Pipeline robot chassis

Abstract

The invention relates to the technical field of pipeline robots, in particular to a pipeline robot chassis which comprises a chassis body, a front wheel assembly, a rear wheel assembly and a horizontal adjusting assembly used for adjusting the moving direction of the front wheel assembly. The horizontal adjusting assembly is slidably connected with the chassis body and connected with the front wheel assembly, and when the chassis body inclines, the horizontal adjusting assembly controls the front wheel assembly to rotate towards the lower side of the chassis body. Automatic adjustment of the position of the robot chassis is achieved, the pipeline robot is always kept horizontal in a pipeline, the whole movement process is stable, and accidents such as robot overturning are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline robots, and more specifically, to a pipeline robot chassis. Background Art

[0002] The pipeline robot is an intelligent robot widely used in the inspection and maintenance of pipeline systems. It can detect corrosion, leakage and blockage inside the water supply pipes in urban water supply systems or perform inspections, maintenance and cleaning operations in industrial pipeline systems to ensure production safety and improve production efficiency. The chassis of the pipeline robot is an important part of the pipeline robot system. It carries the robot's movement, positioning, navigation and obstacle avoidance functions, and is the key to the pipeline robot's efficient operation inside the pipeline. With the continuous advancement of technology and the continuous increase in application needs, the chassis of the pipeline robot continues to develop in the direction of intelligence, lightweight and multifunctionality.

[0003] In the prior art, for example, Chinese patent CN111578039A discloses a pipeline inspection robot, which mainly includes a base plate, four combination rods, two front tires, two rear tires, a first rack, a second rack, a first gear, a second gear, a drive motor, a transmission shaft, a differential, a differential support frame, two universal joints, a steering gear, two half shafts, two gear support frames, two gear connecting rods, a partition, a telescopic mechanism, a platform, a detection probe and a lighting lamp. The forward and turning movements are completed by the motor and the steering gear, the detection probe is adjusted to a suitable height by using a lead screw nut, and the thickness of the pipeline wall is detected by an ultrasonic sensor to determine the degree of corrosion. However, the chassis structure of the pipeline robot is simple. When the pipeline robot moves in a cylindrical pipeline, it cannot be guaranteed that the overall structure of the robot remains stable at all times, and it is easy to flip during the forward movement. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcoming of the prior art that the pipeline robot is easy to flip over during movement, and to provide a pipeline robot chassis to realize automatic adjustment of the position of the robot chassis, so that the pipeline robot always remains level inside the pipeline, the overall movement process is stable, and accidents such as robot flipping are avoided.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A pipeline robot chassis is provided, comprising a chassis body, a front wheel assembly, a rear wheel assembly and a horizontal adjustment assembly for adjusting the movement direction of the front wheel assembly, wherein the rear wheel assembly is connected to the chassis body, the front wheel assembly is rotatably connected to the chassis body, the horizontal adjustment assembly is slidably connected to the chassis body and connected to the front wheel assembly, and when the chassis body is tilted, the horizontal adjustment assembly controls the front wheel assembly to rotate toward a side of the chassis body with a lower height.

[0007] The pipeline robot chassis of the present invention provides stable forward power for the robot as a whole through the rear wheel assembly, and adjusts the relative position of the front wheel assembly and the chassis body through the horizontal adjustment assembly to control the forward direction of the pipeline robot. When the pipeline robot tilts in the pipeline, the horizontal adjustment assembly controls the front wheel assembly to rotate toward the side of the chassis body with a lower height, driving the pipeline robot chassis to move in the direction of restoring the overall horizontal position, thereby realizing automatic adjustment of the robot chassis position, so that the pipeline robot always remains horizontal inside the pipeline, the overall movement process is stable, and accidents such as robot flipping are avoided.

