A metamorphic ball wheel claw pipeline robot

Abstract

The application belongs to the field of pipeline robots, and particularly relates to a deformed ball wheel claw pipeline robot, which comprises a plurality of walking wheels, a plurality of magnetic adsorption mechanisms and a machine body, a camera, the walking wheels can roll on the outer wall of the pipeline, the walking wheels comprise a shell, a clutch mechanism and a clutch motor, the shell is a spherical body, the shell is combined by four independent curved claws, the clutch motor can drive the clutch mechanism to start, thereby driving the four curved claws to rotate outward and open, and a gap is formed between two adjacent curved claws; the clutch motor can drive the clutch mechanism to restore, thereby driving the four curved claws to fold; one magnetic adsorption mechanism is arranged in each shell, the bottom of the magnetic adsorption mechanism is adsorbed and supported on the inner wall of the shell and is located at the bottom position of the walking wheel. The magnetic adsorption mechanism of the application can adapt to pipelines of various specifications, and the application has strong obstacle crossing ability.

Description

Technical Field

[0001] This invention belongs to the field of pipeline robots, specifically relating to a deformable ball-wheel-claw pipeline robot. Background Technology

[0002] With the advancement of global industrial standards, pipeline transportation has been widely developed and applied across various industries. As a transport medium, pipelines not only possess strong transport capabilities but also offer advantages such as simple structure, safety, reliability, and environmental friendliness. To ensure the structural strength of pipelines, improve safety factors, and prevent dangerous situations, regular inspection and maintenance of the pipeline's outer surface are necessary.

[0003] Currently, pipe-mounted robots mainly fall into two categories: gripping pipe-mounted robots and adsorption pipe-mounted robots. Gripping pipe-mounted robots move by scaling their gripping components, while adsorption pipe-mounted robots use permanent magnets or negative pressure to adhere to the pipe. Pipe materials are generally ferromagnetic, so permanent magnets are often used for adsorption. However, permanent magnet pipe robots still have several problems: First, the magnetic adsorption mechanism of existing permanent magnet pipe robots is located on the robot body, directly contacting the outer wall of the pipe, making them poorly adaptable to changes in pipe wall curvature (i.e., pipes of different diameters); second, permanent magnet pipe robots typically rely on rolling wheels for movement, but wheels are difficult to traverse high obstacles, limiting the robot's mobility. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the poor adaptability of the magnetic adsorption mechanism of the current permanent magnet pipe robot to changes in the curvature of the pipe wall (i.e., pipes of different diameters); and the problem that the wheels of the permanent magnet pipe robot have difficulty crossing high obstacles, which restricts the movement of the pipe robot.

[0005] To address the aforementioned technical problems, this invention provides a deformable spherical wheel-claw pipe robot, comprising several wheels, a body, a camera, and several magnetic adsorption mechanisms. The wheels are mounted below the body, and the camera is mounted on the body. The wheels can be stationary on the pipe and can roll along the outer wall of the pipe. Each wheel includes a shell, a clutch mechanism, and a clutch motor. The shell is spherical and is composed of four independent curved claws. The shell is made of a non-ferromagnetic material. The clutch motor drives the clutch mechanism to start, thereby causing the four curved claws to rotate outward and open, creating gaps between adjacent curved claws. The clutch motor can also drive the clutch mechanism to return to its original position, thereby causing the four curved claws to retract. Each shell contains a magnetic adsorption mechanism, the bottom of which is adsorbed and supported on one of the inner walls of the shell, located at the bottom of the wheel.

[0006] Preferably, the walking wheel further includes a rolling motor and a rotating shaft. The machine body includes a top connecting frame and several support frames. The number of support frames is the same as the number of walking wheels. The top of the support frame is evenly fixed to the bottom edge of the top connecting frame. The support frame is arched. Each support frame surrounds one walking wheel. The rotating shaft passes through and is fixed to the outer shell. The two ends of the rotating shaft are rotatably connected to the two ends of the support frame. The rolling motor is fixed to the top connecting frame. The output shaft of the rolling motor is concentrically fixed to one end of the rotating shaft.

