Miniature pipeline robot

Abstract

The invention relates to the field of pipeline robots, in particular to a miniature pipeline robot, which comprises a group of camera lighting modules, a group of direction control mechanisms, a group of steering power mechanisms, a group of power modules and three groups of flexible connection modules for connecting the modules. Through modular design, the module size is reduced, and through flexible module connection, the robot is simple in structure and convenient to control; through combination of different numbers of the steering modules and the power modules, the direction of the robot can be controlled, observation pictures can be returned in real time, accurate control is achieved, exploration of small-pipe-diameter, long-distance and complex-structure pipelines is achieved, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline robots, and in particular to a micro pipeline robot. Background Art

[0002] Various types of pipelines are widely used in chemical industry, water conservancy and hydropower, construction, nuclear industry, urban pipeline networks and other fields. They can be used to transport water, oil, gas, or other special media. They are the main arteries connecting running equipment. Daily maintenance and inspection of pipelines are essential. Internal damage, rust, leakage, blockage, etc. must be discovered and resolved in a timely manner.

[0003] For pipelines with a diameter greater than 50cm, pipeline inspection robots or manual inspections can be used; for pipelines with a diameter between 10cm and 50cm, various types of endoscopes and in-hole televisions can be used for inspection; and when the diameter is less than 10cm, the inspection methods are limited and the inspection effect is greatly reduced. Especially when there are elbows and misalignments in the pipeline, it is very difficult and the success rate is very low to simply use an endoscope and rely on manual pushing at the orifice to achieve cornering and crossing. In particular, when there is more than one elbow on the pipeline, the connecting line of the endoscope and the inner wall of the pipeline generate great friction at the elbow, resulting in the inability of manual thrust to be transmitted to the end to push the endoscope forward. Therefore, the inspection depth of endoscopes or in-hole televisions in small-diameter pipelines is limited, and deep and long-distance inspections are not possible.

[0004] In view of the above problems, pipeline robots are a better solution. At present, pipeline robots are mainly divided into wheeled, peristaltic, crawler and foot-type. For small diameter pipe conditions, peristaltic and wheeled methods are mainly used, mainly in the form of bionic snakes and bionic earthworms.

[0005] The invention of application number CN201310315745.2 discloses a multi-joint pneumatic snake-like robot. It is composed of multiple snake body joints with the same structure connected in series, and each snake body joint includes a connecting plate and three actuator components with the same structure. Each joint of the invention has three degrees of freedom, realizing deflection, pitching and telescopic movement, and flexible movement; it can complete the winding, twisting, lateral, creeping and other movements of general robot snakes, as well as movements that are difficult for other robots to achieve.

[0006] The invention of application number CN202210771130.X discloses a pipeline peristaltic robot based on composite cam coordination, which is composed of multiple groups of cam universal joint segments connected end to end in sequence. Each group of cam universal joint segments consists of two parts: a universal joint and a cam connecting rod. By designing the curved groove of each group of cam connecting rods, the quick return and synchronization stages in the curved groove make the connecting rod regularly close to and loosen from the pipe wall to achieve peristaltic movement. The complex movement of the peristaltic robot in the pipeline is realized through the simplest electric control design. The maximum outer diameter of this robot when the connecting rod is fully retracted is about 120mm, which meets the working size requirements of most pipelines.

[0007] The invention of application number CN201810819564.6 provides a pipeline peristaltic robot, which is composed of a control device and a number of peristaltic modules connected at the end. The pipeline peristaltic robot accurately imitates the movement of earthworms, realizes curved motion and linear motion, and has strong adaptability.

[0008] The above technical solutions imitate the movement of snakes and earthworms, and can achieve good forward movement, turning and other movements in the pipeline. However, due to factors such as its structural design and the size limitation of the driving components, the above robot is only applicable to pipelines with a diameter greater than 10 cm, and is powerless or has unsatisfactory application effects on small-diameter pipelines, and needs to be optimized in structure.