[0008] Furthermore, the horizontal adjustment assembly includes a gear and a rack that mesh with each other, the gear is connected to the front wheel assembly, and the rack is slidably connected to the chassis body. When the chassis of the pipeline robot tilts, the rack slides to the side of the chassis body with a lower height under the action of its own gravity, driving the gear meshing with it to rotate, thereby causing the front wheel assembly connected to the gear to rotate relative to the chassis body, causing the chassis body to move in a direction that restores the overall position to a horizontal state.

[0009] Furthermore, the meshing position of the rack and the gear is set at the bottom of the gear. The meshing position of the rack and the gear is always set at the bottom of the gear. When the rack moves to the left relative to the gear, it drives the gear to rotate clockwise; when the rack moves to the right relative to the gear, it drives the gear to rotate counterclockwise, so as to realize the automatic adjustment of the chassis position of the pipeline robot and maintain the horizontal state.

[0010] Furthermore, a guide rail is provided on the chassis body, and a slider is provided at the bottom of the rack to be slidably connected to the guide rail; or a guide rail is provided at the bottom of the rack, and a slider is provided on the chassis body to be slidably connected to the guide rail. When the chassis body tilts, the slider cooperates with the guide rail to ensure that the rack can stably slide relative to the chassis body.

[0011] Furthermore, the chassis body is provided with an anti-disturbance component for limiting the rotation angle of the front wheel assembly, a groove is provided inside the anti-disturbance component, and a movable block is provided on the rack, and the movable block is arranged in the groove. The movable block is arranged in the groove, and the sliding range of the rack is limited by the anti-disturbance component, thereby limiting the rotation angle of the front wheel assembly, preventing the adjustment angle from being too large, causing severe friction between the front wheel and the inner wall of the pipe, resulting in damage to the inner wall of the pipe.

[0012] Furthermore, a first magnet is provided on both sides of the groove, and a second magnet is provided on the movable block, and the first magnet and the second magnet repel each other. The first magnet and the second magnet repel each other, and as the movable block continues to approach both sides of the groove, the repulsive force continues to increase, and the first magnet and the second magnet provide a force that gradually increases as the rotation angle of the front wheel assembly increases, ensuring that the chassis of the pipeline robot will not be over-adjusted during the position adjustment process, while preventing the debris in the pipeline from slightly disturbing the chassis of the pipeline robot.

[0013] Further, the front wheel assembly includes a front wheel bracket and a front wheel rotatably connected to the front wheel bracket, the rear wheel assembly includes a rear wheel bracket and a rear wheel rotatably connected to the rear wheel bracket, the rear wheel bracket is fixedly connected to the chassis body, a rotating shaft is provided on the front wheel bracket, and the rotating shaft passes through the chassis body and is connected to the gear. The rear wheel bracket provides a stable installation position for the rear wheel and is fixed to the chassis body. The front wheel bracket provides support for the front wheel on the one hand, and is connected to the gear through the rotating shaft on the other hand to achieve relative rotation between the front wheel assembly and the chassis body.

[0014] Furthermore, the front wheel includes a rigid bracket, a first flexible bracket, a second flexible bracket and a wheel body, one side of the rigid bracket is connected to the first flexible bracket through the wheel body, and the other side is connected to the second flexible bracket through the wheel body, the diameter of the first flexible bracket is smaller than the diameter of the rigid bracket, and the diameter of the rigid bracket is smaller than the diameter of the second flexible bracket. The diameters of the second flexible bracket, the rigid bracket and the first flexible bracket decrease in sequence, and the elastic wheel body connects the rigid bracket with the first flexible bracket and the second flexible bracket to form a front wheel of a special shape, which fits the inner wall of the pipeline more closely, increases the contact area between the front wheel and the inner wall of the pipeline, reduces the contact stress between the front wheel and the inner wall of the pipeline, and reduces the damage to the inner wall of the pipeline during the operation of the pipeline robot.

