A chassis for a pipeline robot

Abstract

This invention relates to the technical field of pipeline robots, and more specifically, to a pipeline robot chassis, 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. The rear wheel assembly is connected to the chassis body, the front wheel assembly is rotatably connected to the chassis body, and the horizontal adjustment assembly is slidably connected to the chassis body and connected to the front wheel assembly. When the chassis body tilts, the horizontal adjustment assembly controls the front wheel assembly to rotate towards the side of the chassis body with the lower height. This invention achieves automatic adjustment of the robot chassis position, ensuring that the pipeline robot remains horizontal inside the pipeline, maintaining stable overall movement, and preventing accidents such as robot tipping over.

Description

Technical Field

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

[0002] Pipeline robots are intelligent robots widely used in the inspection and maintenance of pipeline systems. They can detect corrosion, leaks, and blockages inside water supply pipes in urban water supply systems, or perform inspection, maintenance, and cleaning operations in industrial pipeline systems, ensuring production safety and improving production efficiency. The chassis of a pipeline robot is a crucial component of the system, responsible for the robot's movement, positioning, navigation, and obstacle avoidance, and is key to its efficient operation inside pipelines. With continuous technological advancements and increasing application demands, pipeline robot chassis are constantly evolving towards greater intelligence, lighter weight, and multi-functionality.

[0003] In the prior art, such as the prior art document CN111578039A, a pipeline inspection robot is disclosed, which mainly includes a base plate, four combined 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 servo motor, 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 robot completes forward and turning movements through the motor and servo motor, adjusts the detection probe to a suitable height using a lead screw nut, and uses an ultrasonic sensor to detect the pipe wall thickness to determine the degree of corrosion. However, the chassis structure of this pipeline robot is simple, and when the pipeline robot moves inside a cylindrical pipe, it is impossible to ensure that the overall structure of the robot remains stable at all times, and it is prone to tipping over during forward movement. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing pipeline robots that are prone to tipping over during movement, and to provide a pipeline robot chassis that enables automatic adjustment of the robot chassis position, ensuring that the pipeline robot remains horizontal inside the pipeline, maintaining stability during the overall movement process, and avoiding accidents such as robot tipping over.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A pipeline robot chassis is provided, including 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. The rear wheel assembly is connected to the chassis body, the front wheel assembly is rotatably connected to the chassis body, and the horizontal adjustment assembly is slidably connected to the chassis body and connected to the front wheel assembly. When the chassis body tilts, the horizontal adjustment assembly controls the front wheel assembly to rotate towards the side of the chassis body with a lower height.

[0007] The pipeline robot chassis of this invention provides stable forward propulsion for the robot through the rear wheel assembly. The horizontal adjustment assembly adjusts the relative position of the front wheel assembly and the chassis body 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 towards the side of the chassis body with lower height, driving the pipeline robot chassis to move in the direction of restoring the overall horizontal position. This achieves automatic adjustment of the robot chassis position, ensuring that the pipeline robot always remains horizontal inside the pipeline, and the overall movement process is stable, avoiding accidents such as robot tipping over.

[0008] Furthermore, the leveling component includes a meshing gear and a rack. 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 down to the side of the chassis body with lower height under its own gravity, causing the gear meshing with it to rotate. This causes the front wheel assembly connected to the gear to rotate relative to the chassis body, allowing the chassis body to move in the direction that restores the overall position to level.

[0009] Furthermore, the meshing position of the rack and the gear is located at the bottom of the gear. The meshing position of the rack and the gear is always located 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, thereby realizing the automatic adjustment of the position of the pipeline robot chassis and maintaining a horizontal state.

[0010] Furthermore, the chassis body is provided with a guide rail, and the bottom of the rack is provided with a slider that is slidably connected to the guide rail; or the bottom of the rack is provided with a guide rail, and the chassis body is provided with a slider that is slidably connected to the guide rail. When the chassis body tilts, the slider and the guide rail cooperate with each other to ensure that the rack can slide stably 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. The anti-disturbance component has a groove inside, and the rack has a movable block, which is disposed within the groove. The movable block is disposed in the groove, and by limiting the sliding range of the rack through the anti-disturbance component, the rotation angle of the front wheel assembly is limited, thereby preventing excessive adjustment angle from causing severe friction between the front wheel and the inner wall of the pipe, which could lead to 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. The first magnet and the second magnet repel each other. As the movable block moves closer to the sides of the groove, the repulsive force increases. The first magnet and the second magnet provide a force that gradually increases with the rotation angle of the front wheel assembly, ensuring that the chassis of the pipeline robot does not over-adjust during position adjustment, while also preventing minor disturbances to the chassis of the pipeline robot caused by debris inside the pipeline.

