Steering mechanism and turning method of pipeline robot
By designing a steering mechanism in a pipeline robot, using the cooperation of the cross shaft and the actuation assembly, the walking problem of the pipeline robot in pipelines with high curvature and multi-bending directions is solved, and efficient operation in complex pipeline environments is achieved.
Patent Information
- Application Number
- CN202411909838.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-24
- Publication Date
- 2025-03-14
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Existing pipeline robots cannot walk and work in pipes with high curvature and multiple bending directions.
A steering mechanism of a pipe robot is provided, including two first steering brackets, two second steering brackets, a cross shaft, a first actuation assembly and a second actuation assembly. By controlling the rotation of the cross axis about different shaft segments, the bend of the pipe robot and pipes in different bending directions can be realized.
This enables pipeline robots to walk in pipes with high curvature and adapt to pipes in multiple bending directions, achieving efficient detection, maintenance and repair in pipeline environments that are difficult to reach manually.
Smart Images
Figure CN119617235A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of pipeline robots, and in particular to a steering mechanism and a cornering method of a pipeline robot. Background Art
[0002] A pipeline robot is a robot specially designed to perform inspection, maintenance and repair work inside pipelines. It is usually used in pipeline environments that are difficult to reach manually or dangerous, such as oil, gas, water treatment and industrial pipeline systems.
[0003] At present, pipeline robots mainly travel in straight pipelines, or pipelines with small curvature and constant bending direction. For pipelines with large curvature and multiple complete directions, existing pipeline robots cannot travel and operate in them. Summary of the invention
[0004] The embodiments of the present application provide a steering mechanism and a cornering method for a pipeline robot, thereby solving the technical problem that the existing pipeline robot is unable to walk and operate in a pipeline with a large curvature and multiple bending directions.
[0005] In a first aspect, an embodiment of the present application provides a steering mechanism of a pipeline robot, the pipeline robot comprising at least one first walking module and a second walking module arranged adjacently, the steering mechanism of the pipeline robot comprising: two first steering brackets, the two first steering brackets are arranged at intervals and connected to the tail end of the first walking module; two second steering brackets, the two second steering brackets are arranged at intervals and connected to the head end of the second walking module; a cross shaft, the cross shaft comprising a first shaft segment and a second shaft segment arranged oppositely, and a third shaft segment and a fourth shaft segment arranged oppositely; wherein the first shaft segment and the second shaft segment are rotatably connected to the two first steering brackets, respectively, and the third shaft segment and the fourth shaft segment are rotatably connected to the two second steering brackets, respectively; a first actuating assembly, the first actuating assembly is installed on the first walking module and is transmission-connected to the cross shaft, and is configured to drive the cross shaft to rotate around the axis of the first shaft segment and the second shaft segment; and a second actuating assembly, the second actuating assembly is installed on the second walking module and is transmission-connected to the cross shaft, and is configured to drive the cross shaft to rotate around the axis of the third shaft segment and the fourth shaft segment.
[0006] In combination with the first aspect, in a possible implementation, the first actuating assembly includes a first actuating member, a first gear and a second gear; the first actuating member is installed on the first walking module; the first gear is installed on the power output end of the first actuating member, and the second gear is installed on the first shaft segment or the second shaft segment, and the second gear is meshed with the first gear.
[0007] In combination with the first aspect, in a possible implementation manner, the second gear is a partial tooth gear, and the portion of the second gear having teeth is located on a side of the cross shaft away from the second walking module.
[0008] In combination with the first aspect, in a possible implementation manner, the first gear and the second gear are bevel gears.
[0009] In combination with the first aspect, in a possible implementation, the second actuating assembly includes a second actuating member, a third gear and a fourth gear; the second actuating member is installed on the second walking module; the third gear is installed on the power output end of the second actuating member, and the fourth gear is installed on the third shaft segment or the fourth shaft segment, and the third gear is meshed with the fourth gear.
[0010] In combination with the first aspect, in a possible implementation manner, the fourth gear is a partial tooth gear, and the portion of the fourth gear having teeth is located on a side of the cross shaft away from the first walking module.