[0015] Furthermore, the front wheel also includes an axle, a first adjusting member for adjusting the position of the first flexible bracket, and a second adjusting member for adjusting the position of the second flexible bracket. The axle passes through the rigid bracket, the first flexible bracket, the second flexible bracket, and is movably connected to the first flexible bracket and the second flexible bracket. The first adjusting member is arranged on both sides of the first flexible bracket and is movably connected to the axle, and the second adjusting member is arranged on both sides of the second flexible bracket and is movably connected to the axle. The relative positions of the first flexible bracket, the second flexible bracket and the axle can be adjusted by the first adjusting member and the second adjusting member, so as to cause the first flexible bracket, the second flexible bracket and the wheel body to deform, and adjust the external structure of the front wheel to adapt to different pipe inner wall sizes and increase the application occasions of the pipeline robot chassis.

[0016] Furthermore, the first flexible bracket and the second flexible bracket both include a connecting portion and a plurality of supporting portions, the connecting portion is connected to the wheel axle, the connecting portion is connected to the wheel body through the supporting portions, and the supporting portions are evenly distributed on the connecting portion. The connecting portion is used to connect the wheel axle with the first flexible bracket and the second flexible bracket, and the wheel body is supported by the plurality of supporting portions, so that the wheel body maintains a hollow structure, is more susceptible to elastic deformation, and adjusts the outer shape of the wheel body according to different shapes of the inner wall of the pipe.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. Realize automatic adjustment of the robot chassis position, improve the horizontal stability of the chassis, and ensure the stability of the overall movement process;

[0019] 2. The magnets are used to limit the steering angle of the front wheels, reducing the impact of slight disturbances on the front wheels and preventing excessive adjustment of the angle from causing severe friction between the front wheels and the inner wall of the pipe;

[0020] 3. Both the front wheel and the rear wheel are fitted wheel structures, and the radius of the fitting wheel can be adjusted through threads to adapt to pipes of different diameters and reduce the pressure on the pipes during work. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of the pipeline robot chassis;

[0022] Figure 2 It is a schematic diagram of the structure of the anti-disturbance component;

[0023] Figure 3 It is a schematic diagram of the front wheel structure;

[0024] In the accompanying drawings: 100, chassis body; 110, guide rail; 200, front wheel assembly; 210, front wheel bracket; 211, rotating shaft; 220, front wheel; 221, rigid bracket; 222, first flexible bracket; 223, second flexible bracket; 224, wheel body; 225, wheel axle; 226, first adjusting member; 227, second adjusting member; 228, connecting part; 229, supporting part; 300, rear wheel assembly; 310, rear wheel bracket; 320, rear wheel; 400, horizontal adjustment assembly; 410, gear; 420, rack; 430, slider; 440, movable block; 450, second magnet; 500, anti-disturbance assembly; 510, groove; 520, first magnet. DETAILED DESCRIPTION

[0025] The present invention is further described below in conjunction with specific implementation methods. The accompanying drawings are only used for exemplary descriptions and are only schematic diagrams, not actual drawings, and cannot be understood as limiting this patent; in order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the accompanying drawings may be omitted.

