A pipeline robot with a driving force self-adjusting function

Abstract

The present invention discloses a pipeline robot with a self-adjusting driving force function, which relates to the technical field of pipeline robots. It includes a pipeline robot main body and a controller. The pipeline robot main body includes a support frame. At the bottom of the support frame, a driving component, a collection component and a climbing component are installed. Above the support frame, a control box and a detection component are installed. The driving component can provide power for the device, the collection component can collect garbage, and the climbing component can cooperate with the ladder. Therefore, when the device is in use, it can automatically change the driving mode according to the usage environment, so that the device can be applied to different environments. And when the device is in use and 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 by itself 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.

Description

Technical Field

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

[0002] A pipeline robot is a mechatronic system 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 the remote control of a staff member or computer automatic control.

[0003] However, the existing pipeline robots often have only one driving method, which will reduce the application scenarios of the pipeline robots. Moreover, for the pipelines in the sewer, it is not convenient for the users to place the pipeline robots into the pipelines in the sewer. Therefore, the existing sewer inspections often adopt manual methods to detect the sewer. As a result, many inspection tasks require the inspectors to go down the well in person, which not only has a high working difficulty but also has certain safety hazards. Although some simple robots can be dragged into the sewer under the limitation of a cable, dragging through the cable requires the connection between the cable and the machine to be quite firm, otherwise the connection between the cable and the machine will break, and then the machine cannot be used. Summary of the Invention

[0004] The purpose of the present invention is to provide a pipeline robot with a driving force self-adjusting function to solve the problems raised in the prior art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A pipeline robot with a driving force self-adjusting function includes a pipeline robot main body and a controller. The pipeline robot main body includes a support frame. A driving component, a collection component, and a climbing component are installed at the bottom of the support frame, and a control box and a detection component are installed above the support frame. The driving component can provide power to the pipeline robot main body, the collection component can collect garbage, and the climbing component can cooperate with a ladder.

[0006] Further, the driving component includes two driving motors. The driving motors are double-shaft motors. The two driving motors are respectively installed at both ends of the support frame. Cylinders are respectively installed at both ends of the driving motors. The cylinders are installed in the support frame through bearings. A semi-sphere is installed at the output end of the cylinder. Multiple anti-slip strips are arranged on the outer surface of the semi-sphere. A conductive sheet is arranged outside the cylinder. The output wire of the conductive sheet is connected to the cylinder. A conductive sheet is also arranged on the support frame. The two conductive sheets are in contact with each other.

[0007] Further, the climbing assembly includes a climbing motor and two sets of limit frames. The two sets of limit frames are respectively installed on both sides of the bottom of the support frame. A limit groove is provided in the middle of the limit frame. A driven wheel is installed inside the limit groove. One side of the driven wheel is installed in the limit groove through a bearing. A rubber wheel is installed on the other side of the driven wheel. The climbing motor is installed above the support frame. The climbing motor is a double-shaft 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. The driving wheel meshes with the driven wheel.

[0008] Further, a plurality of electromagnets are arranged in the limit frame. The electromagnets are equidistantly installed in the limit frame. The electromagnets are connected to the controller.

[0009] Further, a support plate is installed at the bottom of the support frame. A plurality of the collection assemblies are installed at the bottom of the support plate. The collection assembly includes a plurality of electromagnetic rods. A plurality of limit grooves are provided inside the support plate. An electromagnetic plate is arranged inside the limit groove. Each electromagnetic rod is respectively arranged inside each limit groove. One end of the electromagnetic rod is connected to the limit groove through a bearing. One end of the electromagnetic rod provided with the bearing is connected to the controller through a wire. A spring is installed at the other end of the electromagnetic rod. The other end of the spring is connected to the limit groove. The spring is connected to the controller.

[0010] Further, when the climbing assembly works: the controller will energize the spring and cut off the power supply of the electromagnetic rod;

[0011] When the collection assembly works: the spring will be de-energized and the electromagnetic rod will be energized.

