Adjustable radial size pipe robot and method of use

Abstract

The application discloses a pipeline robot capable of adjusting radial size and a use method, relates to the technical field of pipeline robots, and comprises a spring telescopic module, a variable-diameter driving module, a crawler belt driving module and a data acquisition module; the spring telescopic module is used for crossing local obstacles without variable-diameter when passing through uneven road sections. Through the arrangement of the data acquisition module and various sensors, the robot itself data and the pipeline internal data can be acquired in real time, including temperature, positioning, images, pipeline diameter and foreign matter distance; according to the acquired data, the processor module sends instructions to the PLC controller, the control execution mechanism works, the first servo motor drives the screw thread rod to rotate through the coupling, the position of the screw nut is adjusted, and through the arrangement of the fixed sliding block, the driving connecting rod, the side plate and the follow-up connecting rod, the automatic variable-diameter can be realized, and the stability of the robot moving in different diameter pipelines is improved.

Description

Technical Field

[0001] This invention relates to the field of pipeline robot technology, specifically to a pipeline robot with adjustable radial size and its usage method. Background Technology

[0002] There are many types of locomotion for pipeline robots, including wheeled, tracked, legged, spiral, tensioned, fluid-driven, and peristaltic. Wheeled pipeline robots suffer from unstable movement, a tendency to tilt, limited obstacle-crossing ability, low traction force, and difficulty in miniaturization. Legged pipeline robots are slow, inefficient, difficult to turn, and have complex control systems. Spiral pipeline robots are commonly used in pipes with small diameters, but they have low thrust and low efficiency. Tensioned pipeline robots require a circular transition when passing through bends, otherwise they cannot pass, and they are only suitable for a small range of pipe diameters. Fluid-driven pipeline robots are difficult to control in terms of speed and direction. Peristaltic pipeline robots rely on deformation of biomimetic flexible bodies to move, but they suffer from difficulty in turning, low speed and efficiency, and low overall traction force. Tracked pipeline robots are characterized by high traction, high obstacle-crossing ability, good grip, and strong adaptability to pipeline environments. Under the same conditions, tracked pipeline robots have the highest obstacle-crossing ability among all modes of movement. Tracked locomotion is widely used in military products, engineering equipment, and agricultural machinery due to its advantages such as good adhesion, non-slip properties, and good off-road performance. However, compared with other locomotion methods, tracked locomotion has a relatively complex structure and is more difficult to turn.

[0003] The shortcomings of existing pipeline robots are: 1. Patent document US20140156067A1 discloses a robot for inspecting pipes. However, the robot in the above document cannot automatically adjust the diameter according to the actual changes in the pipe when inspecting it, which leads to technical problems of instability when the robot moves. 2. Patent document US09289804B2 discloses a pipeline cleaning robot, but the above document has a technical problem of low throughput when there are obstacles in the pipeline. 3. Patent document CN115447685A discloses a tracked variable diameter pipe robot. However, due to structural limitations, the robot in the above document can only adapt to pipes with an inner diameter of about 200mm and cannot pass through smaller pipes. 4. Patent document CN115138650B discloses a pipeline robot. However, the robot in the above document does not adopt a modular design and cannot complete the docking of multiple robots. Therefore, it cannot adjust the structure design according to the usage scenario, resulting in poor adaptability and reduced work efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a pipe robot with adjustable radial size and a method of using it, so as to solve the technical problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an adjustable radial pipe robot, comprising a spring telescopic module, a diameter-changing drive module, a track drive module, and a data acquisition module. The spring telescopic module is used to overcome local obstacles on uneven road sections without changing the diameter. The diameter-changing drive module is used to realize the diameter-changing function, enabling the track drive module to extend and retract to fit tightly against the inner wall of the pipe. The track drive module is used for the robot's forward and backward movement. The data acquisition module is used to acquire data of the pipeline robot itself and data inside the pipeline through sensors. The data of the robot itself includes temperature and positioning, and the data of the pipeline interior includes image data, pipeline diameter data and distance data of foreign objects. The data acquisition module transmits the acquired data to the processor module through a line. The processor module sends instructions to the PLC controller according to the acquired data. The PLC controller controls the actuator to work according to the received instructions. The actuator includes a variable diameter drive module, a track drive module and a connection module. The connection module is used to connect two single-section pipeline robots to each other to form a multi-section pipeline robot. The variable diameter drive module includes a bracket. A motor mounting plate is installed at the tail end of the inner wall of the bracket. A first servo motor is installed on the inner wall of the motor mounting plate. A threaded screw is installed at the output end of the first servo motor via a coupling. A screw support side is movably connected to the front end of the outer wall of the threaded screw. A screw fixing side is movably connected to the tail end of the outer wall of the threaded screw. One end of both the screw support side and the screw fixing side is installed on the inner wall of the bracket. A screw nut is threadedly connected to the outer wall of the threaded screw. A fixed slider is installed on the outer wall of the screw nut. Both ends of the fixed slider are connected to drive connecting rods via rotating shafts. Both ends of the drive connecting rods are connected to side plates via rotating shafts. A follower connecting rod is installed at the front end of one side of each side plate via a rotating shaft. The other end of the follower connecting rod is installed on the outer wall of the bracket via a rotating shaft.

