Pipeline robot with driving force self-adjusting function

Abstract

The invention discloses a pipeline robot with a driving force self-adjusting function, and relates to the technical field of pipeline robotics.The pipeline robot comprises a pipeline robot body and a controller, the pipeline robot body comprises a supporting frame, and a driving assembly, a collecting assembly and a climbing assembly are installed at the bottom of the supporting frame; the control box and the detection assembly are installed above the supporting frame, the driving assembly can provide power for the device, the collecting assembly can collect garbage, and the climbing assembly can be matched with a ladder, so that when the device is used, the driving mode can be automatically changed according to the use environment, and then the device can be suitable for different environments; when the device is used and needs to descend into a well, the device can automatically move downwards along with the iron ladder through the climbing assembly or automatically climb out of a sewer according to the climbing assembly, meanwhile, the sewer or a pipeline can be detected through the detection assembly of the device, and recyclable magnetic particles can be recycled through the collection assembly.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline robots, and in particular to a pipeline robot with a driving force self-regulation function. Background Art

[0002] A pipeline robot is an integrated system of machinery, electricity and instrumentation that can automatically walk along the inside or outside of a pipeline, carry one or more sensors and operating machinery, and perform a series of pipeline operations under remote control by staff or automatic computer control. However, existing pipeline robots often have only one driving mode, which will reduce the application scenarios of pipeline robots. In addition, it is not convenient for users to place the pipeline robot into the pipes in the sewers. Therefore, existing sewer inspections are often carried out manually, and many inspection tasks require inspectors to go down the well in person. This is not only difficult, but also has certain safety hazards. Although some simple robots can be dragged into the sewer under the limitation of cables, dragging with cables requires the connection between the cable and the machine to be very strong, otherwise it will cause the connection between the cable and the machine to break, which will make the machine unusable. Summary of the invention

[0003] The purpose of the present invention is to provide a pipeline robot with a self-adjusting driving force function to solve the problems raised in the prior art.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a pipeline robot with a self-adjusting driving force function, comprising a pipeline robot body and a controller, the pipeline robot body comprising a support frame, a driving component, a collecting component and a climbing component are installed at the bottom of the support frame, a control box and a detection component are installed above the support frame, the driving component can provide power to the pipeline robot body, the collecting component can collect garbage, and the climbing component can cooperate with a ladder.

[0005] Furthermore, the driving assembly includes two groups of driving motors, which are dual-axis motors. The two groups of driving motors are respectively installed at both ends of a supporting frame. Cylinders are respectively installed at both ends of the driving motors. The cylinders are installed in the supporting frame through bearings. A semi-circular ball is installed at the output end of the cylinder. A plurality of anti-slip strips are arranged on the outer surface of the semi-circular ball. A conductive sheet is arranged on the outside of the cylinder. The output line of the conductive sheet is connected to the cylinder. A conductive sheet is also arranged on the supporting frame. The two groups of conductive sheets are in contact with each other.

[0006] Furthermore, the climbing component includes a climbing motor and two groups of limit frames, the two groups of limit frames are respectively installed on both sides of the bottom of the supporting frame, a limit slot is opened in the middle of the limit frame, a driven wheel is installed inside the limit slot, one side of the driven wheel is installed in the limit slot through a bearing, and the other side of the driven wheel is installed with a rubber wheel, the climbing motor is installed above the supporting frame, the climbing motor is a dual-axis motor, transmission rods are respectively installed at both ends of the climbing motor, a driving wheel is installed at the other end of the transmission rod, and the driving wheel and the driven wheel are meshed with each other.

[0007] Furthermore, a plurality of groups of electromagnets are arranged in the support frame, the electromagnets are installed in the support frame at equal distances, and the electromagnets are connected to a controller.

[0008] Furthermore, a support plate is installed at the bottom of the support frame, and multiple groups of collecting components are installed at the bottom of the support plate. The collecting components include multiple groups of electromagnetic rods, and multiple groups of limiting grooves are opened inside the support plate. Electromagnetic plates are arranged inside the limiting grooves, and electromagnetic rods are arranged inside each group of limiting grooves. One end of the electromagnetic rod is connected to the limiting groove through a bearing, and one end of the electromagnetic rod with a bearing is connected to the controller through a wire, and a spring is installed at the other end of the electromagnetic rod, and the other end of the spring is connected to the limiting groove, and the spring is connected to the controller.

[0009] Furthermore, when the climbing assembly is working: the controller will energize the spring and disconnect the power supply to the electromagnetic rod; When the collecting assembly is working, the spring is powered off and the electromagnetic rod is powered on.

