A kind of crawling robot in pipeline and its using method

Abstract

The present invention relates to a robot crawling in a pipeline and a method for using the same, comprising a telescopic power module, a rear brush roller and a front brush roller, wherein the rear brush roller and the front brush roller are respectively arranged on the telescopic power module; the rear brush roller and the front brush roller both comprise a mandrel and a support leg, wherein one end of the support leg is arranged on the mandrel, the support leg is inclined toward the axial direction of the mandrel, and the other end of the support leg is close to the pipeline; thus, the friction resistance coefficient of the robot in two axial directions of the mandrel is different, and the resistance of the rear brush roller and the front brush roller moving in the inclined direction of the support leg is greater than the resistance when moving in the opposite direction; the telescopic power module can drive the front brush roller to repeatedly move away-close-away-close relative to the rear brush roller. The advantages of the present invention are: the robot has a simple structure, low cost and high reliability. It can undergo adaptive deformation and has strong adaptability and passing ability. Relying on the guiding effect of the snake tube, it has the ability to select the path of the branch pipe part.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic crawling robots in pipelines, and in particular to an automatic crawling robot in pipelines and a method for using the robot. Background Art

[0002] In the fields of industry and life such as petroleum, shipping, water supply, gas supply, and electricity, metal or non-metallic pipes are widely used to transport various media or provide protection for objects in them. Due to factors such as oxidation, corrosion, and external force damage, the inside of the pipes often break, become blocked, or even leak. In order to observe the internal conditions of the pipe or carry out maintenance work, it is necessary to pass through the narrow space in the pipe and accurately transfer the sensor or actuator to the fault point of the pipe. Pipeline robots have attracted much attention for their excellent passability, flexibility, and controllability. Many experts and scholars at home and abroad have conducted in-depth research and continuously updated and improved them in combination with the development of new technologies. Some mature products have been applied to engineering practice and played an important role. Existing pipeline crawling robots can be roughly divided into two categories: wheeled and peristaltic according to the crawling principle.

[0003] Wheeled pipeline crawling robots use driving wheels (or crawlers) in conjunction with a tensioning mechanism to drive the robot forward. The wheeled driving technology is mature, the moving speed is fast, and the robot can move forward and backward in the pipeline. However, there are three disadvantages: First, the structure is complex, including the prime mover, transmission mechanism, driving wheel, tensioning mechanism, etc., which is difficult to miniaturize; second, there are many rigid structures, and the obstacle crossing ability and cornering performance are poor; third, the passing performance of the branch pipe is poor, and it is difficult to controllably select the branch pipe diameter.

[0004] The peristaltic pipeline crawling robot imitates the movement of insects and is usually composed of two or more front and rear tensioning mechanisms and distance adjustment mechanisms between the tensioning mechanisms. The tensioning mechanisms are alternately pressed against the pipe wall, and the distance between the tensioning mechanisms is changed to achieve peristaltic crawling in the pipe. The peristaltic pipeline crawling robot has good overall flexibility and strong cornering performance. The current peristaltic pipeline crawling robots have three disadvantages: first, the tensioning mechanism is relatively complex, and the tensioning mechanism of some robots requires high-pressure air or motor drive; second, the number of tensioning mechanisms is relatively small, and the obstacle crossing ability and cornering performance are poor; third, it is difficult to controllably select the diameter of the branch pipe.

[0005] Therefore, there is an urgent need in the market for a pipeline crawling robot to solve the above problems. Summary of the invention

[0006] In order to overcome the shortcomings of the above-mentioned background technology, the present invention proposes a pipeline crawling robot, which converts the reciprocating motion generated by the telescopic power module into the power for the device to move forward. The robot has a simple structure, low cost and high reliability. It can undergo adaptive deformation and has strong adaptability and passing ability. Relying on the guiding effect of the snake tube, it has the ability to select the path of the branch pipe.

[0007] The objective of the present invention is achieved through the following technical solutions: a pipeline crawling robot, used for crawling in the pipeline, comprising a telescopic power module, a rear brush roller and a front brush roller, wherein the rear brush roller and the front brush roller are respectively arranged on the telescopic power module; the rear brush roller and the front brush roller each comprise a core shaft and a support leg, one end of the support leg is arranged on the core shaft, the support leg is inclined toward the axial direction of the core shaft, and the other end of the support leg is close to the pipeline; in this way, the inclined support legs increase the resistance of the rear brush roller and the front brush roller to the movement in the inclined direction of the support legs; a plurality of support legs are arranged on the core shaft, and a plurality of the support legs are uniformly inclined on the core shaft; the telescopic power module comprises a reciprocating motion end and a fixed end, the motion end of the telescopic power module is fixedly connected to the tail end of the core shaft of the front brush roller, and the fixed end of the telescopic power module is fixedly connected to the top end of the core shaft of the rear brush roller; in this way, the telescopic power module can drive the front brush roller to repeatedly move away-close-away-close relative to the rear brush roller.

[0008] Furthermore, the telescopic power module includes a fixed frame, a driving motor, a reciprocating screw, and a screw slider, the driving motor is arranged on the fixed frame, the reciprocating screw is rotatably arranged on the fixed frame, the output shaft of the driving motor drives the reciprocating screw to rotate through a gear set, the screw slider is sleeved on the reciprocating screw, and the reciprocating screw is driven to rotate to drive the screw slider to reciprocate along the axial direction of the reciprocating screw; a front brush roller fixing hole is provided on the screw slider, the tail end of the front brush roller is fixed in the front brush roller fixing hole, and the moving end is the front brush roller fixing hole; a rear brush roller fixing hole is provided on the fixed frame, the top end of the rear brush roller is fixed in the rear brush roller fixing hole, and the fixed end is the rear brush roller fixing hole; in this way, the telescopic power module drives the screw slider to reciprocate through the reciprocating screw, thereby realizing the moving end to repeatedly move away-approaching-away-approaching relative to the fixed end.

[0009] Furthermore, the gear set includes a driving gear arranged on the output shaft of the driving motor and a driven gear arranged at one end of the reciprocating screw. The driving gear is meshed with the driven gear, so that the reciprocating screw is driven to rotate by the driving motor.

[0010] Furthermore, it also includes a serpentine tube and a servo module, the tail end of the serpentine tube is arranged at the top end of the core shaft of the front brush roller, and the servo module is arranged on the core shaft of the front brush roller; the serpentine tube includes a plurality of movably linked serpentine tube single rings; the adjacent serpentine tube single rings are hinged by a movable shaft, so that the serpentine tube single rings can rotate around the movable shaft by a certain angle; the serpentine tube single rings are also provided with a wire hole, a guide wire is movably sleeved in the wire hole, one end of the guide wire is fixedly connected to the top end of the serpentine tube relative to the front brush roller, and the other end of the guide wire is connected to the servo module, and the wire hole is arranged on the bendable side of the movable shaft on the serpentine tube single ring, so that the bending of the serpentine tube is controlled by tightening the guide wire through the servo module.