[0009] In summary, the existing technology has a variety of solutions for the inspection of large-diameter pipelines, but for small-diameter pipelines, due to unfavorable factors such as pipe diameter, pipe length, joints, and misalignment, in-depth exploration of this type of pipeline has always been a difficult problem that needs to be solved urgently. Summary of the invention

[0010] The present invention mainly solves the technical problem that small-diameter pipelines cannot be detected over long distances, especially pipelines with a diameter of less than 10 cm and internal elbows, misalignments, etc. The steering structure and power of the robot of the present invention can help the robot complete good turns and bumps inside the pipeline. The power unit is independently designed and supports the combined use of multiple units, solving the problem of insufficient power during long-distance pipeline detection.

[0011] In order to achieve the above object, the present invention adopts the following technical solutions:

[0012] The present invention provides a micro-pipeline robot, which comprises a camera lighting module, a direction control mechanism, a steering power mechanism, a power module, and a flexible connection module and a bundled cable which sequentially connect the above modules.

[0013] Generally, a group of camera lighting modules, a group of direction control mechanisms and a group of steering power mechanisms are connected through a flexible connection module to form the front-end guide structure of the robot, and one or more groups of power modules constitute the rear-end power structure of the robot. The first group of power modules is connected to the front-end guide structure through a flexible connection module, and other power modules can be connected through flexible connection modules or force ropes.

[0014] The signal lines, power lines, etc. of each module and mechanism are routed sideways from the robot and are bundled around the force-bearing rope at the end and led out to the pipe opening.

[0015] Through the above technical solution, the functions of the micro-pipeline robot are modularized and can be freely combined as needed, so that the robot can be expanded to adapt to different environments and working conditions.

[0016] The camera lighting module comprises a micro camera module, LED lamp beads, a module body and a bearing seat.

[0017] The front middle of the module body is a miniature camera module, and underwater LED lamp beads are evenly distributed around the camera module. The rear end of the camera lighting module is a bearing seat, on which the steering bearing of the direction control mechanism is installed.

[0018] Through the above technical solution, the micro pipeline robot has camera and lighting functions.

[0019] The direction control mechanism comprises a steering bearing, a micro motor with a reduction box, a steering arm, an upper baffle, a lower baffle and a support rod.

[0020] The outer ring of the steering bearing has two lifting ears, which are installed on the bearing seat; the upper baffle plate, the lower baffle plate and four supporting columns form a frame, and the micro motor with a reduction box is fixed inside; the steering arm is connected to the output shaft of the reduction box, and there are round holes at both ends of the steering arm.

[0021] The steering power mechanism comprises a disc wire groove, a micro motor with a reduction box, an upper baffle, a lower baffle and a support rod.

[0022] The reduction box is connected to the micro motor and fixed between a frame consisting of an upper baffle, a lower baffle and four support rods; the circular wire groove has two wire grooves, a hole in the middle and connected to the output shaft of the reduction box; two circular ring ears are arranged on the radial outer side of the upper baffle, and the center heights of the circular rings are respectively aligned with the two circular wire grooves.

[0023] One end of two thin fibers or thin steel wires are fixed on the lifting ears of the steering bearing respectively, pass through the round holes at both ends of the steering arm respectively, pass through the circular lifting ears on the upper baffle of the steering power mechanism respectively, and are wound around the corresponding disc wire grooves respectively, with opposite winding directions, one clockwise and the other counterclockwise.

[0024] By adjusting the rotation of the circular wire drum, the two thin wires can be loosened and tightened, thereby controlling the bending angle of the camera lighting module; by adjusting the angle of the steering arm, the bending direction of the camera lighting module can be controlled.

[0025] Through the above technical solution, the function of controlling the forward direction of the micro-pipeline robot is realized.

[0026] The power module includes an upper baffle, a lower baffle, a fixed plate, an external gear, an internal gear, a worm, and a micro motor, and is used to provide forward and backward power for the pipeline robot.