[0006] Preferably, the sensor includes a temperature sensor, a positioning sensor, a vision sensor, an ultrasonic distance sensor, and a laser rangefinder.

[0007] Preferably, the spring telescopic module includes a spring mechanism frame, and a set of pressure springs are installed on the inner wall of the spring mechanism frame, with a wheel installed at one end of each pressure spring.

[0008] Preferably, the track drive module includes a side plate, a second servo motor is installed on one side of the side plate, a worm gear is installed at the output end of the second servo motor, a worm wheel is meshed on the outer wall of the worm gear, a track wheel is installed at one end of the worm wheel through a connecting rod, and the track wheels are respectively installed at the front end and the rear end of the inner wall of the side plate, and a track body is installed on the outer wall of the track wheel.

[0009] Preferably, the connection module includes a first connection plate and a second connection plate, wherein the first connection plate is bolted to one end of the bracket and the second connection plate is bolted to the other end of the bracket.

[0010] Preferably, a third servo motor is fitted onto one end of the first connecting plate, a rotating disk is mounted on the output end of the third servo motor, a set of mounting plates is mounted on one end of the rotating disk, and an electric telescopic cylinder is mounted on one end of the mounting plates.

[0011] Preferably, a fixing block is installed at one end of the second connecting plate, and a through hole is opened in the middle of one side of the fixing block, and the inner wall of the through hole is movably connected to the outer wall of the output end of the electric telescopic cylinder.

[0012] Preferably, the working steps of the pipe robot with adjustable radial size are as follows: S1. Through the data acquisition module and the settings of various sensors, it is possible to acquire real-time data of the robot itself and the inside of the pipe, including temperature, positioning, images, pipe diameter and distance to foreign objects; S2. Based on the acquired data, the processor module sends instructions to the PLC controller to control the actuator to work. The first servo motor is controlled to drive the threaded screw to rotate through the coupling, thereby adjusting the position of the screw nut. Through the setting of fixed slider, drive link, side plate and follower link, automatic diameter change can be performed. S3. By setting up the outer frame of the spring mechanism, the pressure spring and the wheels, when the robot passes through uneven road sections, the problem of pipe jamming by the pipe robot can be solved by using the pressure spring telescopic structure. Thus, when encountering local obstacles in the pipe, it can overcome the local obstacles without changing the diameter. S4. By adopting a worm gear and worm shaft structure, the problem of the large space occupied by the direct drive of the second servo motor can be effectively solved, thereby reducing the size of the robot and enabling it to pass through pipes with an inner diameter of 100mm to 125mm, thereby improving the robot's mobility in confined spaces. S5. The first connecting plate and the second connecting plate are respectively installed on both ends of the bracket by bolts. This detachable design not only facilitates installation and maintenance, but also allows the position and angle of the connecting module to be adjusted according to actual needs. The rotating disk is driven by the third servo motor to rotate, thereby driving the mounting plate and the electric telescopic cylinder to adjust the angle. S6. Each robot segment is independent, so modular design can better adapt to relevant usage scenarios, and different modules or sensors can be added to each robot segment to improve working accuracy and efficiency.

