Annular four-array contra-parallelogram crawler detection robot

Abstract

The invention belongs to the field of pipeline operation robots, and particularly discloses an annular four-array contra-parallelogram crawler belt detection robot which is formed by sequentially hinging a plurality of contra-parallelogram crawler belt mechanisms in an annular array, and each contra-parallelogram crawler belt mechanism comprises two connecting rods distributed in a crossed mode and two crawler belt modules. The two ends of the connecting rod are hinged to the far ends of the crawler belt modules. A second motor is fixedly connected to the hinged position of one connecting rod and the module body, and the second motor is in transmission connection through a gear and used for adjusting the angle between the connecting rod and the crawler belt module. The crawler belt module is composed of a module body and a peripheral crawler belt, and a crawler belt motor is installed in the module body and drives the crawler belt to operate. A first motor is fixedly connected to the hinged position of every two adjacent contra-parallelogram crawler belt mechanisms and used for controlling form transformation of the whole annular array. The robot is compact in structure and high in adaptability, pipeline detection tasks can be efficiently completed, the labor cost and the safety risk are reduced, and the robot is suitable for various complex pipeline environments.

Description

Technical Field

[0001] The present invention relates to the field of pipeline operation robots, and particularly to an annular four-array anti-parallelogram crawler detection robot. Background Art

[0002] With the acceleration of the urbanization process and the continuous improvement of the industrialization level, the importance of pipeline systems in modern society has become increasingly prominent. Pipeline systems are widely used in multiple fields such as water supply, gas supply, and ventilation, and their normal operation is crucial for ensuring the order of social production and life. However, traditional pipeline detection, maintenance, and repair methods face many challenges: on the one hand, pipeline detection work usually requires a large amount of human and material resources. Workers often need to enter the pipeline for inspection, which is not only inefficient but also poses high safety risks such as hypoxia and poisoning. In addition, for some complex working environments such as variable-diameter pipelines and narrow spaces, traditional methods are difficult to reach, resulting in ineffective detection and maintenance work. On the other hand, the demand for wild environment exploration is also increasing, especially in complex and inaccessible areas. These areas often have rugged terrains with special terrains such as potholes and narrowness, and traditional detection equipment is difficult to adapt to, restricting the exploration and research of these areas.

[0003] To solve the above problems, pipeline detection robots have emerged. Compared with traditional manual detection methods, pipeline detection robots have high detection efficiency, save a large amount of manpower and time, have high detection accuracy, and can work continuously for 24 hours. However, existing robots have deficiencies in the body mechanism, environmental perception, motion planning, and decision-making control capabilities in extreme environments; they have insufficient adaptability in complex environments and are difficult to cope with special terrains such as potholes and narrowness; and high costs and high technical complexities limit the wide application of extreme environment robot technologies.

[0004] In view of this, it is necessary to propose an annular four-array anti-parallelogram crawler detection robot. Summary of the Invention

[0005] The object of the present invention is to provide an annular four-array anti-parallelogram crawler detection robot, aiming to solve the problems of low efficiency, high safety risks, and poor adaptability to complex environments existing in the prior art.

[0006] To achieve the above-mentioned purpose, the present invention provides the following scheme: a circular four-array anti-parallelogram crawler detection robot, including multiple groups of anti-parallelogram crawler mechanisms, each of the anti-parallelogram crawler mechanisms is hinged in sequence to form a circular array; the anti-parallelogram crawler mechanism includes two connecting rods and two crawler modules, the two connecting rods are cross-distributed between the two crawler modules, and the two ends are respectively hinged at the ends away from the two crawler modules, a second motor is fixedly connected to the position where one connecting rod is hinged to the crawler module, and the second motor is transmission-connected to the connecting rod; each crawler module includes a module body and a crawler rotating on the periphery of the module body, and a crawler motor for driving the crawler to run is installed in the module body; a first motor is fixedly connected to the position where two adjacent anti-parallelogram crawler mechanisms are hinged, and the anti-parallelogram crawler mechanism controls the shape transformation through the first motor and the second motor.

[0007] In the technical solution of the present invention, further, the interior of the module body is hollow to form a sealed cabin, and an explosion-proof lithium battery, a control module and a processing system are arranged in the sealed cabin.

[0008] In the technical solution of the present invention, further, the control module includes a wireless communication module, a data collector, a signal processor and a remote control terminal. The remote control terminal is connected to the robot controller through a public network server to support real-time image transmission and command issuance.