[0027] The two fixing plates form a group, are spaced a certain distance apart and are parallel to each other; an arc-shaped keyway hole is provided on the fixing plate to install the external gear, and a circular hole is provided to install the internal gear; a square keyway connected to the arc-shaped keyway is used to install a spring or an elastic rope; one end of the elastic rope or spring is connected to one end of the direction keyway, and the other end is connected to the external gear shaft, so that the external gear always maintains an outward trend; the external gear and the internal gear are meshed; two fixing plates, internal gears, and external gears form a group, four groups are arranged in a circle, and adjacent groups are at an angle of 90 degrees. The upper and lower ends of all fixing plates are respectively connected to the upper baffle plate and the lower baffle plate to form an overall frame; the micro motor is fixed in the above-mentioned frame, one end is connected to the lower base plate, and the output shaft at one end is connected to the worm; the worm is respectively meshed with four internal gears.

[0028] The outer gear always faces outward and fits the inner wall of the pipeline under the action of the elastic rope or spring. The micro motor drives the worm to rotate, which drives the four inner gears to rotate, and then drives the corresponding outer gears to rotate, so that the micro pipeline robot can move in the pipeline. By changing the rotation direction of the worm, the robot's travel direction can be controlled.

[0029] Through the above technical solution, the pipeline robot moving function can be realized.

[0030] The flexible connection module includes an upper baffle, a lower baffle and a spring. The two ends of the spring are respectively connected to the upper baffle and the lower baffle; the cross-sectional form of the upper baffle is consistent with that of the lower baffle of the module connected to it; the cross-sectional form of the lower baffle is consistent with that of the upper baffle of the module connected to it.

[0031] Through the above technical solution, while providing flexibility for the robot, it also provides an intrinsic stress to keep the robot straight, and cooperates with the steering and power systems to realize the robot's flexible steering function.

[0032] The beneficial effects of the present invention are:

[0033] 1. The present invention reduces the module size through modular design and connects the modules through flexible modules, so that the robot structure is simple and easy to control.

[0034] 2. Through the combination of different numbers of steering modules and power modules, the direction of the robot can be controlled, and the observation screen can be returned in real time to achieve precise control, realize the exploration of small-diameter, long-distance, and complex-structure pipelines, and greatly improve work efficiency.

[0035] 3. By adding power at certain intervals, the problem of friction between the robot cable and the pipe wall in long-distance pipelines, increased resistance, insufficient power and inability to move effectively is solved. This is the key to the robot's long-distance exploration.

[0036] 4. Through the images fed back by the camera, obstacles such as bends and misaligned platforms can be discovered in a timely manner, and the robot can be controlled to cross and avoid them, greatly improving the success rate of turning and crossing obstacles.

[0037] 5. Through simple structural design, the steering head can be guided to rotate 0 to 180 degrees in radial direction and 360 degrees in axial direction. The terminal power unit is designed independently, and the power unit can be added as needed.

[0038] 6. The external gear of the robot's power module always fits the inner wall of the pipeline, allowing the robot to move in horizontal pipelines as well as vertical or large-angle inclined pipelines. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1-1 A schematic diagram of the structure of the micro-pipeline robot according to Example 1 of the present invention (side view);

[0040] Figure 1-2 A schematic diagram of the structure of the micro-pipeline robot according to Example 1 of the present invention (perspective);

[0041] Figure 2-1 A schematic diagram of the structure of a micro-pipeline robot according to Example 2 of the present invention (side view);

[0042] Figure 3-1 A schematic diagram of the structure of a micro-pipeline robot according to Example 3 of the present invention (side view);

[0043] Figure 4-1 Schematic diagram of the camera lighting module structure (front perspective);

[0044] Figure 4-2 Schematic diagram of the camera lighting module structure (rear perspective);

[0045] Figure 5-1 Schematic diagram of the direction control mechanism structure (side view);

[0046] Figure 5-2 Schematic diagram of the direction control mechanism structure (perspective);

[0047] Figure 6-1Schematic diagram of the steering power mechanism structure (side view);

[0048] Figure 6-2 Schematic diagram of the steering power mechanism structure (perspective);

[0049] Figure 7-1 Schematic diagram of the power module structure (side view);

[0050] Figure 7-2 Schematic diagram of the power module structure (perspective);

[0051] Figure 7-3 Schematic diagram of the power module structure (cutaway);

[0052] Figure 8-1 Schematic diagram of the flexible connection module structure (side view).