[0012] Further, the detection assembly is installed at one end of the support frame. The detection assembly includes a camera, a sound wave generator and a sound wave receiver. Cameras are respectively installed at both ends of the support frame. 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 support frame. A detection rod is installed at the output end of the cylinder. The detection rod can contact the sewage in the pipeline. The two sets of sound wave generators and sound wave receivers are also respectively installed at both ends of the support frame. When the sound wave generator and the sound wave receiver at the same end work, the sound wave generator and the sound wave receiver at the other end do not work.

[0013] Further, the detection rod includes a housing. A detection electrode is installed at the bottom of the housing. A comparison medium and a comparison electrode are arranged inside the housing. The comparison electrode is immersed in the comparison medium. The detection electrode cooperates with the comparison electrode. The detection electrode and the comparison electrode are respectively connected to the controller.

[0014] Furthermore, the support frame and the support plate are both made of solid buoyancy materials, and the control box shell is made of plastic.

[0015] 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.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 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;

[0018] 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;

[0019] 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;

[0020] 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

[0021] Figure 1 It is a schematic diagram of the axonometric structure of the present invention as a whole;

[0022] Figure 2 It is a schematic diagram of the local structure on the support frame of the present invention;

[0023] 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;

[0024] Figure 4Structural schematic diagram of the support frame of the present invention;

[0025] Figure 5 Schematic diagram of the working state of the pipeline robot main body of the present invention inside the pipeline;

[0026] Figure 6 For the present invention Figure 3 Enlarged schematic diagram at "A" in;

[0027] Figure 7 For the present invention Figure 2 Enlarged schematic diagram at "B" in;

[0028] Figure 8 For the present invention Figure 2 Enlarged schematic diagram at "C" in the present invention.

[0029] In the figure: 1. Pipeline robot main body; 11. Support frame; 12. Control box; 121. Control panel; 13. Support plate; 2. Driving assembly; 21. Driving motor; 22. Hemisphere; 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 implementation manners

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] Embodiment: As Figures 1-8 shown, the present invention provides a technical solution for a pipeline robot with a driving force self-adjusting function, including a pipeline robot main body 1 and a controller. The pipeline robot main body 1 includes a support frame 11. A driving assembly 2, a collection assembly 3 and a climbing assembly 4 are installed at the bottom of the support frame 11. A control box 12 and a detection assembly 5 are installed above the support frame 11. The driving assembly 2 can provide power to the pipeline robot main body 1. The collection assembly 3 can collect garbage. The climbing assembly 4 can cooperate with a ladder;

[0032] Thus, when the device is in use, because the whole device is lighter, it is convenient for the user to transport. And when in use, the device can adsorb on the iron ladder through the climbing component 4 and move down the iron ladder by itself, thus saving a lot of inconvenience for the user. Because when general workers work in the well, due to the narrow space and the inconvenience of carrying large equipment, through the climbing component 4 of the device, the device can enter the sewer by itself. When the device is specifically used in a pipeline or sewer, the driving component 2 can drive the whole support frame 11 to move. At the same time, with the support of the driving component 2, the device can also move on the waterway. Because the overall material of the device is light and a support plate 13 that can make the device float is arranged at the bottom, and combined with the driving component 2, it can move in the water. During the moving process, the collection component 3 and the detection component 5 on the device will work simultaneously. When specifically used, the collection 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, after being energized, the electromagnetic rod 31 has a certain magnetism, so it can attract the magnetic particles in the sewer or pipeline and make them adhere to the electromagnetic rod 31. When recycling, it is necessary to energize the spring and climb up the ladder at the same time, or increase the output power of the spring, so that the electromagnetic rod 31 can be recycled into the limit slot 43. When the detection component 5 of the device is in use, it can detect the pipeline by means of sound waves and also observe the conditions in the pipeline or sewer through the camera 51.

[0033] As Figures 1-2 and Figure 5 shown, in this embodiment, specifically, the driving component 2 includes two driving motors 21. The driving motor 21 is a double-shaft motor. The two driving motors 21 are respectively installed at both ends of the support frame 11. Cylinders are respectively installed at both ends of the driving motor 21. The cylinders are installed in the support frame 11 through bearings. A semi-sphere 22 is installed at the output end of the cylinder. Multiple anti-slip strips are arranged on the outer surface of the semi-sphere 22. A conductive sheet is arranged outside the cylinder. The output wire of the conductive sheet is connected to the cylinder. A conductive sheet is also arranged on the support frame 11. The two conductive sheets are in contact with each other;

[0034] 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.