[0013] Preferably, step S5 further includes the following steps: S51. Furthermore, when a single section of the pipe robot detaches from the pipe and is difficult to remove, the current angle information of the fixed block is collected, and the angle of the electric telescopic cylinder is adjusted by the third servo motor to ensure that the two robots can approach each other in the best posture and complete the docking, thereby improving work efficiency.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention, through the setup of a data acquisition module and various sensors, can acquire real-time data of the robot itself and the internal data of the pipeline, including temperature, positioning, images, pipeline diameter, and distance to foreign objects. Based on the acquired data, the processor module sends instructions to the PLC controller to control the actuator to work. The first servo motor is controlled to drive the threaded screw to rotate through the coupling, thereby adjusting the position of the screw nut. Furthermore, through the setup of a fixed slider, drive linkage, side plate, and follower linkage, automated diameter change can be achieved, improving the stability of the robot moving in pipelines of different diameters. 2. By using a spring mechanism frame, pressure springs, and wheels, this invention solves the problem of pipe jamming when the robot traverses uneven terrain by employing a pressure spring telescopic structure. This allows the robot to overcome local obstacles in the pipe without changing its diameter, thus improving its throughput efficiency. 3. By adopting a worm gear and worm shaft structure, this invention can effectively solve the problem of the large space occupied by the direct drive of the second servo motor, thereby achieving the effect of reducing the size of the robot and enabling it to pass through pipes with an inner diameter of 100mm to 125mm, thus improving the robot's mobility in confined spaces. 4. This invention uses bolts to install the first and second connecting plates onto the two ends of the bracket, respectively. This detachable design not only facilitates installation and maintenance but also allows for adjustment of the position and angle of the connecting modules according to actual needs. The rotating disk is driven by a third servo motor, which in turn drives the mounting plate and the electric telescopic cylinder to adjust their angles. This enables the collection of the current angle information of the fixing block when a single section of the pipe robot detaches and is difficult to remove. The angle of the electric telescopic cylinder is then adjusted by the third servo motor to ensure that the two robots can approach each other in the best posture and complete docking. Each section of the robot is independent and adopts a modular design, allowing for suitable combinations to be used in different scenarios, thereby improving work efficiency. Attached Figure Description

[0015] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the spring telescopic module structure of the present invention; Figure 3 This is a schematic diagram of the track drive module structure of the present invention; Figure 4 This is a schematic diagram of the variable diameter drive module structure of the present invention; Figure 5 This is a schematic diagram of the connection module structure of the present invention; Figure 6 This is a schematic diagram of the rotating disk structure of the present invention; Figure 7 This is a schematic diagram of the system flow of the present invention; Figure 8 This is a schematic diagram of the workflow of the present invention.

