Magnetic adsorption wall climbing equipment for reducing pipeline and operation method of magnetic adsorption wall climbing equipment

Abstract

The magnetic adsorption wall climbing equipment is applied to the field of robots, a second motor rotates to enable a first bevel gear to drive a second bevel gear to rotate, the second bevel gear rotates to drive a second screw to rotate, and the second screw rotates to enable a clamping arm to move; the pipe diameter of the pipeline is detected through the sensor, the current and the magnetic pole distance of the electromagnet are automatically adjusted according to the pipe diameter information, the purpose of being suitable for the variable-diameter pipeline can be achieved in a self-adaptive adjustment mode according to the change of the pipeline, and practicability and applicability are improved.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to a magnetic adsorption wall-climbing device for variable-diameter pipelines and an operation method thereof. Background Art

[0002] After searching for Chinese patents, the publication number is: CN114455022A, a magnetic adsorption wall-climbing robot capable of rectifying deviation, including a magnetic adsorption wall-climbing robot body. Installation seats are installed at both ends of the magnetic adsorption wall-climbing robot body. Adsorption blocks are provided at both ends of the magnetic adsorption wall-climbing robot body. One end of each adsorption block is connected with a rotating plate. The rotating plate is rotatably installed at one end of the installation seat through a hinge shaft. Pull springs are provided at the top and bottom ends of the rotating plate. One end of the pull spring is connected with the installation seat. An electromagnet is embedded at the bottom end of the adsorption block. Two infrared distance sensors are symmetrically installed at the bottom end of the magnetic adsorption wall-climbing robot body. When encountering an uneven surface, through the signals sent by the infrared distance sensors, workers can start the electromagnet and the air pump to work by adjusting the controller. The electromagnet generates magnetism and has an adsorption force on the surface of the ship. Therefore, the magnetic adsorption wall-climbing robot body is closely attached to the surface of the ship, and the magnetic adsorption wall-climbing robot body will not fall.

[0003] Existing wall-climbing devices cannot be applied to variable-diameter pipelines. In operations such as pipeline detection and maintenance, robots are required to be able to climb and operate stably in pipelines with different diameters. The existing adsorption and clamping devices of pipeline robots often have poor adaptability, and it is difficult to provide reliable adsorption force and stable clamping effect on variable-diameter pipelines, which limits the application of robots in complex pipeline environments and is not convenient for maintaining the electromagnet. Generally, electromagnets are fixedly installed through multiple shell bolts. When maintaining it, tools are required for disassembly and assembly. The disassembly and assembly process is relatively cumbersome, increasing the workload and reducing the maintenance efficiency. To solve the above problems, we propose a magnetic adsorption wall-climbing device for variable-diameter pipelines and an operation method thereof. Summary of the Invention

[0004] The purpose of the present invention is to provide a magnetic adsorption wall-climbing device for variable-diameter pipelines and an operation method thereof, and its advantage is that it can be applied to variable-diameter pipelines and is convenient for maintaining the electromagnet.

[0005] The above technical purpose of the present invention is achieved through the following technical solutions: A magnetic adsorption wall-climbing device for variable-diameter pipelines includes a fixed column. L-shaped clamping arms are slidably arranged at both ends of the fixed column. A plurality of universal wheels are symmetrically arranged on the relative sides of the two clamping arms. First cylinders are also symmetrically arranged on the relative sides of the clamping arms. The telescopic ends of the first cylinders are installed with electromagnets. On one side of the fixed column close to the universal wheel, there is a driving wheel, and a first motor capable of driving the driving wheel to rotate is provided on the driving wheel; A driving mechanism capable of driving the two clamping arms to move towards and away from each other is provided inside the fixed column.

[0006] Preferably, blind holes are provided at both ends of the fixed column, and one end of the clamping arm is slidably arranged in the blind hole; At the end of the clamping arm located in the blind hole, a second screw rod is threadedly connected. An installation cavity is provided inside the fixed column. One end of the second screw rod extends into the installation cavity. The second screw rod is rotatably connected to the bottom of the blind hole. A driving component capable of driving the two second screw rods to rotate in opposite directions is provided in the installation cavity.

[0007] Preferably, the driving component includes: A rotating rod, which is rotatably arranged in the installation cavity, and a first bevel gear is provided on the rotating rod; Two second bevel gears, which are respectively fixed on the ends of the two screw rods extending into the installation cavity. The two second bevel gears are simultaneously meshed with the first bevel gear; A second motor, which is fixed on the fixed column, and the output shaft of the second motor is in transmission connection with the rotating rod.

[0008] Preferably, a fixed block is provided on one side of the fixed column close to the clamping arm. A telescopic block is slidably arranged at one end of the fixed block. The driving wheel is fixed on the telescopic block. A buffer spring is provided between the telescopic block and the fixed block.

[0009] Preferably, a fixed sleeve is fixedly arranged on the outer side of the fixed column. A movable block is slidably arranged inside the fixed sleeve. One end of the movable block extends out of the fixed sleeve and the end is rotatably connected to the fixed block. A first screw rod is threadedly connected to the end of the movable block located inside the fixed sleeve. One end of the rotating rod passes through the installation cavity and extends into the fixed sleeve, and the end is fixedly connected to the first screw rod.

[0010] Preferably, an extension plate is provided on the movable block located outside the fixed sleeve. A third motor is provided on the extension plate. A first gear is provided on the output shaft of the third motor. A ring gear is provided on the outer side of the fixed block. The first gear is meshed with the ring gear.