[0035] like Figures 2-3 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;

[0036] When the climbing component 4 of the device is in use, it can enable the device to climb on the iron ladder, thus saving a lot of inconvenience for the user. Because when general workers go down the well to work, due to the narrow space and the inconvenience of carrying large equipment, through the climbing component 4 of the device, the device can enter the sewer by itself. When the climbing component 4 is specifically in use, the two limiting frames 42 can respectively cooperate with the two vertical rods of the iron ladder and adsorb 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 double-shaft motor, it can drive the transmission rods 46 on both sides to rotate simultaneously. When the transmission rod 46 rotates, it will drive the driving wheel 47 to rotate together. And because the driving wheel 47 meshes with the driven wheel 44, it will drive the driven wheel 44 to rotate. And because one side of the driven wheel 44 is connected to the limiting groove 43 through a bearing, and on the other side is installed 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. Therefore, when the driving wheel 47 drives the driven wheel 44 to rotate, it will drive the rubber wheel 45 to rotate. And one side of the rubber wheel 45 protrudes from the limiting groove 43 and can contact the two vertical rods of the iron body. Therefore, when the limiting frame 42 adsorbs the vertical rod, by changing the forward or reverse rotation of the climbing motor 41, the rubber wheel 45 can be rotated forward or backward, so as to realize the climbing or slow falling of the device on the iron ladder.

[0037] As Figure 3 shown, in this embodiment, specifically, a plurality of electromagnets are arranged in the limiting frame 42, and the electromagnets are equidistantly installed in the limiting frame 42, and the electromagnets are connected to the controller;

[0038] Because a plurality of electromagnets are arranged inside the support frame of the device, and because the electromagnets are equidistantly installed in the support frame, when the plurality of electromagnets are energized, each electromagnet will attract the iron ladder, thus limiting the position of the device. At this time, through the slow rotation of the rubber wheel 45, because the friction of the rubber is large, when the rubber wheel 45 rubs against the iron rod, it can slowly drive the device to move.

[0039] As Figure 3 and Figure 6 shown, in this embodiment, specifically, a support plate 13 is installed at the bottom of the support frame 11, and a plurality of the collection components 3 are installed at the bottom of the support plate 13. The collection component 3 includes a plurality of electromagnetic rods 31. A plurality of limiting grooves are formed inside the support plate 13. An electromagnetic plate 32 is arranged inside the limiting grooves. Each electromagnetic rod 31 is respectively arranged inside each limiting groove. One end of the electromagnetic rod 31 is connected to the limiting groove through a bearing. The end of the electromagnetic rod 31 provided with the bearing is connected to the controller through a wire. A spring is installed at the other end of the electromagnetic rod 31. The other end of the spring is connected to the limiting groove. The spring is connected to the controller;

[0040] The main function of the support plate 13 of the device is to provide a certain buoyancy and at the same time limit the collection component 3 to fix the position of the collection component 3. When the collection component 3 of the device is in use, the collection component 3 will be energized to 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, after being energized, the electromagnetic rod 31 has a certain magnetism, and thus can attract the magnetic particles in the sewer or pipeline, so that they can adhere to the electromagnetic rod 31. When the electromagnetic rod 31 is recycled into the limit groove, the recyclable particles on its surface will be attracted by the electromagnetic plate 32 in the limit groove, and at the same time, the electromagnetic rod 31 will also be attracted and limited by the electromagnetic plate 32, thus completing the recovery of the magnetic particles.

[0041] As Figure 1 shown, in this embodiment, specifically, when the climbing component 4 works: the controller will energize the spring and cut off the power supply of the electromagnetic rod 31;

[0042] When the collection component 3 works: the spring will be de-energized and the electromagnetic rod 31 will be energized;

[0043] Furthermore, when the current of the electromagnetic rod 31 is cut off, the electromagnetic rod 31 will not generate magnetism. Therefore, when the climbing component 4 works, the electromagnetic rod 31 will not affect the use of the climbing component 4, and it will not be until the collection component 3 works that the electromagnetic rod 31 will be energized.