[0053] In the figure: 1-camera lighting module; 2-direction control mechanism; 3-steering power mechanism; 4-power module; 5-flexible connection module; 6-cable bundle; 1001-micro camera module; 1002-LED lamp beads; 1003-module body; 1004-bearing seat; 2001-bearing; 2002-bearing seat; 2003-steering arm; 2004-reduction box; 2005-micro motor; 2006-support rod; 2007-lower baffle; 2008- Upper baffle; 3001-disc wire groove; 3002-reduction gearbox; 3003-micro motor; 3004-support rod; 3005-upper baffle; 3006-lower baffle; 3007, 3008-ring lifting ears; 4001-upper baffle; 4002-lower baffle; 4003-fixed plate; 4004-external gear; 4005-internal gear; 4006-worm; 4007-micro motor; 5001-upper baffle; 5002-lower baffle; 5003-spring. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0055] The camera lighting module 1, the direction control mechanism 2 and the steering power mechanism 3 are sequentially connected into a whole through the flexible connection module 5 to realize the functions of lighting, camera and direction control. As needed, one or more power modules 4 are connected in series at the back to provide power for the robot. The signal lines, power lines, etc. of each module and mechanism are routed from the side of the robot and bundled around the force rope at the end to form a bundled cable 6 and lead out to the pipe mouth.

[0056] Example 1

[0057] like Figure 1-1 ,1-2 As shown, a micro pipeline robot includes a set of camera lighting modules 1, a set of direction control mechanisms 2, a set of steering power mechanisms 3, a set of power modules 4 and three sets of flexible connection modules 5 connecting the above modules.

[0058] The camera lighting module 1 includes a micro camera module 1001, LED lamp beads 1002, a module body 1003 and a bearing seat 1004. The front middle of the module body 1003 is a micro camera module 1001, and the LED lamp beads 1002 are evenly distributed around it; the rear end of the module body 1003 is a bearing seat 1004 for mounting a steering bearing 2001. The camera lighting module 1 is located at the front of the robot to provide lighting and real-time image transmission.

[0059] The direction control mechanism 2 comprises a steering bearing 2001, a micro motor 2005 with a reduction box 2004, a steering arm 2003, an upper baffle 2008, a lower baffle 2007 and a support rod 2006. The steering bearing 2001 is mounted on the bearing seat 1004, and has two opposite fixed rings 2002 on the outer ring side; the reduction box 2004 and the micro motor 2005 are connected and fixed between a frame consisting of an upper baffle 2008, a lower baffle 2007 and four support rods 2006; the steering arm 2003 has holes at both ends and rounded corners, and a hole in the middle and is connected to the output shaft of the reduction box 2004; the upper baffle 2008 and the lower baffle 2007 respectively have two symmetrical arc-shaped keyway through holes, and the radius is consistent with the end hole of the steering arm 2003.

[0060] The steering power mechanism 3 comprises a circular wire groove 3001, a micro motor 3003 with a reduction box 3002, an upper baffle 3005, a lower baffle 3006 and a support rod 3004. The reduction box 3002 and the micro motor 3003 are connected and fixed between a frame consisting of an upper baffle 3005, a lower baffle 3006 and four support rods 3004; the circular wire groove 3001 has two wire grooves, a hole is opened in the middle and connected to the output shaft of the reduction box 3002; the upper baffle 3005 is provided with two circular ring hanging ears 3007 and 3008 on the radial outer side, the center height of the circular ring hanging ear 3007 is flush with the bottom line groove of the circular wire groove 3001, and the center height of the circular ring hanging ear 3008 is flush with the top line groove of the circular wire groove 3001.