[0010] Furthermore, the detection component is installed at one end of the supporting frame, and the detection component includes a camera, a sound wave generator and a sound wave receiver. Cameras are respectively installed at both ends of the supporting frame, and the sound wave generator and the sound wave receiver are respectively connected to the controller. Cylinders are respectively installed at the gaps at both ends of the supporting frame, and a detection rod is installed at the output end of the cylinder, and the detection rod can contact the sewage in the pipeline. Two groups of the sound wave generators and sound wave receivers are also respectively installed at both ends of the supporting frame. When the sound wave generator and the sound wave receiver at the same end are working, the sound wave generator and the sound wave receiver at the other end do not work.

[0011] Furthermore, the detection rod includes a shell, a detection electrode is installed at the bottom of the shell, a contrast medium and a contrast electrode are arranged inside the shell, the contrast electrode is immersed in the contrast medium, the detection electrode and the contrast electrode cooperate with each other, and the detection electrode and the contrast electrode are respectively connected to the controller.

[0012] Furthermore, the support frame and the support plate are both made of solid buoyancy materials, and the control box shell is made of plastic.

[0013] Furthermore, the controller is installed inside the control box, and a control panel is arranged outside the control box, and the control panel is connected to the controller.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. Therefore, when the device is in use, it can automatically change the driving mode according to the use environment, so that the device can be applied to different environments. When the device is in use, when it needs to go down the well, it can automatically move down along the iron ladder through the climbing component, or climb out of the sewer according to the climbing component. At the same time, the detection component of the device can detect the sewer or pipeline, and the collection component can recycle the recyclable magnetic particles; 2. When the driving assembly is used, because the driving motor is a dual-axis motor, when the driving motor rotates, the cylinders at both ends of the driving motor will rotate together, and because the output end of the cylinder is equipped with a hemisphere, the cylinder can adjust the spacing between the hemispheres, and then by adjusting the cylinder, the hemispheres can adapt to pipes of different diameters, thereby increasing the scope of application of the device. At the same time, when the device is in the sewer, the device can be moved in the water through the paddle on the hemisphere, and then when the device is in the water, the paddle will paddle the water flow, thereby slowly driving the device to move in the water flow; 3. When the climbing component of the device is in use, the device can climb on the iron ladder, thereby saving the user a lot of inconvenience, because when general workers go down to work, the space is small and it is inconvenient to carry large equipment, and then through the climbing component of the device, the device can enter the sewer by itself; 4. When in use, the detection component of the device can undergo multi-directional detection, so that external staff can know the current status of the sewer pipe or sewage pipe based on multiple test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the axonometric structure of the present invention as a whole; Figure 2 It is a schematic diagram of the local structure on the support frame of the present invention; Figure 3 It is a schematic diagram of the structure of the collecting assembly on the bottom surface of the supporting frame of the present invention; Figure 4 It is a structural schematic diagram of the support frame of the present invention; Figure 5 This is a schematic diagram of the pipeline robot body of the present invention working in a pipeline; Figure 6 For the present invention Figure 3 An enlarged schematic diagram of the area "A" in the figure; Figure 7 For the present invention Figure 2 An enlarged schematic diagram of the area "B" in the figure; Figure 8 For the present invention Figure 2 Enlarged schematic diagram of point "C" in the figure.

