Industrial intelligent robot with modular working units

Abstract

The industrial intelligent robot with the modularized working unit comprises a main body contraction unit and is characterized in that the main body contraction unit comprises a first contraction assembly and a second contraction assembly, and the two sides of the first contraction assembly rotate on the inner side of the second contraction assembly through shaft pins; a swing adjusting hydraulic rod is arranged at the end, close to the side face of the second contraction assembly, of the first contraction assembly and movably connected with the first contraction assembly and the second contraction assembly through a movable seat, and a supporting wheel mechanism is arranged on the side, away from the first contraction assembly, of the second contraction assembly. Angle adjusting mechanisms are fixed to the positions of the opposite sides of the first shrinkage assembly and the second shrinkage assembly correspondingly, clamping mechanisms used for clamping pipelines are movably arranged on one sides of the angle adjusting mechanisms, and a switching mechanism is arranged below the clamping mechanisms; the industrial intelligent robot provided by the invention can effectively detect the surface of a pipeline in a complex and staggered pipeline environment.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial maintenance robots, and particularly to an industrial intelligent robot with modular working units. Background Art

[0002] Industrial intelligent inspection robots are typical applications of the deep integration of industrial automation and artificial intelligence technologies in recent years. Their core goal is to improve the safety and operation efficiency of industrial production equipment through autonomous and precise inspection means. In the field of industrial pipeline inspection, such robots rely on multi-modal sensing technologies, autonomous navigation algorithms, and intelligent decision-making systems, and gradually replace traditional manual inspection methods, becoming an indispensable inspection tool in industries such as petrochemical, energy transmission, and municipal engineering.

[0003] Currently, in some individual environments, industrial pipelines are overly integrated in design, resulting in a complex and intricate layout among pipelines within a single spatial area. The pipelines are distributed along the X / Y / Z axes in the path, such as the intersection positions of gas pipelines. This causes traditional industrial intelligent inspection robots to be unable to handle the inspection work of such overly complex pipelines. They are often blocked by horizontal and vertical branch pipes and cannot continue to move forward, resulting in the current pipeline environment still relying too much on manual inspection and maintenance.

[0004] Therefore, how to provide an industrial intelligent robot with modular working units is an urgent problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] An object of the present invention is to provide an industrial intelligent robot with modular working units. The industrial intelligent robot provided by the present invention can effectively perform inspection work on the surface of pipelines in a complex and intertwined pipeline environment.

[0006] The industrial intelligent robot with modular working units according to an embodiment of the present invention includes a main body contraction unit. The main body contraction unit includes a first contraction component and a second contraction component. Both sides of the first contraction component are rotatably connected to the inner side of the second contraction component through pin shafts. A swing adjustment hydraulic rod is provided at one end of the side of the first contraction component close to the second contraction component. The swing adjustment hydraulic rod is movably connected to the first contraction component and the second contraction component through a movable seat. A wheel support mechanism is provided on the side of the second contraction component away from the first contraction component. Angle adjustment mechanisms are respectively fixed at the positions on the opposite sides of the first contraction component and the second contraction component. A clamping mechanism for clamping the pipeline is movably provided on one side of the angle adjustment mechanism. A switching mechanism is provided below the clamping mechanism;

[0007] The switching mechanism includes a fastening plate and four groups of steering wheels. The four groups of steering wheels are respectively rotatably arranged in pairs on the left and right sides of the fastening plate. The fastening plate is movably limited to the clamping claw through a second electromagnetic push rod.

[0008] Further, the support wheel mechanism includes a driving motor and two sets of support wheels. Output shafts at the front and rear ends of the driving motor are respectively fixedly connected to worm rods, and worm gears are engaged below the worm rods.

[0009] Further, the worm gear drives the support wheels to swing below one side of the second contraction component through a connecting rod. The driving motor is fixedly connected to the second contraction component. One side of the worm gear is fixedly connected to the connecting rod, and the worm gear rotates on the surface of the second contraction component through a pin.

