Power generation device and pipeline robot with the same

Abstract

The present application relates to the field of pipeline robots, specifically disclosing a power generation device and a pipeline robot equipped with the device. The power generation device includes a generator, which includes a stator and a mover, wherein the stator is mounted on one end of a main body and the mover is rotatably mounted on the stator; a plurality of fan blades arranged at intervals along the circumference of the main body, one end of which is hinged to the mover; a plurality of locking assemblies, each corresponding to each fan blade, connected to the mover for locking the fan blades from turning; and a plurality of telescopic rods, each corresponding to each fan blade, which are arranged on the main body to extend and retract along the axial direction of the main body. The ends of the telescopic rods near the generator are connected to a switching assembly for switching the locking state of the locking assembly, and the switching assembly is connected to a reset assembly for resetting the fan blades from turning. The present application has the effect of reducing the resistance of the pipeline robot during movement.

Description

Technical Field

[0001] The present application relates to the field of pipeline robots, and in particular to a power generation device and a pipeline robot having the same. Background Art

[0002] A natural gas pipeline robot is a robot specifically designed to inspect and repair underground natural gas pipelines. It can navigate inside gas pipelines, enabling rapid inspections and playing a crucial role in ensuring the safety and reliability of gas pipelines.

[0003] In the related art, a natural gas pipeline robot includes a main body, a power supply, a walking component, and an ultrasonic sensor. The power supply is set on the main body, and the walking component is set on the main body to drive the main body to move in the natural gas pipeline. The power supply provides energy for the walking component. The ultrasonic sensor is set on the main body and is also powered by the power supply to detect whether there are cracks or corrosion in the natural gas pipeline. In order to extend the endurance of the pipeline robot in the natural gas pipeline, a power generation device is usually set on the pipeline robot. The power generation device includes a wind wheel and a generator. When the natural gas pipeline robot is moving, the natural gas blows the wind wheel to rotate, and the wind wheel drives the generator to rotate. The generator generates electricity, thereby providing electrical energy for the natural gas pipeline robot.

[0004] However, the large contact area between the impeller and the natural gas creates significant resistance. During its travel, the natural gas pipeline robot must overcome not only the resistance between itself and the natural gas pipeline, but also the resistance between the impeller and the pipeline. This increases the robot's movement resistance and wastes energy. Summary of the Invention

[0005] In order to reduce the resistance of the pipeline robot when it moves and reduce the consumption of useless work, the present application provides a power generation device and a pipeline robot having the device.

[0006] The present application provides a power generation device and a pipeline robot equipped with the device, which adopts the following technical solutions:

[0007] On the one hand, the present application provides a power generation device, including a generator, which includes a stator and a mover, the stator being installed at one end of a main body, and the mover being rotatably arranged on the stator; a plurality of fan blades, which are arranged at intervals along the circumference of the main body, and one end of which is hinged to the mover; a plurality of locking assemblies, the plurality of locking assemblies corresponding to the plurality of fan blades one-to-one, the locking assembly being connected to the mover for locking the flipping of the fan blades; a plurality of telescopic rods, the plurality of telescopic rods corresponding to the plurality of fan blades one-to-one, the telescopic rods being arranged on the main body along the axial direction of the main body, and one end of the telescopic rods close to the generator being connected to a switching assembly for switching the locking state of the locking assembly, the switching assembly being connected to a reset assembly for resetting the flipping of the fan blades; when the telescopic rods are extended toward the fan blades, the switching assembly releases the lock of the locking assembly, and the telescopic rods push the fan blades flat; when the telescopic rods are retracted, the reset assembly first makes the fan blades stand up, and then the switching assembly makes the locking assembly lock the flipping of the fan blades.

[0008] By adopting the above technical solution, when the pipeline robot is moving normally, the telescopic rod extends, the switching assembly unlocks the locking assembly, and the telescopic rod flattens the blades, preventing them from rotating and the generator from generating electricity. When the pipeline robot runs low on power, it stops moving, the telescopic rod retracts, the reset assembly first sets the blades upright, and then the switching assembly locks the blades from rotating. Because natural gas flows within the natural gas pipeline, the blades drive the rotor to rotate, creating relative rotation between the rotor and stator, thereby generating electricity and charging the pipeline robot. Once charging is complete, the telescopic rod extends to flatten the blades, allowing the pipeline robot to continue moving within the natural gas pipeline. Compared to the prior art, the telescopic rod flattens the blades while the pipeline robot is moving, significantly reducing the blades' frontal area, thereby reducing resistance during movement and minimizing wasted energy.