[0044] As Figure 1 shown, in this embodiment, specifically, the detection component 5 is installed at one end of the support frame 11. The detection component 5 includes a camera 51, a sound wave generator 52 and a sound wave receiver 53. The cameras 51 are respectively installed at both ends of the support frame 11. The sound wave generator 52 and the sound wave receiver 53 are respectively connected to the controller. Cylinders are respectively installed at the gaps at both ends of the support frame 11. The output end of the cylinder is installed with a detection rod 6. The detection rod 6 can contact the sewage in the pipeline. The two groups of sound wave generators 52 and sound wave receivers 53 are also respectively installed at both ends of the support frame 11. When the sound wave generator 52 and the sound wave receiver 53 at the same end work, the sound wave generator 52 and the sound wave receiver 53 at the other end will not work;

[0045] When the detection component 5 of the device is in use, it can detect the pipeline by means of sound waves. At the same time, it will also observe the conditions inside the pipeline or sewer through the camera 51. When the detection component 5 of the device is specifically in use, through the camera 51, it can supply real-time observation of the situation inside the sewer or pipeline to external personnel. The sound wave generating component will generate specific sound waves. When the sound waves propagate multiple times inside the sewer or pipeline and are received by the sound wave receiver 53, a corresponding line graph can be formed through the controller, so as to facilitate the staff to judge the situation inside the sewer or pipeline. At the same time, combined with the images shown by the camera 51, it can enable external staff to fully understand the situation inside the sewer or pipeline.

[0046] As Figure 8 shown, in this embodiment, specifically, the detection rod 6 includes a housing 61. A detection electrode 62 is installed at the bottom of the housing 61. A comparison medium and a comparison electrode are arranged inside the housing 61. The comparison electrode is immersed in the comparison medium. The detection electrode 62 cooperates with the comparison electrode. The detection electrode 62 and the comparison electrode are respectively connected to the controller;

[0047] When the detection rod 6 of the device is in use, when the device is inside the sewer or sewage pipe, the sewage inside the sewer or sewage pipe can be detected through the detection rod 6 of the device. By contacting the sewage with the detection electrode 62, the obtained result will be compared with the value of the comparison electrode, and then the turbidity of the sewage inside the current sewer or sewage pipe can be known.

[0048] As Figures 1-5 shown, in this embodiment, specifically, the support frame 11 and the support plate 13 are both made of solid buoyancy materials, and the outer shell of the control box 12 is made of plastic materials;

[0049] Thus, the device can be made lightweight. And because the support plate 13 has a certain buoyancy, when the device is on the water, it will not sink, enabling the device to be used in different environments to inspect pipelines and sewers.

[0050] As Figure 1 shown, in this embodiment, specifically, the controller is installed inside the control box 12, and an operation panel 121 is arranged outside the control box 12. The operation panel 121 is connected to the controller;

[0051] Thus, when the device is in use, the pipeline robot main body 1 can be controlled through the controller, and a certain component can also be controlled separately. The operation panel 121 outside the control box 12 is connected to the controller, so that the staff can control the pipeline robot main body 1 through the operation panel 121.

[0052] Working principle: When the device is in use, since the whole device is lighter and more portable, it is convenient for the user to transport. During use, the device can use the climbing component 4 to adsorb to the iron ladder and move down the iron ladder by itself, thus saving a lot of inconvenience for the user. When general workers work in the well, due to the narrow space and the inconvenience of carrying large equipment, the climbing component 4 of the device enables the device to enter the sewer by itself. When the device is in the pipeline or sewer, specifically during use, the driving component 2 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 move on the waterway. Since the overall material of the device is light and a support plate 13 that can make the device float is provided at the bottom, combined with the driving component 2, the device can move in the water. During the movement, the collection component 3 and the detection component 5 on the device will work simultaneously. Specifically during use, the collection 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. After being energized, the electromagnetic rod 31 has a certain magnetism, so it can attract the magnetic particles in the sewer or pipeline and make them adhere to the electromagnetic rod 31. When recycling, it is necessary to climb 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 limit slot 43. When the detection component 5 of the device is in use, it can detect the pipeline by means of sound waves and also observe the conditions in the pipeline or sewer through the camera 51.

