Hydraulic pipeline winding mechanism of pipeline robot

Abstract

The invention provides a hydraulic pipeline winding mechanism of a pipeline robot, and relates to the technical field of pipeline robots, the hydraulic pipeline winding mechanism comprises a robot base, a winding mechanism convenient for winding is arranged on the robot base, and an adjusting mechanism convenient for adjusting the winding position is arranged on the robot base. And the winding mechanism comprises two fixing pieces, a T-shaped movable block, a motor, a rotating plate and a winding roller, and the two fixing pieces are both fixedly installed at the upper end of the robot base. According to the hydraulic pipe winding device, the motor is arranged to be matched with the winding roller, so that winding of redundant hydraulic pipes can be achieved, the hydraulic pipes are wound in order when the pipeline robot does not work or is transported, pipelines are prevented from being scattered, wound or damaged, the whole equipment is cleaner and more standard, limited space is effectively utilized, and the working efficiency is improved. The pipeline robot can conveniently move in a narrow pipeline environment, and space requirements are reduced during storage and transportation.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline robots, and more specifically, particularly relates to a hydraulic pipeline winding mechanism of a pipeline robot. Background Art

[0002] The pipeline robot needs a hydraulic system to drive its various motion mechanisms, such as walking mechanisms, gripping mechanisms, etc. The hydraulic pipeline connects hydraulic components such as hydraulic pumps, hydraulic cylinders, and hydraulic motors, and transports hydraulic oil from the hydraulic pump to various actuators to achieve energy transmission and conversion. The hydraulic pipeline is generally composed of the following structures: 1. Pipeline body: usually made of high-strength metal materials, such as steel pipes, stainless steel pipes, etc.

[0003] 2. Connection part: 1. Connector: used to connect hydraulic pipes and hydraulic components (such as hydraulic pumps, hydraulic cylinders, hydraulic valves, etc.).

[0004] 2. Seals: Seals such as O-rings, gaskets, etc. are usually installed at the joints.

[0005] 3. Protective layer: 1. Anti-corrosion coating: In order to prevent the hydraulic pipeline from corrosion, an anti-corrosion coating is applied on the surface of the pipeline.

[0006] 2. Wear-resistant layer: A wear-resistant layer can be set where the pipe contacts other objects.

[0007] 4. Internal structure: 1. Smooth inner wall: The inner wall of the hydraulic pipeline should be as smooth as possible.

[0008] 2. Reinforcement layer (optional): For some hydraulic pipelines with high pressure or special requirements, a reinforcement layer may be set inside the pipeline.

[0009] The existing hydraulic pipeline has the following disadvantages when used: 1. The existing pipelines are not equipped with a reeling structure when in use, and the unreeled hydraulic pipelines will be scattered around at will, resulting in a large volume occupied by the hydraulic pipe body, making it inconvenient for the pipeline robot to move in a narrow pipeline environment, and may even cause wear to the pipeline due to wear; 2. Some existing winding devices will squeeze the pipe when winding. Excessive squeezing may cause the pipe to deform, especially for thin-walled pipes or pipes with softer materials. Deformation may cause the internal cross-sectional area of ​​the pipe to decrease, affecting the flow and pressure of the hydraulic oil and reducing the performance of the hydraulic system. Continuous squeezing will cause the pipe material to be in a state of stress for a long time, accelerating the aging process of the pipe.

[0010] In view of this, the existing structure and deficiencies are studied and improved, and a hydraulic pipe winding mechanism of a pipeline robot is provided, in order to achieve a more practical purpose. Summary of the invention

[0011] In order to solve the above technical problems, the present invention provides a hydraulic pipeline winding mechanism of a pipeline robot to solve the above problems.