[0009] In the technical solution of the present invention, further, it also includes a camera arranged on any of the module bodies.

[0010] In the technical solution of the present invention, further, one of the module bodies is also equipped with a sensor module, and the sensor module includes a laser radar, a sound sensor, an ultrasonic sensor, an infrared sensor and an inertial navigation system. The sensor module realizes autonomous navigation through the laser radar and the inertial navigation system, and detects cracks, corrosion and leakage on the inner wall of the pipeline through a camera and an infrared sensor.

[0011] In the technical solution of the present invention, further, the second motor is gear-connected to the connecting rod driven by it, and the second motor drives the connecting rod and the track module to change their angles by rotating the driving gear, thereby adjusting the contact angle between the track and the pipeline surface.

[0012] In the technical solution of the present invention, further, a rotating seat is fixedly connected to the opposite sides of the module bodies of the two adjacent crawler modules, and the two rotating seats are both rotatably mounted on a rotating shaft.

[0013] In the technical solution of the present invention, further, a folding fan is movably connected to the rotating shaft, which is used to rotate against the wind in the pipeline to charge the explosion-proof lithium battery through wind power generation.

[0014] In the technical solution of the present invention, further, the folding fan includes a folding connecting rod, a first hinge joint, a second hinge joint and a fan blade. One end of the folding connecting rod is connected to the first hinge joint, and the other end is connected to the second hinge joint. The first hinge joint is connected to a rotating shaft between two crawler modules. The two opposite sides of the second hinge joint are respectively hinged to two fan blades. The fan blades are unfolded and contracted through the cooperation of the folding connecting rod and the two hinge joints.

[0015] In the technical solution of the present invention, further, a set of folding fans are respectively installed on each of the rotating shafts, and the folding fans are installed in layers without interfering with each other when unfolded.

[0016] Compared with the prior art, the present invention discloses at least the following beneficial effects:

[0017] The unique structural design of the present invention enables the robot to operate efficiently in a complex pipeline environment. Through a plurality of anti-parallelogram crawler mechanisms hinged in sequence to form an annular array, the robot can flexibly adjust the contact angle between the crawlers and the pipeline surface, adapt to variable-diameter pipelines, narrow spaces and irregular pipelines, and solve the problem that traditional equipment is difficult to cope with complex environments. At the same time, the combination method of the crawler module and the connecting rod facilitates modular design and assembly, reduces the manufacturing cost, improves the scalability and maintenance convenience. In addition, the annular array layout enables the robot to be compactly folded and stored when not working, occupying a small space and being convenient for transportation and storage. When working, it can make full use of the internal space of the pipeline and reduce the impact on the normal function of the pipeline. The sealed cabin design inside the module body provides good protection for the control module and the processing system, realizes autonomous navigation and intelligent control, and further improves the detection efficiency and accuracy of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0019] Figure 1 Structural schematic of the annular four-array anti-parallelogram crawler detection robot of the present invention Figure 1 ;

[0020] Figure 2 Structural schematic of the annular four-array anti-parallelogram crawler detection robot of the present invention Figure 2 ;

[0021] Figure 3Structural schematic of the annular four-array anti-parallelogram crawler detection robot of the present invention Figure 3 ;

[0022] Figure 4 Structural schematic of the anti-parallelogram crawler mechanism in the present invention;

[0023] Figure 5 Structural schematic of the crawler module in the present invention;

[0024] Figure 6 Structural schematic of the module body in the present invention;

[0025] Figure 7 Structural schematic of the folding fan in the present invention;

[0026] Figure 8 Schematic diagram of the installation position of the folding fan in the present invention;

[0027] Figure 9 Schematic diagram of the connection relationship between two adjacent anti-parallelogram crawler mechanisms in the present invention;

[0028] Figure 10 Effect picture when the folding fan in the present invention is unfolded;

[0029] Figure 11 Effect picture when the folding fan in the present invention is closed;

[0030] Figure 12 Effect picture when the second motor drives the deformation of the anti-parallelogram crawler mechanism in the present invention;

[0031] Figure 13 Effect picture when the first motor drives the deformation of the annular array composed of multiple anti-parallelogram crawler mechanisms in the present invention;

[0032] Figure 14 Schematic diagram of the installation position of the camera in the present invention;

[0033] Figure 15 Working state diagram of the robot of the present invention in a circular pipe with a smaller pipe diameter;

[0034] Figure 16 Working state diagram of the robot of the present invention in a circular pipe with a larger pipe diameter;

[0035] Figure 17 Working state diagram of the robot of the present invention in a special-shaped pipe.