[0011] Furthermore, the servo module comprises a housing, a servo is arranged on the housing, a wire wheel is arranged at an output end of the servo, and the guide wire is fixedly connected to the wire wheel, so that the guide wire can be tightened by driving the wire wheel to rotate through the servo.

[0012] Furthermore, a video lighting device is provided at the top of the serpentine tube, two axial protrusions are symmetrically provided at the lower edge of the single ring of the serpentine tube, and two axial recesses are symmetrically provided at the upper edge of the single ring of the serpentine tube, and the two axial protrusions and the two axial recesses are arranged vertically and spaced apart in the radial direction of the single ring of the serpentine tube, and the two adjacent single rings of the serpentine tube are hinged through the axial protrusions and the axial recesses, and the two axial protrusions and the axial recesses of the two adjacent single rings of the serpentine tube form a movable axis, so that the adjacent single rings of the serpentine tube can rotate around the movable axis by a certain angle and bend in four directions of rotation of two perpendicular movable axes; the simultaneous rotation of multiple movable axes can make the serpentine tube bend in any direction and to any degree; the single ring of the serpentine tube is provided with two symmetrically arranged wire holes, the wire holes are respectively arranged on the inner walls of the serpentine tube single rings corresponding to the two shaft protrusions, so that the wire holes of two adjacent serpentine tube single rings are arranged vertically, so that the spaced serpentine tube single rings form four wire hole passages in the axial direction of the serpentine tube; there are four guide wires, and the four guide wires are respectively arranged in the four wire hole passages, one end of the guide wire is fixedly connected to the top end of the serpentine tube relative to the front brush roller, and the other end of the guide wire is connected to the steering gear module, so that the serpentine tube can be controlled to bend in four directions by tightening the four guide wires through the steering gear module, and the simultaneous rotation of multiple movable shafts can make the serpentine tube bend in any direction to any degree.

[0013] Furthermore, two servos are provided on the housing of the servo module, and a wire wheel is provided at the output end of the servo, and the ends of the four guide wires are respectively fixed on both sides of the two wire wheels, and the ends of the two guide wires on both sides of the movable shaft in the same direction are fixed on the same wire wheel. In this way, when the wire wheel is driven by the servo to rotate, the guide wire on one side can be controlled to be tightened, and the guide wire on the opposite side can be relaxed synchronously, so that the snake tube is controlled to bend toward the side of the tightened guide wire; the snake tube can be controlled to bend in the directions of the four guide wires through the two wire wheels, and the snake tube can be bent in any direction and to any degree by simultaneously controlling the two groups of guide wires.

[0014] As a preferred option, an umbilical cable is also included, and the umbilical cable is arranged at the tail end of the core shaft of the rear brush roller.

[0015] As a preferred option, a limiting groove is provided on the core shaft, a supporting leg shaft is provided in the middle of the limiting groove, the supporting leg is hinged to the core shaft through the supporting leg shaft, and the supporting leg is abutted against one side of the limiting groove. In this way, the supporting leg can be rotated in the limiting groove until it abuts against the other side of the limiting groove by pulling the umbilical cable, thereby realizing the reverse direction of the inclination of the supporting leg.

[0016] The present invention also provides a method for using the crawling robot in a pipeline, comprising the following steps:

[0017] Step 1: Insert the robot completely into the pipe along the direction of camera lighting device-snake tube-front brush roller-rear brush roller, with the support legs tilted toward the outside of the pipe;

[0018] Step 2: Control the drive motor of the telescopic power module to start rotating, and the drive motor drives the reciprocating screw to rotate, driving the screw slider to reciprocate, thereby driving the front brush roller to repeatedly move away-close-away-close relative to the rear brush roller;

[0019] Step 3: Due to the inclined arrangement of the supporting legs, the robot has a large resistance when moving in the direction of the inclination of the supporting legs, and a small resistance when moving in the opposite direction of the inclination of the supporting legs; when the front brush roller moves away from the rear brush roller, the resistance of the rear brush roller moving away from the front brush roller is greater than the resistance of the front brush roller moving away from the rear brush roller, so that the rear brush roller remains stationary and pushes the front brush roller to crawl forward; when the front brush roller approaches the rear brush roller, the resistance of the front brush roller moving toward the rear brush roller is greater than the resistance of the rear brush roller moving toward the front brush roller, so that the front brush roller remains stationary and drags the rear brush roller to crawl forward; in the process of the front brush roller repeatedly moving away-approaching-away-approaching relative to the rear brush roller, the front brush roller and the rear brush roller move forward alternately, so that the robot creeps forward as a whole;

[0020] Step 4: When the robot passes through a bifurcated pipe such as a tee, if it is necessary to control the robot to crawl toward the left bifurcated pipe, control the two servos of the servo module, and the servos drive the wire wheel to rotate, thereby controlling the bending of the snake tube, so that the snake tube bends and enters the left bifurcated pipe; at this time, the robot continues to crawl forward and crawls into the left bifurcated pipe under the guidance of the snake tube;

[0021] Step 5: When the robot completes the task, it controls the drive motor of the telescopic power module to stop rotating, and then quickly pulls the umbilical cable to rotate the support leg in the limit slot, thereby achieving the reverse tilt direction of the support leg. At this time, the robot enters the backward state;

[0022] Step 6: Control the drive motor of the telescopic power module to start rotating, driving the front brush roller to repeatedly move away-close-away-close relative to the rear brush roller;

[0023] Step 7: Since the tilted supporting legs are tilted in the opposite direction, during the reciprocating away-approaching-away-approaching movement of the rear brush roller relative to the front brush roller, the rear brush roller and the front brush roller move backward alternately, causing the robot to crawl backward; the umbilical cable is slowly recovered outside the pipeline until the robot crawls out of the pipeline, the drive motor is controlled to stop rotating, and the work is completed.

[0024] The present invention has the following advantages:

[0025] 1. This device cleverly evenly arranges multiple support legs with the same inclination direction on the brush roller core shaft, so that the resistance when the device moves in the inclination direction of the support legs after entering the pipeline is greater than the resistance when it moves in the opposite direction of the inclination of the support legs, thereby converting the reciprocating motion generated by the telescopic power module into the driving force for the device to move forward. It uses the telescopic motion generated by the reciprocating screw and the asymmetry of the two-way friction force of the brush roller to directly drive the robot to creep, eliminating the complex tensioning mechanism, greatly simplifying the robot structure, reducing the cost of the robot, and improving working reliability.

[0026] 2. Its core shaft and supporting legs are both very flexible, and there are a large number of elastic supporting legs. When the pipeline is bent, deformed, changes in diameter, or there are obstacles, it can undergo adaptive deformation. It has strong adaptability and passing ability, and can still pass smoothly when the pipeline is bent or deformed, or when there are obstacles.