[0012] A hydraulic pipeline winding mechanism of a pipeline robot comprises a robot base, a winding mechanism for facilitating winding is provided on the robot base, an adjusting mechanism for facilitating adjusting the winding position is provided on the robot base, the winding mechanism comprises a fixing part, a T-shaped movable block, a motor, a rotating plate and a winding roller, the number of the fixing parts is two, the two fixing parts are both fixedly mounted on the upper end of the robot base, the T-shaped movable block is located between the two fixing parts, two L-shaped vertical poles are fixedly mounted on the two side ends of the fixing part, the motor is fixedly mounted on the side ends of the L-shaped vertical poles, and the The number of the rotating plates is two, and the two L-shaped vertical poles are located between the two L-shaped vertical poles. The number of the winding rollers is two, and the two winding rollers are located between the two rotating plates. A hydraulic pump is fixedly installed on the upper end of the robot base, and a driving power supply is fixedly installed on the upper end of the hydraulic pump. A hydraulic motor is fixedly installed on the side end of the driving power supply. A hydraulic mechanical arm is provided on the hydraulic motor, and a hydraulic pipe body is fixedly installed on the side end of the hydraulic pump. The side ends of the two fixing members are both penetrated by a first circular groove, and two fixing members are also fixedly installed between the two fixing members. A limiting shaft, a same threaded rod is rotatably installed between the two first circular grooves, the side end of the T-shaped movable block is penetrated with two second circular grooves, the T-shaped movable block is slidably installed on the two limiting shafts through the second circular grooves, the side end of the T-shaped movable block is also penetrated with a first threaded groove, the threaded rod is threadedly rotatably installed on the inner side wall of the first threaded groove, the upper end of the T-shaped movable block is fixedly installed with two columns, the upper end of the column is fixedly installed with a guide block, the side end of the guide block is penetrated with a guide groove, the side end of the motor is provided with a connecting shaft, located on one side The connecting shaft is fixedly installed at the output end of the motor, and the connecting shaft on the other side is penetrated and rotatably installed on the side end of the L-shaped vertical pole, a transmission belt is rotatably installed between the connecting shaft and the threaded rod, a turntable is fixedly installed on the side end of the connecting shaft, and two fixed round blocks are fixedly installed on the side end of the turntable, and the rotating plate on one side is fixedly installed on the side ends of the two fixed round blocks, and the side ends of the two rotating plates are penetrated with rectangular sliding grooves, and the circumferential ends of the two rotating plates are also penetrated with third circular grooves, and the inner side walls of each two third circular grooves are rotatably installed with double-headed screws.

[0013] Preferably, the circumferential ends of the two winding rollers are provided with a plurality of equidistant winding grooves, the two side ends of the two winding rollers are fixedly mounted with side plates, and each of the side plates is slidably mounted on the inner wall of the rectangular slide groove.

[0014] Preferably, a second thread groove is formed through the upper end of each of the side plates, and the two double-headed screws are respectively threadably mounted on the inner side walls of the second thread groove.

[0015] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, by cooperating with a motor and a winding roller, it is possible to wind up the excess hydraulic pipe body, so that when the pipeline robot is not working or is being transported, the hydraulic pipe body can be rolled up in an orderly manner to avoid the pipeline being scattered, entangled or damaged, making the overall equipment more tidy and standardized, effectively utilizing limited space, reducing the volume occupied by the hydraulic pipe body, facilitating the pipeline robot to move in a narrow pipeline environment, and reducing space requirements during storage and transportation.

[0016] In the present invention, by providing two adjustable winding rollers, when winding the hydraulic pipe body, the user can adjust the distance between the two winding rollers according to the length of the hydraulic pipe body. Whether it is a shorter pipe or a longer pipe, a suitable winding space can be found, thereby improving the versatility and adaptability of the winding structure.

[0017] In the present invention, by starting the winding groove on the winding roller, the hydraulic pipe body can be clamped in the winding groove when winding. The design of the winding groove prevents the hydraulic pipe body from being squeezed by external force during winding, thereby maintaining the original shape of the pipeline, ensuring that the hydraulic oil can flow smoothly in the pipeline, and ensuring that after winding, the hydraulic pump can also supply oil to the hydraulic mechanical arm normally through the hydraulic pipe body without affecting the use of the hydraulic pipe body.