[0011] In combination with the first aspect, in a possible implementation manner, the third gear and the fourth gear are bevel gears.
[0012] In a second aspect, an embodiment of the present application provides a cornering method for a pipeline robot, which is applied to the steering mechanism of the pipeline robot described in the first aspect or any one of the first aspects, and the method includes: obtaining the bending direction and curvature of the pipeline ahead; according to the bending direction and curvature, controlling the first actuating assembly and / or the second actuating assembly to drive the cross shaft to rotate around the axis of the first shaft segment and the second shaft segment, and / or around the axis of the third shaft segment and the fourth shaft segment, so that the first walking module and the second walking module adapt to the inner wall of the pipeline when they reach the bend of the pipeline.
[0013] In combination with the second aspect, in a possible implementation, controlling the first actuating assembly and / or the second actuating assembly according to the bending direction and curvature includes: determining the bending direction and curvature of a projection of the pipeline on a first plane perpendicular to the first axis segment and the second axis segment according to the bending direction and curvature of the pipeline; if the pipeline bends in a first direction on the first plane, controlling the first actuating assembly to drive the cross shaft to rotate around the axis of the first axis segment and the second axis segment in a first rotation direction; if the pipeline bends in a second direction on the first plane, controlling the first actuating assembly to drive the cross shaft to rotate around the axis of the first axis segment and the second axis segment in a second rotation direction; and determining the bending direction and curvature of the pipeline according to the bending direction and curvature of the pipeline. According to the curvature of the plane, the first actuating assembly is controlled to drive the rotation angle of the cross shaft; according to the bending direction and curvature of the pipeline, the bending direction and curvature of the projection of the pipeline on the second plane perpendicular to the third axis segment and the fourth axis segment are determined; if the pipeline is bent in a third direction on the second plane, the second actuating assembly is controlled to drive the cross shaft to rotate around the axis of the third axis segment and the fourth axis segment in a third rotation direction; if the pipeline is bent in a fourth direction on the second plane, the second actuating assembly is controlled to drive the cross shaft to rotate around the axis of the third axis segment and the fourth axis segment in a fourth rotation direction; according to the curvature of the pipeline in the second plane, the second actuating assembly is controlled to drive the cross shaft to rotate at a fourth rotation direction.
[0014] The technical solution provided in the embodiments of the present application has at least the following technical effects or advantages: The embodiment of the present application provides a steering mechanism of a pipeline robot, the pipeline robot includes at least one adjacently arranged first walking module and second walking module, and the steering mechanism of the pipeline robot includes two first steering brackets, two second steering brackets, a cross shaft, a first actuating assembly and a second actuating assembly. The two first steering brackets are arranged at intervals and connected to the tail end of the first walking module. The two second steering brackets are arranged at intervals and connected to the head end of the second walking module. The cross shaft includes a first shaft section and a second shaft end arranged oppositely, and a third shaft section and a fourth shaft section arranged oppositely; wherein the first shaft end and the second shaft section are rotatably connected to the two first steering brackets, respectively, and the third shaft section and the fourth shaft section are rotatably connected to the two second steering brackets, respectively. The first actuating assembly is installed on the first walking module and is transmission-connected to the cross shaft, and is configured to drive the cross shaft to rotate around the axis of the first shaft section and the second shaft section. The second actuating assembly is installed on the second walking module and is transmission-connected to the cross shaft, and is configured to drive the cross shaft to rotate around the axis of the third shaft section and the fourth shaft section. When the pipeline robot with the above-mentioned steering mechanism encounters a bend in the pipeline while walking in the pipeline, the first actuating assembly and / or the second actuating assembly is controlled according to the bending direction and curvature of the pipeline to drive the cross shaft to rotate around the axis of the first shaft segment and the second shaft segment, and / or around the axis of the third shaft segment and the fourth shaft segment; the rotation direction of the cross shaft around the first shaft segment and the second shaft segment, and the rotation direction of the cross shaft around the third shaft segment and the fourth shaft segment determine the bending direction of the pipeline robot, and the rotation angle of the cross shaft around the first shaft segment and the second shaft segment, and the rotation angle of the cross shaft around the third shaft segment and the fourth shaft segment determine the bending degree of the pipeline robot, so that the pipeline robot can adapt to pipelines with larger curvatures; by controlling the first actuating assembly and the second actuating assembly, the pipeline robot can bend and adapt to the inner wall of the curved pipeline; and the pipeline robot with multiple first walking modules and multiple second walking modules has multiple above-mentioned steering mechanisms, and the bending direction and bending degree of each steering mechanism can be different, thereby being able to adapt to pipelines with multiple bending directions. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0016] Figure 1 A schematic diagram of the structure of a first walking module, a second walking module and a steering mechanism provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of the steering mechanism provided in an embodiment of the present application; Figure 3A schematic diagram of the structure of a cross shaft provided in an embodiment of the present application; Figure 4 A flow chart of a cornering method for a pipeline robot provided in an embodiment of the present application.