[0009] Optionally, two support plates are fixed at intervals at the position of the mover corresponding to the fan blade, one end of the fan blade is located between the two support plates and is hinged to the two support plates, and there is a gap between the fan blade and the outer wall of the mover; the inner wall of the support plate is fixedly connected to an abutment block, and when the fan blade is flipped to an upright state, the fan blade and the abutment block abut each other; the locking assembly includes a locking block and a movable plate, the locking block is fixed to the movable plate, and the movable plate is slidably arranged between the two support plates, and the locking block extends into or out of the gap.

[0010] By adopting the above technical solution, when the fan blade is flipped to the vertical position, the fan blade and the abutment block come into contact, and the fan blade cannot continue to flip toward the main body. When the fan blade is in the upright position, the locking block is located within the gap, and the locking block locks the fan blade from flipping. When the locking block is located outside the gap, the locking block releases the lock on the fan blade flipping.

[0011] Optionally, the switching assembly includes: a sleeve, one end of which is connected to the end of the telescopic rod; a push block, which is fixed to the outer wall of the sleeve; an elastic paddle, one end of which is fixed to the movable plate, and the push block and the elastic paddle are in detachable contact; the movable plate is connected to a first limiting structure, and when the movable plate pushes the locking block to extend out of the gap, the first limiting structure is used to limit the movement of the movable plate; the locking block is connected to a second limiting structure, and when the movable plate pulls the locking block to extend into the gap, the second limiting structure is used to limit the movement of the movable plate.

[0012] By adopting the above technical solution, when the telescopic rod is extended outward, the push block gradually approaches the elastic paddle. When the push block and the elastic paddle come into contact, the push block pushes the movable plate through the elastic paddle, and the movable plate pushes the locking block out of the gap, allowing the fan blades to flip. When the telescopic rod continues to extend outward, under the action of the first limiting structure, the movable plate cannot move further, and the push block pushes the elastic paddle and deforms. The push block moves from one side of the elastic paddle to the opposite side. As the telescopic rod continues to extend, the push block gradually moves away from the elastic paddle, and the fan blades are flattened by the telescopic rod. When the telescopic rod is retracted, the push block gradually approaches the elastic paddle. When the push block and the elastic paddle come into contact, the push block pushes the movable plate through the elastic paddle, and the movable plate pulls the locking block into the gap. Under the action of the second limiting structure, the movable plate cannot move further, and the push block pushes the elastic paddle and deforms. As the telescopic rod continues to retract, the push block disengages from the elastic paddle, and the locking block locks the fan blades.

[0013] Optionally, the reset assembly includes a pull rope and a suction block, one end of the pull rope is elastically connected to the end of the sleeve, and the suction block is fixed to the other end of the pull rope, and the suction block is detachably adsorbed on the fan blade; when the telescopic rod pushes the fan blade flat, the suction block is adsorbed on the fan blade; when the telescopic rod retracts, the suction block pulls the fan blade to stand up, and the pushing block contacts the elastic paddle; when the locking block locks the flipping of the fan blade, the suction block and the fan blade are disengaged, and the pushing block and the elastic paddle are separated.

[0014] By adopting this technical solution, when the telescopic rod pushes the fan blade flat, the suction block attracts the fan blade. When the telescopic rod retracts, the pull cord pulls the fan blade to an upright position through the suction block. At this time, the pull cord is taut, the push block contacts the elastic paddle, and the locking block has not yet entered the gap. As the telescopic rod continues to retract, because one end of the pull cord is elastically connected to the sleeve, the pull cord can still move a certain amount relative to the sleeve. When the locking block enters the gap, the suction element and the blade are separated. Due to the high degree of freedom of the pull cord, the suction block can attract the fan blade from all directions, ensuring the smooth reset of the fan blade.

[0015] Optionally, a spring is provided in the sleeve, and a baffle is fixed to one end of the pull rope close to the telescopic rod; one end of the spring abuts against the sleeve, and the other end abuts against the baffle.

[0016] By adopting the above technical solution, when the pull rope is tightened and the telescopic rod continues to retract, the pull rope drives the baffle to press the spring, causing the spring to compress, thereby generating a certain elastic force. While maintaining the pull rope's pulling force against the wind, it can also enable a certain amount of relative displacement between the pull rope and the sleeve. The overall structure is relatively simple and compact.