[0026] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0027] Embodiment 1

[0028] This embodiment is the first embodiment of the pipeline robot chassis, including a chassis body 100, a front wheel assembly 200, a rear wheel assembly 300, and a horizontal adjustment assembly 400 for adjusting the movement direction of the front wheel assembly 200. The rear wheel assembly 300 is connected to the chassis body 100, the front wheel assembly 200 is rotatably connected to the chassis body 100, and the horizontal adjustment assembly 400 is slidably connected to the chassis body 100 and connected to the front wheel assembly 200. When the chassis body 100 is tilted, the horizontal adjustment assembly 400 controls the front wheel assembly 200 to rotate toward the side of the chassis body 100 with a lower height. Figure 1As shown, in the pipeline robot chassis in this embodiment, the chassis body 100 is fixedly connected to the rear wheel assembly 300, and the chassis body 100 is rotatably connected to the front wheel assembly 200. When the chassis body 100 is tilted, the horizontal adjustment assembly 400 drives the front wheel assembly 200 to rotate toward the side of the chassis body 100 with a lower height, thereby restoring the chassis body 100 to a horizontal position. No electric components are required, and a purely mechanical structure can be used to achieve automatic adjustment of the robot chassis position, thereby improving the horizontal stability of the chassis and ensuring that the pipeline robot maintains stable movement in the pipeline. The horizontal adjustment component 400 in this embodiment can adopt the combination of gear 410 and rack 420. When the chassis body 100 is tilted, the rack 420 moves to the lower side under the action of its own gravity, driving the gear 410 to move, thereby adjusting the rotation of the front wheel assembly 200 connected to the gear 410; a crank slider mechanism can also be adopted. When the chassis body 100 is tilted, the slider 430 slides under the action of its own gravity, and the crank slider mechanism converts the linear motion of the slider 430 into the rotational motion of the guide rod, thereby driving the front wheel assembly 200 connected to the guide rod to rotate.

[0029] The level adjustment assembly 400 includes a gear 410 and a rack 420 that mesh with each other. The gear 410 is connected to the front wheel assembly 200, and the rack 420 is slidably connected to the chassis body 100. Figure 1 As shown, when the chassis of the pipeline robot tilts, the rack 420 slides to the lower side of the chassis body 100 under the action of its own gravity, driving the gear 410 meshing with it to rotate, thereby causing the front wheel assembly 200 connected to the gear 410 to rotate relative to the chassis body 100, causing the chassis body 100 to move in a direction to restore the overall position to a horizontal direction.

[0030] The meshing position of the rack 420 and the gear 410 is set at the bottom of the gear 410. The meshing position of the rack 420 and the gear 410 is set at the bottom of the gear 410. When the chassis body 100 is tilted, the rack 420 moves to the left relative to the gear 410 under its own gravity, the gear 410 rotates clockwise, driving the front wheel assembly 200 to rotate clockwise, so that the chassis body 100 moves toward the side with a lower height and gradually returns to a horizontal position; when the rack 420 moves to the right relative to the gear 410 under its own gravity, the gear 410 rotates counterclockwise, driving the front wheel assembly 200 to rotate counterclockwise, and the chassis body 100 can also be gradually restored to a horizontal position.

[0031] The chassis body 100 is provided with a guide rail 110, and the bottom of the rack 420 is provided with a slider 430 slidably connected to the guide rail 110; or the bottom of the rack 420 is provided with a guide rail 110, and the chassis body 100 is provided with a slider 430 slidably connected to the guide rail 110. Figure 1As shown, a guide rail 110 is provided on the chassis body 100, and a slider 430 is provided at the bottom of the rack 420. The slider 430 cooperates with the guide rail 110 to realize a stable sliding connection between the rack 420 and the chassis body 100. When the chassis body 100 is tilted, the slider 430 moves stably along the guide rail 110 under the gravity of the rack 420. The guide rail 110 in this embodiment can also be provided at the bottom of the rack 420, and a slider 430 cooperating with the guide rail 110 is provided on the chassis body 100, so as to realize a sliding connection between the chassis body 100 and the rack 420.

[0032] The working principle of the pipeline robot chassis in this embodiment is as follows: when the pipeline robot chassis is tilted, under the action of gravity of the rack 420, the slider 430 slides along the guide rail 110 to the side of the chassis body 100 with a lower height, and the rack 420 drives the gear 410 meshing therewith to rotate, thereby causing the front wheel assembly 200 connected to the gear 410 to rotate relative to the chassis body 100, causing the chassis body 100 to move in a direction that restores the overall position to a horizontal state.