[0017] Description of reference numerals: 10-first walking module; 12-second walking module; 14-steering mechanism; 16-first steering bracket; 18-second steering bracket; 20-cross shaft; 22-first shaft section; 24-second shaft section; 26-third shaft section; 28-fourth shaft section; 30-first actuating assembly; 32-first actuating member; 34-first gear; 36-second gear; 38-second actuating assembly; 40-second actuating member; 42-third gear; 44-fourth gear. DETAILED DESCRIPTION
[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0019] In the description of the embodiments of the present application, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.
[0020] The present application embodiment provides a steering mechanism 14 of a pipeline robot. Figure 1 As shown, the pipeline robot includes at least one first walking module 10 and a second walking module 12 arranged adjacent to each other. Figure 2 As shown, the steering mechanism 14 of the pipeline robot includes two first steering brackets 16 , two second steering brackets 18 , a cross shaft 20 , a first actuating assembly 30 and a second actuating assembly 38 .
[0021] The two first steering brackets 16 are arranged at intervals and connected to the tail end of the first walking module 10 ; the two second steering brackets 18 are arranged at intervals and connected to the head end of the second walking module 12 .
[0022] like Figure 3 As shown, the cross shaft 20 includes a first shaft section 22 and a second shaft section 24 that are arranged opposite to each other, and a third shaft section 26 and a fourth shaft section 28 that are arranged opposite to each other; wherein the first shaft section 22 and the second shaft section 24 are rotatably connected to the two first steering brackets 16, respectively, and the third shaft section 26 and the fourth shaft section 28 are rotatably connected to the two second steering brackets 18, respectively. Specifically, the two first steering brackets 16 are respectively provided with a through hole for accommodating the first shaft section 22 and a through hole for accommodating the second shaft section 24, and the first shaft section 22 and the second shaft section 24 can be rotated in the through holes of the two first steering brackets 16, respectively; the two second steering brackets 18 are respectively provided with a through hole for accommodating the third shaft section 26 and a through hole for accommodating the fourth shaft section 28, and the third shaft section 26 and the fourth shaft section 28 can be rotated in the through holes of the two second steering brackets 18, respectively.
[0023] The first actuating assembly 30 is mounted on the first walking module 10 and is transmission-connected to the cross shaft 20, and is configured to drive the cross shaft 20 to rotate around the axis of the first shaft segment 22 and the second shaft segment 24. When the cross shaft 20 rotates around the axis of the first shaft segment 22 and the second shaft segment 24, the first walking module 10 and the second walking module 12 rotate relatively around the axis of the first shaft segment 22 and the second shaft segment 24, so that the pipeline robot can bend on a first plane perpendicular to the first shaft segment 22 and the second shaft segment 24.
[0024] The second actuating assembly 38 is mounted on the second walking module 12 and is transmission-connected to the cross shaft 20, and is configured to drive the cross shaft 20 to rotate around the axis of the third shaft segment 26 and the fourth shaft segment 28. When the cross shaft 20 rotates around the axis of the third shaft segment 26 and the fourth shaft segment 28, the first walking module 10 and the second walking module 12 rotate relatively around the axis of the third shaft segment 26 and the fourth shaft segment 28, so that the pipeline robot can bend on a second plane perpendicular to the third shaft segment 26 and the fourth shaft segment 28.