[0016] In the diagram: 1. Wheel; 2. Spring mechanism outer frame; 3. Compression spring; 4. Lead screw support side; 5. Threaded lead screw; 6. Lead screw nut; 7. Lead screw fixing side; 8. Motor fixing plate; 9. First servo motor; 10. Worm gear; 11. Worm; 12. Track body; 13. Track wheel; 14. Side plate; 15. Follower link; 16. Drive link; 17. Fixed slider; 18. Data acquisition module; 19. Bracket; 20. Processor module; 21. PLC controller; 22. Actuator; 23. Connection module; 24. Temperature sensor; 25. Positioning sensor; 26. Vision sensor; 27. Ultrasonic distance sensor; 28. Laser rangefinder sensor; 29. ​​Second servo motor; 30. Second connecting plate; 31. Third servo motor; 32. Rotary disk; 33. Mounting plate; 34. Electric telescopic cylinder; 35. Fixing block; 36. Through hole; 37. First connecting plate. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," 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 this invention and for simplifying the description, and do not indicate or imply that the device or element 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 this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0020] Example 1: Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 7 The present invention provides an embodiment of a pipe robot with adjustable radial size, including a spring telescopic module, a diameter-changing drive module, a track drive module and a data acquisition module 18. The spring telescopic module is used to overcome local obstacles without changing the diameter on uneven road sections. The diameter-changing drive module is used to realize the diameter-changing function, so that the track drive module can extend and retract to fit closely to the inner wall of the pipe. The track drive module is used for the robot's forward and backward movement. The data acquisition module 18 is used to acquire data of the pipeline robot itself and data inside the pipeline through sensors. The data of the robot itself includes temperature and positioning, and the data inside the pipeline includes image data, pipeline diameter data and distance data of foreign objects. The data acquisition module 18 transmits the acquired data to the processor module 20 through the line. The processor module 20 sends instructions to the PLC controller 21 according to the acquired data. The PLC controller 21 controls the actuator 22 to work according to the received instructions. The actuator 22 includes a variable diameter drive module, a track drive module and a connection module 23. The connection module 23 is used to connect two single pipeline robots to each other to form a multi-section pipeline robot. The variable diameter drive module includes a bracket 19. A motor fixing plate 8 is installed at the tail end of the inner wall of the bracket 19. A first servo motor 9 is installed on the inner wall of the motor fixing plate 8. A threaded screw 5 is installed at the output end of the first servo motor 9 through a coupling. A screw support side 4 is movably connected to the front end of the outer wall of the threaded screw 5. A screw fixing side 7 is movably connected to the tail end of the outer wall of the threaded screw 5. One end of both the screw support side 4 and the screw fixing side 7 is installed on the inner wall of the bracket 19. A screw nut 6 is threadedly connected to the outer wall of the threaded screw 5. A fixed slider 17 is installed on the outer wall of the screw nut 6. Both ends of the fixed slider 17 are connected to drive connecting rods 16 through rotating shafts. Both ends of the drive connecting rods 16 are connected to side plates 14 through rotating shafts. A follower connecting rod 15 is installed at the front end of one side of the side plate 14 through a rotating shaft. The other end of the follower connecting rod 15 is installed on the outer wall of the bracket 19 through a rotating shaft. The sensors include a temperature sensor 24, a positioning sensor 25, a vision sensor 26, an ultrasonic distance sensor 27, and a laser rangefinder 28; Furthermore, through the data acquisition module 18 and the settings of various sensors, the robot's own data and the internal data of the pipe can be acquired in real time, including temperature, positioning, image, pipe diameter and distance to foreign objects. Based on the acquired data, the processor module 20 sends instructions to the PLC controller 21 to control the actuator 22 to work. The first servo motor 9 is controlled to drive the threaded screw 5 to rotate through the coupling, thereby adjusting the position of the screw nut 6. Through the setting of the fixed slider 17, drive link 16, side plate 14 and follower link 15, automatic diameter change can be performed, improving the stability of the robot moving in pipes of different diameters. Furthermore, each robot segment is independent, so modular design allows for better adaptation to relevant usage scenarios. Different modules or sensors can be added to each robot segment to improve work accuracy and efficiency.

[0021] Example 2: Please refer to Figure 2 An embodiment of the present invention provides: the spring telescopic module includes a spring mechanism outer frame 2, a set of pressure springs 3 are installed on the inner wall of the spring mechanism outer frame 2, and a wheel 1 is installed on one end of the pressure spring 3; Furthermore, by setting up the outer frame 2 of the spring mechanism, the pressure spring 3 and the wheel 1, when the robot passes through uneven road sections, the problem of the pipeline robot getting stuck in the pipe can be solved by using the telescopic structure of the pressure spring 3. Thus, when encountering local obstacles in the pipeline, the robot can overcome the local obstacles without changing the diameter, thereby improving the robot's passage efficiency.

[0022] Example 3: Please refer to Figure 3An embodiment of the present invention provides: the track drive module includes a side plate 14, a second servo motor 29 is installed on one side of the side plate 14, a worm gear 11 is installed at the output end of the second servo motor 29, a worm wheel 10 is meshed on the outer wall of the worm gear 11, a track wheel 13 is installed at one end of the worm wheel 10 through a connecting rod, and the track wheel 13 is respectively installed at the front end and the rear end of the inner wall of the side plate 14, and a track body 12 is installed on the outer wall of the track wheel 13; Furthermore, by adopting the structural configuration of worm gear 10 and worm 11, the problem of the large space occupied by the direct drive of the second servo motor 29 can be effectively solved, thereby achieving the effect of reducing the size of the robot and enabling it to pass through pipes with an inner diameter of 100mm to 125mm, thereby improving the robot's mobility in confined spaces.