[0018] In the present invention, the hydraulic pipe body is wound and clamped in the winding groove, which provides a clear position for the hydraulic pipe body, so that the hydraulic pipe body will not slide or shift at will during the winding process, which helps to improve the stability of the winding and ensure that the hydraulic pipe body is neatly wound on the two winding rollers, avoiding loose and chaotic winding.

[0019] In the present invention, by providing a T-shaped movable block and a guide block to cooperate with each other, the hydraulic pipe body passes through the guide groove during winding, and is guided by the guide block so that the hydraulic pipe body is evenly distributed on the two winding rollers, ensuring that the hydraulic pipe body is evenly arranged on the winding rollers, avoiding disorderly winding. In this way, the wound hydraulic pipe body is more neat and beautiful, and is easy to manage and store. The setting of the guide block makes the winding process of the hydraulic pipe body more automated and standardized, reduces the need for manual intervention, and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic structural diagram of the robot base of the present invention; Figure 2 It is a structural schematic diagram of the hydraulic mechanical arm of the present invention; Figure 3 It is a structural schematic diagram of the motor of the present invention; Figure 4 It is a schematic structural diagram of the fixing member of the present invention; Figure 5 It is a schematic diagram of the structure explosion of the T-shaped movable block of the present invention; Figure 6 It is a schematic structural diagram of the wrapping roller of the present invention; Figure 7 It is a structural schematic diagram of the rotating plate of the present invention; Figure 8 It is a schematic diagram of the structure explosion of the winding roller body of the present invention.

[0021] In the figure, the correspondence between the component names and the figure numbers is: 1. Robot base; 11. Hydraulic pump; 12. Driving power supply; 13. Hydraulic motor; 14. Hydraulic mechanical arm; 15. L-shaped vertical pole; 16. Hydraulic tube body; 2. Fixing piece; 21. First circular groove; 22. Limiting shaft; 23. Threaded rod; 3. T-shaped movable block; 31. Second circular groove; 32. First threaded groove; 33. Column; 34. Guide block; 35. Guide groove; 4. Motor; 41. Connecting shaft; 43. Turntable; 45. Fixed circular block; 46. Transmission belt; 5. Rotating plate; 51. Rectangular slide groove; 52. Third circular groove; 53. Double-headed screw; 6. Winding roller; 61. Winding groove; 62. Side plate; 63. Second threaded groove. DETAILED DESCRIPTION