[0016] In the figure: 1. pipeline robot body; 11. support frame; 12. control box; 121. operation panel; 13. support plate; 2. drive assembly; 21. drive motor; 22. semi-circular ball; 3. collection assembly; 31. electromagnetic rod; 32. electromagnetic plate; 4. climbing assembly; 41. climbing motor; 42. limit frame; 43. limit groove; 44. driven wheel; 45. rubber wheel; 46. transmission rod; 47. driving wheel; 5. detection assembly; 51. camera; 52. sound wave generator; 53. sound wave receiver; 6. detection rod; 61. shell; 62. detection electrode. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Example: Figure 1-Figure 8 As shown, the present invention provides a technical solution of a pipeline robot with a self-adjusting driving force function, including a pipeline robot body 1 and a controller, the pipeline robot body 1 includes a support frame 11, a driving component 2, a collecting component 3 and a climbing component 4 are installed at the bottom of the support frame 11, and a control box 12 and a detection component 5 are installed above the support frame 11. The driving component 2 can provide power to the pipeline robot body 1, the collecting component 3 can collect garbage, and the climbing component 4 can cooperate with a ladder; Therefore, when the device is in use, because the device is more lightweight as a whole, it is convenient for users to transport it. When in use, the device can absorb the iron ladder through the climbing component 4 and move down the iron ladder by itself, thereby saving the users a lot of inconvenience. Because when general workers go down the well to work, the space is small and it is inconvenient to carry large equipment. Therefore, through the climbing component 4 of the device, the device can enter the sewer by itself. When the device is in the pipe or sewer, the driving component 2 can drive the entire supporting frame 11 to move. At the same time, with the support of the driving component 2, the device can also adapt to movement on the waterway, because the overall material of the device is relatively light, and a supporting plate 13 that can make the device float is provided at the bottom, and then combined with the driving component 2, it can It moves in the water, and during the movement, the collecting component 3 and the detecting component 5 on the device will work simultaneously. When in use, the collecting component 3 will energize the electromagnetic rod 31 under the control of the controller. At this time, the electromagnetic rod 31 will slowly move downward under its own gravity. At the same time, the electromagnetic rod 31 after being energized has a certain magnetism, and can attract the magnetic particles in the sewer or pipe, so that they can adhere to the electromagnetic rod 31. When recycling, it is necessary to climb onto the ladder while energizing the spring, or increase the output power of the spring, so that the electromagnetic rod 31 can be recycled into the limiting groove 43. When in use, the detecting component 5 of the device can detect the pipeline by means of sound waves, and also observe the conditions in the pipeline or sewer through the camera 51.

[0019] like Figure 1-Figure 2 and Figure 5 As shown, in this embodiment, specifically, the driving assembly 2 includes two groups of driving motors 21, the driving motors 21 are double-axis motors, the two groups of driving motors 21 are respectively installed at both ends of the support frame 11, and cylinders are respectively installed at both ends of the driving motors 21, and the cylinders are installed in the support frame 11 through bearings, and the output ends of the cylinders are installed with semicircular balls 22, and the outer surfaces of the semicircular balls 22 are provided with multiple groups of anti-slip strips, and the outside of the cylinders is provided with conductive sheets, and the output lines of the conductive sheets are connected to the cylinders, and the support frame 11 is also provided with conductive sheets, and the two groups of conductive sheets are in contact with each other; When the driving component 2 of the device is in use, it can drive the entire support frame 11 to move. At the same time, with the support of the driving component 2, the device can also adapt to moving on the waterway, because the overall material of the device is relatively light, and a support plate 13 that can make the device float is provided at the bottom, and then combined with the driving component 2, it can move in the water. When the driving component 2 is used specifically, because the driving motor 21 is a dual-axis motor, when the driving motor 21 rotates, the cylinders at both ends of the driving motor 21 will rotate together, and the cylinder output end is installed with a hemisphere, and the cylinder can adjust the spacing between the hemispheres, and then by adjusting the cylinder, the hemisphere can adapt to pipes of different diameters by itself, thereby increasing the scope of application of the device. At the same time, when the device is in the sewer, the device can be moved in the water through the paddle on the hemisphere, and then when the device is in the water, the paddle will paddle the water flow, thereby slowly driving the device to move in the water flow. Because the cylinder transmits electricity through the conductive sheet, the rotation of the cylinder will not hinder the power supply to it.

[0020] like Figure 2-Figure 3 and Figure 7 As shown, in this embodiment, specifically, the climbing component 4 includes a climbing motor 41 and two groups of limit frames 42, the two groups of limit frames 42 are respectively installed on both sides of the bottom of the support frame 11, a limit slot 43 is opened in the middle of the limit frame 42, a driven wheel 44 is installed inside the limit slot 43, one side of the driven wheel 44 is installed in the limit slot 43 through a bearing, and the other side of the driven wheel 44 is installed with a rubber wheel 45, the climbing motor 41 is installed above the support frame 11, the climbing motor 41 is a double-axis motor, and transmission rods 46 are respectively installed at both ends of the climbing motor 41, and a driving wheel 47 is installed at the other end of the transmission rod 46, and the driving wheel 47 is meshed with the driven wheel 44; When the climbing component 4 of the device is in use, the device can climb on the iron ladder, thereby saving the user many inconveniences, because when general staff go down to work, the space is small and it is inconvenient to carry large equipment, and then through the climbing component 4 of the device, the device can enter the sewer by itself, and when the climbing component 4 is specifically used, the two sets of limit frames 42 can respectively cooperate with the two vertical rods of the iron ladder and be adsorbed on the two vertical rods. At this time, the climbing motor 41 will drive the transmission rods 46 on both sides to rotate, because the climbing motor 41 is also a dual-axis motor, and can simultaneously drive the transmission rods 46 on both sides to rotate, and when the transmission rod 46 rotates, it will drive the driving wheel 4 together. 7 is rotated, and because the driving wheel 47 is meshed with the driven wheel 44, the driven wheel 44 is driven to rotate. One side of the driven wheel 44 is connected to the limiting groove 43 through a bearing, and the other side is provided with a rubber wheel 45, and the other side of the rubber wheel 45 is also connected to the other side of the limiting groove 43 through a bearing. When the driving wheel 47 drives the driven wheel 44 to rotate, the rubber wheel 45 is driven to rotate. One side of the rubber wheel 45 protrudes from the limiting groove 43 and can contact the two vertical rods of the iron body. When the limiting frame 42 absorbs the vertical rod, the rubber wheel 45 can rotate forward or reverse by changing the forward or reverse rotation of the climbing motor 41, thereby realizing the device climbing or slowly falling on the iron ladder.