[0027] 3. It uses a snake tube as a guide. When encountering a bifurcated pipe such as a tee, it uses the servo module to manipulate the snake tube into the target bifurcated pipe based on the video information sent back in real time by the camera device, and then guides the robot into the target bifurcated pipe through the guiding effect of the snake tube to achieve path selection at the bifurcated pipe location.

[0028] 4. Its supporting legs are hinged to the core shaft through the supporting leg shaft. After the task is completed, the supporting legs can be rotated on the core shaft by quickly pulling the umbilical cable, thereby reversing the tilt direction of the supporting legs. Then, the robot can crawl out of the pipeline by automatic crawling and traction with the umbilical cable, effectively avoiding external force damage to the robot when the robot is pulled out of the pipeline only by pulling the umbilical cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the external structure of the core shaft and the supporting legs;

[0031] Figure 3It is a schematic diagram of the connection structure between the core shaft and the supporting legs;

[0032] Figure 4 It is a structural schematic diagram of the telescopic power module;

[0033] Figure 5 is a schematic diagram of the structure of the gear set;

[0034] Figure 6 It is a schematic diagram of the structure of the snake bone tube;

[0035] Figure 7 It is a schematic diagram of the connection structure between the guide wire hole and the guide wire;

[0036] Figure 8 It is a schematic diagram of the structure of a single ring of the snake bone tube;

[0037] Fig. 9 This is a schematic diagram of the structure of the servo module;

[0038] Fig.10 It is a schematic diagram of the use state of the present invention;

[0039] Fig.11 It is a schematic diagram of the use state of the present invention when selecting a bifurcated pipe;

[0040] Fig.12 It is a schematic diagram of the use state of the present invention when entering a bifurcated pipe.

[0041] In the figure: telescopic power module 1 (including: moving end 1a, fixed end 1b, fixing frame 1.1, rear brush roller fixing hole 1.1.1, driving motor 1.2, reciprocating screw 1.3, screw slider 1.4, front brush roller fixing hole 1.4.1, gear set 1.5, driving gear 1.5.1, driven gear 1.5.2), rear brush roller 2 (including: core shaft 2.1, limiting groove 2.1.1, support leg shaft 2.1.2, support leg 2.2), front brush roller 3, pipeline 4, snake bone tube 5 (including: snake bone tube single ring 5.1, shaft protrusion 5.1.1, shaft concave 5.1.2, movable shaft 5.2, wire hole 5.3, guide wire 5.4), steering gear module 6 (including: housing 6.1, steering gear 6.2, wire wheel 6.3), umbilical cable 7, camera lighting device 8. DETAILED DESCRIPTION

[0042] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0043] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0044] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0046] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. "Multiple" means "two or more".

[0047] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0048] like Figures 1 to 12As shown, a pipeline crawling robot is used to crawl in a pipeline 4, comprising a telescopic power module 1, a rear brush roller 2 and a front brush roller 3, wherein the rear brush roller 2 and the front brush roller 3 are respectively arranged on the telescopic power module 1; the rear brush roller 2 and the front brush roller 3 each comprise a core shaft 2.1 and a support leg 2.2, wherein one end of the support leg 2.2 is arranged on the core shaft 2.1, the support leg 2.2 is inclined toward the axial direction of the core shaft 2.1, and the other end of the support leg 2.2 is close to the pipeline 4; thus, the inclined support leg 2.2 increases the rear brush roller 2 and the front brush roller 3 toward the support leg 2.2. Resistance to movement in the inclined direction; a plurality of supporting legs 2.2 are provided on the core shaft 2.1, and the plurality of supporting legs 2.2 are evenly inclinedly arranged on the core shaft 2.1; the telescopic power module 1 includes a reciprocating moving end 1a and a fixed end 1b, the moving end 1a of the telescopic power module 1 is fixedly connected to the tail end of the core shaft 2.1 of the front brush roller 3, and the fixed end 1b of the telescopic power module 1 is fixedly connected to the top end of the core shaft 2.1 of the rear brush roller 2; in this way, the telescopic power module 1 can drive the front brush roller 3 to repeatedly move away-closer-away-closer relative to the rear brush roller 2.

[0049] The telescopic power module 1 includes a fixed frame 1.1, a driving motor 1.2, a reciprocating screw 1.3, and a screw slider 1.4. The driving motor 1.2 is arranged on the fixed frame 1.1, and the reciprocating screw 1.3 is rotatably arranged on the fixed frame 1.1. The output shaft of the driving motor 1.2 drives the reciprocating screw 1.3 to rotate through a gear set 1.5. The screw slider 1.4 is sleeved on the reciprocating screw 1.3, and the reciprocating screw 1.3 is driven to rotate to drive the screw slider 1.4 to reciprocate in the axial direction of the reciprocating screw 1.3; the screw slider 1.4 is provided with a front Brush roller fixing hole 1.4.1, the tail end of the front brush roller 3 is fixed in the front brush roller fixing hole 1.4.1, and the moving end 1a is the front brush roller fixing hole 1.4.1; a rear brush roller fixing hole 1.1.1 is provided on the fixing frame 1.1, the top end of the rear brush roller 2 is fixed in the rear brush roller fixing hole 1.1.1, and the fixed end 1b is the rear brush roller fixing hole 1.1.1; in this way, the telescopic power module 1 drives the screw slider 1.4 to reciprocate through the reciprocating screw 1.3, thereby realizing the moving end 1a repeatedly moving away-approaching-away-approaching relative to the fixed end 1b.

[0050] The gear set 1.5 includes a driving gear 1.5.1 arranged on the output shaft of the driving motor 1.2, and a driven gear 1.5.2 arranged at one end of the reciprocating screw 1.3. The driving gear 1.5.1 is meshed with the driven gear 1.5.2, or the driving gear 1.5.1 drives the driven gear 1.5.2 to rotate through the transmission gear, thereby driving the reciprocating screw 1.3 to rotate through the driving motor 1.2.

[0051] It also includes a snake tube 5 and a steering gear module 6, the tail end of the snake tube 5 is arranged at the top end of the core shaft 2.1 of the front brush roller 3, and the steering gear module 6 is arranged on the core shaft 2.1 of the front brush roller 3; the snake tube 5 includes a plurality of movably linked snake tube single rings 5.1; adjacent snake tube single rings 5.1 are hinged by a movable shaft 5.2, so that the snake tube single rings 5.1 can rotate around the movable shaft 5.2 by a certain angle; the snake tube single ring 5.1 is also provided with a wire hole 5.3, and a guide wire 5.4 is movably sleeved in the wire hole 5.3, one end of the guide wire 5.4 is fixedly connected to the top end of the snake tube 5 relative to the front brush roller 3, and the other end of the guide wire 5.4 is connected to the steering gear module 6, and the wire hole 5.3 is arranged on the bendable side of the movable shaft 5.2 on the snake tube single ring 5.1, so that the bending of the snake tube 5 is controlled by tightening the guide wire 5.4 by the steering gear module 6.