[0010] Further, the angle adjustment mechanism includes a connecting frame and an electric telescopic rod. An internal sliding groove is opened at the top of the connecting frame, and the electric telescopic rod is fixed in the internal sliding groove. An output shaft of the electric telescopic rod is fixedly connected to a movable ear seat, and one end of the movable ear seat is movably connected to a pulling rod.

[0011] Further, one end of the pulling rod away from the movable ear seat is movably connected to a first side pin ear, the first side pin ear is fixed to one side of the fastening plate, one side of the connecting frame is movably connected to a second side pin ear, and the second side pin ear is fixed to a position below and close to the first side pin ear on one side of the fastening plate.

[0012] Further, the clamping mechanism includes a fastening plate and two sets of clamping claws. The tops of the two sets of clamping claws are rotatably arranged at the left and right ends inside the fastening plate through pins, and side biting teeth are fixed at the pin positions at the tops of the clamping claws.

[0013] Further, two sets of fastening plates are arranged mirror-symmetrically in the fastening plate, and a rib engaging rod is engaged between the two sets of side biting teeth. The top of the rib engaging rod is fixedly connected to the output rod of a first electromagnetic push rod, and the first electromagnetic push rod is fixed at the center position of the top of the fastening plate;

[0014] When the first electromagnetic push rod is started, it drives the two sets of clamping claws to swing towards each other to clamp the pipeline.

[0015] Further, a second electromagnetic push rod is fixed at the center position of one side of the fastening plate. A movable sliding pin is fixed on the output rod of the second electromagnetic push rod, and the movable sliding pin is limited to slide in a movable pin slot, and the movable pin slot is opened on the surface of the clamping claw.

[0016] Further, one side of the steering wheel close to the fastening plate is in close contact with the surface of the resistance belt. Both ends of the resistance belt are sleeved on damping wheels, and one side of a damping wheel is fixedly connected to the output shaft of a torsion motor, and the torsion motor is fixed on the side surface of the fastening plate.

[0017] Further, a detection device is fixedly connected to the bottom of the first contraction component, storage batteries are fixed on both sides at the top of the first contraction component, and one end of a swing adjustment hydraulic rod is movably connected to the storage battery through a movable seat.

[0018] The beneficial effects of the present invention are:

[0019] The present invention respectively sets a first contraction component and a second contraction component to respectively drive the angle adjustment mechanism and the clamping mechanism on both sides to achieve the lateral position, so that under specific programming conditions, the clamping mechanism on one side of the first contraction component can hold the pipeline tightly, while the second contraction component pulls the angle adjustment mechanism and the clamping mechanism on the pipeline to crawl, and the whole robot walks on the pipeline in a creeping state, thereby having a more efficient crawling ability and space saving degree compared with the traditional industrial robot transmission mode, preventing the occurrence of collision with other pipelines, and effectively applicable to the situation where the main pipe and the branch pipe are too close;

[0020] The present invention provides a switching mechanism on the support foot of the clamping claw. When the height of the first contraction component or the second contraction component on the main pipe is higher than that of other lateral branches, the second electromagnetic push rod is activated to pull the snap plate and the clamping claw closer to each other. At the same time, the steering wheel will contact the surface of the main pipe. Under continuous pulling, the clamping claw is unfolded. During the unfolding process, the active effects of the movable sliding pin and the movable pin groove ensure that the steering wheel can stably contact the main pipe. At this time, the contact position between the entire device and the main pipe is changed from the clamping claw to the steering wheel. After the torque motor is started, the rotation of the two sets of damping wheels can drive the resistance belt to operate. During the operation, the damping effect of the resistance belt and the steering wheel will drive the steering wheel to rotate, thereby realizing the flipping operation of the entire device on the main pipe, so that the first contraction component or the second contraction component changes direction to prevent contact with the branch pipe in front, so that it can be better applied to complex environments to detect the forward effect of the robot.

