A submarine pipeline cleaning robot based on tensegrity structure and use method thereof

Abstract

The present invention provides a submarine pipeline cleaning robot based on a tensegrity structure and a method of use. The robot is composed of a cleaning device, a cleaning body, a tensegrity connection structure and a tensegrity main body structure. The tensegrity connection structure sequentially connects the tensegrity main body structure and the cleaning body, and then the cleaning device is installed at the front end of the cleaning body. The tensegrity connection structure adopts a fish spine-like design, which not only retains the stability characteristics of the tensegrity structure, but also increases the flexibility of the structure, allowing the robot to complete six degrees of freedom such as swinging and twisting. The present invention adopts a tensegrity structure, and by splicing different numbers of tensegrity main structures, it can perform cleaning work in pipelines of various shapes and sizes. The present invention has a simple and efficient structure, can greatly reduce the cost of submarine pipeline cleaning, and solves the problem of secondary blockage caused by easy failure of pipeline cleaning devices.

Description

Technical Field

[0001] The present invention relates to a tensegrity structure, in particular to a submarine pipeline cleaning robot based on the tensegrity structure and a use method thereof, belonging to the technical field of underwater robot cleaning. Background Art

[0002] Currently, tensegrity structures are composed of continuous elastic cables and discrete rigid rods. The structure has strong impact resistance and a high mass-to-impact ratio, that is, a lighter mass can withstand a greater impact force. In a tensegrity structure, the forces at both ends of each rod are along the axial direction of the rod. The tensegrity structure is uniformly stressed and no torque is generated inside the structure. Currently, the application of tensegrity structures is shifting from the fields of architecture and art to the marine field.

[0003] Submarine pipelines are used to continuously transport large amounts of oil on the seabed through closed pipes. They are a major component of offshore oilfield development and production systems, and are currently the fastest, safest, most economical and reliable way to transport offshore oil and gas. However, during the operation of submarine pipelines, in order to improve the pipeline's transportation efficiency, reduce corrosion of the inner wall, and separate different oil products, pipeline cleaning operations are often required to ensure the safe operation of the pipeline and the integrity of the marine oil and gas lifeline.

[0004] In the related art, Chinese patent document CN112024544A discloses a fluid-driven oil pipeline cleaning robot, which belongs to the field of oil transportation. In the scheme of the device, the robot includes a body, a power generation device, a forward device, a fixed support device and a PLC controller. The body is concentrically arranged in the oil pipeline, a battery pack is fixedly installed on the body, the power generation device is fixedly installed on the front side of the body, the forward device is fixedly installed on the rear side of the body, the fixed support device is fixedly installed on the rear side of the forward device, the PLC controller is fixedly installed on the forward device, and a cleaning device is fixedly installed on the body. The power generation device is connected to the battery pack through a charging cable, and the battery pack is respectively connected to the forward device, the fixed support device and the PLC controller through a power cable, and the PLC controller is respectively connected to the forward device and the fixed support device through a signal cable. The kinetic energy of the oil flow is used to continuously generate electricity to ensure the long-term stable operation of the robot.

[0005] However, the installation method of this robot is slightly complicated, and it can only be applied to oil pipelines of a certain diameter, and the structural design does not take into account environmental variability such as pipeline bending, so its practicality will be greatly reduced and has great limitations. In summary, in order to better meet the needs of social development, it is urgent to develop more advanced submarine pipeline cleaning robots to achieve better social and economic benefits. Therefore, the present invention provides a submarine pipeline cleaning robot based on a tensegrity structure. Summary of the invention

[0006] In order to overcome the problems existing in the above-mentioned prior art, the present invention provides a submarine pipeline cleaning robot based on a tensegrity structure, comprising: a tensegrity main structure, a tensegrity connection structure, a cleaning body, and a cleaning device; the tensegrity main structure comprises an oblique lightweight steel pipe, a central lightweight steel pipe, a vertical cable, a transverse cable, a small retractable motor, a universal wheel and a pulley; the tensegrity connection structure comprises a V-shaped lightweight steel pipe, a transverse thin cable, an oblique thin cable, a small-diameter spherical connection point and a large-diameter spherical connection point; the cleaning body comprises an oblique lightweight steel pipe, a central lightweight steel pipe, a vertical cable, a transverse cable, a small retractable motor, a universal wheel and a pulley; the cleaning device comprises a cleaning brush and a tensegrity connection structure; the tensegrity connection structure connects a plurality of tensegrity main structures, and a cleaning body is installed at the front end of the tensegrity main structure, and finally a cleaning device is installed at the front end of the cleaning body.