[0052] The steering gear module 6 comprises a housing 6.1, on which a steering gear 6.2 is arranged, and at the output end of the steering gear 6.2 a wire wheel 6.3 is arranged, to which the guide wire 5.4 is fixedly connected, so that the steering gear 6.2 drives the wire wheel 6.3 to rotate to control the guide wire 5.4 to be tightened.

[0053] A video camera lighting device 8 is provided at the top of the snake bone tube 5. Two axial protrusions 5.1.1 are symmetrically arranged on the lower edge of the single ring 5.1 of the snake bone tube, and two axial recesses 5.1.2 are symmetrically arranged on the upper edge of the single ring 5.1 of the snake bone tube. The two axial protrusions 5.1.1 and the two axial recesses 5.1.2 are arranged vertically and spaced apart in the radial direction of the single ring 5.1 of the snake bone tube. Two adjacent single rings 5.1 of the snake bone tube are hinged by the axial protrusions 5.1.1 and the axial recesses 5.1.2. The two axial protrusions 5.1.1 and the axial recesses 5.1.2 of the two adjacent single rings 5.1 of the snake bone tube form a movable axis 5.2, so that the adjacent single rings 5.1 of the snake bone tube can rotate around the movable axis 5.2 by a certain angle and bend in four directions of rotation of the two perpendicular movable axes 5.2; the simultaneous rotation of multiple movable axes can make the snake bone tube 5 bend in any direction and to any degree; the single ring 5.1 of the snake bone tube The ring 5.1 is provided with two symmetrically arranged wire holes 5.3, which are respectively arranged on the inner wall of the serpentine tube single ring 5.1 corresponding to the two shaft protrusions 5.1.1, so that the wire holes 5.3 of two adjacent serpentine tube single rings 5.1 are arranged vertically, so that the spaced serpentine tube single rings 5.1 form four wire hole 5.3 passages in the axial direction of the serpentine tube 5; there are four guide wires 5.4, and the four guide wires 5.4 are respectively arranged in the four wire hole 5.3 passages, one end of the guide wire 5.4 is fixedly connected to the top of the serpentine tube 5 relative to the front brush roller 3, and the other end of the guide wire 5.4 is connected to the steering gear module 6, so that the serpentine tube 5 can be controlled to bend in four directions by tightening the four guide wires 5.4 by the steering gear module 6, and the simultaneous rotation of multiple movable shafts can make the serpentine tube 5 bend to any degree in any direction.

[0054] Two steering gears 6.2 are arranged on the housing 6.1 of the steering gear module 6, and a wire wheel 6.3 is arranged at the output end of the steering gear 6.2. The ends of the four guide wires 5.4 are respectively fixed on both sides of the two wire wheels 6.3, and the ends of the two guide wires 5.4 on both sides of the movable shaft 5.2 in the same direction are fixed on the same wire wheel 6.3. In this way, when the wire wheel 6.3 is driven to rotate by the steering gear 6.2, the guide wire 5.4 on one side can be controlled to be tightened, and the guide wire 5.4 on the opposite side can be relaxed synchronously, so that the snake-bone tube 5 is controlled to bend to the side of the tightened guide wire 5.4; the snake-bone tube 5 can be controlled to bend in the direction of the four guide wires 5.4 by the two wire wheels 6.3, and the snake-bone tube 5 can be bent in any direction and to any degree by controlling two groups of guide wires 5.4 at the same time.

[0055] It also includes an umbilical cable 7 , which is arranged at the tail end of the core shaft 2 . 1 of the rear brush roller 2 .

[0056] A limiting groove 2.1.1 is provided on the core shaft 2.1, and a supporting leg shaft 2.1.2 is provided in the middle of the limiting groove 2.1.1. The supporting leg 2.2 is hinged to the core shaft 2.1 through the supporting leg shaft 2.1.2, and the supporting leg 2.2 is abutted against one side of the limiting groove 2.1.1. In this way, by pulling the umbilical cable 7, the supporting leg 2.2 can be rotated in the limiting groove 2.1.1 until it abuts against the other side of the limiting groove 2.1.1, thereby realizing the reverse of the tilt direction of the supporting leg 2.2.

[0057] The present invention also provides a method for using the crawling robot in a pipeline, comprising the following steps:

[0058] Step 1: Insert the robot completely into the pipe 4 along the direction of the camera lighting device 8 - the snake tube 5 - the front brush roller 3 - the rear brush roller 2, and at this time, the supporting legs 2.2 are tilted toward the outside of the pipe 4;

[0059] Step 2: Control the drive motor 1.2 of the telescopic power module 1 to start rotating, and the drive motor 1.2 drives the reciprocating screw 1.3 to rotate, driving the screw slider 1.4 to reciprocate, thereby driving the front brush roller 3 to repeatedly move away-close-away-close relative to the rear brush roller 2;

[0060] Step 3: Due to the inclined arrangement of the supporting legs 2.2, the robot has a large resistance when moving in the inclined direction of the supporting legs 2.2, and a small resistance when moving in the opposite direction to the inclined direction of the supporting legs 2.2; when the front brush roller 3 moves away from the rear brush roller 2, the resistance of the rear brush roller 2 moving away from the front brush roller 3 is greater than the resistance of the front brush roller 3 moving away from the rear brush roller 2, so that the rear brush roller 2 remains stationary and pushes the front brush roller 3 to crawl forward; when the front brush roller 3 approaches the rear brush roller 2, the resistance of the front brush roller 3 moving toward the rear brush roller 2 is greater than the resistance of the rear brush roller 2 moving toward the front brush roller 3, so that the front brush roller 3 remains stationary and drags the rear brush roller 2 to crawl forward; in the process of the front brush roller 3 repeating the movement of moving away-approaching-moving away-approaching relative to the rear brush roller 2, the front brush roller 3 and the rear brush roller 2 move forward alternately, so that the robot creeps forward as a whole;

[0061] Step 4: When the robot passes through a bifurcated pipe portion such as a tee, if it is necessary to control the robot to crawl toward the left bifurcated pipe, the two steering gears 6.2 of the steering gear module 6 are controlled, and the steering gear 6.2 drives the wire wheel 6.3 to rotate, thereby controlling the bending of the snake tube 5, so that the snake tube 5 bends and enters the left bifurcated pipe; at this time, the robot continues to crawl forward and crawls into the left bifurcated pipe under the guidance of the snake tube 5;

[0062] Step 5: When the robot completes the task, the driving motor 1.2 of the telescopic power module 1 is controlled to stop rotating, and then the umbilical cable 7 is quickly pulled to make the supporting leg 2.2 rotate in the limiting groove 2.1.1, so as to achieve the reverse tilt direction of the supporting leg 2.2, and the robot enters the backward state;

[0063] Step 6: Control the drive motor 1.2 of the telescopic power module 1 to start rotating, driving the front brush roller 3 to repeatedly move away-closer-away-closer relative to the rear brush roller 2;

[0064] Step 7: Since the tilted supporting legs 2.2 are tilted in the opposite direction, during the reciprocating away-approaching-away-approaching movement of the rear brush roller 2 relative to the front brush roller 3, the rear brush roller 2 and the front brush roller 3 move backward alternately, causing the robot to creep backward; the umbilical cable 7 is slowly recovered outside the pipeline 4 until the robot crawls out of the pipeline 4, and the drive motor 1.2 is controlled to stop rotating, and the work is completed.