[0061] One end of two thin fibers or thin steel wires are respectively fixed on the lifting lug 2002 of the steering bearing, respectively pass through the circular holes at both ends of the steering arm 2003, respectively pass through the circular lifting lugs 30073008 on the upper baffle 3005 of the steering power mechanism, and are respectively wound around the corresponding disc wire groove 3001, with opposite winding directions, one clockwise and the other counterclockwise.

[0062] The power module 4 includes an upper baffle plate 4001, a lower baffle plate 4002, a fixing plate 4003, an outer gear 4004, an inner gear 4005, a worm 4006, and a micro motor 4007. Two fixing plates 4003 form a group, which are spaced a certain distance apart and parallel to each other; the fixing plates 4003 are provided with arc-shaped key slot holes for mounting the outer gear 4004, and circular holes for mounting the inner gear 4005; the square key slots connected to the arc-shaped key slots are used to mount springs or elastic ropes; one end of the elastic rope or spring is connected to one end of the direction key slot, and the other end is connected to the shaft of the outer gear 4004, so that the outer gear 4004 always maintains an outward trend; the outer gear 4005 and the inner gear 4004 is meshed; two fixed plates 4003, internal gear 4005 and external gear 4004 are grouped into four groups, arranged in a circle, and adjacent groups are at an angle of 90 degrees. The upper and lower ends of all fixed plates 4003 are respectively connected to the upper baffle 4001 and the lower baffle 4002 to form an overall frame; the micro motor 4007 is fixed in the above frame, one end of which is connected to the lower base plate 4002, and the output shaft of one end is connected to the worm 4006; the worm 4006 is respectively meshed with the four internal gears 4005.

[0063] The flexible connection module 5 includes an upper baffle 5001, a lower baffle 5002 and a spring 5003. The two ends of the spring 5003 are respectively connected to the upper baffle 5001 and the lower baffle 5002; the cross-sectional form of the upper baffle 5001 is consistent with the form of the lower baffle of the module connected to it; the cross-sectional form of the upper and lower baffles 5002 is consistent with the form of the upper baffle of the module connected to it.

[0064] The signal lines, power lines, etc. of each module and mechanism are routed sideways from the robot and bundled around the force-bearing rope at the end to form a bundled cable 6 and lead out to the pipe opening.

[0065] Working principle: When it is necessary to move in the pipeline, the micro motor of the power module 4 is started, driving the worm 4006 to rotate, and transmitting power to the outer gear 4004 through the inner gear 4005. The outer gear 4004 is always extended outward under the action of the elastic rope or spring, and moves forward in close contact with the pipe wall. When it is necessary to move backward, the power input of the micro motor is changed to make the worm rotate in the opposite direction.

[0066] The robot is in a linear state in the initial state. When steering is required, the micro motor 3003 of the steering power mechanism 3 is controlled to start, driving the circular wire groove 3001 to rotate, and one of the two thin fiber ropes or thin steel wire ropes wrapped on it is tightened, and the other is loosened, driving the camera lighting module 1 to lift up to the tightened one. Adjusting the rotation angle of the circular wire groove 3001 can control the turning radius of the robot; the micro motor 2005 of the control direction control mechanism 2 is controlled to start, driving the steering arm 2003 to rotate, the thin rope rotates accordingly, and the steering bearing 2001 rotates synchronously, thereby controlling the steering direction of the robot.

[0067] Example 2

[0068] like Figure 2-1 As shown, the difference between this example and Example 1 is that two power modules 4 are connected in series at the end of the robot, connected by a flexible connection module 5, and the power is stronger. The other structures are the same as those in Example 1, and the working principle is the same as that in Example 1. Example 2 takes two power modules 4 connected in series as an example, but the number of series connections is not limited and can be increased or decreased according to actual application needs.

[0069] Example 3

[0070] like Figure 3-1 As shown, the difference between this example and Example 2 is that the two power modules 4 connected in series are connected by a bundled cable. The other structures are the same as those in Example 2, and the working principle is the same as that in Example 2. Example 3 takes two power modules 4 connected in series as an example, but the number of series connections and the distance between adjacent power modules 4 are not limited, and can be increased or decreased according to actual application needs.

