An emergency recovery pipeline robot

Abstract

The application relates to the field of pipeline robots, and particularly discloses an emergency recovery pipeline robot, which comprises a main body, a plurality of walking modules for walking are arranged on the two sides of the main body respectively, a winding assembly is arranged in the main body, a pull wire is wound on the winding assembly, a free end of the pull wire is connected with an air bag, an opening and closing door is hinged to the tail end of the main body, a locking assembly is arranged on the main body and used for locking the opening and closing door, one end of an elastic assembly is connected to the main body, and the other end of the elastic assembly is detachably abutted against the air bag; when the air bag is accommodated in the main body, the opening and closing door is closed, the locking assembly locks the opening and closing door, and the air bag and the elastic assembly are elastically abutted against each other; when the locking assembly releases the locking of the opening and closing door, the air bag is ejected out of the main body and separated from the elastic assembly, and the winding assembly is unwound. The application has the effect of conveniently recovering the natural gas pipeline robot in an emergency.

Description

Technical Field

[0001] This application relates to the field of pipeline robots, and in particular to an emergency recovery pipeline robot. Background Technology

[0002] A natural gas pipeline robot is a robot specifically designed for inspecting and repairing underground natural gas pipelines. This robot can move inside gas pipelines, enabling rapid inspection and playing a crucial role in ensuring the safety and reliability of gas pipelines.

[0003] In related technologies, natural gas pipeline robots are divided into tethered and untethered types. For tethered pipeline robots, when they malfunction and become inoperable, workers can use a cable to drag the damaged robot for retrieval. However, for untethered natural gas pipeline robots, retrieval is more difficult when they are damaged within the pipeline. Therefore, it is necessary to design a natural gas pipeline robot that facilitates emergency retrieval. Summary of the Invention

[0004] To facilitate the emergency recovery of natural gas pipeline robots, this application provides an emergency recovery pipeline robot.

[0005] The emergency recovery pipeline robot provided in this application adopts the following technical solution:

[0006] An emergency pipeline recovery robot includes a main body with multiple walking modules on both sides; a winding assembly installed inside the main body, which winds up a pull cable, the free end of which is connected to an airbag; an opening / closing door hinged to the tail end of the main body; a locking assembly installed in the main body for locking the opening / closing door; and an elastic assembly, one end of which is connected to the main body and the other end of which is detachably abutted against the airbag. When the airbag is housed inside the main body, the opening / closing door is closed, the locking assembly locks the opening / closing door, and the airbag and the elastic assembly elastically abut against each other. When the locking assembly releases the locking of the opening / closing door, the airbag is ejected from the main body and separates from the elastic assembly, and the winding assembly unwinds.

[0007] By adopting the above technical solution, when the pipeline robot is operating normally, the winding assembly winds up the pull line, the opening and closing door closes, the locking assembly locks the opening and closing door, and the airbag is housed inside the main body, with the elastic assembly providing elastic support for the airbag. When the pipeline robot malfunctions, the locking assembly releases the lock on the opening and closing door, the door opens, the airbag is ejected from the main body, and the winding assembly unwinds. Since the natural gas pipeline is filled with flowing natural gas, as the winding assembly continues to unwind, the airbag gradually moves towards the end of the natural gas pipeline under the influence of the natural gas. Once the airbag reaches the end of the natural gas pipeline, workers can pull the pipeline robot to the end of the natural gas pipeline using the pull line, facilitating the emergency recovery of the natural gas pipeline robot.

[0008] Optionally, the winding assembly includes: a winding roller rotatably connected to the main body, the draw cable wound around the winding roller, and the airbag moving closer to or away from the main body when the winding roller rotates; and a drive unit connected to the main body for driving the winding roller to rotate.

[0009] By adopting the above technical solution, when the drive unit is working, the take-up roller rotates, and as the amount of wire wound on the take-up roller increases, the wire is continuously wound up. When the drive unit drives the take-up roller to rotate in the opposite direction, the amount of wire wound on the take-up roller decreases, and the wire is continuously unwound. Overall, the winding and unwinding of the wire is relatively convenient.

[0010] Optionally, the take-up roller includes: a spool rotatably connected to the main body; and two baffles, each fixed to one end of the spool.

[0011] By adopting the above technical solution, when the take-up roller rotates, the wire is wound around the reel, and the baffle blocks the wound wire to prevent the wound wire from scattering.

[0012] Optionally, the pull wire is connected to a connector, the connector is connected to an extension wire, and the end of the extension wire away from the connector is connected to an extension component, the extension component being used to wind up the extension wire.

