Pipeline maintenance robot convenient for replacing modular tool

Abstract

The invention provides a pipeline maintenance robot capable of conveniently replacing a modular tool, and relates to the technical field of pipeline maintenance, the pipeline maintenance robot comprises a device main body, a mechanical arm is arranged at the upper end of the device main body, and the pipeline maintenance robot capable of conveniently replacing the modular tool is further provided with a quick replacement mechanism which comprises a connecting base; a groove is formed in the upper end of the device body in a penetrating mode, a telescopic block is arranged, a connecting base is arranged at the lower end of the tool, when the modular tool is installed, the connecting base is placed into the groove of the device body, a rotary knob is rotated to drive a connecting rod and a second connecting column to rotate, and then a first rotating bevel gear drives a first meshing bevel gear to rotate and drives a first connecting column and a second threaded rod to rotate; the telescopic block moves into the rectangular groove along the rectangular groove to be clamped with the device body, the connecting base and the device body are fixed, the tool and the device body are connected, mounted and dismounted by reversely rotating the rotary knob, a worker can rotate the rotary knob to replace the modular tool, the replacement time is shortened, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline maintenance, and more specifically, particularly relates to a pipeline maintenance robot which is convenient for replacing modular tools. Background Art

[0002] The pipeline maintenance robot is a high-tech equipment that plays an important role in modern pipeline maintenance. It is usually small and flexible, able to enter various narrow pipelines. By being equipped with advanced sensors such as high-definition cameras, it can conduct comprehensive and detailed inspections of pipelines and accurately locate fault points. During maintenance operations, it can perform operations such as welding and plugging leaks, which greatly improves maintenance efficiency and quality and reduces the risks and costs of manual maintenance. Its intelligent control system can be remotely operated, which is convenient and fast. Whether it is a city’s water supply and drainage pipelines, gas pipelines or various pipelines in the industrial field, pipeline maintenance robots can show their prowess.

[0003] However, during the implementation of the above technical solution, it was found that there were at least the following technical problems: The pipeline maintenance robot can be adapted to install a variety of different tools, such as pneumatic cutting motor modules, micro pneumatic breakers, electric manipulators, etc. In actual pipeline maintenance work, when tools need to be replaced, since these tools each have specific connection methods, operators first need to understand and study the connection methods of the new tools to be replaced. They may need to check the relevant instructions or perform some trial operations to determine the correct connection method. This process often takes a lot of time, and in emergency situations in pipeline maintenance, every minute is precious. Such an operation flow reduces work efficiency and makes it impossible to carry out maintenance work in a timely and efficient manner.

[0004] In view of this, research and improvement are conducted on the existing structure and deficiencies, and a pipeline maintenance robot that is easy to replace modular tools is provided. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a pipeline maintenance robot that is easy to replace modular tools to solve the above problems.

[0006] A pipeline maintenance robot that is convenient for replacing modular tools comprises a device body, a mechanical arm is arranged at the upper end of the device body, and the pipeline maintenance robot that is convenient for replacing modular tools is also provided with a quick replacement mechanism, including a connecting base, a groove is formed through the upper end of the device body, two supporting long plates are arranged inside the groove, the two supporting long plates are parallel to each other, and the two supporting long plates are fixedly connected to the device body, the device body is movably sleeved with the connecting base through the groove, the connecting base is located on the two supporting long plates, the upper surface of the device body is provided with two long grooves that are parallel to each other, the two long grooves are communicated with the groove, a gear bar is fixedly connected to the side surface of the connecting base, the two gear bars correspond to the positions of the two long grooves, a protective frame is fixedly connected to the lower surface of the device body, the lower ends of the two gear bars are located in the protective frame, and limit rods are sleeved at the four corners of the connecting base, and the lower ends of the four limit rods are fixedly connected to the corresponding supporting long plates.

[0007] Preferably, a cross-shaped groove is provided inside the connecting base, a knob is provided at the lower end of the connecting base, a connecting rod is sleeved at the lower end of the connecting base, and the lower end of the connecting rod is fixedly connected to the upper end of the knob.

[0008] Preferably, the upper end of the connecting rod is fixedly connected to a connecting column 2, the lower surface of the connecting column 2 is rotatably connected to the inner wall of the connecting base, the connecting column 2 is located inside the cross-shaped groove, the upper surface of the connecting column 2 is fixedly connected to a rotating bevel gear 1, and the upper end of the rotating bevel gear 1 is vertically meshed with four meshing bevel gears 1.