[0007] The tensegrity main structural frame is composed of 3 oblique lightweight steel pipes, 1 central lightweight steel pipe, 3 vertical cables and 3 transverse cables; the 3 transverse cables converge at the end of the central lightweight steel pipe, and the 3 cables are welded through spherical nodes to converge into 1 cable, which is then tied to a small retractable motor at the end of the steel pipe. By controlling the forward or reverse rotation of the generators at both ends, the cables are tightened or loosened, thereby controlling the stable formation of the main structure.

[0008] A cross-tube is provided at the end of the central lightweight steel pipe of the tensegrity main structure, and three pulleys are provided at the upper entrance of the cross-tube. When the three transverse cables pass through the pipeline, they all pass through the pulleys and are then welded into one cable through a spherical node.

[0009] The small retractable wire motor is located at the end of the central lightweight steel pipe, that is, below the end four-way pipe. By controlling the motors at both ends, the size and length of the main structure can be changed. When the motors at both ends rotate forward at the same time, the vertical and horizontal cables are tightened, and the main structure becomes longer and smaller; when the motors at both ends rotate reversely at the same time, the cables will relax, and the main structure will become shorter and larger, so as to adapt to submarine pipelines of different diameters. By controlling the staggered forward and reverse rotation of the motors at both ends, the front end cable of the tensegrity main structure can be tightened while the rear end cable is relaxed, or the front end cable is relaxed while the rear end cable is tightened, so that the main structure can be opened and closed at both ends, and the length of the structure is changed alternately, thereby achieving the effect of the drive device, so that the robot can move.

[0010] The ends of the three oblique lightweight steel pipes of the tensegrity main structure are all provided with universal wheels, while the oblique lightweight steel pipe of the cleaning main body is provided with a cleaning device at the front end and a universal wheel at the other end.

[0011] The tensegrity connection structure is composed of two V-shaped lightweight steel pipes placed crosswise, and then the lower ends of the V-shaped lightweight steel pipes are connected by four transverse thin cables, and then the intersection of one of the steel pipes and the lower end of the other steel pipe are connected by four oblique thin cables, thereby forming a tensegrity connection structure like a "fish spine".

[0012] The tensegrity connection structure connects the central lightweight steel pipes of the two tensegrity main structures. When the robot moves forward in the pipe and encounters a bend, the main structure at the front can continue to move forward according to the curvature of the pipe, and the rear end is not affected. At the same time, the tensegrity connection structure can continue to connect the tensegrity main structure on the current basis, extending the length of the robot itself to adapt to the length of the pipe.

[0013] The cleaning device is installed at the front end of the cleaning body and is composed of a tensegrity connection structure and a cleaning brush. The number of cleaning brushes is 3. When the cleaning brush switch is turned on, the cleaning brush can rotate and work.

[0014] Furthermore, a method for using a submarine pipeline cleaning robot based on a tensegrity structure is disclosed, comprising the following steps:

[0015] Step a, connecting the tensegrity main structure of the robot and the tensegrity connecting structure in sequence, the number of the required tensegrity main structures can be determined according to the required length of the cleaning pipeline, then installing the cleaning body at the front end of the tensegrity main structure, and finally installing the cleaning device at the front end of the cleaning body and sending it into the cleaning pipeline;

[0016] Step b, after the robot is sent into the pipeline, the small retractable wire motor is turned on, and according to the actual situation of the pipeline, the upper and lower ends are tightened or loosened at the same time to adjust the size of the tensegrity main structure so that the robot can support the inner wall of the pipeline. Then, the small retractable wire motors at both ends of the tensegrity main structure are controlled. When the rear end relaxes the wire to support the pipe wall, the front end tightens the wire to lengthen the main body and move the front end forward. Then, the front end wire is relaxed to support the pipe wall, and the rear end wire is tightened again to shorten the main body compared to the previous step and move the rear end forward, so that the robot moves in the pipeline. When encountering a bend in the pipeline, the flexible characteristics of the tensegrity connection structure are used to allow the front end main body of the robot to pass first, and the rear main body follows in sequence.