[0053] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A pipeline robot with a driving force self - regulating function, comprising a pipeline robot main body (1) and a controller, characterized in that: The pipeline robot main body (1) includes a support frame (11). A driving component (2), a collection component (3), and a climbing component (4) are installed at the bottom of the support frame (11). 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 main body (1), the collection component (3) can collect garbage, and the climbing component (4) can cooperate with a ladder; The driving component (2) includes two driving motors (21). The driving motors (21) are double-shaft motors. The two driving motors (21) are respectively installed at both ends of the support frame (11). Cylinders are respectively installed at both ends of the driving motor (21). The cylinders are installed in the support frame (11) through bearings. A semi-sphere (22) is installed at the output end of the cylinder. Multiple anti-slip strips are arranged on the outer surface of the semi-sphere (22). A conductive sheet is arranged outside the cylinder. The output wire of the conductive sheet is connected to the cylinder. A conductive sheet is also arranged on the support frame (11). The two conductive sheets are in contact with each other; The climbing component (4) includes a climbing motor (41) and two limiting frames (42). The two limiting frames (42) are respectively installed on both sides of the bottom of the support frame (11). A limiting groove (43) is formed in the middle of the limiting frame (42). A driven wheel (44) is installed inside the limiting groove (43). One side of the driven wheel (44) is installed in the limiting groove (43) through a bearing. A rubber wheel (45) is installed on the other side of the driven wheel (44). The climbing motor (41) is installed above the support frame (11). The climbing motor (41) is a double-shaft motor. Transmission rods (46) are respectively installed at both ends of the climbing motor (41). A driving wheel (47) is installed at the other end of the transmission rod (46). The driving wheel (47) meshes with the driven wheel (44).

2. The pipeline robot with a self-adjusting driving force function according to claim 1, characterized in that: Multiple electromagnets are arranged inside the limiting frame (42). The electromagnets are equidistantly installed inside the limiting frame (42). The electromagnets are connected to the controller.

3. The pipeline robot with a self-adjusting driving force function according to claim 2, characterized in that: A support plate (13) is installed at the bottom of the support frame (11). Multiple collection components (3) are installed at the bottom of the support plate (13). The collection component (3) includes multiple electromagnetic rods (31). Multiple limiting grooves are formed inside the support plate (13). An electromagnetic plate (32) is arranged inside the limiting grooves. Each electromagnetic rod (31) is respectively arranged inside each limiting groove. One end of the electromagnetic rod (31) is connected to the limiting groove through a bearing. The end of the electromagnetic rod (31) provided with the bearing is connected to the controller through a wire. A spring is installed at the other end of the electromagnetic rod (31). The other end of the spring is connected to the limiting groove. The spring is connected to the controller.

4. The pipeline robot with a driving force self - regulating function according to claim 3, wherein: When the climbing component (4) works: the controller will energize the spring and cut off the power supply to the electromagnetic rod (31); When the collection component (3) works: the spring will be de-energized, and the electromagnetic rod (31) will be energized.

5. The pipeline robot with a driving force self - adjusting function according to claim 4, characterized in that: The detection component (5) is installed at one end of the support frame (11). 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 support frame (11). The sound wave generator (52) and the sound wave receiver (53) are respectively connected to the controller. Cylinders are installed at the gaps at both ends of the support frame (11). 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 generators (52) and the sound wave receivers (53) are also respectively installed at both ends of the support frame (11). 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 do not work.

6. The pipeline robot with a driving force self-adjusting function according to claim 5, characterized in that: The detection rod (6) includes a housing (61). A detection electrode (62) is installed at the bottom of the housing (61). A comparison medium and a comparison electrode are arranged inside the housing (61). The comparison electrode is immersed in the comparison medium. The detection electrode (62) cooperates with the comparison electrode. The detection electrode (62) and the comparison electrode are respectively connected to the controller.

7. The pipeline robot with a self-adjusting driving force function according to claim 6, characterized in that: The support frame (11) and the support plate (13) are both made of solid buoyancy materials. The outer shell of the control box (12) is made of plastic material.

8. The pipeline robot with a self-adjusting driving force function according to claim 7, wherein: The controller is installed inside the control box (12). An operation panel (121) is arranged outside the control box (12). The operation panel (121) is connected to the controller.

Images