[0025] When the pipeline robot with the above-mentioned steering mechanism 14 walks in the pipeline and encounters a pipe bend, the first actuating assembly 30 and / or the second actuating assembly 38 are controlled according to the bending direction and curvature of the pipeline to drive the cross shaft 20 to rotate around the axis of the first shaft section 22 and the second shaft section 24, and / or around the axis of the third shaft section 26 and the fourth shaft section 28; the rotation direction of the cross shaft 20 around the first shaft section 22 and the second shaft section 24, and the rotation direction of the cross shaft 20 around the third shaft section 26 and the fourth shaft section 28 determine the bending direction of the pipeline robot; the cross shaft 20 rotates around the first shaft section 22 and the second shaft section 24, and the rotation direction of the cross shaft 20 around the third shaft section 26 and the fourth shaft section 28. The rotation angle of 24 and the rotation angle of the cross axis 20 around the third axis segment 26 and the fourth axis segment 28 determine the bending degree of the pipeline robot, so that the pipeline robot can adapt to pipelines with larger curvatures; by controlling the first actuating assembly 30 and the second actuating assembly 38, the pipeline robot can bend and adapt to the inner wall of the curved pipeline; and the pipeline robot having multiple first walking modules 10 and multiple second walking modules 12 has multiple steering mechanisms 14 mentioned above, and the bending direction and bending degree of each steering mechanism 14 can be different, thereby being able to adapt to pipelines with multiple bending directions.
[0026] like Figure 2 As shown, the embodiment of the present application provides a specific structure of the first actuating assembly 30, and the first actuating assembly 30 includes a first actuating member 32, a first gear 34 and a second gear 36. The first actuating member 32 is installed on the first walking module 10; illustratively, the first actuating member 32 can be a torque motor. The first gear 34 is installed on the power output end of the first actuating member 32, and the second gear 36 is installed on the first shaft section 22 or the second shaft section 24, and the second gear 36 is meshed with the first gear 34.
[0027] When the first walking module 10 and the second walking module 12 need to rotate relative to each other around the axis of the first shaft section 22 or the second shaft section 24, the power output end of the first actuator 32 drives the first gear 34, the first gear 34 drives the second gear 36 meshing therewith, and the second gear 36 drives the cross shaft 20 to rotate around the axis of the first shaft section 22 and the second shaft section 24.
[0028] Furthermore, the second gear 36 is a partially toothed gear, and the toothed portion of the second gear 36 is located on the side of the cross shaft 20 away from the second walking module 12, thereby preventing the second gear 36 from interfering with the second walking module 12 during rotation, allowing the first walking module 10 and the second walking module 12 to rotate at a larger angle relative to each other, thereby enabling the pipeline robot to walk in a pipeline with a larger curvature.
[0029] Exemplarily, the first gear 34 and the second gear 36 are bevel gears.
[0030] like Figure 2As shown, the embodiment of the present application provides a specific structure of the second actuating assembly 38, and the second actuating assembly 38 includes a second actuating member 40, a third gear 42 and a fourth gear 44. The second actuating member 40 is installed on the second walking module 12; illustratively, the second actuating member 40 can be a torque motor. The third gear 42 is installed on the power output end of the second actuating member 40, and the fourth gear 44 is installed on the third shaft section 26 or the fourth shaft section 28, and the third gear 42 is meshed with the fourth gear 44.
[0031] When the first walking module 10 and the second walking module 12 need to rotate relative to each other around the axis of the third shaft section 26 and the fourth shaft section 28, the power output end of the second actuator 40 drives the third gear 42, the third gear 42 drives the fourth gear 44 meshing therewith, and the fourth gear 44 drives the cross shaft 20 to rotate around the axis of the third shaft section 26 and the fourth shaft section 28.