[0021] The present invention provides a support wheel mechanism and a swing adjustment hydraulic rod between the first contraction component and the second contraction component. The first contraction component and the second contraction component can achieve a rotation effect. After the swing adjustment hydraulic rod is started, the interference effect will drive the first contraction component as a whole to rotate between the second contraction component, so that it lifts the angle adjustment mechanism and the clamping mechanism at the other end. In this process, the active motor can drive the two sets of support wheels to swing under one side of the second contraction component, so that it contacts the surface of the main pipe to provide support force. At this time, the clamping claw on one side of the first contraction component is unfolded and lifted to a certain height, so that it can contact the vertical main pipe surface, so that the robot as a whole can be suitable for the detection of horizontal and vertical pipelines.

[0022] The present invention provides an angle adjustment mechanism, which can pull the pulling rod through the movable ear seat after the electric telescopic rod is started. The pulling rod is subjected to force to pull the buckle plate through the first side pin ear, and one side of the connecting frame provides a buckle plate resistance force through the second side pin ear. In this way, the buckle plate will swing with the second side pin ear as the axis, thereby assisting the first contraction component or the second contraction component to achieve the effect of changing the height and angle of the clamping mechanism, so that the clamping claw can be better suitable for clamping the main pipe at different vertical angles, further improving the application range of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, but do not constitute a limitation to the present invention. In the accompanying drawings:

[0024] Figure 1 is a schematic diagram of the working environment of an industrial intelligent robot with modular working units proposed by the present invention;

[0025] Figure 2 is a schematic diagram of the overall structure of an industrial intelligent robot with modular working units proposed by the present invention.

[0026] Figure 3 is a schematic diagram of the unfolded structure of an industrial intelligent robot with modular working units proposed by the present invention.

[0027] Figure 4 is a schematic diagram of the bottom structure of an industrial intelligent robot with modular working units proposed by the present invention.

[0028] Figure 5 is a schematic diagram of the disassembly of the partial structure of an industrial intelligent robot with modular working units proposed by the present invention.

[0029] Figure 6 is a schematic diagram of the partial structure of an industrial intelligent robot with modular working units proposed by the present invention.

[0030] Figure 7 is a schematic diagram of the disassembly structure of the switching mechanism of an industrial intelligent robot with modular working units proposed by the present invention.

[0031] Figure 8 for the industrial intelligent robot with modular working units proposed by the present invention Figure 6 is an enlarged schematic diagram of the structure at point A.

[0032] In the figure: 1. Main body contraction unit; 2. Angle adjustment mechanism; 3. Clamping mechanism; 4. Switching mechanism; 5. Support wheel mechanism; 6. Detection device;

[0033] 11. First contraction component; 12. Second contraction component; 13. Swing adjustment hydraulic rod; 21. Connecting frame; 22. Built-in sliding groove; 23. Electric telescopic rod; 24. Movable ear seat; 25. Pulling rod; 26. First side pin ear; 27. Second side pin ear; 31. Buckling plate; 32. Clamping claw; 33. First electromagnetic push rod; 34. Ribbed engaging rod; 35. Side biting teeth; 41. Buckling plate; 42. Steering wheel; 43. Resistance band; 44. Torque motor; 45. Damping wheel; 46. Second electromagnetic push rod; 47. Movable sliding pin; 48. Movable pin groove; 51. Driving motor; 52. Turbine rod; 53. Spiral teeth; 54. Support foot wheel. Detailed implementation manners

[0034] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only schematically showing the basic structure of the present invention, so they only show the components related to the present invention.

[0035] Reference Figures 1-8 , including a main body contraction unit 1, characterized in that the main body contraction unit 1 includes a first contraction component 11 and a second contraction component 12. Both sides of the first contraction component 11 are rotatably connected to the inner side of the second contraction component 12 through axles. At one end position of the side of the first contraction component 11 close to the second contraction component 12, a swing adjustment hydraulic rod 13 is provided. The swing adjustment hydraulic rod 13 is movably connected to the first contraction component 11 and the second contraction component 12 through a movable seat. On the side of the second contraction component 12 away from the first contraction component 11, a support wheel mechanism 5 is provided. On the opposite sides of the first contraction component 11 and the second contraction component 12, angle adjustment mechanisms 2 are respectively fixed. On one side of the angle adjustment mechanism 2, a clamping mechanism 3 for clamping the pipeline is movably provided. Below the clamping mechanism 3, a switching mechanism 4 is provided;

[0036] The switching mechanism 4 includes a fastening plate 41 and four sets of steering wheels 42. The four sets of steering wheels 42 are respectively rotatably arranged in pairs on the left and right sides of the fastening plate 41. The fastening plate 41 is limited and movable with the clamping claw 32 through a second electromagnetic push rod 46.