[0007] Preferably, it also includes a steering motor, the end face of which has an output shaft is fixed to the top surface of the top connecting frame, the output shaft of which passes through the top connecting frame and is fixed to the support frame, the machine body also includes a fixing frame, the fixing frame is fixed to the support frame, and the rolling motor is fixed to the fixing frame.

[0008] Preferably, the clutch mechanism includes a cross-shaped gear carrier, several gear sets, and a drive shaft. The cross-shaped gear carrier is located at the center of the housing and includes four branch rods. Each branch rod has a gear set, and the gears in each gear set are rotatably connected to the branch rods. The driving gear is located at the center of the cross-shaped gear carrier. The drive shaft is rotatably connected to the cross-shaped gear carrier and the support frame at two points, respectively. The clutch motor is fixed to the support frame. The output shaft of the clutch motor is fixed to one end of the drive shaft, and the other end of the drive shaft is fixed to the driving gear. The gears in the gear sets mesh with each other sequentially. The first gear in each gear set meshes with the driving gear, and the last gear in each gear set is also fixed to the curved claw.

[0009] Preferably, the machine body further includes a mounting bracket, which is fixed on the support frame, and the clutch motor is fixed on the mounting bracket.

[0010] Preferably, the magnetic adsorption mechanism includes two magnetic feet, the tops of which are rotatably connected to the cross-shaped gear frame. The two magnetic feet are arranged in a figure-eight shape with the center line of the rotation axis as the axis of symmetry. The bottoms of the two magnetic feet are adsorbed and supported on the inner wall of the outer shell.

[0011] Preferably, the magnetic foot support includes an upper bracket, a connecting shaft, a lower bracket, and a magnetic adsorption part. The two ends of the connecting shaft are respectively connected to the upper bracket and the lower bracket. The lower bracket includes a plurality of receiving slots and a cover plate disposed on one of its sides. The magnetic adsorption part includes a plurality of magnetic blocks. Each receiving slot can hold one magnetic block. The cover plate is fixed on the side of the lower bracket where the receiving slots are located.

[0012] Preferably, the rotating shaft is divided into a first segment and a second segment. The two ends of the first segment are rotatably connected to one end of the support frame and one side of the cross-shaped gear frame, respectively, and the two ends of the second segment are rotatably connected to the other side of the cross-shaped gear frame and the other end of the support frame, respectively.

[0013] Preferably, the second segment is a hollow tube structure, and the drive shaft is concentrically inserted into the interior of the second segment.

[0014] The technical solution of this invention has the following beneficial effects:

[0015] The present invention includes a traveling wheel, which includes a hollow spherical shell. A magnetic adsorption mechanism is disposed inside the shell. The magnetic adsorption mechanism moves as the traveling wheel moves. The magnetic adsorption mechanism can still adsorb the pipe through the shell without directly contacting the pipe wall. This avoids the problem that the magnetic adsorption mechanism needs to adapt to the curvature of the pipe wall, so that the magnetic adsorption mechanism of the present invention can adapt to pipes of all diameter specifications.

[0016] When the traveling wheel of this invention approaches a protruding obstacle, the clutch motor drives the clutch mechanism to activate, causing the four curved claws to rotate outward and open into a claw shape. A gap appears between adjacent curved claws, and one edge of the curved claw above the obstacle can rest against the obstacle, providing support and increasing friction as the traveling wheel rolls. This allows the traveling wheel to easily overcome the obstacle. After the traveling wheel has overcome the obstacle, the four curved claws retract, driven by the clutch motor and clutch mechanism, and the outer surface of the traveling wheel returns to a smooth sphere for easy rolling. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a first-view overall appearance diagram provided for an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the overall appearance from a second perspective, provided as an embodiment of the present invention.