[0065] When the present invention is actually used,

[0066] like Figures 4 and 5As shown, the telescopic power module 1 is used to generate telescopic motion, provide power for the robot to crawl, and drive the screw slider 1.4 to reciprocate through the reciprocating screw 1.3, so as to realize the repeated away-close-away-close motion of the moving end 1a relative to the fixed end 1b. The telescopic power module 1 is composed of a fixed frame 1.1, a driving motor 1.2, a reciprocating screw 1.3, a screw slider 1.4, a gear set 1.5 and a screw cover. The driving motor 1.2 is fixedly mounted on the fixed frame 1.1, outputs a unidirectional rotation, and drives the reciprocating screw 1.3 to rotate through the transmission gear set 1.5. The reciprocating screw 1.3 is provided with two thread grooves with the same pitch and opposite rotation directions, and the two ends are connected by a transition curve. Through the rotation of the reciprocating screw 1.3, the screw slider 1.4 matched with the spiral groove is pushed to make axial reciprocating motion. A guide groove is provided on the screw slider 1.4, which can cooperate with the fixed frame 1.1 to ensure that the screw slider 1.4 does not rotate. A front brush roller fixing hole 1.4.1 with a fastening nut is provided at the front end of the screw slider 1.4, and the tail end of the front brush roller 3 is fixed in the front brush roller fixing hole 1.4.1; a rear brush roller fixing hole 1.1.1 with a fastening nut is provided at the rear end of the fixing frame 1.1, and the top end of the rear brush roller 2 is fixed in the rear brush roller fixing hole 1.1.1. The gear set 1.5 includes a driving gear 1.5.1 and a driven gear 1.5.2, and one or more transmission gears can also be arranged between the driving gear 1.5.1 and the driven gear 1.5.2. The screw cover is arranged at the top of the reciprocating screw 1.3 and fixed to the fixing frame 1.1 to axially fix the reciprocating screw. Compared with the commonly used crank slider mechanism, cylindrical cam mechanism, etc., the reciprocating linear motion generated by the reciprocating screw 1.3 has the advantages of compact structure, large output push-pull force, uniform motion, and high reliability.

[0067] like Figure 2~3As shown, the rear brush roller 2 and the front brush roller 3 are used to generate asymmetric friction forces in two directions, so that the robot can creep in one direction under the drive of the telescopic power module 1. Taking the rear brush roller 2 as an example, the rear brush roller 2 is composed of a middle flexible core shaft 2.1 and a plurality of elastic support legs 2.2 hinged on the flexible core shaft 2.1. The flexible core shaft 2.1 has bending ability and can bend at a certain angle, and a through hole is machined at the axis. The elastic support legs 2.2 have a certain flexibility and are evenly distributed on the flexible core shaft 2.1, and can rotate freely on the core shaft 2.1. When the robot enters the pipeline 4, the pipeline 4 presses the support leg 2.2 to make it tilt. The tilting direction of the support leg 2.2 is toward the rear brush roller 2. For the convenience of description, the direction toward the front brush roller 3 is the forward direction, and the direction toward the rear brush roller 2 is the reverse direction. At this time, the elastic support leg 2.2 is in contact with the reverse edge of the limit groove 2.1.1; the tilted support leg 2.2 makes the rear brush roller 2 and the front brush roller 3 produce anisotropic friction along the two axial directions of the core shaft, and the friction resistance coefficients along the two axial directions of the core shaft are different. The resistance when moving in the tilting direction of the support leg 2.2 is greater than the resistance when moving in the reverse direction; when the robot completes the task, it can be quickly pulled by the umbilical cable 7 The core shaft 2.1 is subjected to a large pulling force. Since the free end of the support leg 2.2 is pressed against the pipe 4, the support leg 2.2 will be deformed and the fixed end will rotate on the support leg shaft 2.1.2. When the core shaft 2.1 moves a certain distance, the support leg 2.2 rotates around the support leg shaft 2.1.2 until it abuts against the forward edge of the limit groove 2.1.1, thereby achieving the opposite direction of the tilt direction of the support leg 2.2. At this time, the robot enters a backward state and then automatically crawls through the same principle, and crawls out of the pipeline with the traction of the umbilical cable 7, effectively avoiding external force damage to the robot when the robot is pulled out of the pipeline only by pulling the umbilical cable 7.

[0068] The top of the front brush roller 3 is fixedly connected to the tail end of the snake tube 5 (the end without the camera lighting device), the steering gear module 6 is arranged in the middle of the front brush roller 3, and the guide wire 5.4 end of the steering gear module 6 is provided with a jack, which is fixedly connected to the tail end of the front half mandrel 2.1 of the front brush roller 3, and the through hole at the axis of the mandrel 2.1 can accommodate the guide wire 5.4, the power line and the signal line. The other end of the steering gear module 2 relative to the guide wire 5.4 is also provided with a jack, which is fixedly connected to the top of the rear half mandrel 2.1 of the front brush roller 3, and the rear end of the rear half mandrel 2.1 of the front brush roller 3 is fixedly connected in the front brush roller fixing hole 1.4.1 on the lead screw slider 1.4 in the telescopic power module 1, and the through hole at the axis of the mandrel 2.1 can accommodate the power line and the signal line. The top of the rear brush roller 3 is fixedly connected in the rear brush roller fixing hole 1.1.1 on the fixed frame 1.1 in the telescopic power module 1, and the through hole at the axis of the mandrel 2.1 can accommodate the power line and the signal line.

