Pipeline crossing soft crawling robot

Abstract

The invention relates to the technical field of soft robots, in particular to a pipeline crossing soft crawling robot which comprises a pipeline body, a crawling mechanism is arranged in the pipeline body, a positioning mechanism is arranged in the crawling mechanism, the crawling mechanism comprises an air inlet part, a telescopic part is arranged on the air inlet part, and an elastic part is arranged in the telescopic part. The positioning mechanism comprises a supporting piece arranged on the telescopic piece, a rotating piece is arranged in the supporting piece, an abutting piece is arranged in the supporting piece, a diameter expanding piece is arranged on the outer wall of the supporting piece, and a driving piece matched with the rotating piece is arranged on the telescopic piece. And meanwhile, the positioning mechanism is arranged, when the driving piece is rotated, the driving piece moves and the rotating piece is adjusted to move at the same time, at the moment, the rotating piece is matched with the abutting piece, the diameter expanding piece is made to adapt to the pipeline body, and the stability of the device during use is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of soft robots, in particular to a pipeline crossing soft crawling robot. Background Art

[0002] Robots have been widely used in many fields such as military, industry, and scientific exploration. Traditional robots are generally composed of rigid modules connected by kinematic pairs. The motion combination of all kinematic pairs forms the working space of the robot's end effector. This type of robot has the advantage of precise movement, but the rigidity of the structure makes its environmental adaptability poor and it cannot pass through narrow or complex spaces. Soft robots are a continuation of bionic robot research, imitating mollusks in nature, with infinite degrees of freedom and continuous deformation capabilities. Due to their excellent flexibility and adaptability, they have broad application prospects in fields such as detection and medical treatment.

[0003] Existing soft robots achieve forward movement through the expansion and contraction of gas in an elastic cavity. When air is injected into the cavity, the elastic cavity expands like a balloon, while the cavity material does not stretch and the limbs curl up. When bending, the entire body can be continuously propelled forward by the lateral thrust generated by the friction between the limbs and the surrounding area. However, since most pipes are circular, the robot has poor stability when moving. For this reason, we provide a pipe-crossing soft crawling robot. Summary of the invention

[0004] In view of the above-mentioned problem or the problem in the prior art that the robot has poor stability when moving, the present invention is proposed.

[0005] Therefore, the object of the present invention is to provide a pipeline crossing soft crawling robot.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: comprising a pipeline body, a crawling mechanism is provided in the pipeline body, a positioning mechanism is provided in the crawling mechanism, the crawling mechanism comprises an air intake member arranged in the pipeline body, a telescopic member is provided on the air intake member, an elastic member is provided in the telescopic member, the air intake member and the telescopic member cooperate to provide power for the device, the positioning mechanism comprises a supporting member arranged on the air intake member, a rotating member is provided in the supporting member, a resistance member cooperating with the rotating member is provided in the supporting member, a diameter expanding member is provided on the outer wall of the supporting member, a driving member cooperating with the rotating member is provided on the telescopic member, the driving member and the rotating member cooperate so that the diameter expanding member adapts to the pipeline body.

[0007] As a preferred solution of the pipeline-crossing soft crawling robot of the present invention, the air intake component includes an air intake pipe arranged in the pipeline body, a movable head is arranged at one end of the air intake pipe, an air intake head is arranged at the other end of the air intake pipe, and a conical seat is also arranged on the outer wall of the air intake pipe.

[0008] As a preferred solution of the pipeline-crossing soft crawling robot of the present invention, the telescopic part includes a flexible sleeve symmetrically arranged on the air inlet pipe, and skirt shoulders are evenly arranged on the outer wall of the flexible sleeve. The skirt shoulders are composed of two groups of section shoulders, and a gap is formed between two adjacent groups of section shoulders. A compression space is formed between two adjacent groups of skirt shoulders, and a connecting bridge is arranged between the flexible sleeves on both sides.