[0017] Optionally, the mover is fixed with an alignment plate, which protrudes from the outer wall of the mover, and the alignment plate is provided with an alignment groove corresponding to the position of the fan blade; the sleeve is slidably mounted on the telescopic rod, and an anti-falling part is provided between the telescopic rod and the sleeve to prevent the sleeve from falling off the telescopic rod.

[0018] By adopting the above technical solution, since the fan blades are blown by natural gas, the fan blades may not be aligned with the telescopic rod when the telescopic rod attempts to push against them. When the fan blades need to be aligned with the telescopic rod, the telescopic rod extends until the sleeve contacts the alignment plate, causing the spring to be compressed to a certain extent, allowing the sleeve to generate a certain elastic force. As the mover rotates, when the alignment groove and the sleeve align, the sleeve pops out and extends into the alignment groove, aligning the telescopic rod and the fan blades. After the sleeve contacts the alignment plate, it also decelerates the rotation of the mover, further ensuring that the sleeve extends into the alignment groove.

[0019] Optionally, the anti-slip component is an anti-slip block, the anti-slip block is fixed to the telescopic rod, a side wall of the sleeve is provided with a clearance groove, and the anti-slip block extends out of the clearance groove.

[0020] By adopting the above technical solution, with the cooperation of the anti-slip block and the clearance groove, on the one hand, the sleeve can be telescopic relative to the telescopic rod, and on the other hand, the anti-slip block can be prevented from slipping off after contacting one end side wall of the clearance groove.

[0021] Optionally, a spherical protrusion is fixed to one end of the sleeve close to the alignment plate.

[0022] By adopting the above technical solution, the contact area between the sleeve and the alignment plate is reduced, the resistance between the sleeve and the alignment plate is reduced, and it is ensured that the mover can continue to rotate after the alignment plate and the sleeve are in contact.

[0023] On the other hand, an embodiment of the present application provides a pipeline robot, which includes a main body, a power generation device is arranged at one end of the main body; a power supply, which is fixed to the main body, and the power output end of the power generation device is connected to the input end of the power supply; a walking component, which is fixed to the main body and is used to enable the main body to walk in the pipeline; and an ultrasonic sensor, which is fixed to the main body and is used to detect cracks in the pipeline.

[0024] In summary, the present application provides the following beneficial technical effects: When the pipeline robot is moving normally, the telescopic rod extends, the switching assembly unlocks the locking assembly, the telescopic rod flattens the blades, the blades do not rotate, and the generator stops generating electricity. When the pipeline robot is low on power, it stops moving, the telescopic rod retracts, the reset assembly first sets the blades in an upright position, and then the switching assembly causes the locking assembly to lock the blades from turning. Because there is flowing natural gas in the natural gas pipeline, the blades drive the rotor to rotate under the influence of the natural gas, and relative rotation occurs between the rotor and stator, thereby enabling the generator to generate electricity and charge the pipeline robot. After charging is complete, the telescopic rod extends to flatten the blades, and the pipeline robot continues to travel within the natural gas pipeline. Compared to the prior art, the blades are flattened by the telescopic rod while the pipeline robot is moving, greatly reducing the windward area of ​​the blades, thereby reducing the resistance of the pipeline robot during movement and reducing the consumption of useless work. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0026] Figure 2 This is a partial schematic diagram corresponding to the fan blades and telescopic rod in the embodiment of the present application;

[0027] Figure 3 This is a schematic cross-sectional view of the locking block locking the fan blade in an embodiment of the present application;

[0028] Figure 4 This is a schematic cross-sectional view of the locking block releasing the fan blade lock in the embodiment of the present application;

[0029] Figure 5 This is a schematic diagram of the coordination between the telescopic rod and the main body in an embodiment of the present application;

[0030] Figure 6 yes Figure 2 A magnified schematic diagram of part A;

[0031] Figure 7 This is a schematic diagram of the flip connection between the fan blade and the mover in the embodiment of the present application;

[0032] Figure 8 This is a schematic diagram of the structure of the elastic connection between the pull rope and the sleeve in an embodiment of the present application.