[0023] Example 4: Please refer to Figure 5 and Figure 6 In one embodiment of the present invention, the connecting module 23 includes a first connecting plate 37 and a second connecting plate 30, wherein the first connecting plate 37 is bolted to one end of the bracket 19 and the second connecting plate 30 is bolted to the other end of the bracket 19. A third servo motor 31 is fitted onto one end of the first connecting plate 37. A rotating disk 32 is installed at the output end of the third servo motor 31. A set of mounting plates 33 is installed at one end of the rotating disk 32. An electric telescopic cylinder 34 is installed at one end of the mounting plate 33. A fixing block 35 is installed at one end of the second connecting plate 30. A through hole 36 is opened in the middle of one side of the fixing block 35, and the inner wall of the through hole 36 is movably connected to the outer wall of the output end of the electric telescopic cylinder 34. Furthermore, the first connecting plate 37 and the second connecting plate 30 are respectively installed on both ends of the bracket 19 by bolts. This detachable design not only facilitates installation and maintenance, but also allows the position and angle of the connecting module 23 to be adjusted according to actual needs. The rotating disk 32 is driven to rotate by the third servo motor 31, which in turn drives the mounting plate 33 and the electric telescopic cylinder 34 to adjust their angles. This allows the current angle information of the fixing block 35 to be collected when a single section of the pipe robot falls off and is difficult to remove. The angle of the electric telescopic cylinder 34 is adjusted by the third servo motor 31 to ensure that the two robots can approach each other in the best posture and complete the docking. Each section of the robot is independent and adopts a modular design, which can be appropriately matched to the corresponding usage scenarios, thereby improving work efficiency.

[0024] Example 5: Please refer to Figure 8 The present invention provides an embodiment of the pipeline robot with adjustable radial size, whose working steps are as follows: S1. Through the data acquisition module 18 and the settings of each sensor, the robot's own data and the data inside the pipe can be acquired in real time, including temperature, positioning, image, pipe diameter and distance to foreign objects. S2. Based on the acquired data, the processor module 20 sends instructions to the PLC controller 21 to control the actuator 22 to work. The first servo motor 9 drives the threaded screw 5 to rotate through the coupling, thereby adjusting the position of the screw nut 6. Through the setting of the fixed slider 17, the drive link 16, the side plate 14 and the follower link 15, the diameter can be automatically changed. S3. By setting up the outer frame 2 of the spring mechanism, the pressure spring 3 and the wheel 1, when the robot passes through uneven road sections, the problem of the pipeline robot getting stuck in the pipe can be solved by using the telescopic structure of the pressure spring 3. Thus, when encountering local obstacles in the pipeline, it can overcome the local obstacles without changing the diameter. S4. By adopting the structure of worm gear 10 and worm 11, the problem of the large space occupied by the direct drive of the second servo motor 29 can be effectively solved, thereby achieving the effect of reducing the size of the robot and enabling it to pass through pipes with an inner diameter of 100mm to 125mm, thereby improving the robot's mobility in confined spaces. S5. The first connecting plate 37 and the second connecting plate 30 are respectively installed on both ends of the bracket 19 by bolts. This detachable design not only facilitates installation and maintenance, but also allows the position and angle of the connecting module 23 to be adjusted according to actual needs. The rotating disk 32 is driven to rotate by the third servo motor 31, which in turn drives the mounting plate 33 and the electric telescopic cylinder 34 to adjust the angle. S6. Each robot segment is independent, so modular design can better adapt to relevant usage scenarios, and different modules or sensors can be added to each robot segment to improve working accuracy and efficiency. S5 also includes the following steps: S51, and then when a single section of the pipe robot falls off inside the pipe and is difficult to remove, the current angle information of the fixing block 35 is collected, and the angle of the electric telescopic cylinder 34 is adjusted by the third servo motor 31 to ensure that the two robots can approach each other in the best posture and complete docking, thereby improving work efficiency.