[0009] As a preferred solution of the pipeline crossing soft crawling robot of the present invention, the elastic member includes a first elastic band arranged in the skirt shoulder, a resistance band is arranged in the first elastic band, one end of the resistance band is correspondingly against the conical seat, and a second elastic band is arranged in the skirt shoulder on the other side, and one end of the second elastic band is arranged on the movable head.

[0010] As a preferred solution of the pipeline crossing soft crawling robot of the present invention, the supporting member includes an annular cylinder arranged in a conical seat, an annular edge is arranged at the bottom of the annular cylinder, a plurality of groups of openings are formed between the annular cylinder and the annular edge, a mounting portion is formed between adjacent openings, and the rotating member is correspondingly arranged in the opening.

[0011] As a preferred solution of the pipeline-crossing soft crawling robot of the present invention, the rotating part includes a through opening arranged in the mounting part, a circular ring is arranged in the through opening, and a diameter expansion part is evenly arranged on the outer wall of the circular ring, and a limiting part is integrally formed in the diameter expansion part.

[0012] As a preferred solution of the pipeline-crossing soft crawling robot of the present invention, the resistance member includes a movable opening arranged in the annular edge, the movable opening is arranged in the through opening, and a piston rod is arranged in the movable opening.

[0013] As a preferred solution of the pipeline-crossing soft crawling robot of the present invention, one end of the piston rod abuts against the outer wall of the expanded diameter portion, a groove is provided at one end of the outer wall of the piston rod, and the limiting portion correspondingly abuts against the groove.

[0014] As a preferred solution of the pipeline-crossing soft crawling robot of the present invention, the expansion member includes a through pipe arranged at one end of the movable port, the interior of the through pipe is hollow, and one end of two adjacent groups of through pipes is provided with an airbag shoulder, and the outer wall of the airbag shoulder is provided with multiple groups of ridge segments, and the airbag shoulder is connected to the movable port through the through pipe.

[0015] As a preferred solution of the pipeline crossing soft crawling robot of the present invention, wherein: the driving part includes connecting parts evenly arranged on the upper end surface of the circular ring, multiple groups of driving rings are arranged on the upper end surfaces of the connecting parts, multiple groups of mounting grooves are arranged in the driving ring, and a limiting groove is arranged on one side of the mounting groove. A screw sleeve is arranged on the outer wall of the annular cylinder, and a driving rod is arranged at the position of the bottom end of the screw sleeve corresponding to the mounting groove and the limiting groove, a fixing part is arranged at one end of the driving rod, and the driving rod and the fixing part are correspondingly arranged in the mounting groove and the limiting groove.

[0016] The beneficial effects of the pipeline-crossing soft crawling robot of the present invention are as follows: the present invention transmits compressed gas provided by an external air pump to the air inlet part. Due to the expansion and contraction of the air inlet part, and in cooperation with the telescopic part and the elastic part, the device can move forward in the pipeline body. At the same time, a support part is provided on the air inlet part of the device, a rotating part and a resistance part are provided in the support part, and an expanding part is provided on the outer wall of the support part, and a driving part is provided on the rotating part. When the driving part is rotated, the driving part moves and the rotating part is mobilized to move at the same time. At this time, the rotating part cooperates with the resistance part, so that the expanding part adapts to the pipeline body, thereby ensuring the stability of the device when in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 This is the overall schematic diagram of the pipeline crossing soft crawling robot.

[0019] Figure 2 Schematic diagram of the internal structure of the pipeline-crossing soft crawling robot.

[0020] Figure 3 Schematic diagram of the air intake structure of the pipeline crossing soft crawling robot.

[0021] Figure 4 Schematic diagram of the positioning mechanism structure of the pipeline crossing soft crawling robot.

[0022] Figure 5 Schematic diagram of the rotating parts structure of the pipeline crossing soft crawling robot.