[0071] When conducting long-distance and in-depth inspections, embodiment 3 has obvious advantages. Adding a power module 4 at a certain distance is equivalent to multiple power modules 4 carrying bundled cables to travel in the pipeline, solving the problem of insufficient single power for long-distance inspections. At the same time, each power module 4 can assist the technical cables nearby to pass through bends and ridges, solving the problem of too much friction resistance and difficulty in traveling due to too many bends and misalignments during the process.

[0072] The present invention reduces the size of modules through modular design and connects the modules through flexible modules, so that the robot has a simple structure and is easy to control.

[0073] Through the combination of different numbers of steering modules and power modules, the direction of the robot can be controlled, and the observation screen can be returned in real time to achieve precise control, realize the exploration of small-diameter, long-distance, and complex-structured pipelines, and greatly improve work efficiency.

[0074] By adding power at certain intervals, the problem of friction between the robot cable and the pipe wall in long-distance pipelines, increased resistance, insufficient power and inability to move effectively is solved. This is the key to the robot's long-distance exploration.

[0075] Through the images fed back by the camera, obstacles such as bends and misaligned platforms can be discovered in a timely manner, and the robot can be controlled to cross and avoid them, greatly improving the success rate of turning and crossing bumps.

[0076] Through simple structural design, the steering head can be guided to rotate 0 to 180 degrees in radial direction and 360 degrees in axial direction. The terminal power unit is designed independently, and the power unit can be added as needed.

[0077] The external gear of the robot's power module always fits the inner wall of the pipeline, allowing the robot to move in horizontal pipelines as well as vertical or large-angle inclined pipelines.

[0078] The present invention also provides a method for pipeline inspection using the above-mentioned micro robot, comprising the following steps:

[0079] S1. Remove the pipe valve and clean the pipe blockage;

[0080] S2. Power on and debug the robot to ensure it runs properly.

[0081] S3, insert the robot body into the pipeline for a certain distance and loosen the bundled cables at the rear end;

[0082] S4. Turn on the lighting, camera, and video. When ready, turn on the power module and move forward slowly.

[0083] S5. When encountering a bend, observe first, determine the direction of the bend, and then operate the robot to move forward slowly;

[0084] S6. If you encounter an upward pipeline or a pipeline with water, you need to be more careful and not drive too fast. If you encounter a pipeline with silt, you are prohibited from moving forward and must exit the pipeline in time.

[0085] S7. After the inspection is completed, start to withdraw from the pipeline, control the robot to retreat, and arrange personnel at the pipe mouth to gradually recycle the cables. If necessary, give the robot some assistance in the straight section of the pipeline to speed up the withdrawal. At the bend, it is necessary to operate slowly to withdraw;

[0086] S8. After recycling the robot, clean it with clean water in time and store it after drying.

[0087] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A micro pipeline robot, characterized in that: The micro-pipeline robot comprises a camera lighting module (1), a direction control mechanism (2), a steering power mechanism (3), a power module (4), and a flexible connection module (5) and a bundled cable (6) connecting the above modules; A front-end guiding structure of the robot is formed by a group of camera lighting modules (1), a group of direction control mechanisms (2) and a group of steering power mechanisms (3) which are connected in sequence through a flexible connection module (5); The rear-end power structure of the robot is formed by one or more groups of power modules (4); the first group of power modules (4) is connected to the front-end guide structure via a flexible connection module (5), and the other power modules (4) can be connected via flexible connection modules (5) or force ropes.

2. A micro pipeline robot according to claim 1, characterized in that: The camera lighting module (1) comprises a micro camera module (1001), LED lamp beads (1002), a module body (1003) and a bearing seat (1004); the micro camera module (1001) is located in the middle of the front end of the module body (1003), and the LED lamp beads (1002) are evenly distributed around it; the rear end of the module body (1003) is a bearing seat (1004) for mounting a steering bearing (2001); the camera lighting module (1) is located at the front of the robot and provides lighting and real-time image transmission.