[0022] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0023] See also Figure 1-Figure 8The present invention provides a hydraulic pipeline winding mechanism of a pipeline robot, comprising a robot base 1, a winding mechanism for facilitating winding is provided on the robot base 1, an adjusting mechanism for facilitating adjusting the winding position is provided on the robot base 1, the winding mechanism comprises a fixing member 2, a T-shaped movable block 3, a motor 4, a rotating plate 5 and a winding roller 6, the number of the fixing members 2 is two, the two fixing members 2 are both fixedly mounted on the upper end of the robot base 1, the T-shaped movable block 3 is located between the two fixing members 2, two L-shaped vertical poles 15 are fixedly mounted on both side ends of the fixing member 2, the motor 4 is fixedly mounted on the side ends of the L-shaped vertical poles 15, the number of the rotating plates 5 is two, the two L-shaped vertical poles 15 are both located between the two L-shaped vertical poles 15, the number of the winding rollers 6 is two, the two winding rollers 6 are both located between the two rotating plates 5, the robot base 1 A hydraulic pump 11 is fixedly installed on the upper end, a driving power source 12 is fixedly installed on the upper end of the hydraulic pump 11, a hydraulic motor 13 is fixedly installed on the side end of the driving power source 12, a hydraulic mechanical arm 14 is provided on the hydraulic motor 13, and a hydraulic pipe body 16 is fixedly installed on the side end of the hydraulic pump 11. The pipeline robot requires a hydraulic system to drive its various motion mechanisms, such as a walking mechanism, a grasping mechanism, etc. The hydraulic pipe body 16 is connected to hydraulic components such as the hydraulic pump 11 and the hydraulic motor 13, and the hydraulic oil is transported from the hydraulic pump 11 to each actuator to realize energy transmission and conversion. When the pipeline robot is not working or in the process of transportation, the hydraulic pipe body 16 is rolled up in an orderly manner to avoid the hydraulic pipe body 16 from being scattered, entangled or damaged. The hydraulic pipe body 16 in the present application is wound between two winding rollers 6 to realize the winding of the hydraulic pipe body 16; The side ends of the two fixing members 2 are penetrated with a first circular groove 21, and two limiting shafts 22 are fixedly installed between the two fixing members 2. The same threaded rod 23 is rotatably installed between the two first circular grooves 21. The side ends of the T-shaped movable block 3 are penetrated with two second circular grooves 31, and the T-shaped movable block 3 is slidably installed on the two limiting shafts 22 through the second circular grooves 31. The side ends of the T-shaped movable block 3 are also penetrated with a first threaded groove 32, and the threaded rod 23 is threadedly rotatably installed on the inner side wall of the first threaded groove 32. Two columns 33 are fixedly installed on the upper end of the T-shaped movable block 3, and a guide block 34 is fixedly installed on the upper end of the column 33. A guide groove 35 is penetrated on the side ends of the guide block 34, and the motor 4 drives the connecting shaft 41 to rotate and wind. When the connecting shaft 41 rotates, the threaded rod 23 is driven to rotate through the transmission belt 46. The threaded rod 23 is driven to move through the first thread groove 32, and the T-shaped movable block 3 is driven to move through the column 33. The guide block 34 is driven to move through the column 33. The hydraulic tube body 16 passes through the guide groove 35, so that the guide groove 35 can guide the hydraulic tube body 16 to be clamped in each winding groove 61 when the hydraulic