[0023] Figure 6 This is a schematic diagram of the partial cross-sectional structure of the driving parts of the pipeline crossing soft crawling robot. DETAILED DESCRIPTION

[0024] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0025] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0026] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0027] Example 1, reference Figures 1 to 6 , which is the first embodiment of the present invention, and this embodiment provides a pipeline crossing soft crawling robot, including a pipeline body 100, a crawling mechanism 200 is arranged in the pipeline body 100, a positioning mechanism 300 is arranged in the crawling mechanism 200, the crawling mechanism 200 includes an air inlet member 201 arranged in the pipeline body 100, a telescopic member 202 is arranged on the air inlet member 201, an elastic member 203 is arranged in the telescopic member 202, the air inlet member 201 and the telescopic member 202 cooperate to provide power for the device, the positioning mechanism 300 includes a supporting member 301 arranged on the air inlet member 201, a rotating member 302 is arranged in the supporting member 301, a resisting member 303 cooperating with the rotating member 302 is arranged in the supporting member 301, a diameter expanding member 304 is arranged on the outer wall of the supporting member 301, a driving member 305 cooperating with the rotating member 302 is arranged on the telescopic member 202, and the driving member 305 cooperates with the rotating member 302 so that the diameter expanding member 304 adapts to the pipeline body 100.

[0028] The present invention transmits compressed gas provided by an external air pump to the air inlet member 201. Due to the expansion and contraction of the air inlet member 201, the telescopic member 202 and the elastic member 203 cooperate to realize the advancement of the device in the pipeline body 100. At the same time, the device is provided with a support member 301 on the air inlet member 201, and a rotating member 302 and a resistance member 303 are provided in the support member 301. A diameter expansion member 304 is provided on the outer wall of the support member 301, and a driving member 305 is provided on the rotating member 302. When the driving member 305 is rotated, the driving member 305 moves and the rotating member 302 is mobilized to move. At this time, the rotating member 302 cooperates with the resistance member 303, so that the diameter expansion member 304 adapts to the pipeline body 100, thereby ensuring the stability of the device when in use.

[0029] Example 2, reference Figures 1 to 6, which is the second embodiment of the present invention. Different from the previous embodiment, this embodiment provides an air intake component 201 of a pipeline-crossing soft crawling robot. The air intake component 201 includes an air intake pipe 201a arranged in the pipeline body 100, one end of the air intake pipe 201a is connected to a movable head 201b, the other end of the air intake pipe 201a is fixedly connected to an air intake head 201c, and a conical seat 201d is also fixedly connected to the outer wall of the air intake pipe 201a.

[0030] From 2 to Figure 3 It can be known that the air intake pipe 201a is a deformable telescopic bag structure, and one end of the air intake pipe 201a is connected to a movable head 201b. The movable head 201b is a conical structure, and the radius of the forward end is smaller, which guides the movement of the air intake pipe 201a, and the other end is connected to the air intake head 201c. The compressed gas provided by the external air pump enters the air intake pipe 201a through the air intake head 201c, so that the air intake pipe 201a expands and becomes thicker as the air pump is inflated, and then when inhaling, the air intake pipe 201a shrinks and becomes longer. At the same time, the air intake pipe 201a is moved in the pipe body 100 by configuring the telescopic part 202.

[0031] Furthermore, the telescopic member 202 includes a flexible sleeve 202a symmetrically fixedly connected to the air inlet pipe 201a, the flexible sleeve 202a is made of an elastic and deformable material, and skirt shoulders 202b are evenly fixed on the outer wall of the flexible sleeve 202a. The skirt shoulders 202b are composed of two groups of section shoulders 202c, and a gap 202d is formed between two adjacent groups of section shoulders 202c. A compression space 202e is formed between two adjacent groups of skirt shoulders 202b. A connecting bridge 202f is provided between the flexible sleeves 202a on both sides, and the connecting bridge 202f is made of a deformable material. For the sake of stability during use, two groups of flexible sleeves 202a are fixedly connected to the outer wall of the air inlet pipe 201a, and the flexible sleeves 202a are connected with skirt shoulders 202b. The number of skirt shoulders 202b is six. After being resisted by the elastic member 203, the skirt shoulders 202b will roll up, and at this time they will store a certain amount of elastic potential energy.