[0033] Figure numerals: 1. generator; 11. stator; 12. mover; 121. support plate; 1211. abutment block; 2. fan blade; 3. locking assembly; 31. locking block; 311. second limiting structure; 32. movable plate; 321. first limiting structure; 4. telescopic rod; 41. telescopic section; 411. anti-slip member; 42. connecting section; 5. switching assembly; 51. sleeve; 511. spring; 512. give way groove; 513. spherical protrusion; 52. push block; 53. elastic pick; 6. reset assembly; 61. pull rope; 611. baffle; 62. suction block; 7. alignment plate; 71. alignment groove; 8. main body; 81. guide seat; 82. slide groove; 83. electric push rod; 84. ultrasonic sensor; 9. power supply; 10. walking assembly. DETAILED DESCRIPTION

[0034] The following is combined with Figure 1-8 This application is described in further detail.

[0035] The present application discloses a power generation device and a pipeline robot having the same. Figure 1-4 A power generation device includes a generator 1, fan blades 2, multiple locking assemblies 3 and multiple telescopic rods 4. The generator 1 includes a stator 11 and a mover 12, the stator 11 is mounted on one end of the main body 8, and the mover 12 is rotatably arranged on the stator 11. Multiple fan blades 2 are arranged at intervals along the circumference of the main body 8, and one end of each is hinged to the mover 12. Multiple locking assemblies 3 correspond to multiple fan blades 2 one by one, and the locking assemblies 3 are connected to the mover 12 to lock the flipping of the fan blades 2. Multiple telescopic rods 4 correspond to multiple fan blades 2 one by one, and the telescopic rods 4 are arranged on the main body 8 along the axial direction of the main body 8. The end of the telescopic rod 4 close to the generator 1 is connected to a switching assembly 5 for switching the locking state of the locking assembly 3, and the switching assembly 5 is connected to a reset assembly 6 for resetting the flipping of the fan blades 2. When the telescopic rod 4 is extended toward the fan blade 2, the switching assembly 5 releases the lock of the locking assembly 3, and the telescopic rod 4 pushes the fan blade 2 flat; when the telescopic rod 4 is retracted, the resetting assembly 6 first makes the fan blade 2 stand up, and then the switching assembly 5 makes the locking assembly 3 lock the flipping of the fan blade 2.

[0036] In the preferred embodiment of this solution, three blades 2 are provided; in other solutions, four, five, or other numbers may be provided. When the pipeline robot moves, the blades 2 are flattened, reducing resistance during movement. When the generator is generating electricity, the blades 2 flip to an upright position, and driven by natural gas, the blades 2 drive the rotor 12 to rotate.

[0037] Reference Figure 3-4Two support plates 121 are fixed at intervals at the position of the mover 12 corresponding to the fan blade 2. One end of the fan blade 2 is located between the two support plates 121 and is hinged to the two support plates 121. There is a gap between the fan blade 2 and the outer wall of the mover 12. The inner wall of the support plate 121 is fixedly connected with an abutment block 1211. When the fan blade 2 is flipped to a vertical state, the fan blade 2 and the abutment block 1211 abut, and the fan blade 2 cannot continue to flip toward the main body 8. The locking assembly 3 includes a locking block 31 and a movable plate 32. The locking block 31 is fixed to the movable plate 32. The movable plate 32 is slidably set between the two support plates 121, and the locking block 31 extends into or out of the gap. When the fan blade 2 is in an upright state, when the locking block 31 is located in the gap, the locking block 31 locks the flipping of the fan blade 2. When the locking block 31 is located outside the gap, the locking block 31 releases the lock on the flipping of the fan blade 2.

[0038] Reference Figure 5 The telescopic rod 4 is generally L-shaped, and includes an integrally formed telescopic section 41 and a connecting section 42. A guide seat 81 is fixed on the outer wall of the main body 8, and a slide groove 82 is provided on the side wall of the main body 8. The telescopic section 41 is slidably penetrated on the guide seat 81, and the sliding direction is along the axial direction of the main body 8. The connecting section 42 extends into the interior of the main body 8 from the slide groove 82. The slide groove 82 is long and its length is parallel to the axis of the main body 8. An electric push rod 83 for driving the telescopic section 41 to extend and retract is fixed in the main body 8. The outer shell of the electric push rod 83 is fixed on the inner wall of the main body 8, and the telescopic end of the electric push rod 83 is fixed to the connecting section 42. When the telescopic end of the electric push rod 83 is extended, the telescopic section 41 extends toward the fan blade 2, and when the telescopic end of the electric push rod 83 is retracted, the telescopic section 41 retracts.