[0009] Preferably, the side surfaces of the four meshing bevel gears are fixedly connected to a connecting column one, the side ends of the four meshing bevel gears are provided with a fixing plate, each fixing plate is fixedly connected to the inner wall of the connecting base, and the four fixing plates are rotatably connected to the corresponding connecting column one.

[0010] Preferably, the side surfaces of the four connecting columns 1 are fixedly connected with threaded rods 2, and four telescopic blocks are arranged inside the connecting base. The four telescopic blocks correspond to the positions of the four threaded rods 2, and each telescopic block is threadably connected with the corresponding threaded rod 2.

[0011] Preferably, the inner wall of the device body is provided with four rectangular grooves, each of which corresponds to the position of the four telescopic blocks, and a U-shaped plate is fixedly connected to the upper end side of the device body.

[0012] Preferably, a rotating long rod is fixedly connected inside the U-shaped plate, and rotating gears are fixedly connected to both ends of the rotating long rod. The two rotating gears correspond to the positions of the two gear bars, and the two rotating gears are meshed and connected with the two gear bars.

[0013] Preferably, both ends of the rotating long rod are fixedly connected to rotating bevel gear 2, the side ends of the two rotating bevel gears 2 are vertically meshed with meshing bevel gear 2, and the side surfaces of the two meshing bevel gears 2 are fixedly connected to threaded rod 1.

[0014] Preferably, a fixed long plate is fixedly connected to the upper end of the device body, two threaded rods pass through the U-shaped plate and are rotatably connected to the side surface of the fixed long plate, and a movable plate is arranged between the U-shaped plate and the fixed long plate.

[0015] Preferably, the movable plate is threadedly sleeved with the two threaded rods, the lower end of the movable plate is fixedly connected with a cleaning wipe, and the cleaning wipe is movably connected to the upper end of the device body.

[0016] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, a telescopic block is provided, and a connecting base is provided at the lower end of the tool. When installing the modular tool, the connecting base is placed in the groove of the device body, and the rotating knob drives the connecting rod and the connecting column 2 to rotate, thereby causing the rotating bevel gear 1 to drive the meshing bevel gear 1 to rotate, driving the connecting column 1 and the threaded rod 2 to rotate, and the telescopic block moves along the rectangular groove to the rectangular groove to clamp the device body, so that the connecting base and the device body are fixed, and the tool and the device body are connected and installed. When disassembling, the knob can be rotated in the opposite direction. The staff can replace the modular tool by rotating the knob. The staff can quickly replace the tool heads such as pneumatic cutting motor modules, micro pneumatic breaker, electric manipulator, etc. according to the working scene, and can quickly remove cement slurry blocks deposited in the pipe, tree roots in the pipe, steel bars inserted, pipe scaling, pipe blockages, etc., simplifying the replacement time and improving work efficiency.

[0017] In the present invention, a fixed plate is provided, when the staff rotates the knob so that the telescopic block is no longer stuck in the rectangular groove, the four telescopic blocks will move in the direction of the rotating bevel gear one until the telescopic block moves to a certain distance, at which time the telescopic block will resist the fixed plate, so that the telescopic block will not continue to move in the direction of the rotating bevel gear one, thereby avoiding the problem of excessive movement of the telescopic block and collision with the meshing bevel gear one, improving the stability and reliability of the equipment, reducing the risk of damage caused by component collision, and extending the service life of the equipment.

[0018] In the present invention, when the connecting base is snap-connected with the device body, two long supporting plates provide a stable support for the connecting base, thereby ensuring the stability of the connecting base during operation, making the installation of the modular tool more secure, and improving the safety of the maintenance work.

[0019] In the present invention, by providing a gear bar, when the staff places the connecting base, the gear bar will also descend with the connecting base, and when the gear bar descends, it will drive the rotating gear to descend, so that the two rotating gears drive the rotating long rod to rotate, and when the rotating long rod rotates, it will drive the two rotating bevel gears 2 to rotate, and the rotating bevel gear 2 will drive the meshing bevel gear 2 to rotate, and the two meshing bevel gears 2 drive the threaded rod 1 to rotate, and the moving plate does not rotate, so the moving plate will drive the cleaning wipe to move along the surface of the device body, and the cleaning wipe will clean the impurities on the surface of the device body when it moves, avoiding the problem of excessive impurities adhering to the surface of the device body in the pipeline, which causes the surface of the pipeline maintenance robot to be corroded.