[0032] A compression space 202e is formed between two adjacent groups of skirt shoulders 202b, and a gap 202d is formed between two adjacent groups of section shoulders 202c. When the skirt shoulders 202b are rolled up, the section shoulders 202c are deformed at the same time, and a connecting bridge 202f is provided between the flexible sleeves 202a on both sides. At the same time, the flexible sleeves 202a on both sides squeeze the connecting bridge 202f. The connecting bridge 202f is an arc-shaped structure, which provides restoring force for the flexible sleeve 202a after being squeezed.

[0033] In the present invention, a flexible sleeve 202a is fixedly connected to the air intake pipe 201a, and skirt shoulders 202b are evenly arranged on the flexible sleeve 202a. The skirt shoulders 202b are distributed in a ring shape on the outer wall of the flexible sleeve 202a. Multiple shoulder sections 202c of the flexible sleeve 202a are arranged in layers to form a pleated structure. The compressed gas provided by an external air pump is inflated or inhaled through the air path and the air intake pipe 201a, so that the multiple shoulder sections 202c are bent outward or inward, and the elastic air intake pipe 201a will expand like a balloon, while the cavity material does not stretch but the limbs curl up. When bending, the whole body can be continuously pushed forward with the help of the lateral thrust generated by the friction between the limbs and the surrounding area.

[0034] Among them, the elastic member 203 includes a first elastic band 203a fixedly connected to the skirt shoulder 202b, a resistance band 203b is fixedly connected to the first elastic band 203a, one end of the resistance band 203b is correspondingly pressed against the conical seat 201d, and a second elastic band 203c is fixedly connected to the other side of the skirt shoulder 202b, one end of the second elastic band 203c is fixedly connected to the movable head 201b.

[0035] Depend on Figure 2 It can be known that the outer walls of the two adjacent groups of skirt shoulders 202b are connected with the first elastic band 203a and the second elastic band 203c, the resistance band 203b in the first elastic band 203a is in contact with the conical seat 201d, and one end of the second elastic band 203c is connected to the movable head 201b. When the air intake pipe 201a is inflated by the air pump, the air intake pipe 201a expands and becomes thicker. At this time, the conical seat 201d on the air intake pipe 201a is in contact with the resistance band 203b. After the air intake pipe 201a is inflated or inhaled, the device is driven to move in the pipeline body 100.

[0036] The rest of the structure is the same as that of Example 1.

[0037] When in use, the present invention inflates or inhales the air path and the air inlet pipe 201a through compressed gas provided by an external air pump. At this time, the air inlet pipe 201a expands, thickens or contracts, thereby achieving the outward or inward bending and deformation of multiple shoulders 202c. At this time, the conical seat 201d on the air inlet pipe 201a contacts the resistance band 203b, and the first elastic band 203a and the second elastic band 203c are deformed. In this way, under the push of elastic potential energy and gas pressure, the device body is driven to move in the pipeline body 100.

[0038] Example 3, reference Figures 1 to 6, which is the third embodiment of the present invention. Different from the previous embodiment, this embodiment provides a support member 301 for a pipeline-crossing soft crawling robot. The support member 301 includes an annular cylinder 301a fixedly connected to the conical seat 201d, an annular edge 301b is fixedly connected to the bottom of the annular cylinder 301a, a plurality of groups of openings 301c are formed between the annular cylinder 301a and the annular edge 301b, a mounting portion 301d is formed between adjacent openings 301c, and a rotating member 302 is correspondingly arranged in the opening 301c.