[0013] By adopting the above technical solution, after the pull line is completely unwound, the extension line continues to be unwound through the extension component, and the airbag can continue to move, so that the airbag can move a longer distance. The pipeline robot can also be retrieved if it fails at a greater distance.

[0014] Optionally, the connector includes a movable shaft and a rotating ring; a notch is provided near one end of the reel, and the movable shaft fills the notch; the movable shaft extends out of an adjacent baffle, and the baffle has a clearance groove at the position corresponding to the movable shaft, the clearance groove is open, the rotating ring is coaxially rotatably connected to the end of the movable shaft, and the extension line is fixed to the outer wall of the rotating ring.

[0015] By adopting the above technical solution, when the winding assembly winds the pull cable, the cable is wound around the reel, and the movable shaft is pressed against the notch on the reel. When the reel rotates, the movable shaft rotates with it. Due to the presence of the rotating ring, the extension cable will not wind around the movable shaft, thus preventing the extension cable from affecting the rotation of the reel. After the winding assembly unwinds the pull cable, since the cable is no longer wound around the reel, the movable shaft disengages from the reel. As the reel continues to rotate and the airbag pulls, when the relief groove faces the tail end of the main body, the cable pulls the movable shaft out of the relief groove, and the extension cable is pulled. As the extension assembly continues to unwind, the airbag can continue to move.

[0016] Optionally, a second support seat is fixed at the position of the main body corresponding to the baffle with the clearance groove, the second support seat is fitted with the baffle, and the movable shaft extends out of the second support seat; the second support seat has a notch, the notch is used for the movable shaft to disengage from the second support seat.

[0017] By adopting the above technical solution, after the unwinding assembly is completed, as the reel rotates continuously, when the clearance groove and the notch correspond, the movable shaft disengages from the notch, and the pull line pulls the extension line.

[0018] Optionally, a guide is further provided between the connector and the extension assembly. The guide is used to guide the extension line to avoid the extension line rubbing against the winding assembly and the extension assembly.

[0019] By adopting the above technical solution, the friction between the extended line and the winding assembly and the extended assembly is avoided under the action of the guide component, thereby increasing the service life of the extended line and reducing the instability during the use of the extended line.

[0020] Optionally, the driving component includes: a rotary motor fixed to the main body; a gear coaxially fixed to the rotating end of the rotary motor; and a plurality of gear teeth evenly spaced on the side wall of the baffle away from the connecting member for meshing with the gear.

[0021] By adopting the above technical solution, when the rotary motor rotates, the power of the rotary motor is transmitted to the baffle through the meshing of the gear and the baffle teeth, and the winding roller rotates. The overall structure is relatively simple and compact.

[0022] Optionally, the airbag has side wings fixed along its circumference; when the airbag is retracted into the main body, the side wings retract; when the airbag is ejected from the main body, the side wings deploy.

[0023] By adopting the above technical solution, when the airbag is ejected from the main body, the side wings unfold, increasing the contact area between the airbag and the natural gas, making the airbag easier to be blown by the natural gas.

[0024] Optionally, multiple airbags are provided, and a connecting line connects two adjacent airbags.

[0025] By adopting the above technical solution, on the one hand, the increased number of airbags and the increased pulling force of multiple airbags make the outward movement of the airbags smoother. On the other hand, when the rear airbag gets stuck during movement, because the movement directions of the front and rear airbags are slightly different, the movement direction of the rear airbag is corrected by the pulling force of the front airbag, and the movement of the rear airbag is released. When the front airbag gets stuck during movement, the moving rear airbag will impact the front airbag, thereby releasing the obstruction of the front airbag. Overall, this improves the smoothness of the airbag movement towards the natural gas pipeline port.

[0026] In summary, the beneficial technical effects of this application include: when the pipeline robot is operating normally, the winding assembly winds up the pull line, the opening and closing door is closed, the locking assembly locks the opening and closing door, the airbag is housed inside the main body, and the elastic assembly provides elastic support for the airbag. When the pipeline robot malfunctions, the locking assembly releases the lock on the opening and closing door, the door opens, the airbag is ejected from the main body, and the winding assembly unwinds. Since the natural gas pipeline is filled with flowing natural gas, as the winding assembly continuously unwinds, the airbag gradually moves towards the port of the natural gas pipeline under the blowing of the natural gas. When the airbag reaches the port of the natural gas pipeline, workers can pull the pipeline robot to the port of the natural gas pipeline using the pull line, facilitating the emergency recovery of the natural gas pipeline robot. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application;

[0028] Figure 2 This is a cross-sectional structural diagram used to illustrate the internal component structure of the main body in the embodiments of this application;

[0029] Figure 3 This is a schematic diagram of the structure of the winding assembly in an embodiment of this application;

[0030] Figure 4 This is a schematic diagram of the cooperation structure between the scroll and the movable shaft in an embodiment of this application;

[0031] Figure 5 This is a schematic diagram of the guide component in an embodiment of this application;

[0032] Figure 6 This is a schematic diagram of the airbag's side wings deploying.