[0021] like Figure 3 As shown, in this embodiment, specifically, a plurality of groups of electromagnets are arranged in the support frame, the electromagnets are installed in the support frame at equal distances, and the electromagnets are connected to the controller; Because the support frame of the device is provided with multiple groups of electromagnets, and because the electromagnets are installed equidistantly in the support frame, when the multiple groups of electromagnets are energized, each group of electromagnets will be attracted to the iron ladder, thereby limiting the position of the device. At this time, the rubber wheel 45 rotates slowly. Because the friction of rubber is large, the rubber wheel 45 can slowly drive the device to move when rubbing against the iron rod.

[0022] like Figure 3 and Figure 6 As shown, in this embodiment, specifically, a support plate 13 is installed at the bottom of the support frame 11, and multiple groups of the collecting components 3 are installed at the bottom of the support plate 13, and the collecting components 3 include multiple groups of electromagnetic rods 31, and multiple groups of limiting grooves are provided inside the support plate 13, and electromagnetic plates 32 are provided inside the limiting grooves, and electromagnetic rods 31 are respectively provided inside each group of the limiting grooves, and one end of the electromagnetic rod 31 is connected to the limiting groove through a bearing, and one end of the electromagnetic rod 31 provided with a bearing is connected to the controller through a wire, and a spring is installed at the other end of the electromagnetic rod 31, and the other end of the spring is connected to the limiting groove, and the spring is connected to the controller; The support plate 13 of the device mainly functions to provide a certain buoyancy and to limit the collection component 3, and to limit the position of the collection component 3. When the collection component 3 of the device is in use, the collection component 3 will, under the control of the controller, energize the electromagnetic rod 31. At this time, the electromagnetic rod 31 will slowly move downward under its own gravity. At the same time, the electromagnetic rod 31 after being energized has a certain magnetism, and can attract the magnetic particles in the sewer or pipe, so that they can adhere to the electromagnetic rod 31. When the electromagnetic rod 31 is recovered into the limiting groove, the recyclable particles on its surface will be attracted by the electromagnetic plate 32 in the limiting groove, and the electromagnetic rod 31 will also be attracted by the electromagnetic plate 32 and limited, thereby completing the recovery of the magnetic particles.

[0023] like Figure 1 As shown, in this embodiment, specifically, when the climbing assembly 4 is working: the controller will energize the spring and disconnect the power supply of the electromagnetic rod 31; When the collecting assembly 3 is working, the spring is powered off and the electromagnetic rod 31 is powered on. When the current of the electromagnetic rod 31 is disconnected, the electromagnetic rod 31 will not generate magnetism, and when the climbing component 4 is working, the electromagnetic rod 31 will not affect the use of the climbing component 4. The electromagnetic rod 31 will not be energized until the collecting component 3 is working.