[0036] In the figure: 1. Crawler module; 2. Connecting rod; 3. Folding fan; 4. Rotating shaft; 5. First motor; 6. Second motor; 7. Camera; 11. First crawler module; 12. Second crawler module; 21. First connecting rod; 22. Second connecting rod; 101. Module body; 102. Rotating seat; 103. Hinge pin; 104. Crawler; 105. Driving gear; 106. Driven gear; 107. Crawler motor; 108. Control module; 109. Processing system; 110. Explosion-proof lithium battery; 301. First hinge joint; 302. Folding link; 303. Second hinge joint; 304. Fan blade. Detailed implementation manners

[0037] 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.

[0038] In order to solve the problems existing in the prior art, an annular four-array anti-parallelogram crawler detection robot is specifically disclosed in the embodiments of the present invention. The robot is an automated system integrating machinery, electronics and instruments, capable of automatically walking inside a pipeline and carrying a variety of sensors and operating machinery. Under the remote control operation of the staff or the automatic control of a computer, the robot can complete a series of pipeline operations, including but not limited to the detection, maintenance and repair inside the pipeline.

[0039] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0040] Refer to Figures 1 to 17 As shown, the embodiments of the present invention provide an annular four-array anti-parallelogram crawler detection robot, including four groups of anti-parallelogram crawler mechanisms, and each of the anti-parallelogram crawler mechanisms is connected into an annular array through a robot frame. Each group of anti-parallelogram crawler mechanisms includes two connecting rods 2 and two crawler modules 1. The module bodies 101 in each of the connecting rods 2 and crawler modules 1 together form the robot frame. Each crawler module 1 is equipped with an independent crawler motor 107 for driving the crawler 104 to rotate, and the crawler motor 107 drives the crawler 104 to move through gear transmission. A first motor 5 and a second motor 6 are arranged on the module body 101, and the anti-parallelogram crawler mechanism controls the shape transformation through the first motor 5 and the second motor 6.

[0041] In a specific embodiment, the above-mentioned annular four-array anti-parallel quadrilateral crawler detection robot includes eight crawler modules 1 of eight connecting rods 2. Among them, two crawler modules 1 are taken as a group and are connected together by two connecting rods 2 to form a group of anti-parallel quadrilateral crawler mechanisms, and the two connecting rods 2 are arranged in a cross pattern to form an anti-parallel quadrilateral structure. Specifically, as Figure 4 shown, the first crawler module 11 and the second crawler module 12 are parallel to each other in the initial state. The two ends of the first connecting rod 21 are respectively hinged to the top end of the first crawler module 11 and the bottom end of the second crawler module 12, and the two ends of the second connecting rod 22 are respectively hinged to the bottom end of the first crawler module 11 and the top end of the second crawler module 12. In this structure, the first connecting rod 21 and the second connecting rod 22 are cross-connected between the first crawler module 11 and the second crawler module 12, and the first connecting rod 21 and the second connecting rod 22 have no connection relationship and no interference.

[0042] In a specific embodiment, four groups of anti-parallel quadrilateral crawler mechanisms are connected end to end in sequence and are distributed in an annular array. Specifically, in two adjacent anti-parallel quadrilateral crawler mechanisms, the first crawler module 11 in one anti-parallel quadrilateral crawler mechanism is hinged to the second crawler module 12 in the other anti-parallel quadrilateral crawler mechanism. At the same time, a first motor 5 is installed at the hinge position, and the first motor 5 is used to drive the angle adjustment of the two anti-parallel quadrilateral crawler mechanisms. Specifically, as Figure 13 shown.

[0043] In a specific embodiment, in each of the anti-parallel quadrilateral crawler mechanisms, a second motor 6 is arranged at the hinge position where one of the connecting rods 2 is hinged to the crawler module 1, and the second motor 6 is used to control the transformation of the shape of the anti-parallel quadrilateral crawler mechanism. Specifically, the output shaft of the second motor 6 is fixedly connected with a driving gear 105, and the connecting rod 2 is fixedly connected with a driven gear 106. Through the meshing between the driving gear 105 and the driven gear 106, the motor drives the connecting rod 2, so that the connecting rod 2 can rotate around the hinge shaft on the crawler module 1, and further control the angle change between the connecting rod 2 and the crawler module 1. The specific structure is as Figure 12 shown.