[0020] Figure 3 A perspective sectional view of a single walking wheel provided in an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the appearance of a single walking wheel provided in an embodiment of the present invention;

[0022] Figure 5 A schematic diagram of a single curved surface claw mounted on a clutch mechanism, provided in an embodiment of the present invention;

[0023] Figure 6 A schematic diagram of a single curved surface claw provided in an embodiment of the present invention;

[0024] Figure 7 This is a schematic diagram showing the connection of the connecting shaft, magnetic adsorption mechanism, and clutch mechanism provided in an embodiment of the present invention;

[0025] Figure 8 A schematic diagram of a single magnetic foot support provided in an embodiment of the present invention;

[0026] Figure 9 This is an exploded view of a single magnetic foot support provided in an embodiment of the present invention;

[0027] Figure 10 This is a schematic diagram of the walking wheel about to overcome an obstacle, provided in an embodiment of the present invention.

[0028] Figure 11 This is a schematic diagram of the walking wheels rotating and opening to overcome an obstacle, as provided in an embodiment of the present invention.

[0029] Explanation of reference numerals in the attached drawings: 1. Walking wheel; 11. Housing; 111. Curved claw; 12. Clutch mechanism; 121. Cross-shaped gear frame; 122. Gear set; 123. Drive shaft; 13. Clutch motor; 14. Rolling motor; 15. Rotating shaft; 151. First section; 152. Second section; 21. Top connecting frame; 22. Support frame; 23. Fixing frame; 24. Mounting frame; 31. Magnetic foot support; 311. Upper bracket; 312. Connecting shaft; 313. Lower bracket; 313a. Receiving groove; 314. Magnetic adsorption part; 314a. Magnetic block; 4. Steering motor. Detailed Implementation

[0030] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0031] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0034] This invention provides a deformable spherical wheel claw pipe robot, comprising several walking wheels 1, a body, a camera, and a magnetic adsorption mechanism. The walking wheels 1 are installed below the body, and the camera is installed on the body. The walking wheels 1 can be adsorbed and fixed on the pipe and can roll along the outer wall of the pipe. The walking wheel 1 includes a shell 11, a clutch mechanism 12, and a clutch motor 13. The shell 11 is spherical and is composed of four independent curved claws 111. The shell 11 is made of non-ferromagnetic material. The clutch motor 13 can drive the clutch mechanism 12 to start, thereby causing the four curved claws 111 to rotate outward and open, creating gaps between adjacent curved claws 111. The clutch motor 13 can drive the clutch mechanism 12 to return to its original position, thereby causing the four curved claws 111 to close. Each shell 11 is provided with a magnetic adsorption mechanism. The bottom of the magnetic adsorption mechanism is adsorbed and supported on the inner wall of the shell 11 and is located at the bottom of the walking wheel 1.

[0035] This invention is primarily used for pipeline inspection and repair. Because the walking wheels 1 can roll, the pipeline robot can move along the outer wall of the pipeline, detecting damage or performing repairs on damaged areas. Furthermore, the walking wheels 1 are equipped with a magnetic adsorption mechanism, ensuring the entire pipeline robot can adhere to the outer wall of the pipeline, preventing it from falling off due to gravity. The rolling force of the walking wheels 1 overcomes the adsorption force of the magnetic adsorption mechanism, preventing the magnetic adsorption mechanism from interfering with the rolling of the walking wheels 1. A camera is used to capture images of the pipeline's outer wall appearance. The camera transmits these images to a control center, which then determines whether any damage is present.

[0036] The traveling wheel 1 of this invention has a strong obstacle-crossing ability. When the traveling wheel 1 approaches a protruding obstacle, the clutch motor 13 drives the clutch mechanism 12 to start, thereby causing the four curved claws 111 to rotate outward and open into a claw shape. A gap appears between two adjacent curved claws 111, and one edge of the curved claw 111 located above the obstacle can press against the obstacle. This provides support for the traveling wheel 1 as it rolls, increasing friction, allowing the traveling wheel 1 to easily cross the obstacle. After the traveling wheel 1 has crossed the obstacle, the four curved claws 111 are driven to retract by the clutch motor 13 and the clutch mechanism 12, and the exterior of the traveling wheel 1 returns to a smooth sphere, facilitating rolling.