[0025] The working principle involves acquiring real-time data from the robot itself and the pipe's internal data, including temperature, positioning, images, pipe diameter, and distance to foreign objects, through the data acquisition module 18 and various sensors. Based on this data, the processor module 20 sends instructions to the PLC controller 21, controlling the actuator 22 to operate. The first servo motor 9 rotates the threaded screw 5 via a coupling, adjusting the position of the screw nut 6. The fixed slider 17, drive link 16, side plate 14, and follower link 15 enable automated diameter adjustment, improving the robot's stability in pipes of different diameters. Each robot section is independent, allowing for modular design to better adapt to various application scenarios. Different modules or sensors can be added to each section to improve working accuracy and efficiency. The spring mechanism frame 2, pressure spring 3, and wheels 1 prevent the robot from getting stuck in uneven terrain by utilizing the telescopic structure of the pressure spring 3. This allows the robot to overcome local obstacles within the pipe. When encountering obstacles, the robot can overcome local obstacles without changing its diameter, improving its throughput efficiency. By adopting the structure of worm gear 10 and worm 11, the problem of the large space occupied by the direct drive of the second servo motor 29 can be effectively solved, thereby reducing the size of the robot and enabling it to pass through pipes with an inner diameter of 100mm to 125mm, thus improving the robot's mobility in confined spaces. The first connecting plate 37 and the second connecting plate 30 are respectively installed on both ends of the bracket 19 by bolts. This detachable design not only facilitates installation and maintenance but also allows the position and angle of the connecting module 23 to be adjusted according to actual needs. The rotating disk 32 is driven by the third servo motor 31 to rotate, thereby driving the mounting plate 33 and the electric telescopic cylinder 34 to adjust their angles. This allows the robot to collect the current angle information of the fixing block 35 when a single section of the pipe robot falls off and is difficult to remove. The angle of the electric telescopic cylinder 34 is adjusted by the third servo motor 31 to ensure that the two robots can approach each other in the best posture and complete docking, thereby improving work efficiency.

[0026] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A pipe robot with adjustable radial size, comprising a spring telescopic module, a variable diameter drive module, a track drive module, and a data acquisition module (18), characterized in that: The spring telescopic module is used to cross local obstacles without changing the diameter on uneven road sections. The diameter changing drive module is used to realize the diameter changing function, so that the track drive module can extend and retract to fit closely to the inner wall of the pipe. The track drive module is used for the robot's forward and backward movement. The data acquisition module (18) is used to acquire the robot's own data and the pipe's internal data through sensors. The robot's own data includes temperature and positioning. The pipe's internal data includes image data, pipe diameter data, and foreign object distance data. The data acquisition module (18) transmits the acquired data to the processor module (20) through a line. The processor module (20) sends instructions to the PLC controller (21) based on the acquired data. The PLC controller (21) controls the actuator (22) to install the instructions and work according to the received instructions. The actuator (22) includes a variable diameter drive module, a track drive module, and a connection module (23). The connection module (23) is used to connect two single-section pipe robots to each other to form a multi-section pipe robot. The variable diameter drive module includes a bracket (19). A motor fixing plate (8) is installed at the tail end of the inner wall of the bracket (19). A first servo motor (9) is installed on the inner wall of the motor fixing plate (8). A threaded screw (5) is installed at the output end of the first servo motor (9) through a coupling. A screw support side (4) is movably connected to the front end of the outer wall of the threaded screw (5). A screw fixing side (7) is movably connected to the tail end of the outer wall of the threaded screw (5). Both the screw support side (4) and the screw fixing side (7) are equipped with... The screw rod (5) is threadedly connected to the outer wall of the bracket (19) with a screw nut (6). The outer wall of the screw nut (6) is fitted with a fixed slider (17). Both ends of the fixed slider (17) are fitted with drive connecting rods (16) via rotating shafts. Both ends of the drive connecting rods (16) are fitted with side plates (14) via rotating shafts. The front end of one side of the side plate (14) is fitted with a follower connecting rod (15) via rotating shafts. The other end of the follower connecting rod (15) is fitted to the outer wall of the bracket (19) via rotating shafts. The track drive module includes a side plate (14), a second servo motor (29) is installed on one side of the side plate (14), a worm gear (11) is installed at the output end of the second servo motor (29), a worm wheel (10) is meshed on the outer wall of the worm gear (11), a track wheel (13) is installed at one end of the worm wheel (10) through a connecting rod, and the track wheel (13) is installed at the front end and the rear end of the inner wall of the side plate (14) respectively, and a track body (12) is installed on the outer wall of the track wheel (13). The connection module (23) includes a first connection plate (37) and a second connection plate (30), wherein the first connection plate (37) is bolted to one end of the bracket (19) and the second connection plate (30) is bolted to the other end of the bracket (19); A third servo motor (31) is fitted onto one end of the first connecting plate (37), a rotating disk (32) is installed at the output end of the third servo motor (31), a set of mounting plates (33) is installed at one end of the rotating disk (32), and an electric telescopic cylinder (34) is installed at one end of the mounting plate (33).