[0044] In the above embodiment, the first motor 5 drives the angle adjustment between two adjacent crawler modules 1 to realize the switching between the plane and spherical motion modes. The second motor 6 drives the gear meshing between the connecting rod 2 and the crawler module 1 to adjust the contact angle between the crawler 104 and the pipe surface. The specific adjustment effects are as Figure 12 and Figure 13 shown.

[0045] In a specific embodiment, as Figure 5As shown in the figure, the crawler module 1 includes a module body 101, a crawler 104, a crawler motor 107, a driving wheel, an explosion-proof lithium battery 110, a control module 108, and a processing system 109. Among them, the inside of the module body 101 is hollow to form a sealed chamber for accommodating electronic components such as the explosion-proof lithium battery 110, the control module 108, and the processing system 109, so as to avoid affecting the flow of fluid or air in the pipeline. Driving wheels are respectively rotatably connected to both ends of the module body 101, and the driving wheel at one end is in transmission connection with the crawler motor 107. The explosion-proof lithium battery 110, the control module 108, and the processing system 109 are all electrically connected to the crawler motor 107.

[0046] Furthermore, hinge pins 103 are fixedly connected to the positions near both ends on one side of the module body 101 for cooperating with the hinged connecting rod 2. A rotating seat 102 is fixed in the middle of the other side of the module body 101 for rotatably connecting with the rotating seat 102 of another crawler module 1 through a rotating shaft 4. At the same time, the rotating shaft 4 provides an installation position for the folding fan 3.

[0047] Furthermore, the control module 108 includes a wireless communication module, a data collector, a signal processor, and a remote control terminal. The remote control terminal is connected to the robot controller through a public network server, supporting real-time video transmission and instruction issuance.

[0048] In a further optimized solution, the module body 101 is made of SUS316L stainless steel, which has good rust and corrosion resistance. Waterproof cables and connectors are used for both the cables and connectors. The module body 101 is assembled using a double-sealing technology.

[0049] In a further optimized solution, multiple sensors are installed on this robot, including a lidar, a camera 7, a sound sensor, an ultrasonic sensor, an infrared sensor, and an inertial navigation system. The sensor module realizes autonomous navigation through the lidar and the inertial navigation system, and detects cracks, corrosion, and leaks on the inner wall of the pipeline through the camera 7 and the infrared sensor. The camera 7 can be installed on the module body 101, specifically on the sealed cover plate of the module body 101. The specific installation position is as Figure 14 shown.

[0050] Furthermore, the sound sensor internally has a capacitive electret microphone sensitive to sound. Sound waves cause the electret film in the microphone to vibrate, resulting in a change in capacitance and generating a corresponding tiny voltage change. After being converted by an A / D converter, it is received by the data collector and transmitted to the processing system 109.

[0051] In a further optimized solution, the robot also includes multiple folding fans 3. The folding fans 3 are installed on the module body 101 and are used to rotate against the wind in the pipeline to charge the explosion-proof lithium battery 110 through wind power generation. Wind power generation can extend the battery life to 48 hours.

[0052] In this embodiment, as Figure 7 shown, the folding fan 3 includes a folding link 302, a first hinge joint 301, a second hinge joint 303, and a fan blade 304. The fan blade 304 is made of a lightweight material (such as carbon fiber or engineering plastic) and is unfolded and contracted through the cooperation of the folding link 302 and two hinge joints. One end of the folding link 302 is connected to the first hinge joint 301, and the other end is connected to the second hinge joint 303. The first hinge joint 301 is connected to a rotating shaft 4 between the two crawler modules 1. The two opposite sides of the second hinge joint 303 are respectively hinged to two fan blades 304. When the two fan blades 304 are folded, they approach the folding link 302 and finally are tightly parallel and folded on both sides of the folding link 302. The folding link 302 is hinged to the first hinge joint 301. When folded, it approaches the rotating shaft 4 and finally is tightly parallel and folded on one side of the rotating shaft 4.

[0053] In a specific embodiment, a set of folding fans 3 are respectively installed on four rotating shafts 4, and each of the folding fans 3 is installed in layers without interfering with each other when unfolded.