[0069] like Figures 6-8As shown, the snake tube 5 is used to control the direction of the camera lighting device 8 when the robot crawls in the pipeline 4, and at the same time, to control the crawling path of the robot when encountering a bifurcated pipe such as a tee. The snake tube 5 is composed of a plurality of snake tube single rings 5.1 interlaced and linked. The lower edge of the snake tube single ring 5.1 is provided with two symmetrical shaft protrusions 5.1.1, and the upper edge of the snake tube single ring 5.1 is provided with two symmetrical shaft recesses 5.1.2. The shaft recesses 5.1.2 protrude from the upper edge of the snake tube single ring 5.1, so that the axes of the two interconnected snake tube single rings 5.1 can rotate a certain angle in one direction. Two guide wire holes 5.3 are symmetrically provided on the inner side of the snake tube single ring 5.1 near the shaft protrusion 5.1.1 structure for passing the guide wire 5.4. The lower surface of the single ring 5.1 of the serpentine tube is a plane perpendicular to the axis, and the upper surface of the single ring 5.1 of the serpentine tube is a curved surface, and the side of the curved surface close to the axial convex is concave downward to leave space for the adjacent single rings 5.1 of the serpentine tube relative rotation. The outer edges of the axial convex 5.1.1 and the axial concave 5.1.2 are both conical surfaces, and the apex of the conical surface faces the axis of the single ring 5.1 of the serpentine tube. Since the mating surfaces of the axial convex 5.1.1 and the axial concave 5.1.2 are conical surfaces, the adjacent single rings (5.1) of the serpentine tube hinged to each other will not slip off; the wire holes 5.3 of the adjacent two single rings 5.1 of the serpentine tube are arranged vertically and staggered, so that the spaced single rings 5.1 of the serpentine tube form four wire hole 5.3 passages in the axial direction of the serpentine tube 5, and the four guide wires 5.4 are respectively arranged in the four wire hole 5.3 passages. Under the traction of the four guide wires 5.4, the serpentine tube 5 can be bent in any direction and to any degree. The entire snake tube 5 can be formed by laser cutting and does not need to be assembled separately.

[0070] like Fig. 9As shown, the steering gear module 6 is used to control the bending direction and degree of the serpentine tube 5. The steering gear module is composed of a housing 6.1, two micro-servos 6.2, and two wire wheels 6.3. The two micro-servos 6.2 are arranged in the housing 6.1 at a certain angle and overlapped, and the two wire wheels 6.3 are respectively fixedly connected to the output shafts of the two micro-servos 6.2. Four guide wires 5.4 pass through the wire holes 5.3 in the four movement directions of the serpentine tube 5, one end is fixed on the wire hole 5.3 of the single ring 5.1 of the serpentine tube at the top of the serpentine tube 5, and the other end passes through the through hole at the axis of the core shaft 2.1 of the front half of the front brush roller 3, and is fixed on the corresponding wire wheels 6.3 in pairs. The two symmetrically arranged guide wires 5.4 are fixed on the same wire wheel 6.6. When the servo module 6 is working, the servo 6.2 rotates to drive the wire wheel 6.3 to rotate, involving the guide wire 5.4 fixed on the wire wheel, thereby forcing the snake tube 5 to bend in a certain direction. The bending degree of the snake tube 5 in this direction can be controlled by adjusting the rotation angle of the output shaft of the servo 6.2. The two servos 6.2 cooperate with each other to control the snake tube 5 to bend in any direction and to any degree. The jack at the end of the guide wire 5.4 of the servo module 6 is fixedly connected to the tail end of the front half mandrel 2.1 of the front brush roller 3, and the jack can accommodate the guide wire 5.4, the power line and the signal line. The jack at the other end of the servo module 2 relative to the guide wire 5.4 is fixedly connected to the top of the rear half mandrel 2.1 of the front brush roller 3, and the rear end of the rear half mandrel 2.1 of the front brush roller 3 is fixedly connected in the front brush roller fixing hole 1.4.1 on the lead screw slider 1.4 in the telescopic power module 1, and the front brush roller fixing hole 1.4.1 can accommodate the power line and the signal line. The top end of the rear brush roller 3 is fixedly connected in a rear brush roller fixing hole 1.1.1 on the fixing frame 1.1 in the telescopic power module 1, and the rear brush roller fixing hole 1.1.1 can accommodate the passage of a power line and a signal line.

[0071] The umbilical cable 7 is used to transmit the electric energy and control signals required for the robot to work, to transmit back the video signals collected by the camera device, and to pull the robot into a backward state. The umbilical cable 7 should be connected to a DC power supply, a display screen and a remote control at the outer end of the pipeline 4. The DC power supply is used to power the telescopic power module 1, the steering gear module 6 and the camera lighting device 8. The display screen is used to display the video information transmitted back by the camera lighting device 8 in real time. The remote control is used to control the speed of the DC drive motor 1.2, and then control the crawling speed of the robot. At the same time, the rotation angle of the two micro-servos 6.2 can be controlled to control the bending direction and degree of the snake tube 5.

[0072] The video camera and lighting device 8 is used for lighting and video recording, and transmits the acquired video information to an external display screen through the signal line in the umbilical cable 7. The video camera and lighting device 8 is arranged at the front end of the snake tube 5, and can change the lighting and observation angle as the snake tube 5 bends, so as to facilitate the observation of the details on the inner wall of the pipeline 4. When the robot approaches the bifurcated pipe part such as the tee, the snake tube 5 can be manipulated to enter the selected bifurcated pipe with the help of real-time video signals, thereby guiding the entire robot to enter the bifurcated pipe.

[0073] The specific operation steps when the present invention is actually used are:

[0074] Step 1: Fig.10 As shown, the robot is completely inserted into the pipe 4 along the direction of the camera lighting device 8-snake tube 5-front brush roller 3-rear brush roller 2, and the supporting legs 2.2 are tilted toward the outside of the pipe 4;

[0075] Step 2: Control the drive motor 1.2 of the telescopic power module 1 to start rotating, and the drive motor 1.2 drives the reciprocating screw 1.3 to rotate, driving the screw slider 1.4 to reciprocate, thereby driving the front brush roller 3 to reciprocate away-close-away-close relative to the rear brush roller 2;

[0076] Step 3: Due to the inclined arrangement of the supporting legs 2.2, the robot has a large resistance when moving in the inclined direction of the supporting legs 2.2, and a small resistance when moving in the opposite direction to the inclined direction of the supporting legs 2.2; when the front brush roller 3 moves away from the rear brush roller 2, the resistance of the rear brush roller 2 moving away from the front brush roller 3 is greater than the resistance of the front brush roller 3 moving away from the rear brush roller 2, so that the rear brush roller 2 remains stationary and pushes the front brush roller 3 to crawl forward; when the front brush roller 3 approaches the rear brush roller 2, the resistance of the front brush roller 3 moving toward the rear brush roller 2 is greater than the resistance of the rear brush roller 2 moving toward the front brush roller 3, so that the front brush roller 3 remains stationary and drags the rear brush roller 2 to crawl forward; in the process of the front brush roller 3 repeating the movement of moving away-approaching-moving away-approaching relative to the rear brush roller 2, the front brush roller 3 and the rear brush roller 2 move forward alternately, so that the robot creeps forward as a whole;