[0037] In this embodiment, one end position on both sides of the first contraction component 11 is rotatably connected to the second contraction component 12 through an axle. In this way, when the other end position of the first contraction component 11 is pushed by the swing adjustment hydraulic rod 13, the extension of the swing adjustment hydraulic rod 13 at this time will cause the first contraction component 11 to swing with this point as the center of the circle, so as to expand between the second contraction components 12. At the same time, the second contraction component 12 realizes stable support on the main pipe through the support wheel mechanism 5 on one side, similar to Figure 3 ;

[0038] And on one side of the first contraction component 11 and the second contraction component 12, an angle adjustment mechanism 2 is fixed. Here, the angle adjustment mechanism 2 is fixed to the telescopic rod ends of the first contraction component 11 and the second contraction component 12. In this way, after the unilateral clamping mechanism 3 clamps the main pipe, the contraction of a single first contraction component 11 or the second contraction component 12 will drive the clamping mechanism 3 at the other side position to displace on the main pipe. Similarly, during the displacement process, it is supported and stabilized through the support wheel mechanism 5 below one side of the second contraction component 12, so that the overall movement effect of the device on the main pipe is similar to creeping. Compared with the traditional walking method, it can be better applied to the use in a complex pipeline environment;

[0039] A switching mechanism 4 is provided below the clamping jaws 32. Under normal circumstances, the two groups of clamping jaws 32 directly provide the overall device with the clamping operation on the main pipe. When the first contraction assembly 11 and the second contraction assembly 12 are blocked by horizontal or vertical branch pipes, at this time, the switching mechanism 4 can achieve contact with the main pipe, thereby changing the contact state of the device with the main pipe. The switching mechanism 4 can provide the moving effect of the device body, thereby realizing the rotation operation of the device body on the main pipe, changing the positions of the first contraction assembly 11, the second contraction assembly 12 or other components, and preventing collision with the front branch pipes.

[0040] Reference Figure 6 , the support wheel mechanism 5 includes a driving motor 51 and two groups of support wheels 54. The output shafts at the front and rear ends of the driving motor 51 are respectively fixedly connected with turbine rods 52. A scroll gear 53 is engaged below the turbine rod 52. The scroll gear 53 drives the support wheel 54 to swing below one side of the second contraction assembly 12 through a connecting rod. The driving motor 51 is fixedly connected with the second contraction assembly 12. One side of the scroll gear 53 is fixed to the connecting rod, and the scroll gear 53 rotates on the surface of the second contraction assembly 12 through a pin.

[0041] In this implementation scheme, after the driving motor 51 is started, the turbine rods 52 at the front and rear ends will rotate accordingly. During the rotation process, the turbine rod 52 will drive the engaged scroll gear 53 below to rotate. The scroll gear 53 is connected with the support wheel 54 through a connecting rod. The rotation effect will cause the support wheel 54 to rotate around the axis of the scroll gear 53, thereby realizing the contact or separation operation with the main pipe. Here, the separation operation mostly occurs when the device needs to rotate on the main pipe.

[0042] Reference Figure 5 and Figure 8 , the angle adjustment mechanism 2 includes a connecting frame 21 and an electric telescopic rod 23. An internal sliding groove 22 is opened at the top of the connecting frame 21. The electric telescopic rod 23 is fixed in the internal sliding groove 22. The output shaft of the electric telescopic rod 23 is fixedly connected with a movable ear seat 24. One end of the movable ear seat 24 is movably connected with a pulling rod 25. The end of the pulling rod 25 away from the movable ear seat 24 is movably connected with a first side pin ear 26. The first side pin ear 26 is fixed on one side of the buckling plate 31. One side of the connecting frame 21 is movably connected with a second side pin ear 27. The second side pin ear 27 is fixed at a position below and close to the first side pin ear 26 on one side of the buckling plate 31.