tube body 16 is wound, and the hydraulic tube body 16 is wound evenly. When winding, the motor 4 drives the connecting shaft 41 to rotate forward, and drives the threaded rod 23 to rotate forward through the transmission belt 46. When releasing the hydraulic tube body 16, it will also drive the T-shaped movable block 3 to move in the reverse direction to drive the hydraulic tube body 16 to be released, so that the winding and release of the hydraulic tube body 16 are more orderly. A connecting shaft 41 is provided at the side end of the motor 4. The connecting shaft 41 on one side is fixedly installed at the output end of the motor 4. The connecting shaft 41 on the other side passes through and is rotatably installed at the side end of the L-shaped vertical rod 15. A transmission belt 46 is rotatably installed between the connecting shaft 41 and the threaded rod 23. A turntable 43 is fixedly installed at the side end of the connecting shaft 41. Two fixed round blocks 45 are fixedly installed at the side end of the turntable 43. A rotating plate 5 on one side is fixedly installed at the side ends of the two fixed round blocks 45. When winding, the user can start the motor 4. The motor 4 starts to drive the connecting shaft 41 to rotate. The rotation of the connecting shaft 41 will drive the turntable 43 to rotate. The rotation of the turntable 43 will drive the two fixed round blocks 45 to rotate. The rotation of the two fixed round blocks 45 will drive the rotating plate 5 to rotate. The rotation of the rotating plate 5 will drive the side plate 62 to rotate through the rectangular slide groove 51, thereby driving the winding grooves 61 on both sides to rotate, thereby realizing the winding of the hydraulic pipe body 16. The side ends of the two rotating plates 5 are penetrated with a rectangular slide groove 51, and the circumferential ends of the two rotating plates 5 are also penetrated with a third circular groove 52. The inner side walls of each of the two third circular grooves 52 are rotatably installed with a double-headed screw 53. The circumferential ends of the two winding rollers 6 are provided with a plurality of equidistant winding grooves 61. The two side ends of the two winding rollers 6 are fixedly installed with side plates 62. Each side plate 62 is slidably installed on the inner side wall of the rectangular slide groove 51. The upper end of each side plate 62 is penetrated with a second thread groove 63. The two double-headed screws 53 are respectively threaded and rotatably installed on the inner side wall of the second thread groove 63. When the hydraulic pipe body 16 is actually rolled up, the user can adjust the distance between the two winding rollers 6 according to the length of the hydraulic pipe body 16. The distance between the two winding rollers 6 can be adjusted by rotating the double-headed screw 53. The double-headed screw 53 rotates through the second thread groove 63 to drive the second thread grooves 63 on both sides to slide in the rectangular slide groove 51. The forward rotation of the double-headed screw 53 can drive the side plates 62 on both sides to approach each other. The reverse rotation of the double-headed screw 53 will drive the rectangular slide grooves 51 on both sides to move away from each other. The movement of the side plates 62 on both sides will drive the two winding rollers 6 to move. When the two winding rollers 6 move closer to each other, the length of the hydraulic pipe body 16 wound on the two winding rollers 6 will become shorter. When the winding rollers 6 on both sides move away from each other, the hydraulic pipe body 16 wound on the two winding rollers 6 will become longer. In actual use, the distance between the two winding rollers 6 can be adjusted according to the length of the hydraulic pipe body 16.