[0077] Step 4: Figures 11-12 As shown, when the robot passes through a bifurcated pipe portion such as a tee, if it is necessary to control the robot to crawl toward the left bifurcated pipe, the two steering gears 6.2 of the steering gear module 6 are controlled, and the steering gear 6.2 drives the wire wheel 6.3 to rotate, thereby controlling the bending of the snake-bone pipe 5, so that the snake-bone pipe 5 bends and enters the left bifurcated pipe; at this time, the robot continues to creep forward and crawls into the left bifurcated pipe under the guidance of the snake-bone pipe 5;

[0078] Step 5: When the robot completes the task, the driving motor 1.2 of the telescopic power module 1 is controlled to stop rotating, and then the umbilical cable 7 is quickly pulled to make the supporting leg 2.2 rotate in the limiting groove 2.1.1, so as to achieve the reverse tilt direction of the supporting leg 2.2, and the robot enters the backward state;

[0079] Step 6: Control the drive motor 1.2 of the telescopic power module 1 to start rotating, driving the rear brush roller 2 to reciprocate away-close-away-close relative to the front brush roller 3;

[0080] Step 7: Since the tilted supporting legs 2.2 are tilted in the opposite direction, during the reciprocating away-approaching-away-approaching movement of the rear brush roller 2 relative to the front brush roller 3, the rear brush roller 2 and the front brush roller 3 move backward alternately, causing the robot to crawl backward. At this time, it is possible to determine whether the robot is crawling backward by observing the video information obtained by the camera. If not, the umbilical cable 7 can be quickly pulled again to reverse the supporting legs 2.2. Finally, the umbilical cable 7 is slowly recovered outside the pipeline 4 until the robot crawls out of the pipeline 4, and the drive motor 1.2 is controlled to stop rotating, and the work is completed.

[0081] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A pipeline crawling robot, used for crawling in a pipeline (4), characterized by: It comprises a telescopic power module (1), a rear brush roller (2) and a front brush roller (3), wherein the rear brush roller (2) and the front brush roller (3) are respectively arranged on the telescopic power module (1); The rear brush roller (2) and the front brush roller (3) both comprise a core shaft (2.1) and a support leg (2.2); one end of the support leg (2.2) is arranged on the core shaft (2.1); the support leg (2.2) is inclined toward the axial direction of the core shaft (2.1); and the other end of the support leg (2.2) is in close contact with the pipe (4); thus, the inclined support leg (2.2) increases the resistance of the rear brush roller (2) and the front brush roller (3) to movement in the inclined direction of the support leg (2.2); The core shaft (2.1) is provided with a plurality of support legs (2.2), and the plurality of support legs (2.2) are evenly inclinedly arranged on the core shaft (2.1); The core shaft (2.1) is flexible, and the supporting legs (2.2) are elastic; The telescopic power module (1) comprises a reciprocating moving end (1a) and a fixed end (1b), wherein the moving end (1a) of the telescopic power module (1) is fixedly connected to the tail end of the core shaft (2.1) of the front brush roller (3), and the fixed end (1b) of the telescopic power module (1) is fixedly connected to the top end of the core shaft (2.1) of the rear brush roller (2); thus, the telescopic power module (1) can drive the front brush roller (3) to repeatedly move away-closer-away-closer relative to the rear brush roller (2); It also includes a snake tube (5) and a steering gear module (6). The tail end of the snake tube (5) is arranged at the top end of the core shaft (2.1) of the front brush roller (3), and the steering gear module (6) is arranged on the core shaft (2.1) of the front brush roller (3); The snake tube (5) comprises a plurality of movably connected snake tube single rings (5.1); The adjacent serpentine tube single rings (5.1) are hinged via a movable shaft (5.2), so that the serpentine tube single rings (5.1) can rotate around the movable shaft (5.2) at a certain angle; The single ring (5.1) of the serpentine tube is also provided with a guide hole (5.3), a guide wire (5.4) is movably sleeved in the guide hole (5.3), one end of the guide wire (5.4) is fixedly connected to the top of the serpentine tube (5) relative to the front brush roller (3), and the other end of the guide wire (5.4) is connected to the steering gear module (6), and the guide hole (5.3) is arranged on the bendable side of the movable shaft (5.2) on the single ring (5.1) of the serpentine tube, so that the bending of the serpentine tube (5) is controlled by tightening the guide wire (5.4) through the steering gear module (6); The core shaft (2.1) is provided with a limiting groove ( 2.1.1), a support leg shaft ( 2.1.2), the support leg (2.2) is hinged to the core shaft (2.1) through the support leg shaft (2.1.2), the support leg (2.2) is in contact with one side of the limit groove (2.1.1), and also includes an umbilical cable (7), the umbilical cable (7) is arranged at the tail end of the core shaft (2.1) of the rear brush roller (2); in this way, by pulling the umbilical cable (7), the support leg (2.2) can be rotated in the limit groove (2.1.1) until it is in contact with the other side of the limit groove (2.1.1), thereby achieving the reverse direction of the tilting direction of the support leg (2.2).

2. The pipeline crawling robot according to claim 1, characterized in that: The telescopic power module (1) comprises a fixed frame (1.1), a drive motor (1.2), a reciprocating screw (1.3), and a screw slider (1.4); the drive motor (1.2) is arranged on the fixed frame (1.1); the reciprocating screw (1.3) is rotatably arranged on the fixed frame (1.1); the output shaft of the drive motor (1.2) drives the reciprocating screw (1.3) to rotate via a gear set (1.5); the screw slider (1.4) is sleeved on the reciprocating screw (1.3); and the reciprocating screw (1.3) is driven to rotate to drive the screw slider (1.4) to reciprocate axially along the reciprocating screw (1.3); The lead screw slider (1.4) is provided with a front brush roller fixing hole (1.4.1), the tail end of the front brush roller (3) is fixed in the front brush roller fixing hole (1.4.1), and the moving end (1a) is the front brush roller fixing hole (1.4.1); the fixing frame (1.1) is provided with a rear brush roller fixing hole ( 1.1.1), the top end of the rear brush roller (2) is in the rear brush roller fixing hole ( 1.1.1), the fixed end (1b) being the rear brush roller fixing hole (1.1.1); in this way, the telescopic power module (1) drives the lead screw slider (1.4) to reciprocate via the reciprocating lead screw (1.3), thereby achieving repeated away-approaching-away-approaching movement of the moving end (1a) relative to the fixed end (1b).

3. The pipeline crawling robot according to claim 2, characterized in that: The gear set (1.5) comprises a driving gear (1.5.1) arranged on the output shaft of the driving motor (1.2), and a driven gear (1.5.2) arranged at one end of the reciprocating screw (1.3); the driving gear (1.5.1) meshes with the driven gear (1.5.2), thereby driving the reciprocating screw (1.3) to rotate through the driving motor (1.2).

