Earthworm wriggling imitating pneumatic soft pipeline robot and working method thereof

Abstract

The earthworm wriggling imitating pneumatic soft pipeline robot comprises a front foot anchoring module, a main body telescopic module and a rear foot anchoring module, and the front foot anchoring module and the rear foot anchoring module are installed at the front end and the rear end of the main body telescopic module correspondingly. The front foot anchoring module, the main body telescopic module and the rear foot anchoring module are used for conducting air supply driving through independent air pipes correspondingly, and the front foot anchoring module and the rear foot anchoring module are used for enabling the front foot and the rear foot of the pipeline robot to be in a pressurized expansion fixing state or a decompressed free recovery state when the pipeline robot needs to move. The main body telescopic module is used for changing the length of the main body telescopic module through telescoping so as to cooperate with the anterior foot anchoring module and the posterior foot anchoring module to generate displacement. The pipeline robot can imitate earthworm wriggling to crawl in a pipeline, the pipeline adaptability is high, the crawling speed is high, and the inner wall of the pipeline cannot be damaged.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, and in particular to a pneumatic soft pipeline robot imitating earthworm creeping motion and a working method thereof. Background Art

[0002] As the service life of pipelines increases, liquids, gases and loose solids will inevitably accumulate and clog the pipelines during long transportation. In addition, due to corrosion, heavy pressure and other factors, the inner wall of the pipeline is likely to have cracks, leaks and other safety issues, which seriously affect the transmission efficiency. Therefore, regular pipeline inspection and maintenance are essential. However, traditional manual inspection and maintenance are time-consuming and laborious, and most pipelines have small diameters and limited operating space. Traditional pipeline robots are prone to damage the inner wall of the pipeline due to their rigid structure. They are not suitable for operation in small spaces and are difficult to adapt to special operating environments such as flammable and explosive environments. Therefore, a new type of pipeline robot is needed to make up for the defects of traditional pipeline robots.

[0003] Earthworms change their length by means of their body shape and peristalsis, and achieve intermittent movement by alternating the anchoring of the feet at the head and tail ends. This movement mode is in line with the working environment requirements of pipeline soft robots. Inspired by the movement mode and body shape of earthworms, the present invention proposes a structural design of a pneumatic soft pipeline robot that imitates earthworm peristalsis, which is driven by gas to enable the robot to crawl in the pipeline. The robot has good crawling speed and environmental adaptability, and can achieve tasks such as non-destructive testing and obstacle removal in the pipeline. Through modular design, some modules can be replaced to meet different work requirements. Summary of the invention

[0004] The purpose of the present invention is to provide a pneumatic soft pipeline robot that imitates earthworm creeping and a working method thereof. The pipeline robot can imitate the creeping of earthworms and crawl in a pipeline, has strong adaptability to the pipeline, has a fast crawling speed, and will not cause damage to the inner wall of the pipeline.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a pneumatic soft pipeline robot imitating the creeping of earthworms, comprising a front foot anchoring module, a main body telescopic module and a rear foot anchoring module, wherein the front foot anchoring module and the rear foot anchoring module are respectively installed at the front and rear ends of the main body telescopic module, and the front foot anchoring module, the main body telescopic module and the rear foot anchoring module are respectively driven by independent air pipes for air supply, and the front foot anchoring module and the rear foot anchoring module are used to make the front and rear feet of the pipeline robot be in a pressurized and expanded fixed state or a decompression and free recovery state when the pipeline robot needs to be displaced, and the main body telescopic module is used to change its own length by telescoping to cooperate with the front and rear foot anchoring modules to produce displacement.

[0006] Further, the forefoot anchoring module and the rearfoot anchoring module are both composed of a circular soft driver, a first end cover and a second end cover, the annular portion of the circular soft driver is a hollow structure with an annular chamber, the inner ends of the first end cover and the second end cover are respectively covered on the two ends of the circular soft driver, and the middle parts of the first end cover and the second end cover are connected together by interference fit; the main telescopic module is composed of a telescopic driver with a Kresling origami structure, a first connecting plate and a second connecting plate, the inner end surfaces of the first connecting plate and the second connecting plate are respectively fixedly connected to the front and rear ends of the telescopic driver; the outer end surfaces of the first connecting plate and the second connecting plate are respectively matched and connected with the outer ends of the first end covers on the forefoot anchoring module and the rearfoot anchoring module; The pipeline robot is equipped with a front foot air supply pipe, a rear foot air supply pipe and a main body air supply pipe, which are respectively connected to the front foot anchoring module, the circular soft driver on the rear foot anchoring module and the telescopic driver to supply air to them respectively.