[0033] Reference numerals: 1. Main body; 11. Walking module; 12. First support base; 13. Second support base; 131. Notch; 14. Camera; 15. Power supply;

[0034] 2. Rewinding assembly; 21. Rewinding roller; 211. Reel; 2111. Notch; 212. Baffle; 2121. Relief groove; 22. Drive component; 221. Rotary motor; 222. Gear;

[0035] 3. Pull the string;

[0036] 4. Airbag; 41. Side wings; 42. Connecting lines;

[0037] 5. Opening and closing doors;

[0038] 6. Locking assembly; 61. Electromagnet; 62. Locking block;

[0039] 7. Elastic component; 71. Fixing plate; 72. Elastic element;

[0040] 8. Connecting parts; 81. Extension cable; 82. Movable shaft; 83. Rotating ring;

[0041] 9. Extended components;

[0042] 10. Guide component; 101. Guide post. Detailed Implementation

[0043] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0044] This application discloses an emergency recovery pipeline robot. (Refer to...) Figure 1 The emergency pipeline recovery robot includes a main body 1, a winding assembly 2, an airbag 4, an opening / closing door 5, a locking assembly 6, and an elastic assembly 7. Multiple walking modules 11 for movement are respectively installed on both sides of the main body 1. The winding assembly 2 is installed inside the main body 1 and winds up a pull cable 3. The airbag 4 is connected to the free end of the pull cable 3. One side of the opening / closing door 5 is hinged to the tail end of the main body 1. The locking assembly 6 is installed on the main body 1 and used to lock the opening / closing door 5. One end of the elastic assembly 7 is connected to the main body 1, and the other end is detachably abutted against the airbag 4. When the airbag 4 is housed inside the main body 1, the opening / closing door 5 is closed, the locking assembly 6 locks the opening / closing door 5, and the airbag 4 and the elastic assembly 7 elastically abut against each other. When the locking assembly 6 releases the lock on the opening / closing door 5, the airbag 4 ejects from the main body 1 and separates from the elastic assembly 7, and the winding assembly 2 unwinds.

[0045] Reference Figure 1 The main body 1 is hollow, with a camera 14 mounted on its top and a power supply 15 installed inside. The walking module 11 uses a hub motor module. In this embodiment, there are six hub motor modules, three on each side. In other embodiments, the hub assembly may have four, eight, or other quantities. Under the action of the power supply 15, the hub motor modules rotate, thereby enabling the main body 1 to move forward and backward.

[0046] Furthermore, in combination Figure 2 and Figure 3 The take-up assembly 2 includes a take-up roller 21 and a drive unit 22. Specifically, the pull cable 3 is wound around the take-up roller 21. When the take-up roller 21 rotates, the pull cable 3 is wound up, and the airbag 4 is close to the main body 1. When the pull cable 3 is unwound, the airbag 4 is moved away from the main body 1. The drive unit 22 is connected to the main body 1 and is used to drive the take-up roller 21 to rotate.

[0047] When the drive unit 22 is working, the take-up roller 21 rotates, and as the amount of wire 3 wound on the take-up roller 21 increases, the wire 3 is continuously wound up. When the drive unit 22 drives the take-up roller 21 to rotate in the opposite direction, the amount of wire 3 wound on the take-up roller 21 decreases, and the wire 3 is continuously unwound. Overall, the winding and unwinding of the wire 3 is relatively convenient.

[0048] Furthermore, in combination Figure 2 and Figure 3 The take-up roller 21 includes a shaft 211 and baffles 212. The shaft 211 is rotatably connected to the main body 1. Two baffles 212 are provided, and the two baffles 212 are respectively fixed to both ends of the shaft 211. Specifically, a first support seat 12 and a second support seat 13 are fixed inside the main body 1. One end of the shaft 211 is rotatably mounted on the first support seat 12, and the axis of rotation is parallel to the axis of rotation of the hub motor module. The second support seat 13 is adjacent to the other end of the shaft 211 and is sleeved on the baffles 212. The baffles 212 and the second support seat 13 are rotatably connected.