[0039] Depend on Figure 3 and Figure 5 It can be known that the bottom end of the conical seat 201d is fixedly connected with an annular cylinder 301a, one end of the air intake head 201c is connected to the air intake pipe 201a through the annular cylinder 301a, and the bottom of the annular cylinder 301a is fixedly connected with an annular edge 301b, and a plurality of groups of openings 301c are formed between the annular cylinder 301a and the annular edge 301b. The number of the openings 301c is 4, which are distributed in a ring shape between the annular cylinder 301a and the annular edge 301b, and a mounting portion 301d is formed between the annular cylinder 301a and the annular edge 301b for providing support for the annular edge 301b. At the same time, the present invention arranges a rotating member 302 in the opening 301c, so that the diameter expansion member 304 supports the device as a whole.

[0040] Specifically, the rotating member 302 includes a through opening 302a provided in the mounting portion 301d, a circular ring 302b is rotatably connected in the through opening 302a, an expanded diameter portion 302c is integrally formed on the outer wall of the circular ring 302b, and a limiting portion 302d is integrally formed in the expanded diameter portion 302c, the abutting member 303 includes a movable opening 303a provided in the annular edge 301b, the movable opening 303a is provided in the through opening 302a, a piston rod 303b is movably connected in the movable opening 303a, one end of the piston rod 303b abuts against the outer wall of the expanded diameter portion 302c, a groove 303d is provided at one end of the outer wall of the piston rod 303b, and the limiting portion 302d correspondingly abuts against the groove 303d.

[0041] Depend on Figure 4 and Figure 5It can be seen that the corresponding positions of the multiple groups of mounting parts 301d are provided with through openings 302a, and the multiple groups of through openings 302a are rotatably connected with a ring 302b, and the ring 302b is controlled by a driving member 305. The outer wall of the ring 302b is integrally formed with an expansion portion 302c at the position of the through opening 302a, and the diameter of the expansion portion 302c gradually increases clockwise, and the expansion portion 302c is integrally formed with a limiting portion 302d, and the limiting portion 302d is used to In order to cooperate with the piston rod 303b, four groups of movable openings 303a are correspondingly provided in the annular edge 301b, and the piston rod 303b is movably connected in the movable opening 303a. When the ring 302b rotates clockwise, the piston rod 303b is squeezed so that the piston rod 303b moves in the movable opening 303a. At the same time, a groove 303d is provided at the end of the piston rod 303b, so that when the limiting part 302d rotates to a certain extent, it abuts against the groove 303d.

[0042] The expansion member 304 includes a through tube 304a fixedly connected to one end of the movable port 303a. The interior of the through tube 304a is hollow. One end of two adjacent groups of through tubes 304a is fixedly connected with an airbag shoulder 304b. Multiple groups of ridge segments 304c are arranged on the outer wall of the airbag shoulder 304b. The airbag shoulder 304b is connected to the movable port 303a through the through tube 304a.

[0043] Depend on Figure 4 and Figure 5 It can be known that the outer side of the movable port 303a is fixedly connected with a through pipe 304a. Since the interior of the through pipe 304a is hollow, after the piston rod 303b moves in the movable port 303a, it squeezes the space in the movable port 303a, so that the gas flows from the through pipe 304a into the airbag shoulder 304b. The present invention further limits the structure of the airbag shoulder 304b. The multiple ridge sections 304c of the airbag shoulder 304b are arranged in layers. When the gas is squeezed, the airbag shoulder 304b expands outward, thereby contacting the inner wall of the pipe body 100, thereby ensuring the stability of the device during operation.

[0044] The driving member 305 includes a connecting portion 305a which is evenly fixedly connected to the upper end surface of the circular ring 302b, and multiple groups of connecting portions 305a are fixedly connected to the upper end surfaces of the driving rings 305b. Multiple groups of mounting grooves 305c are arranged in the driving ring 305b, and a limiting groove 305d is arranged on one side of the mounting groove 305c. A screw sleeve 305e is threadedly connected to the outer wall of the annular cylinder 301a, and a driving rod 305f is arranged at the position of the bottom end of the screw sleeve 305e corresponding to the mounting groove 305c and the limiting groove 305d. A fixing portion 305g is fixedly connected to one end of the driving rod 305f, and the driving rod 305f and the fixing portion 305g are correspondingly arranged in the mounting groove 305c and the limiting groove 305d.