[0007] Furthermore, the first end cover is composed of an annular cover plate and an annular embedded part connected thereto, the annular cover plate is arranged on the circular soft driver and the annular embedded part is embedded in the middle of the circular soft driver, and a slot is provided on one side of the annular cover plate and the annular embedded part for introducing the front foot air supply pipe or the rear foot air supply pipe from the outside of the first end cover into the middle thereof; a first ventilation hole is provided on the annular embedded part, and a second ventilation hole is correspondingly provided on the inner side wall of the annular part of the circular soft driver, the first ventilation hole and the second ventilation hole are aligned and connected to each other, the first ventilation hole and the second ventilation hole are adapted to the size of the front foot air supply pipe and the rear foot air supply pipe, and are interference fit with the front foot air supply pipe or the rear foot air supply pipe.

[0008] Furthermore, the inner end faces of the first connecting plate and the second connecting plate are provided with embedding grooves adapted to the end face structure of the telescopic drive, and are fixedly connected to the front and rear end faces of the telescopic drive by silicone sealant; the outer end faces of the first connecting plate and the second connecting plate are provided with arc-shaped protrusions, which are embedded in the annular cover plate and have an interference fit with it; a third air vent is also provided in the middle of the first connecting plate, and the third air vent is adapted to the size of the main air supply pipe and has an interference fit with the main air supply pipe; after the main air supply pipe is connected to the first connecting plate, it is led from the middle of the first end cover to the tail of the pipeline robot.

[0009] Furthermore, the positions of the slots on the first end covers of the front foot anchoring module and the rear foot anchoring module differ by 180° in the circumferential direction; after the front foot air supply pipe is matched and connected with the annular soft driver on the front foot anchoring module, it is led out from the slot of the first end cover, spirally bypasses 180°, and then penetrates into the middle part of the first end cover from the slot of the first end cover on the rear foot anchoring module, and is led to the tail of the pipeline robot; after the rear foot air supply pipe is matched and connected with the annular soft driver on the rear foot anchoring module, it is directly led from the middle part of its first end cover to the tail of the pipeline robot.

[0010] Furthermore, the annular soft actuator is cast from AB type silicone material.

[0011] Furthermore, the first end cover and the second end cover are both made by 3D printing.

[0012] Furthermore, the telescopic driver is cast from PU 8400N polyurethane material.

[0013] Furthermore, the first connecting plate and the second connecting plate are both made by 3D printing.

[0014] The present invention also provides a working method of the above-mentioned earthworm-like pneumatic soft pipeline robot. First, the pipeline robot is initialized: the front foot anchoring module is filled with positive pressure to expand and deform, and the main body telescopic module and the rear foot anchoring module remain unchanged, so that the front foot of the pipeline robot is in a fixed state; then the creeping movement is completed according to the following steps: Step S1, negative pressure is charged into the main telescopic module, and the main telescopic module shrinks and deforms, so that the main body of the pipeline robot is shortened; Step S2: the rear foot anchoring module is filled with positive pressure, which causes expansion and deformation, so that the rear foot of the pipeline robot is in a fixed state; Step S3: The front foot anchoring module performs a pressure relief operation, and the front foot of the pipeline robot returns to a free state; Step S4: the main body telescopic module performs a pressure relief operation, and the main body of the pipeline robot is extended to move forward as a whole; Step S5: The rear foot anchoring module performs a pressure relief operation, and the rear foot of the pipeline robot returns to a free state; Step S6: the front foot anchoring module is filled with positive pressure, which causes expansion and deformation, so that the front foot of the pipeline robot is in a fixed state; Through steps S1-S6, the pipeline robot completes one forward creeping movement; by repeating steps S1-S6, the pipeline robot can continue to creep forward.