[0017] Step c, when encountering a part in the pipeline that needs to be cleaned, the robot will adjust the size of the tensegrity main structure according to the diameter of the pipeline to support the inner wall of the pipeline, thereby controlling the stability of the robot, and the front cleaning body will control the small retractable wire motor to operate. When tightening the transverse cable, turn on the cleaning brush switch, and you can clean one stain by rotating the cleaning brush. On the contrary, when the cable is loosened, the cleaning brush can be dispersed to clean different stains;

[0018] Step d, after the pipe stains are cleaned, the small retractable motor can be controlled to rotate in the opposite direction, so that the robot moves backward in the pipe until it exits the pipe, and then the motor can be turned off.

[0019] The advantages and positive effects of the present invention compared with the prior art are:

[0020] The present invention adopts a tensegrity structure, takes advantage of the structure itself, does not require complex parts or design schemes, can adapt to the use of different pipe diameters, and can change the size and width of the structure according to the environmental conditions inside the pipeline. Compared with existing pipeline cleaning robots on the market, the present invention has wider applicability and stronger portability, and is suitable for replacing humans to complete work in irregular and narrow spaces such as submarine pipelines;

[0021] The connection method adopted by the present invention is a tensile integral connection structure imitating a "fishbone" type, which not only achieves structural stability, but also can utilize the structural characteristics to achieve six degrees of freedom of movement such as swing and twisting, thereby increasing flexibility.

[0022] The connection method adopted by the present invention realizes the flexible change of the main part of the robot. When the pipeline cleaning is too long, the main part of the robot can be directly extended. When a certain main structure of the robot is damaged, the damaged part can be directly disassembled and replaced. The flexible replacement method increases its assemblability, extends the service life of the robot, and saves resources.

[0023] The present invention has three cleaning devices installed at the front end of the main body, which can perform cleaning work at multiple angles. When one of the cleaning devices is damaged, the remaining two can still continue to work without affecting the normal use of the robot. Moreover, after the cleaning device is damaged, it can also be replaced in time without repairing the entire robot.

[0024] The present invention flexibly installs pulleys, such as the pulley at the four-way pipe at the end of the central steel pipe and the universal wheel at the end of the inclined lightweight steel pipe. The former can reduce the friction of the cable, and the latter can reduce the friction during the robot's forward movement, thereby effectively reducing the energy used by the robot and increasing its endurance. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1A schematic diagram of a submarine pipeline cleaning robot of a tensegrity structure provided by the present invention;

[0026] Figure 2 A schematic diagram of the tensegrity main structure provided by the present invention;

[0027] Figure 3 A schematic diagram of the cable connection at the end of the central lightweight steel pipe provided by the present invention;

[0028] Figure 4 A perspective view of the cable connection at the end of the central lightweight steel tube provided by the present invention;

[0029] Figure 5 A schematic diagram of a small-sized retractable wire motor provided by the present invention;

[0030] Figure 6 A schematic diagram of a cleaning body provided by the present invention;

[0031] Figure 7 A schematic diagram of a tensegrity connection structure provided by the present invention;

[0032] Figure 8 A schematic diagram of a cleaning device provided by the present invention;

[0033] FIG9 (a) is a schematic diagram showing the same changes at both ends of the tensegrity main structure provided by the present invention;

[0034] FIG9( b ) is a schematic diagram of different changes at both ends of the tensegrity main structure provided by the present invention;

[0035] Fig.10 A schematic diagram of the dynamic changes of the tensegrity connection structure provided by the present invention;

[0036] Fig.11 A top view of the main part of the tensegrity provided by the present invention supporting the tube wall;

[0037] Fig.12 A side view of the main part of the tensegrity provided by the present invention supporting the tube wall;

[0038] Description of reference numerals:

[0039] 100 - tensegrity main structure 200 - tensegrity connection structure 300 - cleaning main body 400 - cleaning device;

[0040] 101- oblique lightweight steel pipe 102- central lightweight steel pipe 103- vertical cable 104- transverse cable 105- small retractable generator 106- universal wheel 107- pulley;

[0041] 201-V-shaped lightweight steel pipe 202-transverse thin cable 203-oblique thin cable 204-small diameter spherical connection point 205-large diameter spherical connection point;

[0042] 401-Cleaning brush. DETAILED DESCRIPTION

[0043] In order to further explain the technical means adopted by the present invention to achieve the above-mentioned purpose, it can be implemented according to the contents of the specification, and in order to make the above-mentioned and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail with reference to the accompanying drawings.