2. The pipeline robot with adjustable radial size according to claim 1, characterized in that: The sensors include a temperature sensor (24), a positioning sensor (25), a vision sensor (26), an ultrasonic distance sensor (27), and a laser rangefinder (28).

3. The pipeline robot with adjustable radial size according to claim 1, characterized in that: The spring telescopic module includes a spring mechanism outer frame (2), and a set of pressure springs (3) are installed on the inner wall of the spring mechanism outer frame (2). A wheel (1) is installed on one end of the pressure springs (3).

4. The pipeline robot with adjustable radial size according to claim 3, characterized in that: A fixing block (35) is installed at one end of the second connecting plate (30). A through hole (36) is opened in the middle of one side of the fixing block (35), and the inner wall of the through hole (36) is movably connected to the outer wall of the output end of the electric telescopic cylinder (34).

5. The method of using a pipeline robot with adjustable radial size according to claim 4, characterized in that, The working steps of this adjustable radial pipe robot are as follows: S1. Through the data acquisition module (18) and the settings of each sensor, the robot's own data and the data inside the pipe can be acquired in real time, including temperature, positioning, image, pipe diameter and distance to foreign objects; S2. Based on the acquired data, the processor module (20) sends instructions to the PLC controller (21) to control the actuator (22) to work. The first servo motor (9) drives the threaded screw (5) to rotate through the coupling, thereby adjusting the position of the screw nut (6). Then, through the setting of the fixed slider (17), drive link (16), side plate (14) and follower link (15), automatic diameter change can be performed. S3. By setting up the outer frame (2), pressure spring (3) and wheel (1) of the spring mechanism, when the robot passes through uneven road sections, the problem of pipe jamming of the pipeline robot can be solved by setting up the telescopic structure of the pressure spring (3), and then the robot can overcome the local obstacle without changing the diameter when encountering local obstacles in the pipeline. S4. By adopting the structure of worm gear (10) and worm (11), it can pass through pipes with an inner diameter of 100mm to 125mm, thereby improving the robot's mobility in narrow spaces; S5. The first connecting plate (37) and the second connecting plate (30) are respectively installed on both ends of the bracket (19) by bolts. This detachable design not only facilitates installation and maintenance, but also allows the position and angle of the connecting module (23) to be adjusted according to actual needs. The rotating disk (32) is driven to rotate by the third servo motor (31), which in turn drives the mounting plate (33) and the electric telescopic cylinder (34) to adjust the angle. S6. Each robot segment is independent, so modular design can better adapt to relevant usage scenarios, and different modules or sensors can be added to each robot segment to improve working accuracy and efficiency.

6. The method of using a pipeline robot with adjustable radial size according to claim 5, characterized in that, The S5 also includes the following steps: S51. In addition, when a single section of the pipe robot falls off inside the pipe and is difficult to remove, the current angle information of the fixed block (35) is collected, and the angle of the electric telescopic cylinder (34) is adjusted by the third servo motor (31) to ensure that the two robots can approach each other in the best posture and complete the docking, thereby improving work efficiency.

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