[0045] Depend on Figure 4 and Figure 6It can be seen that four groups of connecting parts 305a are fixedly connected to the upper end surface of the circular ring 302b, and a driving ring 305b is fixed to the upper end surface of the connecting part 305a. The driving ring 305b is a hollow structure, and a mounting groove 305c and a limiting groove 305d are arranged in the driving ring 305b. The mounting groove 305c and the limiting groove 305d form an L-shaped structure, and a screw sleeve 305e is threadedly connected to the outer wall of the annular cylinder 301a, and a driving rod 305f and a fixing part 305g are fixedly connected to the lower end surface of the screw sleeve 305e. At this time, the driving rod 305f and the fixing part 305g are arranged in the mounting groove 305c and the limiting groove 305d. In this way, when the screw sleeve 305e rotates, it drives the driving ring 305b to rotate, and the circular ring 302b on the connecting part 305a rotates synchronously.

[0046] The rest of the structure is the same as that of Example 2.

[0047] When the device needs to adapt to different pipelines, it only needs to rotate the screw sleeve 305e. When the screw sleeve 305e rotates and moves upward, it drives the driving rod 305f and the fixing part 305g to move in the installation groove 305c and the limiting groove 305d. Since the diameter of the installation groove 305c is smaller than the width of the fixing part 305g, when the screw sleeve 305e rotates, it drives the driving ring 305b to move synchronously. At this time, the ring 302b rotates synchronously. When the ring 302b rotates clockwise, it squeezes the piston rod 303b, so that the piston rod 303b is in the movable port 303a. At the same time, a groove 303d is provided at the end of the piston rod 303b, so that when the limit part 302d rotates to a certain extent, it abuts against the groove 303d. At this time, after the piston rod 303b moves in the movable opening 303a, it squeezes the space in the movable opening 303a, so that the gas flows from the through pipe 304a into the airbag shoulder 304b. The multiple ridge sections 304c of the airbag shoulder 304b are arranged in layers. When the gas is squeezed, the airbag shoulder 304b expands outward, thereby abutting against the inner wall of the pipeline body 100, thereby ensuring the stability of the device during operation.

[0048] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, improvements, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0049] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0050] It should be understood that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but for those of ordinary skill having the benefit of this disclosure, without undue experimentation, the development effort will be a routine task of design, fabrication, and production.

[0051] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A pipeline-crossing soft crawling robot, comprising a pipeline body (100), characterized in that: A crawling mechanism (200) is provided in the pipeline body (100), and a positioning mechanism (300) is provided in the crawling mechanism (200); The crawling mechanism (200) comprises an air intake member (201) arranged in the pipeline body (100), a telescopic member (202) is arranged on the air intake member (201), an elastic member (203) is arranged in the telescopic member (202), and the air intake member (201) and the telescopic member (202) cooperate to provide power for the device; The positioning mechanism (300) comprises a support member (301) arranged on an air inlet member (201), a rotating member (302) being arranged inside the support member (301), a resisting member (303) cooperating with the rotating member (302) being arranged inside the support member (301), an expanding member (304) being arranged on the outer wall of the support member (301), a driving member (305) cooperating with the rotating member (302) being arranged on the telescopic member (202), and the driving member (305) and the rotating member (302) being matched so that the expanding member (304) adapts to the pipeline body (100).

2. The pipeline-crossing soft crawling robot according to claim 1, characterized in that: The air intake component (201) comprises an air intake pipe (201a) arranged in the pipeline body (100), a movable head (201b) is arranged at one end of the air intake pipe (201a), an air intake head (201c) is arranged at the other end of the air intake pipe (201a), and a conical seat (201d) is also arranged on the outer wall of the air intake pipe (201a).