[0020] In the present invention, by providing a U-shaped plate, when the two threaded rods rotate, the U-shaped plate provides a stable supporting environment for the threaded rod, thereby avoiding position deviation of the threaded rod during rotation, ensuring the stable operation of the threaded rod, and enabling the components related thereto to cooperate accurately, thereby improving the working accuracy of the pipeline maintenance robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the main body of the device of the present invention; Figure 3 It is a structural schematic diagram of the connection base of the present invention; Figure 4 The present invention Figure 3 A schematic diagram of the enlarged structure at A in the middle; Figure 5 It is a schematic diagram of the telescopic block structure of the present invention; Figure 6 This is a structural schematic diagram of a threaded rod of the present invention; Figure 7 It is a schematic diagram of the cleaning wipe structure of the present invention; Figure 8 It is a schematic diagram of the U-shaped plate structure of the present invention.

[0022] In the figure, the corresponding relationship between the component names and the figure numbers is: 11, device body; 12, mechanical arm; 13, moving plate; 14, threaded rod one; 15, supporting long plate; 16, rectangular groove; 17, long groove; 18, connecting base; 19, gear bar; 20, protection frame; 21, limit rod; 22, cross groove; 23, telescopic block; 24, knob; 25, fixed plate; 26, meshing bevel gear one; 27, rotating bevel gear one; 28, threaded rod two; 29, connecting column one; 30, connecting rod; 31, connecting column two; 32, U-shaped plate; 33, fixed long plate; 34, rotating bevel gear two; 35, meshing bevel gear two; 36, rotating gear; 37, rotating long rod; 38, cleaning wipe. DETAILED DESCRIPTION

[0023] 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.

[0024] See also Figure 1-Figure 8 The present invention provides a pipeline maintenance robot that is convenient for replacing modular tools, including a device body 11, a mechanical arm 12 is arranged at the upper end of the device body 11, and the pipeline maintenance robot that is convenient for replacing modular tools is also provided with a quick replacement mechanism, including a connecting base 18, a groove is penetrated through the upper end of the device body 11, and two supporting long plates 15 are arranged inside the groove, the two supporting long plates 15 are parallel to each other, and the two supporting long plates 15 are fixedly connected to the device body 11, the device body 11 is movably connected to the connecting base 18 through the groove, and the connecting base 18 is located on the two supporting long plates 15, and the device body 1 1 has two long grooves 17 parallel to each other, and the two long grooves 17 are connected to the groove. A gear bar 19 is fixedly connected to the side surface of the connecting base 18, and the two gear bars 19 correspond to the positions of the two long grooves 17. A protective frame 20 is fixedly connected to the lower surface of the device body 11, and the lower ends of the two gear bars 19 are located in the protective frame 20. Limit rods 21 are sleeved at the four corners of the connecting base 18, and the lower ends of the four limit rods 21 are fixedly connected to the corresponding supporting long plates 15. A cross-shaped groove 22 is opened inside the connecting base 18, and a knob 24 is provided at the lower end of the connecting base 18. The lower end of the connecting base 18 is sleeved with a connecting rod 21. The connecting rod 30, the lower end of the connecting rod 30 is fixedly connected to the upper end of the knob 24, and the telescopic block 23 is provided. The lower end of each tool is provided with a connecting base 18. When the modular tool needs to be installed, the connecting base 18 is placed inside the groove of the device body 11. At this time, the knob 24 is rotated, and the knob 24 drives the connecting rod 30 and the connecting column 2 31 to rotate. The connecting column 2 31 drives the rotating bevel gear 1 27 to rotate, and the rotating bevel gear 1 27 drives the corresponding four meshing bevel gears 1 26 to rotate. The four meshing bevel gears 1 26 will drive the corresponding connecting column 1 29 and the threaded rod 2 28 to rotate, and the telescopic block 23 will not rotate with the threaded rod When the knob 28 is rotated, the telescopic block 23 will move along the position of the rectangular groove 16 until the telescopic block 23 moves into the rectangular groove 16. At this time, the telescopic block 23 is clamped on the device body 11, thereby achieving the purpose of fixing the connecting base 18 to the device body 11. At this time, the tool and the device body 11 will be connected and installed. When the connecting base 18 needs to be removed, the connecting base 18 can be removed by rotating the knob 24 in the opposite direction. The staff only needs to rotate the knob 24 to achieve the purpose of replacing the modular tool, which simplifies the replacement time, improves work efficiency, and enables maintenance work to be carried out in a timely and efficient manner.