[0049] When the take-up roller 21 rotates, the pull wire 3 is wound around the reel 211, and the baffle 212 blocks the wound pull wire 3 to prevent the wound pull wire 3 from scattering.

[0050] Furthermore, refer to Figure 3 The driving component 22 includes a rotary motor 221 and a gear 222. The rotary motor 221 is fixed to the main body 1, and the gear 222 is coaxially fixed to the rotating end of the rotary motor 221. The side wall of the baffle 212 away from the second support 13 is evenly spaced with a plurality of gear teeth for meshing with the gear 222.

[0051] When the rotary motor 221 rotates, the power of the rotary motor 221 is transmitted to the baffle 212 through the meshing of the gear 222 and the baffle 212, and the winding roller 21 rotates. The overall structure is relatively simple and compact.

[0052] In other embodiments, the drive unit 22 may further include a rotary motor 221, a first pulley, a second pulley, and a belt. The rotary motor 221 is fixed to the main body 1, the first pulley is coaxially fixed to the rotating end of the rotary motor 221, the second pulley is coaxially fixed to the reel 211, and the belt is sleeved on the first and second pulleys. When the rotary motor 221 rotates, the reel 211 rotates and the take-up roller 21 rotates through the sequential transmission of the first pulley, the belt, and the second pulley.

[0053] It should be noted that during the actual unwinding process, the rotary motor 221 reverses at regular intervals to perform a certain amount of winding. With this setting, if the airbag 4 is stuck during movement, when the rotary motor 221 reverses, the airbag 4 is pulled back, thereby freeing the airbag 4 from the stuck position. When the winding assembly 2 rewinds, the airbag 4 can move smoothly.

[0054] In this embodiment, the pull line 3 can be fishing line; in other embodiments, the pull line 3 can also be a rope of other materials. Taking fishing line as an example, based on the volume of the main body 1, the length of a roll of fishing line is approximately 500-600 meters, meaning the fishing line wound on the winding assembly 2 is approximately 500-600 meters. When the pipeline robot is far from the pipeline port, it is difficult to meet the required retrieval length. Therefore, in order to increase the total length of the fishing line, combined with... Figure 2 and Figure 3 A connector 8 is provided at one end of the reel 211 near the second support base 13. The pull line 3 is connected to the connector 8. An extension line 81 is connected to the connector 8. An extension component 9 is connected to the end of the extension line 81 away from the connector 8. The extension component 9 is used to wind up the extension line 81.

[0055] After the pull line 3 is completely unwound, the pull line 3 is connected to the extension line 81 through the connector 8. The extension line 81 continues to be unwound through the extension component 9, and the airbag 4 can continue to move, so that the airbag 4 can move a longer distance. The pipeline robot can be retrieved even if it fails at a greater distance, thus increasing the retrievable distance of the pipeline robot.

[0056] Furthermore, in combination Figure 3 and Figure 4The connecting member 8 includes a movable shaft 82 and a rotating ring 83. A notch 2111 is provided at one end of the reel 211 near the second support base 13, and the movable shaft 82 fills the notch 2111. The movable shaft 82 extends out from an adjacent baffle 212, and a clearance groove 2121 is provided on the baffle 212 at the position corresponding to the movable shaft 82. The clearance groove 2121 is open, and the rotating ring 83 is coaxially rotatably connected to the end of the movable shaft 82. An extension line 81 is fixed to the outer wall of the rotating ring 83.

[0057] When the winding assembly 2 winds up the pull cord 3, the pull cord 3 is wound around the spool 211, and the movable shaft 82 is pressed against the notch 2111 of the spool 211. When the spool 211 rotates, the movable shaft 82 rotates with the spool 211. Due to the presence of the rotating ring 83, the extension cord 81 will not be wound around the movable shaft 82, thus preventing the extension cord 81 from affecting the rotation of the spool 211. After the winding assembly 2 finishes unwinding the pull cord 3, since the pull cord 3 is not wound around the spool 211, the movable shaft 82 is released from the spool 211. As the spool 211 continues to rotate and the airbag 4 is pulled, when the relief groove 2121 faces the tail end of the main body 1, the pull cord 3 pulls the movable shaft 82 out of the relief groove 2121, and the extension cord 81 is pulled. As the extension assembly 9 continues to unwind, the airbag 4 can continue to move.