3. The pipeline-crossing soft crawling robot according to claim 2, characterized in that: The telescopic member (202) comprises a flexible sleeve (202a) symmetrically arranged on the air intake pipe (201a), skirt shoulders (202b) are evenly arranged on the outer wall of the flexible sleeve (202a), the skirt shoulders (202b) are composed of two groups of section shoulders (202c), a gap (202d) is formed between two adjacent groups of section shoulders (202c), a compression space (202e) is formed between two adjacent groups of skirt shoulders (202b), and a connecting bridge (202f) is arranged at a corresponding position between the flexible sleeves (202a) on both sides.

4. The pipeline-crossing soft crawling robot according to claim 3, characterized in that: The elastic member (203) comprises a first elastic band (203a) arranged in the skirt shoulder (202b), a resistance band (203b) being arranged in the first elastic band (203a), one end of the resistance band (203b) correspondingly abutting against the conical seat (201d), and a second elastic band (203c) being arranged in the skirt shoulder (202b) on the other side, one end of the second elastic band (203c) being arranged on the movable head (201b).

5. The pipeline crossing soft crawling robot according to claim 4, characterized in that: The support member (301) comprises an annular cylinder (301a) arranged in a conical seat (201d), an annular edge (301b) is arranged at the bottom of the annular cylinder (301a), a plurality of groups of openings (301c) are formed between the annular cylinder (301a) and the annular edge (301b), a mounting portion (301d) is formed between adjacent openings (301c), and the rotating member (302) is correspondingly arranged in the opening (301c).

6. The pipeline-crossing soft crawling robot according to claim 5, characterized in that: The rotating member (302) comprises a through opening (302a) arranged in the mounting portion (301d), a circular ring (302b) being arranged in the through opening (302a), an expanded diameter portion (302c) being evenly arranged on the outer wall of the circular ring (302b), and a limiting portion (302d) being integrally formed in the expanded diameter portion (302c).

7. The pipeline-crossing soft crawling robot according to claim 6, characterized in that: The resisting member (303) comprises a movable opening (303a) arranged in the annular edge (301b), the movable opening (303a) is arranged in the through opening (302a), and a piston rod (303b) is arranged in the movable opening (303a).

8. The pipeline-crossing soft crawling robot according to claim 6, characterized in that: One end of the piston rod (303b) abuts against the outer wall of the expanded diameter portion (302c); a groove (303d) is provided at one end of the outer wall of the piston rod (303b); the limiting portion (302d) abuts against the groove (303d) correspondingly; a compression spring (303e) is sleeved on the outer wall of the piston rod (303b); one end of the compression spring (303e) abuts against the annular edge (301b).

9. The pipeline-crossing soft crawling robot according to claim 8, characterized in that: The diameter expansion member (304) comprises a through tube (304a) arranged at one end of the movable opening (303a); the interior of the through tube (304a) is hollow; one end of two adjacent groups of through tubes (304a) is provided with an air bag shoulder (304b); a plurality of groups of ridge segments (304c) are arranged on the outer wall of the air bag shoulder (304b); and the air bag shoulder (304b) is connected to the movable opening (303a) through the through tube (304a).

10. The pipeline crossing soft crawling robot according to claim 9, characterized in that: The driving member (305) comprises connecting parts (305a) uniformly arranged on the upper end surface of the circular ring (302b), a plurality of groups of driving rings (305b) are arranged on the upper end surfaces of the connecting parts (305a), a plurality of groups of mounting grooves (305c) are arranged in the driving ring (305b), and a limiting groove (305d) is arranged on one side of the mounting groove (305c); A screw sleeve (305e) is arranged on the outer wall of the annular cylinder (301a); a driving rod (305f) is arranged at a position of the bottom end of the screw sleeve (305e) corresponding to the mounting groove (305c) and the limiting groove (305d); a fixing portion (305g) is arranged at one end of the driving rod (305f); and the driving rod (305f) and the fixing portion (305g) are correspondingly arranged in the mounting groove (305c) and the limiting groove (305d).

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