[0024] like Figure 1 As shown, in this embodiment, specifically, the detection component 5 is installed at one end of the supporting frame 11, and the detection component 5 includes a camera 51, a sound wave generator 52 and a sound wave receiver 53. Cameras 51 are installed at both ends of the supporting frame 11, and the sound wave generator 52 and the sound wave receiver 53 are connected to the controller respectively. Cylinders are installed at the gaps at both ends of the supporting frame 11, and a detection rod 6 is installed at the output end of the cylinder. The detection rod 6 can contact the sewage in the pipeline. Two groups of the sound wave generator 52 and the sound wave receiver 53 are also installed at both ends of the supporting frame 11, respectively. When the sound wave generator 52 and the sound wave receiver 53 at the same end are working, the sound wave generator 52 and the sound wave receiver 53 at the other end are not working. When in use, the detection component 5 of the device can detect the pipeline by means of sound waves, and can also observe the conditions in the pipeline or sewer through the camera 51. When the detection component 5 of the device is in specific use, it can provide real-time observation of the conditions in the sewer or pipeline to outsiders through the camera 51, and the sound wave generating component will generate specific sound waves. After the sound waves are propagated multiple times in the sewer or pipeline and are received by the sound wave receiver 53, a corresponding line graph can be formed through the controller, so that the staff can judge the conditions in the sewer or pipeline. At the same time, combined with the image displayed by the camera 51, the outside staff can fully understand the conditions in the sewer or pipeline.

[0025] like Figure 8 As shown, in this embodiment, specifically, the detection rod 6 includes a shell 61, a detection electrode 62 is installed at the bottom of the shell 61, a contrast medium and a contrast electrode are arranged inside the shell 61, the contrast electrode is immersed in the contrast medium, the detection electrode 62 cooperates with the contrast electrode, and the detection electrode 62 and the contrast electrode are respectively connected to the controller; When the detection rod 6 of the device is in use, when the device is in a sewer or a sewage pipe, the detection rod 6 of the device can detect the sewage in the sewer or the sewage pipe. The detection electrode 62 contacts the sewage, and the result obtained will be compared with the value of the comparison electrode, thereby knowing the turbidity of the sewage in the current sewer or sewage pipe.

[0026] like Figure 1-Figure 5 As shown, in this embodiment, specifically, the support frame 11 and the support plate 13 are made of solid buoyancy materials, and the outer shell of the control box 12 is made of plastic material; Thereby, the device can be lightweight, and because the support plate 13 has a certain buoyancy, the device will not sink when it is on the water, so that the device can be used in different environments to inspect pipes and sewers.

[0027] like Figure 1 As shown, in this embodiment, specifically, the controller is installed inside the control box 12, and a control panel 121 is provided outside the control box 12, and the control panel 121 is connected to the controller; Therefore, when the device is in use, the pipeline robot body 1 can be controlled through the controller, and certain components can also be controlled separately. The control panel 121 outside the control box 12 is connected to the controller, and then the staff can control the pipeline robot body 1 through the control panel 121.

[0028] Working principle: Therefore, when the device is in use, because the device is more lightweight as a whole, it is convenient for users to transport it. When in use, the device can absorb the iron ladder through the climbing component 4 and move down the iron ladder by itself, thereby saving users a lot of inconvenience. Because when general workers go down the well to work, the space is small and it is inconvenient to carry large equipment. Therefore, through the climbing component 4 of the device, the device can enter the sewer by itself. When the device is in the pipe or sewer, the driving component 2 can drive the entire supporting frame 11 to move. At the same time, with the support of the driving component 2, the device can also adapt to movement on the waterway, because the overall material of the device is relatively light, and a supporting plate 13 that can make the device float is provided at the bottom, and then in conjunction with the driving component 2, the device can be moved on the waterway. It can move in water, and during the movement, the collecting component 3 and the detecting component 5 on the device will work simultaneously. When in use, the collecting component 3 will energize the electromagnetic rod 31 under the control of the controller. At this time, the electromagnetic rod 31 will slowly move downward under its own gravity. At the same time, the electromagnetic rod 31 after being energized has a certain magnetism, and can attract the magnetic particles in the sewer or pipe, so that they can adhere to the electromagnetic rod 31. When recycling, it is necessary to climb onto the ladder while energizing the spring, or increase the output power of the spring, so that the electromagnetic rod 31 can be recycled into the limiting groove 43. When in use, the detecting component 5 of the device can detect the pipeline by means of sound waves, and also observe the conditions in the pipeline or sewer through the camera 51.

[0029] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A pipeline robot with a self-adjusting driving force function, comprising a pipeline robot body (1) and a controller, characterized in that: The pipeline robot body (1) comprises a support frame (11), a driving component (2), a collecting component (3) and a climbing component (4) are installed at the bottom of the support frame (11), and a control box (12) and a detection component (5) are installed above the support frame (11). The driving component (2) can provide power to the pipeline robot body (1), the collecting component (3) can collect garbage, and the climbing component (4) can cooperate with a ladder.