[0058] To allow the movable shaft 82 to disengage, the second support base 13 has a notch 131 for the movable shaft 82 to disengage from the second support base 13. After the unwinding assembly completes unwinding, as the reel 211 rotates continuously, when the clearance groove 2121 and the notch 131 correspond, the movable shaft 82 disengages from the notch 131, and the pull line 3 pulls the extension line 81.

[0059] It should be noted that the overall structural principle of the extended component 9 and the winding component 2 is the same, and they also include the winding roller 21 and the drive component 22, and can adopt the same structural form.

[0060] Furthermore, in combination Figure 2 and Figure 5 A guide 10 is also provided between the connector 8 and the extension assembly 9. The guide 10 is used to guide the extension line 81 to avoid friction between the extension line 81 and the winding assembly 2 and the extension assembly 9. Under the action of the guide 10, the friction between the extension line 81 and the winding assembly 2 and the extension assembly 9 is avoided, thereby increasing the service life of the extension line 81 and reducing the instability of the extension line 81 during use.

[0061] Specifically, in combination Figure 2 and Figure 5The guide member 10 includes two guide posts 101, which are staggered. The extension line 81 is attached to the cylindrical surface of one guide post 101 closest to the take-up assembly 2, passes through the gap between the two guide posts 101, and then attaches to the cylindrical surface of the other guide post 101 before connecting to the extension assembly 9. With this arrangement, the extension line 81 is guided by the two guide posts 101, ensuring a stable direction and thus preventing friction between the take-up assembly 2 and the extension assembly 9.

[0062] Furthermore, in combination Figure 2 and Figure 6 The airbag 4 has side wings 41 fixed along its circumference. When the airbag 4 is retracted into the main body 1, the side wings 41 retract; when the airbag 4 is ejected from the main body 1, the side wings 41 unfold. When the airbag 4 is ejected from the main body 1, the side wings 41 unfold, increasing the contact area between the airbag 4 and the natural gas, making the airbag 4 easier to be blown by the natural gas.

[0063] Furthermore, refer to Figure 6 Multiple airbags 4 are provided, and adjacent airbags 4 are connected by connecting lines 42. In a preferred embodiment of this application, two airbags 4 are provided. In other embodiments, three, four, or other numbers of airbags 4 can be provided according to actual needs. On the one hand, increasing the number of airbags 4 increases the pulling force of multiple airbags 4, making the outward movement of the airbags 4 smoother. On the other hand, when the rear airbag 4 is stuck during movement, since the movement directions of the front and rear airbags 4 are different, the movement direction of the rear airbag 4 will be corrected under the pulling of the front airbag 4, and the movement of the rear airbag 4 will be released. When the front airbag 4 is stuck during movement, the moving rear airbag 4 will impact the front airbag 4, thereby releasing the stuck front airbag 4. Overall, the smoothness of the movement of the airbags 4 toward the natural gas pipeline port is improved.

[0064] Furthermore, refer to Figure 1 The locking assembly 6 includes an electromagnet 61 and a locking block 62. The electromagnet 61 is fixed to the top of the main body 1, and the locking block 62 is fixed to the top of the opening and closing door 5. When the electromagnet 61 is energized, it attracts the locking block 62, locking the opening and closing of the opening and closing door 5. When the electromagnet 61 is de-energized, the attraction between the electromagnet 61 and the locking block 62 is released, and the locking of the opening and closing door 5 is released. In other embodiments, the locking assembly 6 may also use other structures for locking the opening and closing of the opening and closing door 5.

[0065] Furthermore, refer to Figure 2The elastic component 7 includes a fixed plate 71 and an elastic element 72. The fixed plate 71 is fixed inside the main body 1. One end of the elastic element 72 is connected to the fixed plate 71, and the other end is detachably abutted against the airbag 4. When the airbag 4 compresses the elastic element 72, the elastic element 72 generates an elastic restoring force. Specifically, the elastic element 72 can be a spring, a rubber block, etc. In this embodiment, the elastic element 72 is preferably a spring. When the airbag 4 is housed inside the main body 1, the spring is compressed under the pressure of the airbag 4, thereby generating an elastic restoring force. When the opening and closing door 5 is opened, the airbag 4 is ejected under the action of the elastic restoring force of the spring.