[0043] In this implementation, under normal circumstances, the length of the output rod of the electric telescopic rod 23 is fixed. At this time, the movable ear seat 24 restricts the pulling rod 25, and the pulling rod 25 restricts the first side pin ear 26 on one side of the buckling plate 31, so that the buckling plate 31 is stabilized under the combined action of the pulling rod 25 and the connecting frame 21. After the electric telescopic rod 23 is started, the movable ear seat 24 can pull or release the movable ear seat 24. At this time, the pulling rod 25 can pull the buckling plate 31 on one side, so that the buckling plate 31 swings with the second side pin ear 27 as the center. Here, the first side pin ear 26 is above the second side pin ear 27, so that the pulling effect drives the whole buckling plate 31 to swing at an angle, thereby changing the docking angle of the two groups of clamping claws 32, so as to realize the clamping operation of the longitudinal main pipe.

[0044] Reference Figure 4 and Figure 5 As shown in FIGS. 7 and 8, the clamping mechanism 3 includes a buckling plate 31 and two groups of clamping claws 32. The tops of the two groups of clamping claws 32 are rotatably arranged at the left and right ends inside the buckling plate 31 through shaft pins, and side biting teeth 35 are fixed at the shaft pin positions at the tops of the clamping claws 32. Two groups of buckling plates 31 are arranged mirror-symmetrically in the buckling plate 31, and a rib engaging rod 34 is engaged between the two groups of side biting teeth 35. The top of the rib engaging rod 34 is fixedly connected to the output rod of the first electromagnetic push rod 33, and the first electromagnetic push rod 33 is fixed at the center position of the top of the buckling plate 31;

[0045] When the first electromagnetic push rod 33 is started, it drives the two groups of clamping claws 32 to swing towards each other to clamp the pipeline.

[0046] In this implementation, after the first electromagnetic push rod 33 at the top of the buckling plate 31 is started, it can directly drive the rib engaging rod 34 to move downward under the buckling plate 31. During this process, the rib engaging rod 34 can drive the side biting teeth 35 on the left and right sides to engage and rotate. During the rotation of the side biting teeth 35, the clamping claws 32 can be driven to swing, so as to release the main pipe. On the contrary, the clamping claws 32 can clamp the main pipe body.

[0047] Reference Figure 4 and Figure 7 As shown in FIGS. 15 and 16, the second electromagnetic push rod 46 is fixed at the center position on one side of the buckling plate 41. The output rod of the second electromagnetic push rod 46 is fixed with a movable sliding pin 47, and the movable sliding pin 47 is limited to slide in the movable pin slot 48. The movable pin slot 48 is opened on the surface of the clamping claw 32. One side of the steering wheel 42 close to the buckling plate 41 is in close contact with the surface of the resistance belt 43. Both ends of the resistance belt 43 are sleeved on the damping wheels 45, and one side of the damping wheel 45 is fixedly connected to the output shaft of the torque motor 44. The torque motor 44 is fixed on the side surface of the buckling plate 41. The bottom of the first contraction assembly 11 is fixedly connected with a detection device 6, and the two sides of the top of the first contraction assembly 11 are fixed with storage batteries. One end of the swing adjustment hydraulic rod 13 is movably connected with the storage battery through a movable seat.