[0024] Working principle: In the first step, the pipeline robot needs a hydraulic system to drive its various motion mechanisms, such as walking mechanisms, gripping mechanisms, etc. The hydraulic pipe body 16 is connected to hydraulic components such as the hydraulic pump 11 and the hydraulic motor 13, and the hydraulic oil is transported from the hydraulic pump 11 to each actuator to achieve energy transmission and conversion. When the pipeline robot is not working or in the process of transportation, the hydraulic pipe body 16 is rolled up in an orderly manner to avoid the hydraulic pipe body 16 from being scattered, entangled or damaged. The hydraulic pipe body 16 in this application is wound between two winding rollers 6 to achieve the winding of the hydraulic pipe body 16; In the second step, when the hydraulic pipe body 16 is actually rolled up, the user can adjust the distance between the two winding rollers 6 according to the length of the hydraulic pipe body 16. The user can rotate the double-headed screw 53. The double-headed screw 53 rotates through the second thread groove 63 to drive the second thread grooves 63 on both sides to slide in the rectangular slide groove 51. The forward rotation of the double-headed screw 53 can drive the side plates 62 on both sides to approach each other. The reverse rotation of the double-headed screw 53 will drive the rectangular slide grooves 51 on both sides to move away from each other. The movement of the side plates 62 on both sides will drive the two winding rollers 6 to move. When the two winding rollers 6 move closer to each other, the length of the hydraulic pipe body 16 wound on the two winding rollers 6 will become shorter. When the winding rollers 6 on both sides move away from each other, the hydraulic pipe body 16 wound on the two winding rollers 6 will become longer. In actual use, the distance between the two winding rollers 6 can be adjusted according to the length of the hydraulic pipe body 16. The device is provided with two adjustable winding rollers 6. When winding the hydraulic pipe body 16, the user can adjust the distance between the two winding rollers 6 according to the length of the hydraulic pipe body 16. Whether it is a short pipe or a long pipe, a suitable winding space can be found, thereby improving the versatility and adaptability of the winding structure. In the third step, when winding, the user can start the motor 4, which drives the connecting shaft 41 to rotate, and the rotation of the connecting shaft 41 drives the rotating disk 43 to rotate, and the rotation of the rotating disk 43 drives the two fixed round blocks 45 to rotate, and the rotation of the two fixed round blocks 45 drives the rotating plate 5 to rotate, and the rotation of the rotating plate 5 drives the side plates 62 to rotate through the rectangular slide groove 51, thereby driving the winding grooves 61 on both sides to rotate, so as to realize the winding of the hydraulic pipe body 16; The device is provided with a motor 4 and a winding roller 6 to cooperate with each other, so that the redundant hydraulic pipe body 16 can be wound up in an orderly manner when the pipeline robot is not working or in the process of transportation, so as to avoid the pipeline from being scattered, entangled or damaged, making the whole device more neat and standardized, effectively utilizing the limited space, reducing the volume occupied by the hydraulic pipe body 16, facilitating the pipeline robot to move in a narrow pipeline environment, and reducing the space requirement during storage and transportation; In the fourth step, when the motor 4 drives the connecting shaft 41 to rotate and wind, the rotation of the connecting shaft 41 will drive the threaded rod 23 to rotate through the transmission belt 46, and the rotation of the threaded rod 23 will drive the T-shaped movable block 3 to move through the first thread groove 32, and the movement of the T-shaped movable block 3 will drive the guide block 34 to move through the column 33, and the hydraulic tube body 16 passes through the guide groove 35, so that when the hydraulic tube body 16 is wound, the guide groove 35 can guide the hydraulic tube body 16 to be clamped in each winding groove 61, and the hydraulic tube body 16 is wound evenly. When winding, the motor 4 drives the connecting shaft 41 to rotate forward, and drives the threaded rod 23 to rotate forward through the transmission belt 46. When releasing the hydraulic tube body 16, it will also drive the T-shaped movable block 3 to move in the reverse direction to drive the hydraulic tube body 16 to be released, so that the winding and release of the hydraulic tube body 16 are more orderly; The device starts winding the groove 61 on the winding roller 6, so that the hydraulic pipe body 16 can be clamped in the winding groove 61 when winding. The design of the winding groove 61 prevents the hydraulic pipe body 16 from being squeezed by external force during winding, maintains the original shape of the pipe, ensures that the hydraulic oil can flow smoothly in the pipe, and ensures that after winding, the hydraulic pump 11 can also supply oil to the hydraulic mechanical arm 14 normally through the hydraulic pipe body 16, without affecting the use of the hydraulic pipe body 16; The device winds and clamps the hydraulic pipe body 16 in the winding groove 61, and the winding groove 61 provides a clear position for the hydraulic pipe body 16, so that the hydraulic pipe body 16 will not slide or shift randomly during the winding process, which helps to improve the winding stability and ensure that the hydraulic pipe body 16 is neatly wound on the two winding rollers 6, avoiding loose and chaotic winding. The device is provided with a T-shaped movable block 3 and a guide block 34 for cooperation. When the hydraulic tube body 16 is wound, it passes through the guide groove 35. The guide block 34 guides the hydraulic tube body 16 so that the hydraulic tube body 16 is evenly distributed on the two winding rollers 6, ensuring that the hydraulic tube body 16 is evenly arranged on the winding rollers 6 to avoid disorderly winding. In this way, the wound hydraulic tube body 16 is more neat and beautiful, and is easy to manage and store. The setting of the guide block 34 makes the winding process of the hydraulic tube body 16 more automated and standardized, reduces the need for manual intervention, and improves work efficiency.