2. The pipeline robot with a self-adjusting driving force function according to claim 1, characterized in that: The driving assembly (2) comprises two groups of driving motors (21), the driving motors (21) being dual-axis motors, the two groups of driving motors (21) being respectively mounted at two ends of a supporting frame (11), the two ends of the driving motors (21) being respectively mounted with cylinders, the cylinders being mounted in the supporting frame (11) via bearings, the output ends of the cylinders being mounted with hemispherical balls (22), the outer surfaces of the hemispherical balls (22) being provided with a plurality of groups of anti-slip strips, the outside of the cylinders being provided with conductive sheets, the output lines of the conductive sheets being connected to the cylinders, the supporting frame (11) being also provided with conductive sheets, and the two groups of conductive sheets being in contact with each other.

3. The pipeline robot with a self-adjusting driving force function according to claim 2, characterized in that: The climbing assembly (4) comprises a climbing motor (41) and two groups of limit frames (42). The two groups of limit frames (42) are respectively mounted on two sides of the bottom of the support frame (11). A limit slot (43) is provided in the middle of the limit frame (42). A driven wheel (44) is mounted inside the limit slot (43). One side of the driven wheel (44) is mounted in the limit slot (43) via a bearing. The other side of the driven wheel (44) is mounted with a rubber wheel (45). The climbing motor (41) is mounted above the support frame (11). The climbing motor (41) is a double-axis motor. Transmission rods (46) are respectively mounted at both ends of the climbing motor (41). A driving wheel (47) is mounted at the other end of the transmission rod (46). The driving wheel (47) and the driven wheel (44) are meshed with each other.

4. The pipeline robot with a self-adjusting driving force function according to claim 3, characterized in that: A plurality of groups of electromagnets are arranged in the support frame. The electromagnets are installed in the support frame at equal distances and are connected to a controller.

5. The pipeline robot with a self-adjusting driving force function according to claim 4, characterized in that: A support plate (13) is installed at the bottom of the support frame (11), and a plurality of collection components (3) are installed at the bottom of the support plate (13). The collection components (3) include a plurality of electromagnetic rods (31). A plurality of limiting grooves are provided inside the support plate (13), and an electromagnetic plate (32) is provided inside the limiting grooves. An electromagnetic rod (31) is provided inside each group of limiting grooves. One end of the electromagnetic rod (31) is connected to the limiting groove via a bearing, and one end of the electromagnetic rod (31) provided with the bearing is connected to a controller via a wire. A spring is installed at the other end of the electromagnetic rod (31), and the other end of the spring is connected to the limiting groove, and the spring is connected to the controller.

6. The pipeline robot with a self-adjusting driving force function according to claim 5, characterized in that: When the climbing assembly (4) is in operation: the controller energizes the spring and disconnects the power supply to the electromagnetic rod (31); When the collecting assembly (3) is working, the spring is powered off and the electromagnetic rod (31) is powered on.

7. The pipeline robot with a self-adjusting driving force function according to claim 6, characterized in that: The detection component (5) is mounted on one end of the support frame (11). The detection component (5) comprises a camera (51), a sound wave generator (52) and a sound wave receiver (53). Cameras (51) are mounted on both ends of the support frame (11). The sound wave generator (52) and the sound wave receiver (53) are connected to a controller respectively. Cylinders are mounted at the gaps at both ends of the support frame (11). A detection rod (6) is mounted at the output end of the cylinder. The detection rod (6) is capable of contacting sewage in the pipeline. Two groups of the sound wave generator (52) and the sound wave receiver (53) are also mounted on both ends of the support frame (11). When the sound wave generator (52) and the sound wave receiver (53) at one end are working, the sound wave generator (52) and the sound wave receiver (53) at the other end are not working.

8. The pipeline robot with a self-adjusting driving force function according to claim 7, characterized in that: The detection rod (6) comprises a shell (61), a detection electrode (62) is mounted at the bottom of the shell (61), a contrast medium and a contrast electrode are arranged inside the shell (61), the contrast electrode is immersed in the contrast medium, the detection electrode (62) and the contrast electrode cooperate with each other, and the detection electrode (62) and the contrast electrode are respectively connected to a controller.

9. The pipeline robot with a self-adjusting driving force function according to claim 8, characterized in that: The support frame (11) and the support plate (13) are both made of solid buoyancy material, and the outer shell of the control box (12) is made of plastic material.

10. The pipeline robot with a self-adjusting driving force function according to claim 9, characterized in that: The controller is installed inside the control box (12), and a control panel (121) is arranged outside the control box (12), and the control panel (121) is connected to the controller.

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