[0033] Embodiment 2

[0034] This embodiment is the second embodiment of the pipeline robot chassis. This embodiment is similar to the first embodiment, except that the chassis body 100 is provided with an anti-disturbance assembly 500 for limiting the rotation angle of the front wheel assembly 200, and a groove 510 is provided inside the anti-disturbance assembly 500. The rack 420 is provided with a movable block 440, and the movable block 440 is arranged in the groove 510. Figure 2 As shown, the moving distance of the rack 420 is limited by the groove 510 and the movable block 440 arranged in the groove 510, thereby limiting the rotation angle of the front wheel assembly 200, which can prevent the severe friction between the front wheel assembly 200 and the inner wall of the pipeline caused by the adjustment angle being too large, and prevent the large deviation in the moving direction of the pipeline robot caused by the rotation angle being too large.

[0035] A first magnet 520 is provided on both sides of the groove 510, and a second magnet 450 is provided on the movable block 440, and the first magnet 520 and the second magnet 450 repel each other. A first magnet 520 is provided on both sides of the groove 510, and two groups of second magnets 450 are provided on both sides of the movable block 440, respectively. The first magnet 520 and the second magnet 450 have opposite polarities. When the chassis body 100 tilts, the movable block 440 approaches the two sides of the groove 510, and the repulsive force between the first magnet 520 and the second magnet 450 increases. On the one hand, it can prevent slight disturbances in the pipeline from affecting the forward direction of the front wheel assembly 200. On the other hand, the repulsive force gradually increases with the increase of the adjustment angle, ensuring that the pipeline robot will not collide or over-adjust during the adjustment process.

[0036] The working principle of the pipeline robot chassis of this embodiment is as follows: a movable block 440 is set on the rack 420, and an anti-disturbance component 500 is provided on the chassis body 100. The second magnet 450 on the movable block 440 and the first magnet 520 in the anti-disturbance component 500 repel each other. When the chassis body 100 is tilted, the repulsive force between the two increases with the increase of the rotation angle of the front wheel assembly 200, thereby reducing the impact of slight disturbances on the pipeline robot chassis and avoiding over-adjustment.

[0037] Embodiment 3

[0038] This embodiment is the third embodiment of the chassis of the pipeline robot. This embodiment is similar to the first embodiment, except that the front wheel assembly 200 includes a front wheel bracket 210 and a front wheel 220 rotatably connected to the front wheel bracket 210, and the rear wheel assembly 300 includes a rear wheel bracket 310 and a rear wheel 320 rotatably connected to the rear wheel bracket 310. The rear wheel bracket 310 is fixedly connected to the chassis body 100. The front wheel bracket 210 is provided with a rotating shaft 211, and the rotating shaft 211 passes through the chassis body 100 and is connected to the gear 410. The rear wheel bracket 310 provides a stable installation position for the rear wheel 320 and is fixed to the chassis body 100 by screws. The front wheel bracket 210 provides support for the front wheel 220 on the one hand, and is connected to the gear 410 through the rotating shaft 211 on the other hand. A sliding bearing is provided between the gear 410 and the chassis body 100, and the rotating shaft 211 passes through the chassis body 100 and the sliding bearing to achieve relative rotation between the front wheel assembly 200 and the chassis body 100.

[0039] like Figure 1 As shown, in order to reduce the pressure of the pipeline robot on the pipeline and adapt to different pipeline diameters, the rear wheel 320 and the front wheel 220 in this embodiment can be set as a fitting wheel structure, and the first adjusting member 226 and the second adjusting member 227 are rotated to adjust their positions on the wheel axle 225, and the shapes of the fitting wheel surfaces are changed to be the same, so that the surfaces of the front wheel 220 and the rear wheel 320 are kept in contact with the inner wall of the pipeline.