[0015] Compared with the prior art, the present invention has the following beneficial effects: based on the movement mode and body shape of earthworms, the present invention proposes a pneumatic soft pipeline robot that imitates earthworm creeping and its working method. The pipeline robot adopts a modular design. Through the design of the front foot anchoring module, the main body telescopic module and the rear foot anchoring module and the cooperation between each other, the front and rear feet can be alternately expanded and anchored and the main body can be telescoped under gas drive, so as to imitate the creeping of earthworms and realize the crawling of the robot in the pipeline; the pipeline robot has good flexibility, better crawling speed and environmental adaptability, and will not damage the inner wall of the pipeline while providing sufficient support force, so as to better complete tasks such as non-destructive testing and obstacle removal in the pipeline; through modular design, different functional modules can be replaced according to different work tasks to meet different work needs. Therefore, the present invention has strong practicality and broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 is a structural diagram of a circular ring-shaped soft actuator in an embodiment of the present invention; Figure 3 is a cross-sectional view of a circular ring-shaped soft actuator according to an embodiment of the present invention; Figure 4 is a structural diagram of a first end cover in an embodiment of the present invention; Figure 5 is a structural diagram of a second end cover in an embodiment of the present invention; Figure 6 is an exploded view of a forefoot anchoring module (forefoot anchoring module) in an embodiment of the present invention; Figure 7 is a structural diagram of a telescopic actuator in an embodiment of the present invention; Figure 8 is a structural diagram of a first connecting plate in an embodiment of the present invention; Fig. 9 is a structural diagram of the first connecting plate in an embodiment of the present invention (from another perspective); Fig.10 is a structural diagram of a second connecting plate in an embodiment of the present invention; Fig.11 is a structural diagram of a second connecting plate in an embodiment of the present invention (from another perspective); Fig.12 is an exploded view of the main telescopic module in an embodiment of the present invention; Fig.13 is a schematic diagram of the preparation process of the donut-shaped soft actuator in an embodiment of the present invention; Fig.14 It is a schematic diagram of the preparation process of the telescopic actuator in an embodiment of the present invention.

[0017] In the figure: 1-front foot air supply pipe; 2-rear foot air supply pipe; 3-main body air supply pipe; 4-circular soft driver; 5-first end cover; 6-second end cover; 7-telescopic driver; 8-first connecting plate; 9-second connecting plate; DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0019] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0020] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0021] like Figure 1 As shown, the present embodiment provides a pneumatic soft pipeline robot imitating earthworm creeping, comprising a front foot anchoring module, a main body telescopic module and a rear foot anchoring module, wherein the front foot anchoring module and the rear foot anchoring module are respectively installed at the front and rear ends of the main body telescopic module, and the front foot anchoring module, the main body telescopic module and the rear foot anchoring module are respectively driven by independent air pipes for air supply, and the front foot anchoring module and the rear foot anchoring module are used to make the front and rear feet of the pipeline robot be in a pressurized and expanded fixed state or a decompression and free recovery state when the pipeline robot needs to be displaced, and the main body telescopic module is used to change its own length by telescoping to cooperate with the front and rear foot anchoring modules to produce displacement.

[0022] like Figure 2-6 As shown, the forefoot anchoring module and the hindfoot anchoring module are both composed of a circular soft driver 4, a first end cover 5 and a second end cover 6. The annular portion of the circular soft driver 4 is a hollow structure with an annular chamber. The inner ends of the first end cover 5 and the second end cover 6 are respectively covered at both ends of the circular soft driver 4, and the middle parts of the first end cover 5 and the second end cover 6 are connected together by interference fit.

[0023] like Figure 7-12As shown, the main telescopic module is composed of a telescopic driver 7 with a Kresling origami structure, a first connecting plate 8 and a second connecting plate 9, the inner end surfaces of the first connecting plate 8 and the second connecting plate 9 are respectively fixedly connected to the front and rear ends of the telescopic driver 7; the outer end surfaces of the first connecting plate 8 and the second connecting plate 9 are respectively matched and connected to the outer ends of the first end cover 5 on the forefoot anchoring module and the rear foot anchoring module.