[0013] Furthermore, the front wheel assembly includes a front wheel bracket and a front wheel rotatably connected to the front wheel bracket, and 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, and the front wheel bracket is provided with a rotating shaft, which passes through the chassis body and connects to the gear. The rear wheel bracket provides a stable mounting position for the rear wheel and is fixed to the chassis body. The front wheel bracket provides support for the front wheel and, through the rotating shaft and connection to the gear, enables 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 via the wheel body, and the other side is connected to the second flexible bracket via 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 sequentially. The elastic wheel body connects the rigid bracket to the first and second flexible brackets, forming a specially shaped front wheel that fits more closely to the inner wall of the pipe, increasing the contact area between the front wheel and the inner wall of the pipe, reducing the contact stress between the front wheel and the inner wall of the pipe, and minimizing damage to the inner wall of the pipe during the operation of the pipe robot.

[0015] Furthermore, the front wheel also includes an axle, a first adjusting member for adjusting the position of the first flexible support, and a second adjusting member for adjusting the position of the second flexible support. The axle passes through the rigid support, the first flexible support, and the second flexible support and is movably connected to the first and second flexible supports. The first adjusting member is disposed on both sides of the first flexible support and is movably connected to the axle, and the second adjusting member is disposed on both sides of the second flexible support and is movably connected to the axle. The relative positions of the first and second flexible supports and the axle can be adjusted using the first and second adjusting members, causing deformation of the first and second flexible supports and the wheel body, thus adjusting the shape and structure of the front wheel to adapt to different pipe inner wall dimensions and increasing the application scenarios of the pipeline robot chassis.

[0016] Furthermore, both the first flexible support and the second flexible support include a connecting portion and multiple sets of support portions. The connecting portion is connected to the axle, and the connecting portion is connected to the wheel body via the support portions. The support portions are evenly distributed on the connecting portion. The connecting portion is used to connect the axle to the first flexible support and the second flexible support. The multiple sets of support portions provide support for the wheel body, keeping the wheel body hollow and making it easier to undergo elastic deformation. The outer shape of the wheel body can be adjusted according to the shape of different pipe inner walls.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

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

[0019] 2. By using magnets to limit the steering angle of the front wheels, the impact of minor disturbances on the front wheels is reduced, while preventing excessive adjustment angle from causing severe friction between the front wheels and the inner wall of the pipe.

[0020] 3. Both the front and rear wheels are fitted wheel structures, and the radius of the fitted wheel can be adjusted by the thread, thus making it suitable for pipes of different diameters and reducing the pressure on the pipes during operation. Attached Figure Description

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

[0022] Figure 2 This is a schematic diagram of the anti-disturbance component.

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

[0024] In the attached diagram: 100, chassis body; 110, guide rail; 200, front wheel assembly; 210, front wheel bracket; 211, pivot; 220, front wheel; 221, rigid bracket; 222, first flexible bracket; 223, second flexible bracket; 224, wheel body; 225, wheel axle; 226, first adjusting component; 227, second adjusting component; 228, connecting part; 229, support part; 300, rear wheel assembly; 310, rear wheel bracket; 320, rear wheel; 400, leveling adjustment component; 410, gear; 420, rack; 430, slider; 440, movable block; 450, second magnet; 500, anti-disturbance component; 510, groove; 520, first magnet. Detailed Implementation

[0025] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0026] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0027] Example 1

[0028] This embodiment is a first embodiment of a 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 tilts, the horizontal adjustment assembly 400 controls the front wheel assembly 200 to rotate towards the side of the chassis body 100 with a lower height. Figure 1As shown, in this embodiment, the chassis body 100 of the pipeline robot chassis 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 tilts, the horizontal adjustment assembly 400 drives the front wheel assembly 200 to rotate towards the side of the chassis body 100 with a lower height, thereby restoring the chassis body 100 to a horizontal position. Without the need for electric components, the automatic adjustment of the robot chassis position can be achieved using a purely mechanical structure, which improves the horizontal stability of the chassis and ensures that the pipeline robot maintains stable movement in the pipeline. In this embodiment, the horizontal adjustment component 400 can be made of gear 410 and rack 420. When the chassis body 100 is tilted, the rack 420 moves to the lower side under its own weight, driving the gear 410 to move, thereby adjusting the rotation of the front wheel assembly 200 connected to the gear 410. Alternatively, a crank-slider mechanism can be used. When the chassis body 100 is tilted, the slider 430 slides under its own weight. 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 leveling 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 down to the side of the chassis body 100 with a lower height under its own gravity, causing 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 the direction that restores the overall position to horizontal.