[0044] The present invention provides a submarine pipeline cleaning robot based on a tensegrity structure, such as Figure 1 As shown, it includes a tensegrity main structure 100, a tensegrity connection structure 200, a cleaning body 300, and a cleaning device 400; the tensegrity main structure 100 includes an oblique lightweight steel pipe 101, a central lightweight steel pipe 102, a vertical cable 103, a transverse cable 104, a small retractable motor 105, a universal wheel 106, and a pulley 107; the tensegrity connection structure 200 includes a V-shaped lightweight steel pipe 201, a transverse thin cable 202, an oblique thin cable 203, a small diameter spherical connection point 204, and a large diameter spherical connection point Point 205; the cleaning body 300 includes an oblique lightweight steel pipe 101, a central lightweight steel pipe 102, a vertical cable 103, a transverse cable 104, a small retractable motor 105, a universal wheel 106 and a pulley 107; the cleaning device 400 includes a cleaning brush 401 and a tensegrity connection structure 200; the tensegrity connection structure 200 connects a plurality of tensegrity main structures 100, and installs the cleaning body 300 at the front end of the tensegrity main structure 100, and finally installs the cleaning device 400 at the front end of the cleaning body 300.

[0045] like Figure 2 As shown, the tensegrity main structure 100 is composed of three oblique lightweight steel pipes 101, one central lightweight steel pipe 102, three vertical cables 103 and three transverse cables 104. The three transverse cables 104 converge at the end of the central lightweight steel pipe 102, and the three cables are welded through a spherical node to converge into one cable, which is then tied to a small retractable motor 105 at the end of the steel pipe. By controlling the forward or reverse rotation of the generators at both ends, the cables are tightened or loosened, thereby controlling the stable formation of the main structure.

[0046] like Figure 3 , Figure 4As shown, a cross-tube is provided at the end of the central lightweight steel pipe 102 of the tensegrity main structure 100, and three pulleys 107 are provided at the upper entrance of the cross-tube. When the three transverse cables 104 pass through the pipeline, they all pass through the pulleys and are then welded into one cable through a spherical node.

[0047] like Figure 5 As shown, the motor of the small retractable wire 105 is located at the end of the central lightweight steel pipe 102, that is, below the end four-way pipe. By controlling the motors at both ends, the size and length of the main structure can be changed. When the motors at both ends rotate forward at the same time, the vertical cable 103 and the horizontal cable 104 are tightened, and the main structure becomes longer and smaller; when the motors at both ends rotate reversely at the same time, the cable will be relaxed, and the main structure will become shorter and larger, so as to adapt to submarine pipelines of different diameters. By controlling the staggered forward and reverse rotation of the motors at both ends, the front cable of the tensegrity main structure 100 can be tightened while the rear cable is relaxed, or the front cable is relaxed while the rear cable is tightened, so that the main structure can change its length alternately by opening and closing at both ends, thereby achieving the effect of the drive device, so that the robot can move.

[0048] like Figure 1 , Figure 6 As shown, the ends of the three oblique lightweight steel pipes 101 of the tensegrity main structure 100 are all provided with universal wheels 106, while the oblique lightweight steel pipe 101 of the cleaning body 300 is provided with a cleaning device 400 at the front end and a universal wheel 106 at the other end.

[0049] like Figure 7 As shown, the tensegrity connection structure 200 is composed of two V-shaped lightweight steel pipes 201 placed crosswise, and then the lower ends of the V-shaped lightweight steel pipes 201 are connected by four transverse thin cables 202, and then the intersection of one of the steel pipes and the lower end of the other steel pipe are connected by four oblique thin cables 203, thereby forming a tensegrity connection structure 200 like a "fish spine".

[0050] The tensegrity connection structure 200 connects the central lightweight steel pipe 102 of the two tensegrity main structures 100. When the robot moves forward in the pipeline and encounters a bend, the main structure at the front can continue to move forward according to the bending degree of the pipeline, and the rear end is not affected. At the same time, the tensegrity connection structure 200 can continue to connect the tensegrity main structure 100 on the current basis, extending the length of the robot itself to adapt to the length of the pipeline.

[0051] like Figure 1 , Figure 8 As shown, the cleaning device 400 is installed at the front end of the cleaning body 300, and is composed of a tensegrity connection structure 200 and a cleaning brush 401. There are three cleaning brushes 401, and when the cleaning brush 401 switch is turned on, the cleaning brush 401 can rotate and work.