[0048] In this embodiment, when it is necessary to change the position of the overall conversion device on the main pipe, the second electromagnetic push rod 46 on the surface of the fastening plate 41 is first activated. The second electromagnetic push rod 46 can pull the movable sliding pin 47 to retract. During this process, the movable sliding pin 47 moves within the movable pin slot 48 inside the clamping claw 32. At the same time, the fastening plate 41 is stressed to drive the steering wheel 42 into contact with the surface of the main pipe, and at the same time, the clamping claw 32 is separated from the main pipe. Here, the separation means that after the steering wheel 42 contacts the main pipe body, the continuous pulling effect of the second electromagnetic push rod 46 will cause the clamping claw 32 to separate from the main pipe. At this time, the torsion motor 44 is activated to drive the damping wheel 45 to rotate. The resistance belt 43 sleeved on the surface of the damping wheel 45 is stressed to operate, and the operating effect will cause the steering wheel 42 to be stressed and rotate, thereby driving the main body of the device to flip on the surface of the main pipe, changing the specific positions of the first contraction assembly 11 or the second contraction assembly 12. The detection device 6 at the bottom of the first contraction assembly 11 is used to detect the surface of the main pipe. It is suitable for passing through or docking operations in different environments as a whole, improving the flexibility of the device.

[0049] Working principle: First, the fastening plate 31 on one side of the second contraction assembly 12 is stabilized through the angle adjustment mechanism 2. The first electromagnetic push rod 33 is activated to push the rib engaging rod 34 downward. The side bite teeth 35 are stressed to drive the two groups of clamping claws 32 to rotate towards each other, releasing the main pipe. The clamping claws 32 on the other side of the first contraction assembly 11 then clamp the main pipe. Subsequently, the second contraction assembly 12 is activated to pull the angle adjustment mechanism 2 and the clamping mechanism 3 as a whole to displace on the main pipe. By repeating this process, the displacement operation of the overall device on the main pipe can be achieved.

[0050] When blocked by a branch pipe, first, the driving motor 51 is activated to drive the turbine rod 52 to rotate. The spiral teeth 53 are stressed to drive the support foot wheel 54 to flip and separate from the main pipe. Subsequently, the second electromagnetic push rod 46 is activated to pull the movable sliding pin 47 to slide within the movable pin slot 48. At the same time, the steering wheel 42 will contact the surface of the main pipe, and the clamping claw 32 is separated from the main pipe. Subsequently, the torsion motor 44 is activated to drive the damping wheel 45 to rotate. The resistance belt 43 operates to drive the steering wheel 42 to rotate. In this way, the overall device will flip on the surface of the main pipe, changing the positions of the first contraction assembly 11 and the second contraction assembly 12 to prevent the branch pipe from blocking its running path.

[0051] When facing the vertical or bent section of the main pipe, first, the driving motor 51 will drive the supporting caster 54 to come into contact with the main pipe. Subsequently, the swing-adjusting hydraulic rod 13 starts to push the storage battery at the top of the first contraction assembly 11. The transmission force will cause the first contraction assembly 11 to deflect at an angle inside the second contraction assembly 12, causing one end of the first contraction assembly 11 to lift, thereby changing the docking position of the clamping claw 32. When encountering a main pipe section with different bending angles, at this time, the electric telescopic rod 23 inside the built-in chute 22 starts to pull the movable ear seat 24. The movable ear seat 24 directly pulls the first side pin ear 26 on one side of the fastening plate 31 through the pull rod 25, causing the fastening plate 31 to change its angle on one side of the connecting frame 21 with the second side pin ear 27 as the center, and then driving the clamping claw 32 to make a more flexible angle change, so that it can align with the main pipe with different folding angles and curvatures.

[0052] As described above, it is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered within the protection scope of the present invention.

Claims

1. An industrial intelligent robot with modular working units, including a main body contraction unit (1), characterized in that, The main body contraction unit (1) includes a first contraction component (11) and a second contraction component (12). The two sides of the first contraction component (11) are rotatably connected to the inner side of the second contraction component (12) through axles. At one end position on the side of the first contraction component (11) close to the second contraction component (12), a swing-adjusting hydraulic rod (13) is provided. The swing-adjusting hydraulic rod (13) is movably connected to the first contraction component (11) and the second contraction component (12) through a movable seat. On the side of the second contraction component (12) away from the first contraction component (11), a supporting wheel mechanism (5) is provided. On the opposite sides of the first contraction component (11) and the second contraction component (12), angle-adjusting mechanisms (2) are respectively fixed. On one side of the angle-adjusting mechanism (2), a clamping mechanism (3) for clamping pipelines is movably provided. Below the clamping mechanism (3), a switching mechanism (4) is provided; The switching mechanism (4) includes a fastening plate (41) and four sets of steering wheels (42). The four sets of steering wheels (42) are respectively rotatably arranged in pairs on the left and right sides of the fastening plate (41). The fastening plate (41) is limited and movable with the clamping claw (32) through a second electromagnetic push rod (46).