[0030] The meshing position of the rack 420 and the gear 410 is located at the bottom of the gear 410. With the meshing position of the rack 420 and the gear 410 located at the bottom of the gear 410, when the chassis body 100 tilts, the rack 420 moves to the left relative to the gear 410 under its own weight. This causes the gear 410 to rotate clockwise, driving the front wheel assembly 200 to rotate clockwise, thus causing the chassis body 100 to move towards the lower side and gradually return to a horizontal position. Similarly, when the rack 420 moves to the right relative to the gear 410 under its own weight, the gear 410 rotates counterclockwise, driving the front wheel assembly 200 to rotate counterclockwise, which also gradually returns the chassis body 100 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 that is 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 that is 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 achieve 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 action of gravity of the rack 420. In this embodiment, the guide rail 110 can also be provided at the bottom of the rack 420, and the slider 430 cooperating with the guide rail 110 can be provided on the chassis body 100 to achieve 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 tilts, under the gravity of the rack 420, the slider 430 slides down the guide rail 110 to the side of the chassis body 100 with a lower height. The rack 420 drives 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 the direction that restores the overall position to horizontal.

[0033] Example 2

[0034] This embodiment is a 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 component 500 for limiting the rotation angle of the front wheel assembly 200. The anti-disturbance component 500 has a groove 510 inside, and the rack 420 has a movable block 440, which is disposed within the groove 510. Figure 2 As shown, the movement distance of the rack 420 is limited by the groove 510 and the movable block 440 set in the groove 510, thereby limiting the rotation angle of the front wheel assembly 200. This can prevent the front wheel assembly 200 from rubbing against the inner wall of the pipe due to excessive adjustment angle, and also prevent the pipe robot from deviating significantly from its movement direction due to excessive rotation angle.

[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. The first magnet 520 and the second magnet 450 repel each other. The first magnet 520 is provided on both sides of the groove 510, and two sets of second magnets 450 are provided on both sides of the movable block 440. The first magnet 520 and the second magnet 450 have opposite polarities. When the chassis body 100 tilts, the movable block 440 moves closer to both sides of the groove 510, increasing the repulsive force between the first magnet 520 and the second magnet 450. This not only prevents minor disturbances inside the pipe from affecting the forward direction of the front wheel assembly 200, but also ensures that the pipe robot will not collide or over-adjust during the adjustment process by gradually increasing the repulsive force as the adjustment angle increases.

[0036] The working principle of the pipeline robot chassis in 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 component 200, reducing the impact of slight disturbances on the pipeline robot chassis, while avoiding over-adjustment.

[0037] Example 3

[0038] This embodiment is the third embodiment of the pipeline robot chassis. This embodiment is similar to Embodiment 1, 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, which passes through the chassis body 100 and connects to a gear 410. The rear wheel bracket 310 provides a stable mounting position for the rear wheel 320 and is fixed to the chassis body 100 with screws. The front wheel bracket 210 provides support for the front wheel 220 and connects to the gear 410 via the rotating shaft 211. A sliding bearing is provided between the gear 410 and the chassis body 100. The rotating shaft 211 passes through the chassis body 100 and the sliding bearing, enabling 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, both the rear wheel 320 and the front wheel 220 in this embodiment can be set as a contact wheel structure. By rotating the first adjusting member 226 and the second adjusting member 227, their positions on the wheel axle 225 can be adjusted, and the surface shape of the contact wheel can be changed to be the same, so that the surfaces of the front wheel 220 and the rear wheel 320 are in contact with the inner wall of the pipeline.