[0040] The front wheel 220 includes a rigid support 221, a first flexible support 222, a second flexible support 223 and a wheel body 224. One side of the rigid support 221 is connected to the first flexible support 222 through the wheel body 224, and the other side is connected to the second flexible support 223 through the wheel body 224. The diameter of the first flexible support 222 is smaller than that of the rigid support 221, and the diameter of the rigid support 221 is smaller than that of the second flexible support 223. Figure 3As shown, the wheel body 224 of the front wheel 220 is made of elastic material, such as polyurethane or rubber, and the flexible bracket is a metal material with a certain elasticity, which is essentially an elastic beam structure. The diameters of the second flexible bracket 223, the rigid bracket 221, and the first flexible bracket 222 are successively reduced, and are connected through the elastic wheel body 224. The front wheel 220 is generally truncated, and the wheel body 224 is arc-shaped, and the surface fits the inner wall of the pipe, increasing the contact area between the wheel body 224 and the inner wall of the pipe, reducing the contact stress, and avoiding damage to the inner wall coating of the pipe during movement.

[0041] The front wheel 220 also includes an axle 225, a first adjusting member 226 for adjusting the position of the first flexible bracket 222, and a second adjusting member 227 for adjusting the position of the second flexible bracket 223. The axle 225 passes through the rigid bracket 221, the first flexible bracket 222, and the second flexible bracket 223 and is movably connected to the first flexible bracket 222 and the second flexible bracket 223. The first adjusting member 226 is arranged on both sides of the first flexible bracket 222 and is movably connected to the axle 225. The second adjusting member 227 is arranged on both sides of the second flexible bracket 223 and is movably connected to the axle 225. The wheel axle 225 in this embodiment adopts a threaded shaft, the first adjusting member 226 is a group of adjusting nuts installed on both sides of the first flexible bracket 222, and the second adjusting member 227 is a group of adjusting nuts installed on both sides of the second flexible bracket 223. The first adjusting member 226 and the second adjusting member 227 are both threadedly connected to the wheel axle 225. When the shape of the front wheel 220 needs to be adjusted, the adjusting nuts are rotated to make the first flexible bracket 222 and the second flexible bracket 223 bend and deform, causing the wheel body 224 to deform along with the first flexible bracket 222 and the second flexible bracket 223. At this time, due to the effect of the rigid bracket 221, the deformation of the front wheel 220 will be concentrated at both ends, thereby adjusting the outer structure of the front wheel 220 to adapt to different shapes of the inner wall of the pipeline. The structure of the front wheel 220 in this embodiment is the same as that of the rear wheel 320, and both can deform the wheel body 224 through the first adjusting member 226 and the second adjusting member 227, which is suitable for the inner walls of pipelines of different sizes.

[0042] The first flexible bracket 222 and the second flexible bracket 223 both include a connecting portion 228 and a plurality of supporting portions 229. The connecting portion 228 is connected to the wheel axle 225. The connecting portion 228 is connected to the wheel body 224 via the supporting portions 229. The supporting portions 229 are evenly distributed on the connecting portion 228. The supporting portions 229 in this embodiment are strip-shaped, and the plurality of supporting portions 229 are evenly distributed between the connecting portion 228 and the wheel body 224 to form a hollow front wheel 220 structure, which can maintain a stable structure and can undergo elastic deformation for easy adjustment.

[0043] The working principle of the pipeline robot chassis of this embodiment is as follows: by rotating the adjustment nut, the first flexible bracket 222 and the second flexible bracket 223 are bent and deformed, causing the wheel body 224 to deform accordingly, thereby adjusting the shape structure of the front wheel 220 to be suitable for the inner walls of pipelines of different sizes.

[0044] In the specific contents of the above-mentioned specific implementation methods, the various technical features can be combined in any non-contradictory manner. In order to make the description concise, not all possible combinations of the above-mentioned technical features are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0045] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A pipeline robot chassis, characterized in that: The invention comprises a chassis body (100), a front wheel assembly (200), a rear wheel assembly (300) and a horizontal adjustment assembly (400) for adjusting the movement direction of the front wheel assembly (200); the rear wheel assembly (300) is connected to the chassis body (100); the front wheel assembly (200) is rotatably connected to the chassis body (100); the horizontal adjustment assembly (400) is slidably connected to the chassis body (100) and is connected to the front wheel assembly (200); when the chassis body (100) is tilted, the horizontal adjustment assembly (400) controls the front wheel assembly (200) to rotate toward the side of the chassis body (100) with a lower height.