[0037] The rolling structure of the walking wheel 1 is specifically configured as follows: The walking wheel 1 also includes a rolling motor 14 and a rotating shaft 15. The body includes a top connecting frame 21 and several support frames 22. The number of support frames 22 is the same as the number of walking wheels 1. The top of the support frames 22 is evenly fixed to the bottom edge of the top connecting frame 21. The support frames 22 are arched in shape, and each support frame 22 surrounds one walking wheel 1. The rotating shaft 15 passes through and is fixed to the outer shell 11, and the two ends of the rotating shaft 15 are rotatably connected to the two ends of the support frame 22. The rolling motor 14 is fixed to the top connecting frame 21, and the output shaft of the rolling motor 14 is concentrically fixed to one end of the rotating shaft 15. The main function of the support frame 22 is to support the rotating shaft 15, and the function of the rolling motor 14 is to drive the rotating shaft 15 to rotate. The walking wheel 1 is sleeved and fixed on the rotating shaft 15. When the rotating shaft 15 rotates, it drives the entire walking wheel 1 to roll around its own horizontal central axis. This is why the walking wheel 1 can drive the entire pipeline robot to walk on the pipeline.

[0038] To enable the pipeline robot to turn and move circumferentially and axially along the pipeline, achieving omnidirectional movement, this invention also includes a steering motor 4. The end face of the steering motor 4 with an output shaft is fixed to the top surface of the top connecting frame 21. The output shaft of the steering motor 4 passes through the top connecting frame 21 and is fixed to the support frame 22. The robot body also includes a fixed frame 23, which is fixed to the support frame 22. A rolling motor 14 is fixed to the fixed frame 23. When the pipeline robot needs to turn, the steering motor 4 is activated, causing the support frame 22, the fixed frame 23, and the rolling motor 14 to rotate as a whole around the vertical central axis of the walking wheel 1, thereby achieving steering of the walking wheel 1.

[0039] Specifically, the clutch mechanism 12 of the present invention includes a cross-shaped gear carrier 121, several gear sets 122, and a drive shaft 123. The cross-shaped gear carrier 121 is located at the center of the housing 11 and includes four branch rods. Each branch rod is provided with a gear set 122. The gears on each gear set 122 are rotatably connected to the branch rods. The driving gear 124 is located at the center of the cross-shaped gear carrier 121. The two ends of the drive shaft 123 are rotatably connected to the cross-shaped gear carrier 121 and the support frame 22, respectively. The clutch motor 13 is fixed on the support frame 22. The output shaft of the clutch motor 13 is fixed to one end of the drive shaft 123, and the other end of the drive shaft 123 is fixed to the driving gear 124. The gears in the gear sets 122 mesh with each other in sequence. The first gear of the gear set 122 meshes with the driving gear 124, and the last gear of the gear set 122 is also fixed to the curved claw 111. When the clutch motor 13 starts, it drives the drive shaft 123 to rotate, which in turn drives the drive gear 124 to rotate. When the drive gear 124 rotates, it drives the gear sets 122 on the four branch rods to start rotating. Finally, the last gear of each gear set 122 drives a curved claw 111 to rotate, and the outer shell 11 opens, becoming a claw shape. When the clutch motor 13 rotates in the opposite direction to when it starts, the curved claw 111 closes, and the outer shell 11 becomes a round hollow sphere again.

[0040] To allow the traveling wheel 1 to rotate along its vertical central axis, the machine body of this invention also includes a mounting frame 24, which is fixed to the support frame 22, and the clutch motor 13 is fixed to the mounting frame 24. In this way, the fixing of the clutch motor 13 will not interfere with the rotation of the support frame 22 along the vertical central axis of the traveling wheel 1.