[0052] The specific working process of the cleaning method of the submarine pipeline cleaning robot based on the tensegrity structure of the present invention is divided into four steps:

[0053] In the first step, the tensegrity main structure 100 of the robot is connected with the tensegrity connection structure 200 in sequence. The number of tensegrity main structures 100 required can be determined according to the length of the required cleaning pipeline. Then, the cleaning body 300 is installed at the front end of the tensegrity main structure 100. Finally, the cleaning device 400 is installed at the front end of the cleaning body 300 and sent into the cleaning pipeline.

[0054] The second step is shown in Figure 9 (a), Figure 9 (b), Fig.10 As shown, after the robot is sent into the pipeline, the small retractable motor 105 is turned on. According to the actual situation of the pipeline, the upper and lower ends simultaneously tighten or loosen the transverse cable 104, and the size of the tensegrity main structure 100 is adjusted so that the robot can support the inner wall of the pipeline. Then, the small retractable motors 105 at both ends of the tensegrity main structure 100 are controlled. When the rear end relaxes the cable to support the pipe wall, the front end tightens the cable to lengthen the main body and move the front end forward. Then, the front end cable is relaxed to support the pipe wall, and the rear end cable is tightened again to shorten the main body compared to the previous step and move the rear end forward, so that the robot moves in the pipeline. When encountering a bend in the pipeline, the flexible characteristics of the tensegrity connection structure 200 are used to allow the front end main body of the robot to pass first, and the rear main body follows in sequence.

[0055] The third step is Fig.11 , Fig.12 As shown, when the robot encounters a part that needs to be cleaned in the pipeline, the robot will adjust the size of the tensegrity main structure 100 according to the diameter of the pipeline to support the inner wall of the pipeline, thereby controlling the stability of the robot, and the front cleaning body 300 will control the small retractable motor 105 to operate. When tightening the transverse cable, turn on the cleaning brush 401 switch, and the cleaning brush 401 can be rotated to clean mainly one stain. On the contrary, when the cable is loosened, the cleaning brush 401 can be dispersed to clean different stains;

[0056] In the fourth step, after the pipe stains are cleaned, the small retractable motor 105 can be controlled to rotate in the opposite direction, so that the robot moves backward in the pipe until it exits the pipe, and then the motor can be turned off.

[0057] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A submarine pipeline cleaning robot based on a tensegrity structure, characterized in that: The invention comprises a tensegrity main structure (100), a tensegrity connection structure (200), a cleaning main body (300) and a cleaning device (400); the tensegrity main structure (100) comprises an oblique lightweight steel pipe (101), a central lightweight steel pipe (102), a vertical cable (103), a transverse cable (104), a small retractable motor (105), a universal wheel (106) and a pulley (107); the tensegrity connection structure (200) comprises a V-shaped lightweight steel pipe (201), a transverse thin cable (202), an oblique thin cable (203), a small-diameter spherical connection point (204) and a large-diameter spherical connection point (205); the cleaning body (300) comprises an oblique lightweight steel pipe (101), a central lightweight steel pipe (102), a vertical cable (103), a transverse cable (104), a small retractable motor (105), a universal wheel (106) and a pulley (107); the cleaning device (400) comprises a cleaning brush (401) and a tensegrity connection structure (200); the tensegrity connection structure (200) connects a plurality of tensegrity main body structures (100), and the cleaning body (300) is installed at the front end of the tensegrity main body structure (100), and the cleaning device (400) is installed at the front end of the cleaning body (300); The tensegrity main structure (100) frame is composed of three oblique lightweight steel pipes (101), one central lightweight steel pipe (102), three vertical cables (103) and three transverse cables (104); wherein the three transverse cables (104) converge at the end of the central lightweight steel pipe (102); the vertical cables and the transverse cables are welded through spherical nodes to converge into one cable, which is then tied to a small retractable motor (105) at the end of the steel pipe. By controlling the forward or reverse rotation of the generators at both ends, the cable is tightened or loosened, thereby controlling the main structure to move forward stably; the small retractable motor (105) is located at the end of the central lightweight steel pipe (102), that is, Under the end four-way pipe, the size and length of the main structure can be changed by controlling the motors at both ends. When the motors at both ends rotate forward at the same time, the vertical cables (103) and the horizontal cables (104) are tightened, and the main structure becomes longer and smaller; when the motors at both ends rotate reversely at the same time, the cables are relaxed, and the main structure becomes shorter and larger, so as to adapt to submarine pipelines of different diameters; by controlling the motors at both ends to rotate forward and reverse alternately, the front end cables of the tensegrity main structure (100) can be tightened while the rear end cables are relaxed, or the front end cables can be relaxed while the rear end cables are tightened, so that the main structure can be opened and closed at both ends to alternately change the length of the structure, thereby achieving the effect of the driving device, so that the robot can move.