[0025] The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A hydraulic pipeline reeling mechanism of a pipeline robot, comprising a robot base (1), characterized in that: The robot base (1) is provided with a winding mechanism for facilitating winding, and the robot base (1) is provided with an adjustment mechanism for facilitating adjusting the winding position; The winding mechanism comprises a fixing member (2), a T-shaped movable block (3), a motor (4), a rotating plate (5) and a winding roller (6); the number of the fixing members (2) is two, and the two fixing members (2) are fixedly mounted on the upper end of the robot base (1); the T-shaped movable block (3) is located between the two fixing members (2); two L-shaped vertical rods (15) are fixedly mounted on the two side ends of the fixing member (2); the motor (4) is fixedly mounted on the side ends of the L-shaped vertical rods (15); the number of the rotating plates (5) is two, and the two L-shaped vertical rods (15) are located between the two L-shaped vertical rods (15); the number of the winding rollers (6) is two, and the two winding rollers (6) are located between the two rotating plates (5).

2. The hydraulic pipe reeling mechanism of a pipeline robot according to claim 1, characterized in that: A hydraulic pump (11) is fixedly mounted on the upper end of the robot base (1), a driving power source (12) is fixedly mounted on the upper end of the hydraulic pump (11), a hydraulic motor (13) is fixedly mounted on the side end of the driving power source (12), and a hydraulic mechanical arm (14) is provided on the hydraulic motor (13); Wherein, a hydraulic pipe body (16) is fixedly mounted on the side end portion of the hydraulic pump (11).

3. The hydraulic pipe reeling mechanism of a pipeline robot as claimed in claim 2, characterized in that: The side ends of the two fixing members (2) are each provided with a first circular groove (21) extending therethrough, and two limiting shafts (22) are fixedly mounted between the two fixing members (2); Wherein, a same threaded rod (23) is rotatably mounted between the two first circular grooves (21).

4. The hydraulic pipe reeling mechanism of a pipeline robot as claimed in claim 3, characterized in that: The side end of the T-shaped movable block (3) is penetrated by two second circular grooves (31), and the T-shaped movable block (3) is slidably mounted on the two limit shafts (22) through the second circular grooves (31). The side end of the T-shaped movable block (3) is also penetrated by a first thread groove (32).

5. The hydraulic pipe reeling mechanism of a pipeline robot as claimed in claim 4, characterized in that: The threaded rod (23) is threadably mounted on the inner side wall of the first threaded groove (32); two upright posts (33) are fixedly mounted on the upper end of the T-shaped movable block (3); and a guide block (34) is fixedly mounted on the upper end of the upright post (33); A guide groove (35) is formed through the side end of the guide block (34).

6. The hydraulic pipe reeling mechanism of a pipeline robot as claimed in claim 5, characterized in that: A connecting shaft (41) is provided at a side end of the motor (4); the connecting shaft (41) is fixedly mounted on the output end of the motor (4) on one side, and is rotatably mounted on the side end of the L-shaped vertical rod (15) on the other side; a transmission belt (46) is rotatably mounted between the connecting shaft (41) and the threaded rod (23).

7. The hydraulic pipe reeling mechanism of a pipeline robot as claimed in claim 6, characterized in that: A rotating disk (43) is fixedly mounted on the side end of the connecting shaft (41), two fixed round blocks (45) are fixedly mounted on the side end of the rotating disk (43), and the rotating plate (5) on one side is fixedly mounted on the side ends of the two fixed round blocks (45).

8. The hydraulic pipe reeling mechanism of a pipeline robot as claimed in claim 7, characterized in that: A rectangular slide groove (51) is provided through the side ends of the two rotating plates (5), and a third circular groove (52) is provided through the circumferential ends of the two rotating plates (5); Wherein, a double-headed screw (53) is rotatably mounted on the inner side walls of each of the two third circular grooves (52).

9. The hydraulic pipe reeling mechanism of a pipeline robot as claimed in claim 8, characterized in that: The circumferential ends of the two winding rollers (6) are each provided with a plurality of equally spaced winding grooves (61), and the two side ends of the two winding rollers (6) are each fixedly mounted with side plates (62), and each of the side plates (62) is slidably mounted on the inner side wall of the rectangular slide groove (51).

10. The hydraulic pipe reeling mechanism of a pipeline robot according to claim 9, characterized in that: A second thread groove (63) is formed through the upper end of each side plate (62), and the two double-headed screw rods (53) are respectively threadably mounted on the inner side wall of the second thread groove (63).

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