[0066] The implementation principle of an emergency pipeline recovery robot according to an embodiment of this application is as follows: When the pipeline robot is operating normally, the winding assembly 2 winds up the pull line 3, the opening and closing door 5 is closed, the locking assembly 6 locks the opening and closing door 5, the airbag 4 is housed inside the main body 1, and the elastic assembly 7 provides elastic support to the airbag 4. When the pipeline robot malfunctions, the locking assembly 6 releases the lock on the opening and closing door 5, the opening and closing door 5 opens, the airbag 4 is ejected from the main body 1, and the winding assembly 2 unwinds. Since the natural gas pipeline is filled with flowing natural gas, as the winding assembly 2 continuously unwinds, the airbag 4 gradually moves towards the port of the natural gas pipeline under the blowing of the natural gas. When the airbag 4 moves to the port of the natural gas pipeline, the staff can pull the pipeline robot to the port of the natural gas pipeline using the pull line 3, facilitating the emergency recovery of the natural gas pipeline robot.

[0067] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An emergency pipeline recycling robot, characterized in that, include: The main body (1) has multiple walking modules (11) on both sides for walking. A winding assembly (2) is installed inside the main body (1) and has a pull wire (3) wound up. The free end of the pull wire (3) is connected to an airbag (4). The door (5) is hinged to the tail end of the main body (1); A locking assembly (6), which is installed on the main body (1), is used to lock the opening and closing door (5); An elastic component (7) is connected at one end to the main body (1) and at the other end is detachably abutted against the airbag (4). When the airbag (4) is housed in the main body (1), the opening and closing door (5) is closed, the locking component (6) locks the opening and closing door (5), and the airbag (4) and the elastic component (7) elastically abut against each other. When the locking component (6) releases the lock on the opening and closing door (5), the airbag (4) is ejected from the main body (1) and separates from the elastic component (7), and the winding component (2) unwinds.

2. The emergency recovery pipeline robot according to claim 1, characterized in that: The winding assembly (2) includes: A take-up roller (21) is rotatably connected to the main body (1), and the pull wire (3) is wound around the take-up roller (21). When the take-up roller (21) rotates, the airbag (4) moves closer to or further away from the main body (1). A drive unit (22), which is connected to the main body (1), is used to drive the take-up roller (21) to rotate.

3. The emergency recovery pipeline robot according to claim 2, characterized in that: The take-up roller (21) includes: A scroll (211) is rotatably connected to the main body (1); There are two baffles (212), which are respectively fixed to both ends of the scroll (211).

4. The emergency recovery pipeline robot according to claim 3, characterized in that: The pull wire (3) is connected to a connector (8), the connector (8) is connected to an extension wire (81), and an extension component (9) is connected to one end of the extension wire (81) away from the connector (8). The extension component (9) is used to wind up the extension wire (81).

5. An emergency recovery pipeline robot according to claim 4, characterized in that: The connector (8) includes a movable shaft (82) and a rotating ring (83); The scroll (211) has a notch (2111) near one end, and the movable shaft (82) fills the notch (2111); The movable shaft (82) extends out of an adjacent baffle (212), and the baffle (212) has a clearance groove (2121) at the position corresponding to the movable shaft (82). The clearance groove (2121) is open. The rotating ring (83) is coaxially rotatably connected to the end of the movable shaft (82), and the extension line (81) is fixed to the outer wall of the rotating ring (83).

6. An emergency recovery pipeline robot according to claim 5, characterized in that: The main body (1) is fixed with a second support seat (13) at the position of the baffle (212) with the clearance groove (2121), the second support seat (13) is sleeved on the baffle (212), and the movable shaft (82) extends out of the second support seat (13); The second support (13) has a notch (131) for the movable shaft (82) to disengage from the second support (13).

7. An emergency recovery pipeline robot according to claim 4, characterized in that: A guide (10) is also provided between the connector (8) and the extension component (9). The guide (10) is used to guide the extension line (81) to avoid the extension line (81) rubbing against the winding component (2) and the extension component (9).

8. An emergency recovery pipeline robot according to claim 7, characterized in that: The driving element (22) includes: A rotary motor (221) is fixed to the main body (1); Gear (222), which is coaxially fixed to the rotating end of the rotary motor (221); The sidewall of the baffle (212) away from the connector (8) is provided with a plurality of teeth evenly spaced for meshing with the gear (222).

9. An emergency recovery pipeline robot according to claim 1, characterized in that: The airbag (4) has side wings (41) fixed along its circumference; When the airbag (4) is retracted into the main body (1), the side wings (41) retract; When the airbag (4) is ejected from the main body (1), the side wings (41) deploy.

10. An emergency recovery pipeline robot according to claim 1, characterized in that: Multiple airbags (4) are provided, and a connecting line (42) connects two adjacent airbags (4).

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