3. A micro pipeline robot according to claim 1, characterized in that: The direction control mechanism (2) comprises a steering bearing (2001), a micro motor (2005) with a reduction box (2004), a steering arm (2003), an upper baffle (2008), a lower baffle (2007) and a support rod (2006); the steering bearing (2001) is mounted on a bearing seat (1004) and has two opposite fixed lifting rings (2002) on the outer ring side; the reduction box (2004) and the micro motor (2005) are connected and fixed between a frame consisting of an upper baffle (2008), a lower baffle (2007) and four support rods (2006); The steering arm (2003) has holes at both ends and rounded corners, and a hole in the middle and is connected to the output shaft of the reduction box (2004); the upper baffle plate (2008) and the lower baffle plate (2007) respectively have two symmetrical arc-shaped keyway through holes, and the radius is consistent with the end hole of the steering arm (2003).

4. The micro pipeline robot according to claim 1, characterized in that: The steering power mechanism (3) comprises a circular wire groove (3001), a micro motor (3003) with a reduction box (3002), an upper baffle (3005), a lower baffle (3006) and a support rod (3004); the reduction box (3002) and the micro motor (3003) are connected and fixed between a frame consisting of an upper baffle (3005), a lower baffle (3006) and four support rods (3004); The circular wire groove (3001) has two wire grooves, with a hole in the middle and connected to the output shaft of the reduction box (3002); the upper baffle (3005) is provided with two circular ring ears (3007) (3008) on the radial outer side, the circular ring center height of the circular ring ear (3007) is flush with the bottom line groove of the circular wire groove (3001), and the circular ring center height of the circular ring ear (3008) is flush with the top line groove of the circular wire groove (3001).

5. A micro pipeline robot according to claim 4, characterized in that: One end of two thin fibers or thin steel wires are respectively fixed on the lifting ears (2002) of the steering bearing, respectively pass through the two end round holes of the steering arm (2003), respectively pass through the circular lifting ears (3007) (3008) on the upper baffle (3005) of the steering power mechanism, and are respectively wound around the corresponding circular wire grooves (3001), and the winding directions are opposite, one is clockwise and the other is counterclockwise.

6. The micro pipeline robot according to claim 1, characterized in that: The power module (4) comprises an upper baffle (4001), a lower baffle (4002), a fixing plate (4003), an external gear (4004), an internal gear (4005), a worm (4006), and a micro motor (4007); two fixing plates (4003) form a group, are spaced a certain distance apart, and are parallel to each other; an arc-shaped keyway hole is provided on the fixing plate (4003) for mounting the external gear (4004), a circular hole is provided for mounting the internal gear (4005), and a square keyway connected to the arc-shaped keyway is used for mounting a spring or an elastic rope; one end of the elastic rope or spring is connected to one end of the direction keyway, and the other end is connected to the shaft of the external gear (4004), so that the external gear (4004) always maintains an outward trend; the external gear (4005) and the internal gear (4004) are meshed.

7. The micro pipeline robot according to claim 6, characterized in that: Two fixed plates (4003), an internal gear (4005), and an external gear (4004) are grouped into four groups, which are arranged in a circle, and adjacent groups are at an angle of 90 degrees. The upper and lower ends of all fixed plates (4003) are respectively connected to the upper baffle plate (4001) and the lower baffle plate (4002) to form an overall frame; the micro motor (4007) is fixed in the above frame, one end of which is connected to the lower base plate (4002), and the output shaft of the other end is connected to the worm (4006); the worm (4006) is respectively meshed with the four internal gears (4005).

8. The micro pipeline robot according to claim 1, characterized in that: The flexible connection module (5) comprises an upper baffle (5001), a lower baffle (5002) and a spring (5003); the two ends of the spring (5003) are respectively connected to the upper baffle (5001) and the lower baffle (5002); the cross-sectional form of the upper baffle (5001) is consistent with the form of the lower baffle of the module connected to it; the cross-sectional form of the upper and lower baffles (5002) is consistent with the form of the upper baffle of the module connected to it.

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