.

5. An inspection robot suitable for main branch pipes with large height differences according to any one of claims 1 to 3, characterized in that, Two upright plates (44) are fixed on the walking mechanism (1). The two upright plates (44) are located on both sides of the telescopic device. Guide grooves (441) are symmetrically opened on the two upright plates (44). The two output shafts of the driving component (41) are respectively limited in the guide grooves (441).

6. The inspection robot for main branch pipes with large height differences according to claim 5, characterized in that, The rack (43) is located inside the vertical plate (44), and a sliding shaft is fixed on the outside of the gear (42), which is in sliding engagement with the guide groove (441).

7. An inspection robot suitable for main branch pipes with large height differences according to any one of claims 1 to 3, characterized in that, The walking mechanism includes two walking units symmetrically arranged and independently driven, and a walking torso (11); the walking unit includes a driving wheel (12), a driven wheel (13), an obstacle-jumping wheel (14), and a drive motor (15). The drive motor (15) is fixed on the walking torso (11). The drive motor (15) drives the driving wheel (12) through a straight bevel gear (42). The driving wheel (12) and the driven wheel (13) are driven by a belt. The obstacle-jumping wheel (14) is located between the driving wheel (12) and the driven wheel (13), and its diameter is smaller than that of the driving wheel (12) and the driven wheel (13). A tensioning wheel is fixed inside the walking torso (11). The belt passes around the tensioning wheel and engages with the gear (42) of the obstacle-jumping wheel (14) through a transmission.

8. A robot inspection method suitable for main and branch pipes with large height differences, characterized in that, Includes the following steps: After the robot is assembled and tested on the surface, it is hoisted into the main pipeline from the shaft and then the walking mechanism (1) is started. The robot's front-end camera can transmit the situation inside the main pipeline to the ground in real time. According to the robot radar, when the robot reaches the next shaft, the robot position is adjusted so that it is in the center of the shaft. Then the drive component (41) is started to raise the telescopic rod (3), and the air pump is started to extend the telescopic rod (3). According to the camera on the top of the telescopic rod (3), it is determined whether the height of the telescopic rod (3) has reached the branch pipe position. When it reaches the branch pipe position, the internal environment of the branch pipe is photographed and tested. After the test is completed, the solenoid valve 61 is opened to release the gas inside the telescopic rod (3), and the rope winding motor is started to retract the rope. When the rope retraction amount is equal to the extension amount, it is determined that the telescopic rod (3) has been retracted. Then the drive component (41) is reversed, and the telescopic rod (3) can be laid down. At this point, the branch pipe test is completed. The robot continues to move forward to test until all branch pipes have been traversed.

9. The inspection method of a robot for main and branch pipes with large height differences according to claim 8, characterized in that, When encountering a turn, the left and right walking units are driven independently to complete the turn.

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