[0054] In a further optimized solution, each of the folding fans 3 is controlled by an independent drive motor (such as a servo motor), and the drive motor controls the unfolding / contracting of the fan blade 304. The drive motor can be fixed on the first hinge joint 301 and is linked with the folding link 302 and the fan blade 304 through gears or belts to achieve the synchronous unfolding / contracting of the folding link 302 and the fan blade 304. After the drive motor is started, it drives the folding mechanism through gear or link transmission. The fan blade 304 unfolds from the folded state to the working position; after unfolding, the fan blade 304 is locked (possibly through an electromagnetic lock or a mechanical buckle) to ensure the operation stability; after the task is completed, the drive motor reversely drives the folding mechanism, and the fan blade 304 contracts to a state close to the fuselage to reduce the volume for passing through narrow areas.

[0055] In a specific embodiment, the module body 101 is made of a corrosion-resistant material, such as stainless steel or aluminum alloy.

[0056] It should be understood that in practical applications, the annular four-array anti-parallel quadrilateral crawler detection robot of the present invention can freely pass through pipes with a diameter of 200 mm - 800 mm through morphological transformation. The robot adopts a waterproof design, can support operations underwater at a depth of 10 meters, and the corrosion-resistant material is suitable for acid-base environments.

[0057] As can be seen from the above, the annular four-array anti-parallel quadrilateral crawler detection robot of the embodiment of the present invention has the abilities of inner diameter climbing, environmental detection, autonomous form transformation and movement, can adapt to vertical pipe environments of different thicknesses, as well as irregular tracks and narrow environments, has extremely high adaptability, and can quickly and effectively perform area exploration work. Its motion modes mainly include planar motion mode and spherical motion mode.

[0058] When the robot is on a flat pipe, the robot adopts the planar motion mode, and the four crawler modules 1 maintain a planar state, and the crawler motors 107 drive each crawler 104 to move forward or backward synchronously.

[0059] When the robot is on a variable-diameter pipe, the robot adopts the spherical motion mode, and the first motor 5 adjusts the angles of adjacent anti-parallel quadrilateral crawler mechanisms, so that the robot shrinks into a spherical shape, and adjusts the contact surface of the crawlers 104 through gear meshing to adapt to narrow or curved pipes.

[0060] When the robot detects an obstacle, the second motor 6 drives the connecting rod 2 to lift, so that the robot can roll over the obstacle.

[0061] In an application example, the annular four-array anti-parallel quadrilateral crawler detection robot detects a drainage pipe. The specific detection steps include:

[0062] S1. Start the robot, connect to the public network server through the mobile phone terminal, and send a detection instruction;

[0063] S2. After the robot enters the drainage pipe, the lidar scans the inner diameter of the pipe and automatically switches to the spherical mode to pass through the variable-diameter area;

[0064] S3. The ultrasonic sensor detects the pipe wall thickness, the infrared sensor identifies the leakage point, and the camera 7 takes pictures of the cracks and transmits them back in real time;

[0065] S4. If a blockage is encountered, the robot contracts the crawlers 104 and rolls over the obstacle;

[0066] S5. After the task is completed, the folding fan 3 is unfolded, and the airflow in the pipe is used to generate electricity to recharge the battery.

[0067] Compared with the prior art, the embodiment of the present invention discloses at least the following beneficial effects:

[0068] The annular four-array anti-parallelogram crawler detection robot can adapt to pipes of different materials through various designs and functions. Its rubber crawlers 104 have the characteristics of waterproof, anti-slip, wear-resistant and corrosion-resistant, and can provide stable grip for the robot on the inner surfaces of various pipe materials such as metal, concrete, plastic, etc. In addition, the whole robot is constructed with corrosion-resistant materials (such as SUS316L stainless steel or aluminum alloy) for the frame, combined with waterproof sealing design, surface coating and customized waterproof motors, effectively protecting the internal components from the influence of humid and corrosive environments.

[0069] The robot is equipped with a variety of sensors (such as lidar, camera 7, ultrasonic sensors and infrared sensors), which can not only detect the damage and leakage inside the pipe, but also identify the material and environmental conditions of the pipe. Its control module 108 can automatically adjust the tension of the crawlers 104 and the motor power according to the sensor feedback to adapt to the friction coefficient and surface conditions of pipes of different materials. The anti-parallelogram crawler mechanism and the folding fan 3 endow the robot with the ability to transform its shape, enabling it to flexibly adapt to pipes with variable diameters or irregular shapes, regardless of the pipe material. At the same time, the hollow structure design of the robot will not affect the normal functions of the pipe during the detection process, such as the flow of air or water, further enhancing its applicability in pipes of different materials.