[0041] Specifically, the magnetic adsorption mechanism includes two magnetic supports 31. The tops of both magnetic supports 31 are rotatably connected to a cross-shaped gear frame 121. The two magnetic supports 31 are arranged in a figure-eight shape with the center line of the rotation axis 15 as the axis of symmetry. The bottoms of the two magnetic supports 31 are adsorbed and supported on the inner wall of the outer shell 11. The bottoms of the magnetic supports 31 are magnetic, and since the outer shell 11 is made of a non-ferromagnetic material, the magnetism of the bottoms of the magnetic supports 31 can be transmitted through the outer shell 11. Since the pipes are made of metal, the pipe robot can adhere to the pipes by relying on the bottoms of the magnetic supports 31. Since the curved claw 111 sometimes needs to rotate and open, this reduces the space in the outer shell 11 that originally accommodated the magnetic foot support 31, causing interference between the two. The curved claw 111 cannot rotate and open. However, when the magnetic foot support 31 is rotatably connected to the cross-shaped gear frame 121, the curved claw 111 will also rotate when it rotates and opens, thus preventing interference between the two. On the other hand, when the walking wheel 1 crosses an obstacle, the magnetic foot support 31 rotates to a higher position and is further away from the outer wall of the pipe, resulting in a smaller magnetic attraction force on the outer wall of the pipe, which is beneficial for overcoming obstacles.

[0042] Specifically, the magnetic foot support 31 includes an upper bracket 311, a connecting shaft 312, a lower bracket 313, and a magnetic adsorption part 314. The connecting shaft 312 is connected to the upper bracket 311 and the lower bracket 313 at both ends. The lower bracket 313 includes several receiving slots 313a and a cover plate 313b on one side. The magnetic adsorption part 314 includes several magnetic blocks 314a, and one magnetic block 314a can be placed in each receiving slot 313a. The cover plate 313b is fixed to the side of the lower bracket 313 with the receiving slots 313a, thereby fixing the magnetic blocks 314a in the receiving slots 313a. The function of the upper bracket 311 is to rotatably connect the magnetic foot support 31 to the cross-shaped gear frame 121, while the function of the connecting shaft 312 is to connect the upper bracket 311 and the lower bracket 313. The main function of the lower bracket 313 is to accommodate and fix the magnetic adsorption part 314.

[0043] To avoid interference between the rotating shaft 15 and the drive gear 124, the rotating shaft 15 is divided into a first segment 151 and a second segment 152. The first segment 151 and the second segment 152 are respectively located on both sides of the drive gear 124, that is, on both sides of the cross-shaped gear carrier 121. The two ends of the first segment 151 are rotatably connected to one end of the support frame 22 and one side of the cross-shaped gear carrier 121, respectively. The two ends of the second segment 152 are rotatably connected to the other side of the cross-shaped gear carrier 121 and the other end of the support frame 22, respectively. The rolling motor 14 first drives the first segment 151 to rotate, and the rotation of the first segment 151 drives the cross-shaped gear carrier 121 to rotate. Since the outer casing 11 is connected to the cross-shaped gear carrier 121, the cross-shaped gear carrier then transmits the rotational force to the outer casing 11 and the second segment 152.

[0044] To avoid interference between the mounting positions of the second section 152 and the drive shaft 123, the second section 152 is a hollow tube structure, and the drive shaft 123 is concentrically inserted into the interior of the second section 152.