[0024] The pipeline robot is equipped with a front foot air supply pipe 1, a rear foot air supply pipe 2 and a main body air supply pipe 3, which are respectively connected to the front foot anchor module, the circular soft driver 4 and the telescopic driver 7 on the rear foot anchor module to supply air thereto. In this embodiment, the front foot air supply pipe 1, the rear foot air supply pipe 2 and the main body air supply pipe 3 are all silicone air pipes.

[0025] By supplying air and pressurizing the annular soft actuator, the annular soft actuator can be expanded and deformed, thereby squeezing the inner wall of the pipeline to support the pipeline robot. Since the annular soft actuator has a large radial deformation, the contact area with the inner wall of the pipeline is large after deformation, and it does not damage the inner wall of the pipeline while providing sufficient support force. In addition, by passing positive or negative pressure into the telescopic actuator, the extension or contraction of the telescopic actuator can be achieved, and since it is achieved by using the Kresling origami structure, it has the advantages of fast telescopic deformation speed and large telescopic rate. Passive bending can be achieved at the crease to meet the bending requirements of the pipeline robot.

[0026] The first end cover 5 is composed of an annular cover plate and an annular embedded part connected thereto, the annular cover plate is arranged on the circular soft driver 4 and the annular embedded part is embedded in the middle of the circular soft driver 4, and a slot is provided on one side of the annular cover plate and the annular embedded part for introducing the front foot air supply tube 1 or the rear foot air supply tube 2 from the outside of the first end cover 5 into the middle thereof; a first ventilation hole is provided on the annular embedded part, and a second ventilation hole is correspondingly provided on the inner side wall of the annular part of the circular soft driver 4, the first ventilation hole and the second ventilation hole are aligned and connected to each other after the first end cover 5 and the circular soft driver 4 are matched and connected, the first ventilation hole and the second ventilation hole are adapted to the size of the front foot air supply tube 1 and the rear foot air supply tube 2, and are interference fit with the front foot air supply tube 1 or the rear foot air supply tube 2.

[0027] The inner end faces of the first connecting plate 8 and the second connecting plate 9 are provided with embedding grooves adapted to the end face structure of the telescopic driver 7, and are fixedly connected to the front and rear end faces of the telescopic driver 7 by silicone sealant; the outer end faces of the first connecting plate 8 and the second connecting plate 9 are provided with arc-shaped protrusions, which are embedded in the annular cover plate and have an interference fit with it; a third air vent is also provided in the middle of the first connecting plate 8, and the third air vent is adapted to the size of the main air supply pipe 3 and has an interference fit with the main air supply pipe 3; after the main air supply pipe 3 is connected with the first connecting plate 8, it is led from the middle of the first end cover 5 to the tail of the pipeline robot.

[0028] The positions of the slots on the first end covers 5 of the front foot anchoring module and the rear foot anchoring module differ by 180° in the circumferential direction; after the front foot air supply pipe 1 is matched and connected with the annular soft driver 4 on the front foot anchoring module, it is led out from the slot of the first end cover 5, spirally bypasses 180°, and then penetrates into the middle part of the first end cover 5 from the slot of the first end cover 5 on the rear foot anchoring module, and is led to the tail of the pipeline robot; after the rear foot air supply pipe 2 is matched and connected with the annular soft driver 4 on the rear foot anchoring module, it is directly led from the middle part of its first end cover 5 to the tail of the pipeline robot.

[0029] In this embodiment, the annular soft actuator 4 is made of AB type silicone material by secondary casting. The preparation process is as follows: Fig.13 As shown. AB type silicone is divided into liquid A and liquid B, which are mixed in a mass ratio of A:B=1:1 to prepare the required silicone liquid, and then cast in a mold. The first casting forms the main part, and the sealing is not completed at this time; the second casting is used to seal the cover.

[0030] The telescopic actuator 7 is cast from PU 8400N polyurethane material, and the preparation process is as follows: Fig.14 As shown in the figure, PU8400N uses a silicone mold as a mold. First, the mold is made of silicone, and then PU8400N is cast and demolded to make the required telescopic actuator.