[0070] In summary, the annular four-array anti-parallelogram crawler detection robot of the present invention has excellent terrain adaptability due to its unique structural design. It provides an efficient, safe and reliable solution for the detection, maintenance and repair of pipeline systems and the exploration of field environments.

[0071] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0072] The embodiments described above are only for describing the preferred mode of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solution of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A circular four-array antiparallelogram crawler detection robot, characterized in that: The invention comprises a plurality of antiparallelogram crawler mechanisms, each of which is hinged to each other in sequence to form a ring array; the antiparallelogram crawler mechanism comprises two connecting rods (2) and two crawler modules (1); the two connecting rods (2) are cross-distributed between the two crawler modules (1), and both ends are respectively hinged to ends of the two crawler modules (1) that are away from each other; a second motor (6) is fixedly connected to the position where one of the connecting rods (2) is hinged to the crawler module (1); the second motor ( 6) is transmission-connected to the connecting rod (2); each of the crawler modules (1) comprises a module body (101) and a crawler (104) rotating on the periphery of the module body (101), and a crawler motor (107) for driving the crawler (104) is installed in the module body (101); a first motor (5) is fixedly connected to the hinged position of two adjacent anti-parallelogram crawler mechanisms, and the anti-parallelogram crawler mechanism is controlled to change its shape through the first motor (5) and the second motor (6).

2. The annular four-array antiparallelogram crawler detection robot according to claim 1, characterized in that: The module body (101) is hollow inside to form a sealed cabin, and an explosion-proof lithium battery (110), a control module (108) and a processing system (109) are arranged in the sealed cabin.

3. The annular four-array antiparallelogram crawler detection robot according to claim 2, characterized in that: The control module (108) comprises a wireless communication module, a data collector, a signal processor and a remote control terminal. The remote control terminal is connected to the robot controller via a public network server and supports real-time image transmission and command issuance.

4. The annular four-array antiparallelogram crawler detection robot according to claim 1, characterized in that: It also includes a camera (7) arranged on any one of the module bodies (101).

5. The annular four-array antiparallelogram crawler detection robot according to claim 4, characterized in that: One of the module bodies (101) is also equipped with a sensor module, which includes a laser radar, a sound sensor, an ultrasonic sensor, an infrared sensor and an inertial navigation system. The sensor module realizes autonomous navigation through the laser radar and the inertial navigation system, and detects cracks, corrosion and leakage on the inner wall of the pipeline through a camera (7) and an infrared sensor.

6. The annular four-array antiparallelogram crawler detection robot according to claim 1, characterized in that: The second motor (6) is gear-connected to the connecting rod (2) driven by it, and the second motor (6) drives the connecting rod (2) and the crawler module (1) to change their angles by driving the gears to adjust the contact angle between the crawler (104) and the pipeline surface.

7. The annular four-array antiparallelogram crawler detection robot according to claim 2, characterized in that: A rotating seat (102) is fixedly connected to the opposite side of the module body (101) of the two adjacent crawler modules (1), and the two rotating seats (102) are both rotatably mounted on a rotating shaft (4).

8. The annular four-array antiparallelogram crawler detection robot according to claim 7, characterized in that: The rotating shaft (4) is movably connected to a folding fan (3) for rotating in the pipeline against the wind, and charging the explosion-proof lithium battery (110) through wind power generation.

9. The annular four-array antiparallelogram crawler detection robot according to claim 8, characterized in that: The folding fan (3) comprises a folding connecting rod (302), a first hinge joint (301), a second hinge joint (303) and a fan blade (304); one end of the folding connecting rod (302) is connected to the first hinge joint (301), and the other end is connected to the second hinge joint (303); the first hinge joint (301) is connected to the rotating shaft (4) between the two track modules (1); two opposite sides of the second hinge joint (303) are respectively hinged to two fan blades (304); the fan blades (304) are unfolded and retracted by the cooperation of the folding connecting rod (302) and the two hinge joints.

10. The annular four-array antiparallelogram crawler detection robot according to claim 9, characterized in that: A group of folding fans (3) is respectively installed on each of the rotating shafts (4); the folding fans (3) are installed in layers and do not interfere with each other when unfolded.

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