[0032] Furthermore, the fourth gear 44 is a partially toothed gear, and the toothed portion of the fourth gear 44 is located on the side of the cross shaft 20 away from the first walking module 10, thereby preventing the second gear 36 from interfering with the second walking module 12 during rotation, allowing the first walking module 10 and the second walking module 12 to rotate at a larger angle relative to each other, thereby enabling the pipeline robot to walk in a pipeline with a larger curvature.
[0033] Exemplarily, the third gear 42 and the fourth gear 44 are bevel gears.
[0034] The embodiment of the present application also provides a turning method for a pipeline robot, which is applied to the steering mechanism 14 of the pipeline robot. Figure 4 As shown, the method includes step S401 and step S402.
[0035] Step S401: Obtain the bending direction and curvature of the pipeline ahead.
[0036] Before the pipeline robot enters the pipeline to walk and work, data such as the position, length, bending direction and curvature of the pipeline are input into the pipeline robot; or a white light camera and / or a thermal imaging camera are installed at the front end of the pipeline robot, and the pipeline robot takes pictures of the front during walking to determine the bending direction and curvature of the pipeline in front.
[0037] Step S402, according to the bending direction and curvature, control the first actuating assembly and / or the second actuating assembly to drive the cross shaft to rotate around the axis of the first axis segment and the second axis segment, and / or around the axis of the third axis segment and the fourth axis segment, so that the first walking module and the second walking module adapt to the inner wall of the pipe when they reach the bend of the pipe.
[0038] The first actuating assembly 30 and the second actuating assembly 40 can work simultaneously to drive the cross shaft 20 to rotate around the axis of the first shaft segment 22 and the second shaft segment 24, and also around the axis of the third shaft segment 26 and the fourth shaft segment 28; the first actuating assembly 30 can also work alone to drive the cross shaft 20 to rotate around the axis of the first shaft segment 22 and the second shaft segment 24; the second actuating assembly 38 can also work alone to drive the cross shaft 20 to rotate around the axis of the third shaft segment 26 and the fourth shaft segment 28.
[0039] Specifically, step S402 includes steps S501 to S508.
[0040] Step S501: Determine the bending direction and curvature of a projection of the pipeline on a first plane perpendicular to the first axis segment 22 and the second axis segment 24 according to the bending direction and curvature of the pipeline.
[0041] If the pipe bends in the first direction on the first plane, step S502 is executed. In step S502, the first actuating assembly 30 is controlled to drive the cross shaft 20 to rotate around the axis of the first shaft segment 22 and the second shaft segment 24 in the first rotation direction.
[0042] If the pipe bends in the second direction on the first plane, step S503 is executed. In step S503, the first actuating assembly 30 is controlled to drive the cross shaft 20 to rotate in the second rotation direction around the axis of the first shaft segment 22 and the second shaft segment 24.
[0043] Step S504: controlling the first actuating assembly 30 to drive the cross shaft 20 to rotate according to the curvature of the pipeline on the first plane.
[0044] Step S505 : Determine the bending direction and curvature of the projection of the pipeline on a second plane perpendicular to the third axis segment 26 and the fourth axis segment 28 according to the bending direction and curvature of the pipeline.
[0045] If the pipeline is bent in the third direction on the second plane, step S506 is executed. Step S506: control the second actuating assembly 38 to drive the cross shaft 20 to rotate around the axis of the third shaft segment 26 and the fourth shaft segment 28 in a third rotation direction.
[0046] If the pipeline is bent in the fourth direction on the second plane, step S507 is executed. In step S507, the second actuating assembly 38 is controlled to drive the cross shaft 20 to rotate around the axis of the third shaft segment 26 and the fourth shaft segment 28 in a fourth rotation direction.
[0047] Step S508 : controlling the second actuating assembly 38 to drive the cross shaft 20 to rotate according to the curvature of the pipeline in the second plane.
[0048] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments.
[0049] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.