2. The industrial intelligent robot with modular working units according to claim 1, characterized in that, The said supporting wheel mechanism (5) includes a driving motor (51) and two sets of supporting feet wheels (54). The output shafts at the front and rear ends of the driving motor (51) are respectively fixedly connected with turbine rods (52). Below the turbine rods (52), there are engaged scroll teeth (53).

3. The industrial intelligent robot with modular working units according to claim 2, characterized in that, The scroll teeth (53) drive the supporting feet wheels (54) to swing below one side of the second contraction component (12) through a connecting rod. The driving motor (51) is fixedly connected with the second contraction component (12). One side of the scroll teeth (53) is fixedly connected with the connecting rod, and the scroll teeth (53) are rotatably arranged on the surface of the second contraction component (12) through an axle.

4. The industrial intelligent robot with modular working units according to claim 1, wherein, The angle-adjusting mechanism (2) includes a connecting frame (21) and an electric telescopic rod (23). An internal sliding groove (22) is opened at the top of the connecting frame (21). The electric telescopic rod (23) is fixed in the internal sliding groove (22). The output shaft of the electric telescopic rod (23) is fixedly connected with a movable ear seat (24). One end of the movable ear seat (24) is movably connected with a pulling rod (25).

5. The industrial intelligent robot with modular working units according to claim 4, characterized in that, One end of the pulling rod (25) away from the movable ear seat (24) is movably connected with a first side pin ear (26). The first side pin ear (26) is fixed on one side of the fastening plate (31). One side of the connecting frame (21) is movably connected with a second side pin ear (27). The second side pin ear (27) is fixed at a position below and close to the first side pin ear (26) on one side of the fastening plate (31).

6. The industrial intelligent robot with modular working units according to claim 1, characterized in that, The clamping mechanism (3) includes a fastening plate (31) and two sets of clamping claws (32). The tops of the two sets of clamping claws (32) are rotatably arranged at the left and right ends inside the fastening plate (31) through axles. Side biting teeth (35) are fixed at the axle pin positions at the tops of the clamping claws (32).

7. The industrial intelligent robot with modular working units according to claim 6, characterized in that, The two sets of fastening plates (31) are arranged in a mirror image inside the fastening plate (31). And a rib engaging rod (34) is engaged between the two sets of side biting teeth (35). The top of the rib engaging rod (34) is fixedly connected with the output rod of a first electromagnetic push rod (33). The first electromagnetic push rod (33) is fixed at the central position on the top of the fastening plate (31); The first electromagnetic push rod (33) starts to drive the two groups of clamping claws (32) to swing towards each other to clamp the pipeline.

8. The industrial intelligent robot with modular working units according to claim 1, characterized in that, The second electromagnetic push rod (46) is fixed at the central position on one side of the fastening plate (41). A movable sliding pin (47) is fixed on the output rod of the second electromagnetic push rod (46). The movable sliding pin (47) is limited to slide in the movable pin slot (48), and the movable pin slot (48) is opened on the surface of the clamping claw (32).

9. The industrial intelligent robot with modular working units according to claim 1, characterized in that, One side of the steering wheel (42) close to the fastening plate (41) is in close contact with the surface of the resistance belt (43). Both ends of the resistance belt (43) are sleeved on the damping wheels (45). One side of the damping wheel (45) is fixedly connected to the output shaft of the torque motor (44), and the torque motor (44) is fixed on the side surface of the fastening plate (41).

10. The industrial intelligent robot with modular working units according to claim 1, characterized in that, The bottom of the first contraction assembly (11) is fixedly connected to the detection device (6). Batteries are fixed on both sides of the top of the first contraction assembly (11). One end of the swing adjustment hydraulic rod (13) is movably connected to the battery through a movable seat.

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