[0039] Reference Figure 3 、 Figure 4 and Figure 6 The switching assembly 5 includes a sleeve 51, a push block 52 and an elastic paddle 53. One end of the sleeve 51 is connected to the end of the telescopic rod 4. The push block 52 is fixed to the outer wall of the sleeve 51, and one end of the elastic paddle 53 is fixed to the movable plate 32. The push block 52 and the elastic paddle 53 are in detachable contact. The movable plate 32 is connected to a first limiting structure 321. When the movable plate 32 pushes the locking block 31 to extend out of the gap, the first limiting structure 321 is used to limit the movement of the movable plate 32. The locking block 31 is connected to a second limiting structure 311. When the movable plate 32 pulls the locking block 31 to extend into the gap, the second limiting structure 311 is used to limit the movement of the movable plate 32.

[0040] As the telescopic rod 4 extends outward, the push block 52 gradually approaches the elastic paddle 53. When the push block 52 and the elastic paddle 53 come into contact, the push block 52 pushes the movable plate 32 via the elastic paddle 53. The movable plate 32 pushes the locking block 31 out of the gap, allowing the fan 2 to flip. As the telescopic rod 4 continues to extend outward, the movable plate 32 cannot move further due to the action of the first limiting structure 321. The push block 52 pushes the elastic paddle 53 to deform, and the push block 52 moves from one side of the elastic paddle 53 to the opposite side. As the telescopic rod 4 continues to extend, the push block 52 gradually moves away from the elastic paddle 53, and the fan 2 is pushed flat by the telescopic rod 4. When the telescopic rod 4 is retracted, the pushing block 52 gradually approaches the elastic paddle 53. When the pushing block 52 and the elastic paddle 53 come into contact, the pushing block 52 pushes the movable plate 32 through the elastic paddle 53, and the movable plate 32 pulls the locking block 31 into the gap. Under the action of the second limiting structure 311, the movable plate 32 cannot continue to move, and the pushing block 52 pushes the elastic paddle 53 to deform. As the telescopic rod 4 continues to retract, the pushing block 52 disengages from the elastic paddle 53, and the locking block 31 locks the fan blade 2.

[0041] Specifically, refer to Figure 6 The first limiting structure 321 is a screw, which is threadedly connected to the movable plate 32. The second limiting structure 311 is a limiting block, which is integrally formed with the locking block 31.

[0042] Reference Figure 6-8 The reset assembly 6 includes a pull rope 61 and a suction block 62. One end of the pull rope 61 is elastically connected to the end of the sleeve 51, and the suction block 62 is fixed to the other end of the pull rope 61. The suction block 62 is detachably adsorbed on the fan blade 2. When the telescopic rod 4 pushes the fan blade 2 flat, the suction block 62 is adsorbed on the fan blade 2. When the telescopic rod 4 retracts, the suction block 62 pulls the fan blade 2 to stand up, and the push block 52 contacts the elastic paddle 53. When the locking block 31 locks the flipping of the fan blade 2, the suction block 62 and the fan blade 2 are disengaged, and the push block 52 and the elastic paddle 53 are separated. The suction block 62 can be a magnet, and accordingly, the fan blade 2 is made of iron material.

[0043] When the telescopic rod 4 pushes the fan blade 2 flat, the suction block attracts the fan blade 2. When the telescopic rod 4 retracts, the pull cord 61 pulls the fan blade 2 to an upright position through the suction block. At this time, the pull cord 61 is taut, the push block 52 and the elastic paddle 53 are in contact, and the locking block 31 has not yet entered the gap. As the telescopic rod 4 continues to retract, because one end of the pull cord 61 is elastically connected to the sleeve 51, the pull cord 61 can still move a certain amount relative to the sleeve 51. When the locking block 31 enters the gap, the suction element and the blade are separated. Due to the high degree of freedom of the pull cord 61, the suction block 62 can attract the fan blade 2 from all directions, ensuring the smooth reset of the fan blade 2.