2. A submarine pipeline cleaning robot based on a tensegrity structure as claimed in claim 1, characterized in that: A cross-tube is provided at the end of the central lightweight steel pipe (102) of the tensegrity main structure (100), and three pulleys (107) are provided at the upper entrance of the cross-tube. When the three transverse cables (104) pass through the pipe, they all pass through the pulleys and are then welded into one cable through a spherical node.

3. A submarine pipeline cleaning robot based on a tensegrity structure as claimed in claim 2, characterized in that: Universal wheels (106) are provided at the ends of the three oblique lightweight steel pipes (101) of the tensegrity main structure (100); a cleaning device (400) is provided at the front end of the oblique lightweight steel pipe (101) of the cleaning main body (300), and a universal wheel (106) is provided at the other end.

4. A submarine pipeline cleaning robot based on a tensegrity structure as claimed in claim 3, characterized in that: The tensegrity connection structure (200) is composed of two V-shaped lightweight steel pipes (201) placed crosswise, four transverse thin cables (202) connecting the lower ends of the V-shaped lightweight steel pipes (201), and four oblique thin cables (203) connecting the intersection of one of the steel pipes and the lower end of the other steel pipe, thereby forming a fishbone-shaped tensegrity connection structure (200).

5. The submarine pipeline cleaning robot based on tensegrity structure according to claim 4, characterized in that: The tensegrity connection structure (200) connects the central lightweight steel pipe (102) of the two tensegrity main structures (100). When the robot moves forward in the pipeline and encounters a bend, the main structure at the front end can continue to move forward according to the degree of curvature of the pipeline, and the rear end is not affected. The tensegrity connection structure (200) continues to be connected to the tensegrity main structure (100), extending the length of the robot itself to adapt to the length of the pipeline.

6. A submarine pipeline cleaning robot based on a tensegrity structure as claimed in claim 5, characterized in that: The cleaning device (400) is composed of a tensegrity connection structure (200) and a cleaning brush (401); the cleaning device (400) is installed at the front end of the cleaning body (300); and the number of the cleaning brushes (401) is three.

7. A method for using a submarine pipeline cleaning robot based on a tensegrity structure as claimed in claim 6, comprising the following steps: step a, connecting the tensegrity main structure (100) of the robot with the tensegrity connection structure (200) in sequence, the number of tensegrity main structures (100) required can be determined according to the length of the pipeline to be cleaned, then installing a cleaning body (300) at the front end of the tensegrity main structure (100), and finally installing a cleaning device (400) at the front end of the cleaning body (300), and sending it into the cleaning pipeline; step b, after the robot is sent into the pipeline, turning on the small retractable wire motor (105), tightening or loosening the transverse cable (104) at the upper and lower ends simultaneously according to the actual situation of the pipeline, adjusting the size of the tensegrity main structure (100) so that the robot can support the inner wall of the pipeline, and then controlling the small retractable wire motors (105) at both ends of the multiple tensegrity main structures (100), when the rear end relaxes the cable to support the pipe wall, the front end tightens the cable to lengthen the body, the front end moves forward, and then relaxes the front end cable to support the pipeline. The robot holds the pipe wall, and the rear end cable is tightened again, so that the main body length becomes shorter than that in the previous step, and the rear end moves forward, so that the robot moves in the pipe; when encountering a pipe bend, the flexible characteristics of the tensegrity connection structure (200) are used to allow the front main body of the robot to pass first, and the rear main body follows in sequence; step c, when encountering a part that needs to be cleaned in the pipe, the robot will adjust the size of the tensegrity main body structure (100) according to the diameter of the pipe, support the inner wall of the pipe, thereby controlling the stability of the robot, and the front cleaning part The cleaning body (300) will control the small retractable motor (105) to operate; when the transverse cable is tightened, the cleaning brush (401) switch is turned on, and the cleaning brush (401) can be rotated to clean mainly one stain; on the contrary, when the cable is loosened, the cleaning brush (401) can be dispersed to clean different stains; step d, after the pipeline stains are cleaned, the small retractable motor (105) can be controlled to rotate in the opposite direction, so that the robot moves backward in the pipeline until it exits the pipeline, and then the motor can be turned off.

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