[0045] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A deformable ball-wheel-claw pipe robot, comprising a plurality of walking wheels (1), a body, and a camera, wherein the walking wheels (1) are mounted below the body, the camera is mounted on the body, the walking wheels (1) can be stationarily fixed on a pipe, and the walking wheels (1) can roll along the outer wall of the pipe, characterized in that, It also includes several magnetic adsorption mechanisms. The walking wheel (1) includes a shell (11), a clutch mechanism (12) and a clutch motor (13). The shell (11) is a sphere. The shell (11) is assembled from four independent curved claws (111). The shell (11) is made of non-ferromagnetic material. The clutch motor (13) can drive the clutch mechanism (12) to start, thereby causing the four curved claws (111) to rotate outward and open, and a gap appears between two adjacent curved claws (111). The clutch motor (13) can drive the clutch mechanism (12) to return to its original position, thereby causing the four curved claws (111) to close. Each shell (11) is provided with a magnetic adsorption mechanism. The bottom of the magnetic adsorption mechanism is adsorbed and supported on the inner wall of the shell (11) and is located at the bottom of the walking wheel (1). The magnetic adsorption mechanism includes two magnetic feet (31), the tops of which are rotatably connected to a cross-shaped gear frame (121). The walking wheel (1) also includes a rolling motor (14) and a rotating shaft (15). The two magnetic feet (31) are symmetrical about the center line of the rotating shaft (15) and form a figure-eight structure. The bottoms of the two magnetic feet (31) are adsorbed and supported on the inner wall of the outer shell (11). The magnetic foot support (31) includes an upper bracket (311), a connecting shaft (312), a lower bracket (313), and a magnetic adsorption part (314). The two ends of the connecting shaft (312) are respectively connected to the upper bracket (311) and the lower bracket (313). The lower bracket (313) includes a plurality of receiving slots (313a) and a cover plate (313b) provided on one of its sides. The magnetic adsorption part (314) includes a plurality of magnetic blocks (314a). Each receiving slot (313a) can hold one magnetic block (314a). The cover plate (313b) is fixed on the side of the lower bracket (313) where the receiving slots (313a) are located.

2. The deformable ball-wheel gripper pipe robot according to claim 1, characterized in that, The body includes a top connecting frame (21) and several support frames (22). The number of support frames (22) is the same as the number of walking wheels (1). The top of the support frame (22) is evenly fixed to the bottom edge of the top connecting frame (21). The support frame (22) is arched. Each support frame (22) surrounds one walking wheel (1). The rotating shaft (15) passes through and is fixed on the outer shell (11). The two ends of the rotating shaft (15) are rotatably connected to the two ends of the support frame (22). The rolling motor (14) is fixed on the top connecting frame (21). The output shaft of the rolling motor (14) is concentrically fixed with one end of the rotating shaft (15).

3. The deformable ball-wheel gripper pipe robot according to claim 2, characterized in that, It also includes a steering motor (4), the end face of which has an output shaft is fixed to the top surface of the top connecting frame (21). The output shaft of the steering motor (4) passes through the top connecting frame (21) and is fixed to the support frame (22). The machine body also includes a fixing frame (23), which is fixed to the support frame (22). The rolling motor (14) is fixed to the fixing frame (23).

4. The deformable ball-wheel gripper pipe robot according to claim 3, characterized in that, The clutch mechanism (12) includes a cross-shaped gear carrier (121), several gear sets (122), a drive shaft (123), and a driving gear (124). The cross-shaped gear carrier (121) is located at the center of the housing (11) and includes four branch rods. Each branch rod has a gear set (122), and the gears on each gear set (122) are rotatably connected to the branch rod. The driving gear (124) is located at the center of the cross-shaped gear carrier (121). The drive shaft (123) is rotatably connected to the drive shaft at two points. On the cross-shaped gear carrier (121) and the support frame (22), the clutch motor (13) is fixed on the support frame (22), the output shaft of the clutch motor (13) is fixed to one end of the drive shaft (123), the other end of the drive shaft (123) is fixed to the drive gear (124), the gears in the gear set (122) mesh with each other in sequence, the first gear of the gear set (122) meshes with the drive gear (124), and the last gear of the gear set (122) is also fixed to the curved claw (111).

5. A deformable ball-wheel gripper pipe robot according to claim 4, characterized in that, The body also includes a mounting bracket (24), which is fixed on the support frame (22), and the clutch motor (13) is fixed on the mounting bracket (24).

6. A deformable ball-wheel gripper pipe robot according to claim 4, characterized in that, The rotating shaft (15) is divided into a first section (151) and a second section (152). The two ends of the first section (151) are rotatably connected to one end of the support frame (22) and one side of the cross-shaped gear frame (121), respectively. The two ends of the second section (152) are rotatably connected to the other side of the cross-shaped gear frame (121) and the other end of the support frame (22), respectively.

7. A deformable ball-wheel gripper pipe robot according to claim 6, characterized in that, The second segment (152) is a hollow tube structure, and the drive shaft (123) is concentrically inserted into the interior of the second segment (152).

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