[0044] For the elastic connection between the drawstring 61 and the sleeve 51, refer to Figure 6-8 A spring 511 is disposed within the sleeve 51, and a baffle 611 is fixed to the end of the pull cord 61 near the telescopic rod 4. One end of the spring 511 abuts the sleeve 51, and the other end abuts the baffle 611. When the pull cord 61 is tightened and the telescopic rod 4 continues to retract, the pull cord 61 drives the baffle 611 to press the spring 511, causing the spring 511 to compress, thereby generating a certain elastic force. While maintaining the pull cord 61's resistance to wind force, it also allows a certain amount of relative displacement between the pull cord 61 and the sleeve 51, resulting in a relatively simple and compact overall structure.

[0045] In other embodiments, the pull rope 61 itself may also be an elastic rope, thereby completing the elastic connection between the pull rope 61 and the sleeve 51.

[0046] Since the fan blades 2 are blown by natural gas, when the telescopic rod 4 is trying to push the fan blades 2, the fan blades 2 may not be able to align with the telescopic rod 4. In order to solve this problem, refer to Figure 6-8 The mover 12 is fixed with an alignment plate 7, which protrudes from the outer wall of the mover 12. The alignment plate 7 is provided with an alignment groove 71 at the position corresponding to the fan blade 2; the sleeve 51 is slidably mounted on the telescopic rod 4, and an anti-slip member 411 is provided between the telescopic rod 4 and the sleeve 51 to prevent the sleeve 51 from falling off the telescopic rod 4. When the fan blade 2 needs to be aligned with the telescopic rod 4, the telescopic rod 4 is extended until the sleeve 51 contacts the alignment plate 7, and the spring 511 is compressed to a certain extent, so that the sleeve 51 can generate a certain elastic force. As the mover 12 rotates, when the alignment groove 71 and the sleeve 51 correspond, the sleeve 51 pops out, and the sleeve 51 extends into the alignment groove 71, and the telescopic rod 4 and the fan blade 2 are aligned. After the sleeve 51 contacts the alignment plate 7, it can also form a certain deceleration on the rotation of the mover 12, and can further ensure that the sleeve 51 extends into the alignment groove 71.

[0047] Further, refer to Figure 6-8 The anti-slip member 411 is a block fixed to the telescopic section 41. A clearance groove 512 is formed on the side wall of the sleeve 51, and the anti-slip block extends out of the clearance groove 512. With the cooperation of the anti-slip block and the clearance groove 512, the sleeve 51 can be extended and retracted relative to the telescopic rod 4. On the other hand, the anti-slip block contacts the side wall of one end of the clearance groove 512, which prevents the sleeve 51 from slipping out.

[0048] Further, refer to Figure 8 In order to reduce the friction between the sleeve 51 and the alignment plate 7 during contact, a spherical protrusion 513 is fixed to one end of the sleeve 51 close to the alignment plate 7, further ensuring that the mover 12 can continue to rotate after the alignment plate 7 and the sleeve 51 are in contact.

[0049] The present application also provides an embodiment of a pipeline robot, referring to Figure 1-4, which includes a main body 8, a power generation device, a power supply 9, a walking component 10 and an ultrasonic sensor 84. The power generation device is arranged at one end of the main body 8, the power supply 9 is fixed to the main body 8, and the power output end of the power generation device is connected to the input end of the power supply 9. The walking component 10 is fixed to the main body 8 and is used to enable the main body 8 to walk in the pipeline. The ultrasonic sensor 84 is fixed to the main body 8 and is used to detect cracks in the pipeline. The pipeline robot does not generate electricity when walking. When the pipeline robot is low on power, the pipeline robot stops walking and the power generation device generates electricity to charge the power supply 9.