4. The pipeline crawling robot according to claim 3, characterized in that: The steering gear module (6) comprises a housing (6.1), a steering gear (6.2) is provided on the housing (6.1), a wire wheel (6.3) is provided at an output end of the steering gear (6.2), and the guide wire (5.4) is fixedly connected to the wire wheel (6.3), so that the steering gear (6.2) drives the wire wheel (6.3) to rotate, thereby controlling the guide wire (5.4) to be tightened.

5. The pipeline crawling robot according to claim 4, characterized in that: The top of the serpentine tube (5) is provided with a camera lighting device (8); the lower edge of the serpentine tube single ring (5.1) is symmetrically provided with two axial protrusions (5.1.1); the upper edge of the serpentine tube single ring (5.1) is symmetrically provided with two axial recesses (5.1.2); the two axial protrusions (5.1.1) and the two axial recesses (5.1.2) are arranged vertically and spaced apart in the radial direction of the serpentine tube single ring (5.1); the two adjacent serpentine tube single rings (5.1) are hingedly connected through the axial protrusions (5.1.1) and the axial recesses (5.1.2); the two axial protrusions (5.1.1) and the axial recesses (5.1.2) of the two adjacent serpentine tube single rings (5.1) form a movable axis (5.2); thus, the adjacent serpentine tube single rings (5.1) can rotate around the movable axis (5.2) and bend in four directions of rotation of the two perpendicular movable axes (5.2); the simultaneous rotation of multiple movable axes can make the serpentine tube (5) bend in any direction and to any degree; The single ring of the serpentine tube (5.1) is provided with two symmetrically arranged wire holes (5.3), and the wire holes (5.3) are respectively arranged on the inner wall of the single ring of the serpentine tube (5.1) corresponding to the two axial protrusions (5.1.1), so that the wire holes (5.3) of two adjacent single rings of the serpentine tube (5.1) are arranged vertically, so that the spaced single rings of the serpentine tube (5.1) form four wire hole (5.3) passages in the axial direction of the serpentine tube (5); There are four guide wires (5.4), and the four guide wires (5.4) are respectively arranged in the four wire holes (5.3) passages. One end of the guide wire (5.4) is fixedly connected to the top of the snake bone tube (5) relative to the front brush roller (3), and the other end of the guide wire (5.4) is connected to the steering gear module (6). In this way, the snake bone tube (5) can be controlled to bend in four directions by tightening the four guide wires (5.4) through the steering gear module (6). The simultaneous rotation of multiple movable axes can make the snake bone tube (5) bend in any direction and to any degree.

6. The pipeline crawling robot according to claim 5, characterized in that: Two steering gears (6.2) are arranged on the housing (6.1) of the steering gear module (6), and a wire wheel (6.3) is arranged at the output end of the steering gear (6.2). The ends of the four guide wires (5.4) are respectively fixed on both sides of the two wire wheels (6.3), and the ends of the two guide wires (5.4) on both sides of the movable shaft (5.2) in the same direction are fixed on the same wire wheel (6.3). In this way, when the steering gear (6.2) drives the wire wheel (6.3) to rotate, the guide wire (5.4) on one side can be controlled to be tightened, and the guide wire (5.4) on the opposite side can be loosened synchronously, so that the snake bone tube (5) is controlled to bend towards the side of the tightened guide wire (5.4); the snake bone tube (5) can be controlled to bend in the direction of the four guide wires (5.4) by the two wire wheels (6.3), and the snake bone tube (5) can be bent in any direction and to any degree by controlling the two groups of guide wires (5.4) at the same time.

7. The method for using a crawling robot in a pipeline according to claim 6, characterized in that: The steps include: Step 1: Insert the robot completely into the pipe (4) along the direction of the camera lighting device (8) - the snake tube (5) - the front brush roller (3) - the rear brush roller (2), with the support legs (2.2) tilted toward the outside of the pipe (4); Step 2: Control the drive motor (1.2) of the telescopic power module (1) to start rotating, and the drive motor (1.2) drives the reciprocating screw (1.3) to rotate, driving the screw slider (1.4) to reciprocate, thereby driving the front brush roller (3) to repeatedly move away-close-away-close relative to the rear brush roller (2); Step 3: Due to the inclined arrangement of the supporting legs (2.2), the robot has a large resistance when moving in the direction of the inclination of the supporting legs (2.2), and a small resistance when moving in the opposite direction of the inclination of the supporting legs (2.2); when the front brush roller (3) moves away from the rear brush roller (2), the resistance of the rear brush roller (2) moving away from the front brush roller (3) is greater than the resistance of the front brush roller (3) moving away from the rear brush roller (2), so that the rear brush roller (2) remains stationary and pushes the front brush roller (3) to crawl forward; When the front brush roller (3) approaches the rear brush roller (2), the resistance of the front brush roller (3) moving in the direction of approaching the rear brush roller (2) is greater than the resistance of the rear brush roller (2) moving in the direction of approaching the front brush roller (3), so that the front brush roller (3) remains stationary and drags the rear brush roller (2) to crawl forward; during the process of the front brush roller (3) repeatedly moving away-approaching-away-approaching relative to the rear brush roller (2), the front brush roller (3) and the rear brush roller (2) move forward alternately, so that the robot as a whole creeps forward; Step 4: When the robot passes through a bifurcated pipe portion such as a tee, if it is necessary to control the robot to crawl toward the left bifurcated pipe, the two steering gears (6.2) of the steering gear module (6) are controlled, and the steering gears (6.2) drive the wire wheel (6.3) to rotate, thereby controlling the bending of the snake-bone pipe (5), so that the snake-bone pipe (5) bends and enters the left bifurcated pipe; at this time, the robot continues to crawl forward and crawls into the left bifurcated pipe under the guidance of the snake-bone pipe (5); Step 5: When the robot completes the task, it controls the drive motor (1.2) of the telescopic power module (1) to stop rotating, and then quickly pulls the umbilical cable (7) to make the support leg (2.2) in the limit slot ( 2.1.1) rotates inward, so that the supporting leg (2.2) tilts in the opposite direction, and the robot enters the backward state; Step 6: Control the drive motor (1.2) of the telescopic power module (1) to start rotating, driving the front brush roller (3) to repeatedly move away-closer-away-closer relative to the rear brush roller (2); Step 7: Since the tilted supporting legs (2.2) are tilted in the opposite direction, during the reciprocating movement of the rear brush roller (2) relative to the front brush roller (3) in the direction of moving away from - approaching - moving away from - approaching, the rear brush roller (2) and the front brush roller (3) move backward alternately, causing the robot to crawl backward; the umbilical cable (7) is slowly recovered outside the pipeline (4) until the robot crawls out of the pipeline (4), and the drive motor (1.2) is controlled to stop rotating, and the work is completed.

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