2. The pipeline robot chassis according to claim 1, characterized in that: The horizontal adjustment assembly (400) comprises a gear (410) and a rack (420) meshing with each other, the gear (410) being connected to the front wheel assembly (200), and the rack (420) being slidably connected to the chassis body (100).

3. The pipeline robot chassis according to claim 2, characterized in that: The meshing position of the rack (420) and the gear (410) is arranged at the bottom of the gear (410).

4. The pipeline robot chassis according to claim 1, characterized in that: A guide rail (110) is provided on the chassis body (100), and a slider (430) is provided at the bottom of the rack (420) and is slidably connected to the guide rail (110); or a guide rail (110) is provided at the bottom of the rack (420), and a slider (430) is provided on the chassis body (100) and is slidably connected to the guide rail (110).

5. The pipeline robot chassis according to any one of claims 2 to 4, characterized in that: The chassis body (100) is provided with an anti-disturbance assembly (500) for limiting the rotation angle of the front wheel assembly (200), a groove (510) is provided inside the anti-disturbance assembly (500), and a movable block (440) is provided on the rack (420), and the movable block (440) is arranged in the groove (510).

6. The pipeline robot chassis according to claim 5, characterized in that: First magnets (520) are provided on both sides of the groove (510), and a second magnet (450) is provided on the movable block (440), and the first magnet (520) and the second magnet (450) repel each other.

7. The pipeline robot chassis according to any one of claims 2 to 4, characterized in that: The front wheel assembly (200) comprises a front wheel bracket (210) and a front wheel (220) rotatably connected to the front wheel bracket (210); the rear wheel assembly (300) comprises a rear wheel bracket (310) and a rear wheel (320) rotatably connected to the rear wheel bracket (310); the rear wheel bracket (310) is fixedly connected to the chassis body (100); a rotating shaft (211) is provided on the front wheel bracket (210); the rotating shaft (211) passes through the chassis body (100) and is connected to the gear (410).

8. The pipeline robot chassis according to claim 7, characterized in that: The front wheel (220) comprises a rigid bracket (221), a first flexible bracket (222), a second flexible bracket (223) and a wheel body (224); one side of the rigid bracket (221) is connected to the first flexible bracket (222) through the wheel body (224), and the other side is connected to the second flexible bracket (223) through the wheel body (224); the diameter of the first flexible bracket (222) is smaller than the diameter of the rigid bracket (221), and the diameter of the rigid bracket (221) is smaller than the diameter of the second flexible bracket (223).

9. The pipeline robot chassis according to claim 8, characterized in that: The front wheel (220) also includes a wheel axle (225), a first adjusting member (226) for adjusting the position of the first flexible bracket (222), and a second adjusting member (227) for adjusting the position of the second flexible bracket (223); the wheel axle (225) passes through the rigid bracket (221), the first flexible bracket (222), and the second flexible bracket (223) and is movably connected to the first flexible bracket (222) and the second flexible bracket (223); the first adjusting member (226) is arranged on both sides of the first flexible bracket (222) and is movably connected to the wheel axle (225); and the second adjusting member (227) is arranged on both sides of the second flexible bracket (223) and is movably connected to the wheel axle (225).

10. The pipeline robot chassis according to claim 9, characterized in that: The first flexible bracket (222) and the second flexible bracket (223) both comprise a connecting portion (228) and a plurality of supporting portions (229); the connecting portion (228) is connected to the wheel axle (225); the connecting portion (228) is connected to the wheel body (224) via the supporting portions (229); and the supporting portions (229) are evenly distributed on the connecting portion (228).

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