[0040] The front wheel 220 includes 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 via the wheel body 224, and the other side is connected to the second flexible bracket 223 via 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. Figure 3As shown, the wheel body 224 of the front wheel 220 is made of an elastic material, such as polyurethane or rubber. The flexible support is a metal material with a certain degree of elasticity, essentially an elastic beam structure. The diameters of the second flexible support 223, the rigid support 221, and the first flexible support 222 decrease sequentially, and they are connected by the elastic wheel body 224. The front wheel 220 is approximately frustum-shaped, and the wheel body 224 is arc-shaped, with its surface fitting against the inner wall of the pipe. This increases the contact area between the wheel body 224 and the inner wall of the pipe, reduces contact stress, and prevents 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 disposed on both sides of the first flexible bracket 222 and is movably connected to the axle 225. The second adjusting member 227 is disposed on both sides of the second flexible bracket 223 and is movably connected to the axle 225. In this embodiment, the axle 225 is a threaded shaft. The first adjusting member 226 is a set of adjusting nuts installed on both sides of the first flexible support 222, and the second adjusting member 227 is a set of adjusting nuts installed on both sides of the second flexible support 223. Both the first adjusting member 226 and the second adjusting member 227 are threadedly connected to the axle 225. When it is necessary to adjust the shape of the front wheel 220, the adjusting nuts are rotated, causing the first flexible support 222 and the second flexible support 223 to bend and deform. This causes the wheel body 224 to deform along with the first flexible support 222 and the second flexible support 223. At this time, due to the action of the rigid support 221, the deformation of the front wheel 220 will be concentrated at both ends, thereby adjusting the external structure of the front wheel 220 to adapt to different pipe inner wall shapes. In this embodiment, the structure of the front wheel 220 is the same as that of the rear wheel 320. Both can deform the wheel body 224 through the first adjusting member 226 and the second adjusting member 227, making them suitable for pipe inner walls of different sizes.

[0042] Both the first flexible support 222 and the second flexible support 223 include a connecting portion 228 and multiple sets of support portions 229. The connecting portion 228 is connected to the axle 225, and the connecting portion 228 is connected to the wheel body 224 through the support portions 229. The support portions 229 are evenly distributed on the connecting portion 228. In this embodiment, the support portions 229 are strip-shaped, and multiple sets of support 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 undergo elastic deformation for easy adjustment.

[0043] The working principle of the pipeline robot chassis in this embodiment is as follows: by rotating the adjusting nut, the first flexible support 222 and the second flexible support 223 bend and deform, causing the wheel body 224 to deform accordingly, thereby adjusting the shape structure of the front wheel 220, which is suitable for the inner wall of pipes of different sizes.

[0044] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it 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 implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A chassis for a pipeline robot, characterized in that, The system includes 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) tilts, the horizontal adjustment assembly (400) controls the front wheel assembly (200) to rotate towards the side of the chassis body (100) with a lower height. The wheel assembly (400) includes a meshing gear (410) and a rack (420). The gear (410) is connected to the front wheel assembly (200), and the rack (420) is slidably connected to the chassis body (100). The front wheel assembly (200) includes a front wheel bracket (210) and a front wheel (220) rotatably connected to the front wheel bracket (210). 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). A rotating shaft (211) is provided on the front wheel bracket (210). 211) The front wheel (220) is connected to the gear (410) through the chassis body (100); the front wheel (220) includes 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); the front wheel (220) also includes an axle (225). The first adjusting member (226) is used to adjust the position of the first flexible support (222), and the second adjusting member (227) is used to adjust the position of the second flexible support (223). The axle (225) passes through the rigid support (221), the first flexible support (222), and the second flexible support (223) and is movably connected to the first flexible support (222) and the second flexible support (223). The first adjusting member (226) is disposed on both sides of the first flexible support (222) and is movably connected to the axle (225). The second adjusting member (227) is disposed on both sides of the second flexible support (223) and is movably connected to the axle (225).

2. The pipeline robot chassis according to claim 1, characterized in that, The meshing position of the rack (420) and the gear (410) is located at the bottom of the gear (410).

3. The pipeline robot chassis according to claim 1, characterized in that, The chassis body (100) is provided with a guide rail (110), and the bottom of the rack (420) is provided with a slider (430) that is 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) that is slidably connected to the guide rail (110).

4. The pipeline robot chassis according to any one of claims 1 to 3, characterized in that, The chassis body (100) is provided with an anti-disturbance component (500) for limiting the rotation angle of the front wheel assembly (200). The anti-disturbance component (500) has a groove (510) inside. The rack (420) is provided with a movable block (440) and the movable block (440) is disposed in the groove (510).

5. The pipeline robot chassis according to claim 4, characterized in that, The groove (510) is provided with a first magnet (520) on both sides, and the movable block (440) is provided with a second magnet (450). The first magnet (520) and the second magnet (450) repel each other.

6. The pipeline robot chassis according to claim 1, characterized in that, Both the first flexible support (222) and the second flexible support (223) include a connecting part (228) and multiple sets of support parts (229). The connecting part (228) is connected to the axle (225), and the connecting part (228) is connected to the wheel body (224) through the support parts (229). The support parts (229) are evenly distributed on the connecting part (228).

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