[0025] The upper end of the connecting rod 30 is fixedly connected with a connecting column 21, the lower surface of the connecting column 21 is rotatably connected to the inner wall of the connecting base 18, the connecting column 21 is located inside the cross groove 22, and the upper surface of the connecting column 21 is fixedly connected with a rotating bevel gear 27, the upper end of the rotating bevel gear 27 is vertically meshed with four meshing bevel gears 26, the side surfaces of the four meshing bevel gears 26 are fixedly connected with a connecting column 29, and the side ends of the four meshing bevel gears 26 are provided with a fixing plate 25, each fixing plate 25 is fixedly connected to the inner wall of the connecting base 18, and the four fixing plates 25 are connected to the corresponding connecting column 1 29 is a rotation connection. By providing a fixed plate 25, when the staff rotates the knob 24 so that the telescopic block 23 is no longer stuck in the rectangular groove 16, the four telescopic blocks 23 will move in the direction of the rotating bevel gear 27 until the telescopic block 23 moves to a certain distance. The telescopic block 23 will resist the fixed plate 25, so that the telescopic block 23 will not continue to move in the direction of the rotating bevel gear 27, avoiding the problem of excessive movement of the telescopic block 23 and collision with the meshing bevel gear 26, thereby improving the stability and reliability of the equipment, reducing the risk of damage caused by component collision, and extending the service life of the equipment.

[0026] The side surfaces of the four connecting columns 29 are fixedly connected with threaded rods 28, and four telescopic blocks 23 are arranged inside the connecting base 18. The four telescopic blocks 23 correspond to the positions of the four threaded rods 28, and each telescopic block 23 is threadedly sleeved with the corresponding threaded rod 28. The inner wall of the device body 11 is provided with four rectangular grooves 16, and the four rectangular grooves 16 correspond to the positions of the four telescopic blocks 23. The upper end side of the device body 11 is fixedly connected with a U-shaped plate 32. When the connecting base 18 is clamped with the device body 11, the two supporting long plates 15 provide a stable support for the connecting base 18, thereby ensuring the stability of the connecting base 18 during work, making the installation of modular tools more secure, and improving the safety of maintenance work.

[0027] A rotating long rod 37 is fixedly connected inside the U-shaped plate 32, and rotating gears 36 are fixedly connected at both ends of the rotating long rod 37. The two rotating gears 36 correspond to the positions of the two gear bars 19, and the two rotating gears 36 are meshed with the two gear bars 19. Rotating bevel gear 2 34 is fixedly connected at both ends of the rotating long rod 37. The side ends of the two rotating bevel gears 2 34 are vertically meshed with meshing bevel gear 2 35, and the side surfaces of the two meshing bevel gears 2 35 are fixedly connected with threaded rod 14. By providing the gear bar 19, when the staff places the connecting base 18, the gear bar 19 will also descend with the connecting base 18, and the gear bar 19 will descend. When the rotating gear 36 is lowered, the two rotating gears 36 drive the rotating long rod 37 to rotate. When the rotating long rod 37 rotates, the two rotating bevel gears 2 34 are driven to rotate. The rotating bevel gear 2 34 drives the meshing bevel gear 2 35 to rotate. The two meshing bevel gears 2 35 drive the threaded rod 14 to rotate. The movable plate 13 does not rotate. Therefore, the movable plate 13 drives the cleaning wipe 38 to move along the surface of the device body 11. When the cleaning wipe 38 moves, it cleans the impurities on the surface of the device body 11, thereby avoiding the problem of excessive impurities adhering to the surface of the device body 11 in the pipeline, which causes the surface of the pipeline maintenance robot to be corroded.

[0028] The upper end of the device body 11 is fixedly connected with a fixed long plate 33, and the two threaded rods 14 pass through the U-shaped plate 32 and are rotatably connected to the side surface of the fixed long plate 33. A movable plate 13 is arranged between the U-shaped plate 32 and the fixed long plate 33, and the movable plate 13 is threadedly sleeved with the two threaded rods 14. The lower end of the movable plate 13 is fixedly connected with a cleaning wipe 38, and the cleaning wipe 38 is movably connected to the upper end of the device body 11. By providing the U-shaped plate 32, when the two threaded rods 14 rotate, the U-shaped plate 32 provides a stable supporting environment for the threaded rods 14, avoids position deviation of the threaded rods 14 during rotation, ensures the stable operation of the threaded rods 14, enables the related components to cooperate accurately, and improves the working accuracy of the pipeline maintenance robot.