[0031] The first end cover 5, the second end cover 6, the first connecting plate 8 and the second connecting plate 9 are all made by 3D printing.

[0032] This embodiment also provides a working method of the above-mentioned earthworm-like pneumatic soft pipeline robot. First, the pipeline robot is initialized: the front foot anchoring module is filled with positive pressure to expand and deform, and the main body telescopic module and the rear foot anchoring module remain unchanged, so that the front foot of the pipeline robot is in a fixed state; then the creeping movement is completed according to the following steps: Step S1, negative pressure is charged into the main telescopic module, and the main telescopic module shrinks and deforms, so that the main body of the pipeline robot is shortened; Step S2: the rear foot anchoring module is filled with positive pressure, which causes expansion and deformation, so that the rear foot of the pipeline robot is in a fixed state; Step S3: The front foot anchoring module performs a pressure relief operation, and the front foot of the pipeline robot returns to a free state; Step S4: the main body telescopic module performs a pressure relief operation, and the main body of the pipeline robot is extended to move forward as a whole; Step S5: The rear foot anchoring module performs a pressure relief operation, and the rear foot of the pipeline robot returns to a free state; Step S6: The front foot anchoring module is filled with positive pressure, causing expansion and deformation, so that the front foot of the pipeline robot is in a fixed state.

[0033] Through steps S1-S6, the pipeline robot completes one forward creeping movement; by repeating steps S1-S6, the pipeline robot can continue to creep forward.

[0034] The pipeline robot can plan its gait according to the requirements of the usage scenario and has strong maneuverability, good movement speed and environmental adaptability.

[0035] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A pneumatic soft pipeline robot imitating earthworm peristalsis, characterized in that: It includes a front foot anchoring module, a main body telescopic module and a rear foot anchoring module, wherein the front foot anchoring module and the rear foot anchoring module are respectively installed at the front and rear ends of the main body telescopic module, and the front foot anchoring module, the main body telescopic module and the rear foot anchoring module are respectively driven by independent air pipes for air supply, and the front foot anchoring module and the rear foot anchoring module are used to pressurize and expand the front and rear feet of the pipeline robot to be fixed or to release the pressure to restore the freedom state when the pipeline robot needs to be displaced, and the main body telescopic module is used to change its own length by telescoping to cooperate with the front and rear foot anchoring modules to produce displacement.

2. The pneumatic soft pipeline robot imitating earthworm creeping according to claim 1, characterized in that: The forefoot anchoring module and the rearfoot anchoring module are both composed of a circular soft driver (4), a first end cover (5) and a second end cover (6); the annular portion of the circular soft driver (4) is a hollow structure having an annular chamber; the inner ends of the first end cover (5) and the second end cover (6) are respectively covered on the two ends of the circular soft driver (4); and the middle parts of the first end cover (5) and the second end cover (6) are connected together by interference fit; the main telescopic module is composed of a telescopic driver (7) having a Kresling origami structure, a first connecting plate (8) and a second connecting plate (9); the inner end surfaces of the first connecting plate (8) and the second connecting plate (9) are respectively fixedly connected to the front and rear ends of the telescopic driver (7); and the outer end surfaces of the first connecting plate (8) and the second connecting plate (9) are respectively matched and connected to the outer ends of the first end covers (5) on the forefoot anchoring module and the rearfoot anchoring module; The pipeline robot is equipped with a front foot air supply pipe (1), a rear foot air supply pipe (2) and a main body air supply pipe (3), wherein the front foot air supply pipe (1), the rear foot air supply pipe (2) and the main body air supply pipe (3) are respectively connected to the front foot anchoring module, the annular soft driver (4) and the telescopic driver (7) on the rear foot anchoring module to supply air thereto respectively.