[0050] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A power generation device, characterized in that: include: A generator (1) comprises a stator (11) and a mover (12), wherein the stator (11) is mounted on one end of a main body (8), and the mover (12) is rotatably arranged on the stator (11); a plurality of fan blades (2) are arranged at intervals along the circumference of the main body (8), and one end of the fan blades (2) is hinged to the mover (12); a plurality of locking assemblies (3), wherein the plurality of locking assemblies (3) correspond to the plurality of fan blades (2) one by one, and the locking assemblies (3) are connected to the mover (12) and are used to lock the fan blades (2) from turning over; a plurality of telescopic rods (4), wherein the plurality of telescopic rods (4 ...) ) and a plurality of fan blades (2) correspond one to one, a telescopic rod (4) is arranged on the main body (8) so as to be telescopically extended along the axial direction of the main body (8), and an end thereof close to the generator (1) is connected to a switching assembly (5) for switching the locking state of the locking assembly (3), and the switching assembly (5) is connected to a resetting assembly (6) for resetting the flipping of the fan blade (2); when the telescopic rod (4) is extended toward the fan blade (2), the switching assembly (5) releases the locking of the locking assembly (3), and the telescopic rod (4) pushes the fan blade (2) flat; when the telescopic rod (4) is retracted, the resetting assembly (6) is reset. The positioning component (6) first makes the fan blade (2) stand up, and then the switching component (5) makes the locking component (3) lock the flipping of the fan blade (2); two support plates (121) are fixed at intervals at the position of the mover (12) corresponding to the position of the fan blade (2); one end of the fan blade (2) is located between the two support plates (121) and is hinged to the two support plates (121); there is a gap between the fan blade (2) and the outer wall of the mover (12); the inner wall of the support plate (121) is fixedly connected with an abutment block (121) 211), when the fan blade (2) is flipped to the upright state, the fan blade (2) and the abutment block (1211) abut against each other; the locking assembly (3) comprises a locking block (31) and a movable plate (32), the locking block (31) is fixed to the movable plate (32), the movable plate (32) is slidably arranged between the two support plates (121), and the locking block (31) extends into or out of the gap; the switching assembly (5) comprises: a sleeve (51), one end of which is connected to the end of the telescopic rod (4); A push block (52) is fixed to the outer wall of the sleeve (51); an elastic paddle (53) is fixed at one end to the movable plate (32), and the push block (52) and the elastic paddle (53) are in detachable contact; the movable plate (32) is connected to a first limiting structure (321), and when the movable plate (32) pushes the locking block (31) to extend out of the gap, the first limiting structure (321) is used to limit the movement of the movable plate (32); the locking block (31) is connected to a second limiting structure (311), and when the movable plate (32) pulls the locking block (31) to extend into the gap, the second limiting structure (311) is used to limit the movement of the movable plate (32).

2. A power generation device according to claim 1, characterized in that: The reset assembly (6) comprises a pull rope (61) and a suction block (62), one end of the pull rope (61) is elastically connected to the end of the sleeve (51), and the suction block (62) is fixed to the other end of the pull rope (61), and the suction block (62) can be detachably adsorbed on the fan blade (2); When the telescopic rod (4) pushes the fan blade (2) flat, the suction block (62) is adsorbed on the fan blade (2); When the telescopic rod (4) is retracted and the suction block (62) pulls the fan blade (2) to stand up, the push block (52) and the elastic pick (53) come into contact; When the locking block (31) locks the fan blade (2) from turning over, the suction block (62) and the fan blade (2) are separated, and the push block (52) and the elastic pick (53) are separated.

3. A power generation device according to claim 2, characterized in that: A spring (511) is provided in the sleeve (51), and a baffle (611) is fixed to one end of the pull rope (61) close to the telescopic rod (4); One end of the spring (511) abuts against the sleeve (51), and the other end abuts against the baffle (611).

4. A power generation device according to claim 3, characterized in that: The mover (12) is fixed with an alignment plate (7), the alignment plate (7) protrudes from the outer side wall of the mover (12), and the alignment plate (7) is provided with an alignment groove (71) at a position corresponding to the fan blade (2); The sleeve (51) is slidably sleeved on the telescopic rod (4), and an anti-falling piece (411) for preventing the sleeve (51) from falling off the telescopic rod (4) is provided between the telescopic rod (4) and the sleeve (51).

5. A power generation device according to claim 4, characterized in that: The anti-slip component (411) is an anti-slip block, which is fixed to the telescopic rod (4). A side wall of the sleeve (51) is provided with a clearance groove (512), and the anti-slip block extends out of the clearance groove (512).

6. A power generation device according to claim 5, characterized in that: A spherical protrusion (513) is fixed to one end of the sleeve (51) close to the alignment plate (7).

7. A pipeline robot based on the power generation device according to any one of claims 1 to 6, characterized in that: include: A main body (8) and a power generation device, wherein the power generation device is arranged at one end of the main body (8); A power supply (9) is fixed to the main body (8), and the power output end of the power generation device is connected to the input end of the power supply (9); a walking assembly (10), which is fixed to the main body (8) and is used to enable the main body (8) to walk in the pipeline; The ultrasonic sensor (84) is fixed to the main body (8) and is used to detect cracks in the pipeline.

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