Claims
1. A steering mechanism of a pipeline robot, characterized in that: The pipeline robot comprises at least one first walking module and a second walking module arranged adjacent to each other, and the steering mechanism of the pipeline robot comprises: Two first steering brackets, which are arranged at intervals and connected to the tail end of the first walking module; Two second steering brackets, which are arranged at intervals and connected to the head end of the second walking module; A cross shaft, the cross shaft comprising a first shaft segment and a second shaft segment arranged opposite to each other, and a third shaft segment and a fourth shaft segment arranged opposite to each other; wherein the first shaft segment and the second shaft segment are rotatably connected to the two first steering brackets, respectively, and the third shaft segment and the fourth shaft segment are rotatably connected to the two second steering brackets, respectively; A first actuating assembly, which is mounted on the first walking module and is drivingly connected to the cross shaft, and is configured to drive the cross shaft to rotate around the axis of the first shaft segment and the second shaft segment; and A second actuating assembly is installed on the second walking module and is transmission-connected to the cross shaft, and is configured to drive the cross shaft to rotate around the axes of the third shaft segment and the fourth shaft segment.
2. The steering mechanism of the pipeline robot according to claim 1, characterized in that: The first actuating assembly includes a first actuating member, a first gear and a second gear; The first actuating member is mounted on the first walking module; The first gear is mounted on the power output end of the first actuator, and the second gear is mounted on the first shaft section or the second shaft section, and the second gear is meshed with the first gear.
3. The steering mechanism of the pipeline robot according to claim 2, characterized in that: The second gear is a partial tooth gear, and the portion of the second gear having teeth is located on a side of the cross shaft away from the second walking module.
4. The steering mechanism of the pipeline robot according to claim 2 or 3, characterized in that: The first gear and the second gear are bevel gears.
5. The steering mechanism of the pipeline robot according to claim 1, characterized in that: The second actuating assembly includes a second actuating member, a third gear, and a fourth gear; The second actuator is installed on the second walking module; The third gear is mounted on the power output end of the second actuating member, and the fourth gear is mounted on the third shaft section or the fourth shaft section, and the third gear is meshed with the fourth gear.
6. The steering mechanism of the pipeline robot according to claim 5, characterized in that: The fourth gear is a partial-tooth gear, and the portion of the fourth gear having teeth is located on a side of the cross shaft away from the first walking module.
7. The steering mechanism of the pipeline robot according to claim 5 or 6, characterized in that: The third gear and the fourth gear are bevel gears.
8. A method for turning a pipeline robot, characterized in that: The steering mechanism of the pipeline robot applied to any one of claims 1 to 7, the method comprising: Obtain the bending direction and curvature of the pipeline ahead; According to the bending direction and curvature, the first actuating assembly and / or the second actuating assembly is controlled to drive the cross shaft to rotate around the axis of the first shaft segment and the second shaft segment, and / or around the axis of the third shaft segment and the fourth shaft segment, so that the first walking module and the second walking module adapt to the inner wall of the pipe when they reach the bend of the pipe.
9. The cornering method according to claim 8, characterized in that: The controlling the first actuating assembly and / or the second actuating assembly according to the bending direction and the curvature comprises: Determine the bending direction and curvature of the projection of the pipeline on a first plane perpendicular to the first shaft segment and the second shaft segment according to the bending direction and curvature of the pipeline; if the pipeline bends in a first direction on the first plane, control the first actuating assembly to drive the cross shaft to rotate around the axis of the first shaft segment and the second shaft segment in a first rotation direction; if the pipeline bends in a second direction on the first plane, control the first actuating assembly to drive the cross shaft to rotate around the axis of the first shaft segment and the second shaft segment in a second rotation direction; according to the curvature of the pipeline on the first plane, control the first actuating assembly to drive the cross shaft to rotate an angle; According to the bending direction and curvature of the pipeline, the bending direction and curvature of the projection of the pipeline on the second plane perpendicular to the third axis segment and the fourth axis segment are determined; if the pipeline is bent in a third direction on the second plane, the second actuating assembly is controlled to drive the cross shaft to rotate around the axis of the third axis segment and the fourth axis segment in a third rotation direction; if the pipeline is bent in a fourth direction on the second plane, the second actuating assembly is controlled to drive the cross shaft to rotate around the axis of the third axis segment and the fourth axis segment in a fourth rotation direction; according to the curvature of the pipeline in the second plane, the second actuating assembly is controlled to drive the rotation angle of the cross shaft.