3. The pneumatic soft pipeline robot imitating earthworm creeping according to claim 2, characterized in that: The first end cover (5) is composed of an annular cover plate and an annular embedded portion connected thereto, the annular cover plate is arranged on the annular soft driver (4) and the annular embedded portion is embedded in the middle of the annular soft driver (4), a slot is provided on one side of the annular cover plate and the annular embedded portion, for introducing the front foot air supply pipe (1) or the rear foot air supply pipe (2) from the outside of the first end cover (5) into the middle thereof; a first ventilation hole is provided on the annular embedded portion, and a second ventilation hole is correspondingly provided on the inner side wall of the annular portion of the annular soft driver (4), the first ventilation hole and the second ventilation hole are aligned and connected to each other, the first ventilation hole and the second ventilation hole are adapted to the size of the front foot air supply pipe (1) and the rear foot air supply pipe (2), and are interference fit with the front foot air supply pipe (1) or the rear foot air supply pipe (2).

4. The pneumatic soft pipeline robot imitating earthworm creeping according to claim 3, characterized in that: The first connecting plate (8) and the second connecting plate (9) are provided with embedding grooves adapted to the end surface structure of the telescopic driver (7) on their inner end surfaces, and are fixedly connected to the front and rear end surfaces of the telescopic driver (7) by means of silicone sealant; the first connecting plate (8) and the second connecting plate (9) are provided with arc-shaped protrusions on their outer end surfaces, and the arc-shaped protrusions are embedded in the annular cover plate and are interference-fitted therewith; a third vent hole is also provided in the middle of the first connecting plate (8), and the third vent hole is adapted to the size of the main air supply pipe (3) and is interference-fitted therewith; after the main air supply pipe (3) is connected to the first connecting plate (8), it is led from the middle of the first end cover (5) to the tail of the pipeline robot.

5. The pneumatic soft pipeline robot imitating earthworm creeping according to claim 3, characterized in that: The positions of the slots on the first end covers (5) of the front foot anchoring module and the rear foot anchoring module differ by 180° along the circumferential direction; after the front foot air supply pipe (1) is matched and connected with the annular soft driver (4) on the front foot anchoring module, it is led out from the slot of the first end cover (5), spirally bypasses 180°, penetrates the middle of the first end cover (5) from the slot of the first end cover (5) on the rear foot anchoring module, and is led to the tail of the pipeline robot; after the rear foot air supply pipe (2) is matched and connected with the annular soft driver (4) on the rear foot anchoring module, it is directly led from the middle of its first end cover (5) to the tail of the pipeline robot.

6. The pneumatic soft pipeline robot imitating earthworm creeping according to claim 2, characterized in that: The annular soft driver (4) is cast from AB type silicone material.

7. The pneumatic soft pipeline robot imitating earthworm creeping according to claim 2, characterized in that: The first end cover (5) and the second end cover (6) are both made by 3D printing.

8. The pneumatic soft pipeline robot imitating earthworm creeping according to claim 2, characterized in that: The telescopic drive (7) is cast from PU 8400N polyurethane material.

9. The pneumatic soft pipeline robot imitating earthworm creeping according to claim 2, characterized in that: The first connecting plate (8) and the second connecting plate (9) are both made by 3D printing.

10. The working method of the pneumatic soft pipeline robot imitating earthworm creeping according to any one of claims 1 to 9, characterized in that: First, the pipeline robot is initialized: the front foot anchoring module is filled with positive pressure to expand and deform, and the main telescopic module and the rear foot anchoring module remain unchanged, so that the front foot of the pipeline robot is in a fixed state; then the creeping movement is completed according to the following steps: Step S1, negative pressure is charged into the main telescopic module, and the main telescopic module shrinks and deforms, so that the main body of the pipeline robot is shortened; Step S2: the rear foot anchoring module is filled with positive pressure, which causes expansion and deformation, so that the rear foot of the pipeline robot is in a fixed state; Step S3: The front foot anchoring module performs a pressure relief operation, and the front foot of the pipeline robot returns to a free state; Step S4: the main body telescopic module performs a pressure relief operation, and the main body of the pipeline robot is extended to move forward as a whole; Step S5: The rear foot anchoring module performs a pressure relief operation, and the rear foot of the pipeline robot returns to a free state; Step S6: the front foot anchoring module is filled with positive pressure, which causes expansion and deformation, so that the front foot of the pipeline robot is in a fixed state; Through steps S1-S6, the pipeline robot completes one forward creeping movement; by repeating steps S1-S6, the pipeline robot can continue to creep forward.

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