[0029] Working principle: In the first step, a telescopic block 23 is provided, and a connecting base 18 is provided at the lower end of each tool. When the modular tool needs to be installed, the connecting base 18 is placed in the groove of the device body 11. At this time, the knob 24 is rotated, and the knob 24 drives the connecting rod 30 and the connecting column 2 31 to rotate. The connecting column 2 31 drives the rotating bevel gear 1 27 to rotate, and the rotating bevel gear 1 27 drives the corresponding four meshing bevel gears 1 26 to rotate. The four meshing bevel gears 1 26 will drive the corresponding connecting column 1 29 and the threaded rod 2 28 to rotate. The telescopic block 23 will not rotate with the threaded rod 28. At this time, the telescopic block 23 will move along the position of the rectangular groove 16 until the telescopic block 23 moves into the rectangular groove 16. At this time, the telescopic block 23 is clamped on the device body 11, thereby achieving the purpose of fixing the connecting base 18 to the device body 11. At this time, the tool and the device body 11 will be connected and installed. When it is necessary to remove the connecting base 18, it is only necessary to rotate the knob 24 in the opposite direction to remove the connecting base 18. The staff only needs to rotate the knob 24 to achieve the purpose of replacing the modular tool, which simplifies the replacement time, improves work efficiency, and enables maintenance work to be carried out in a timely and efficient manner.

[0030] In the second step, by providing a fixing plate 25, when the staff rotates the knob 24 so that the telescopic block 23 is no longer stuck in the rectangular groove 16, the four telescopic blocks 23 will move in the direction of the rotating bevel gear 27 until the telescopic block 23 moves to a certain distance, and the telescopic block 23 will resist the fixing plate 25, so that the telescopic block 23 will not continue to move in the direction of the rotating bevel gear 27, avoiding the problem of excessive movement of the telescopic block 23 and collision with the meshing bevel gear 26, thereby improving the stability and reliability of the equipment, reducing the risk of damage caused by component collision, and extending the service life of the equipment.

[0031] In the third step, when the connecting base 18 is engaged with the device body 11, the two supporting long plates 15 will provide a stable support for the connecting base 18, thereby ensuring the stability of the connecting base 18 during operation, making the installation of the modular tool more secure, and improving the safety of the maintenance work.

[0032] Fourthly, with the rack 19 provided, when the staff places the connection base 18, the rack 19 will also descend along with the connection base 18. When the rack 19 descends, it will drive the rotating gear 36 to descend, causing the two rotating gears 36 to drive the rotating long rod 37 to rotate. When the rotating long rod 37 rotates, it will drive the two second rotating bevel gears 34 to rotate. The second rotating bevel gears 34 will drive the meshing bevel gears 35 to rotate. The two meshing bevel gears 35 drive the first threaded rod 14 to rotate. The moving plate 13 does not rotate. Therefore, the moving plate 13 will drive the cleaning wiper 38 to move along the surface of the device main body 11. When the cleaning wiper 38 moves, it will clean the impurities on the surface of the device main body 11, avoiding the problem that excessive impurities adhere to the surface of the device main body 11 in the pipeline, resulting in the corrosion of the surface of the pipeline repair robot.

[0033] Fifthly, with the U-shaped plate 32 provided, when the two first threaded rods 14 rotate, the U-shaped plate 32 provides a stable support environment for the first threaded rods 14, avoiding the position deviation of the first threaded rods 14 during rotation, ensuring the stable operation of the first threaded rods 14, enabling the related components to cooperate accurately, and improving the working precision of the pipeline repair robot.

[0034] The embodiments of the present invention are given for the purposes of illustration and description, and are not exhaustive or limit the invention to the disclosed form. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are chosen and described in order to better illustrate the principles of the invention and its practical applications, and to enable those of ordinary skill in the art to understand the invention and design various embodiments with various modifications suitable for specific purposes.

Claims

1. A pipeline maintenance robot for facilitating replacement of modular tools, comprising a device body (11), wherein a mechanical arm (12) is disposed at the upper end of the device body (11), and characterized in that: The pipeline maintenance robot that facilitates the replacement of modular tools is also provided with a quick replacement mechanism, including a connection base (18); The upper end of the device body (11) is provided with a groove, and two supporting long plates (15) are arranged inside the groove. The two supporting long plates (15) are fixedly connected to the device body (11). The device body (11) is movably sleeved with the connecting base (18) through the groove. The upper surface of the device body (11) is provided with two long grooves (17) parallel to each other. The side surface of the connecting base (18) is fixedly connected with a gear bar (19). The two gear bars (19) correspond to the positions of the two long grooves (17). The lower surface of the device body (11) is fixedly connected with a protective frame (20). The lower ends of the two gear bars (19) are located in the protective frame (20). Limit rods (21) are sleeved at the four corners of the connecting base (18). The lower ends of the four limit rods (21) are fixedly connected to the corresponding supporting long plates (15).

2. A pipeline maintenance robot that facilitates replacement of modular tools as claimed in claim 1, characterized in that: A cross-shaped groove (22) is provided inside the connecting base (18), and a knob (24) is provided at the lower end of the connecting base (18); Wherein, a connecting rod (30) is sleeved on the lower end of the connecting base (18), and the lower end of the connecting rod (30) is fixedly connected to the upper end of the knob (24).

3. A pipeline maintenance robot that facilitates replacement of modular tools as claimed in claim 2, characterized in that: The upper end of the connecting rod (30) is fixedly connected to a second connecting column (31), and the lower surface of the second connecting column (31) is rotatably connected to the inner wall of the connecting base (18); The upper surface of the connecting column 2 (31) is fixedly connected to a rotating bevel gear 1 (27), and the upper end of the rotating bevel gear 1 (27) is vertically meshed with four meshing bevel gears 1 (26).

4. A pipeline maintenance robot for facilitating replacement of modular tools as claimed in claim 3, characterized in that: The side surfaces of the four meshing bevel gears (26) are all fixedly connected to a connecting column (29), and the side ends of the four meshing bevel gears (26) are all provided with a fixing plate (25), and each fixing plate (25) is fixedly connected to the inner wall of the connecting base (18); The four fixing plates (25) are all rotatably connected to the corresponding connecting column 1 (29).

5. A pipeline maintenance robot for facilitating replacement of modular tools as claimed in claim 4, characterized in that: The side surfaces of the four connecting columns 1 (29) are all fixedly connected with threaded rods 2 (28); Wherein, four telescopic blocks (23) are arranged inside the connecting base (18), the four telescopic blocks (23) correspond to the positions of the four threaded rods (28), and each telescopic block (23) is threadably sleeved with the corresponding threaded rod (28).

6. A pipeline maintenance robot that facilitates replacement of modular tools as claimed in claim 5, characterized in that: The inner wall of the device body (11) is provided with four rectangular grooves (16), and the four rectangular grooves (16) correspond to the positions of the four telescopic blocks (23); A U-shaped plate (32) is fixedly connected to the upper end side of the device body (11).

7. A pipeline maintenance robot for facilitating replacement of modular tools as claimed in claim 6, characterized in that: A rotating long rod (37) is fixedly connected inside the U-shaped plate (32), and both ends of the rotating long rod (37) are fixedly connected to rotating gears (36); The two rotating gears (36) are both meshingly connected with the two gear bars (19).

8. A pipeline maintenance robot for facilitating replacement of modular tools as claimed in claim 7, characterized in that: Both ends of the rotating long rod (37) are fixedly connected to the rotating bevel gear 2 (34), and the side ends of the two rotating bevel gears 2 (34) are vertically meshed with the meshing bevel gear 2 (35); Wherein, the side surfaces of the two meshing bevel gears 2 (35) are both fixedly connected with threaded rod 1 (14).

9. A pipeline maintenance robot for facilitating replacement of modular tools as claimed in claim 8, characterized in that: The upper end of the device body (11) is fixedly connected to a fixed long plate (33), and the two threaded rods (14) pass through the U-shaped plate (32) and are rotatably connected to the side surface of the fixed long plate (33); A movable plate 13 is disposed between the U-shaped plate 32 and the fixed long plate 33 .

10. A pipeline maintenance robot for facilitating replacement of modular tools as claimed in claim 1, characterized in that: The movable plate (13) is threadedly sleeved with two threaded rods (14), and a cleaning wipe (38) is fixedly connected to the lower end of the movable plate (13); The cleaning wipe (38) is movably connected to the upper end of the device body (11).

Images