[0011] Preferably, second cylinders are symmetrically arranged on the opposite sides of the two clamping arms. The output end of the second cylinder is provided with a third mounting seat. A connecting block is hinged on the third mounting seat. A clamping block is provided on the connecting block. Tension springs are provided on both sides between the third mounting seat and the connecting block.

[0012] Preferably, a pressure sensor is embedded on the outer side of the clamping block, infrared distance sensors are arranged on the opposite sides of the two clamping arms, a fixed shell is arranged on the fixed column, an attitude sensor is arranged on the fixed shell, and a main control board is arranged inside the fixed shell. The main control board is electrically connected to the infrared distance sensors, the attitude sensor, and the pressure sensor.

[0013] Preferably, the clamping arm comprises a first movable arm and a second movable arm. The first movable arm is slidably arranged in the blind hole. One end of the first movable arm extends out of the blind hole and a rotating shaft is rotatably arranged at the end. One end of the second movable arm is fixedly connected to the rotating shaft. A second gear is arranged at the upper end of the rotating shaft. An installation rod is rotatably arranged on the fixed column along the length direction of the first movable arm. A rack meshed with the second gear is arranged on one side of the installation rod close to the second gear.

[0014] The present invention is realized through the following steps: S1. Place the device on the surface of the pipeline, connect the power supply, start the second motor, drive the two second bevel gears to rotate synchronously through the first bevel gear, and adjust the distance between the two clamping arms so that it can clamp the pipeline to be measured. S2. Start the electromagnet simultaneously, adsorb the device on the outer wall of the pipeline to be measured, and then start the first motor to drive the driving wheel to rotate, so that the device moves up and down along the pipeline to be measured. S3. When the device needs to move circumferentially along the pipeline to be measured, drive the first gear to rotate through the third motor, drive the driving wheel to rotate 90 degrees through the annular toothed ring, change the rolling direction of the driving wheel, and then use the first motor to drive the device to move circumferentially along the pipeline to be measured. S4. When the pipeline size becomes smaller, drive the two clamping arms to approach each other through the second motor, so that the universal wheels always contact the outer wall of the pipeline to be measured. At the same time, the movable block slides outward to the outside of the fixed sleeve, pushing the driving wheel to move outward so that it contacts the outer wall of the pipeline to be measured, ensuring that the device moves smoothly on the outer wall of the pipeline to be measured. S5. When the device moves to the specified position, start the second cylinder to make it extend, push the clamping block to contact and press the pipeline to be measured, and fix the device at the current position.

[0015] In summary, the present invention has the following beneficial effects: In the present invention, the second motor rotates to drive the first bevel gear to drive the second bevel gear to rotate. The rotation of the second bevel gear drives the screw rod to rotate. The rotation of the screw rod moves the clamping arm. According to the pipe diameter of the pipeline to be measured, the distance between the two clamping arms is adjusted in real time, so that it can be applicable to pipelines of different sizes and pipelines with variable diameters, and has strong practicability. When the pipe size becomes smaller, the two clamping arms move towards each other through the second motor, and at the same time, the driving wheel also moves outwards accordingly, ensuring that the universal wheels and the driving wheel on the two clamping arms always contact the outer wall of the pipe to be measured, and guaranteeing that the device can move smoothly on the outer wall of the pipe to be measured; Through the third motor, drive the first gear and the annular gear ring to rotate, so that the driving wheel rotates 90 degrees. At this time, the device can be driven by the first motor to move circumferentially along the pipe to be measured, which is convenient to operate; When the device moves to the specified position, the clamping block is pushed by the second cylinder to contact and press the outer wall of the pipe to be measured. Under the pressing action of the two symmetrical pressing blocks, the device is firmly fixed in the current position to avoid accidental detachment during operation. Description of the Drawings

[0016] Figure 1 is the structural schematic diagram of the present invention; Figure 2 is the internal structural diagram of the fixed column in the present invention; Figure 3 is the present invention Figure 2 The enlarged structural view of part A in; Figure 4 is the present invention Figure 1 The enlarged structural view of part B in; Figure 5 is the structural schematic diagram of the fixed shell in the present invention; Figure 6 is the present invention Figure 5 The enlarged structural view of part C in; Figure 7 is the present invention Figure 6 The sectional view taken along line D-D in; Figure 8 is the structural schematic diagram of the third embodiment of the present invention; Figure 9 is the present invention Figure 8 The sectional view taken along line E-E in.

[0017] Reference numerals: 1, fixed column; 11, first motor; 12, driving wheel; 13, fixed block; 131, annular gear ring; 14, telescopic block; 15, buffer spring; 16, first chute; 17, first slider; 18, blind hole; 19, installation cavity; 2, clamping arm; 21, infrared distance sensor; 22, first mounting seat; 221, universal wheel; 23, first cylinder; 231, second mounting seat; 232, electromagnet; 24, second cylinder; 241, third mounting seat; 242, connecting block; 243, clamping block; 244, pressure sensor; 245, tension spring; 25, first movable arm; 26, second movable arm; 3, fixed housing; 31, main control board; 32, attitude sensor; 33, jack; 34, plug; 35, fixed cylinder; 36, rotating cylinder; 37, triangular groove; 38, telescopic rod; 381, pressing plate; 39, spring; 4, second motor; 5, rotating rod; 51, first bevel gear; 52, first screw; 53, fixed sleeve; 531, second chute; 54, movable block; 541, second slider; 55, extension plate; 56, third motor; 561, first gear; 6, second screw; 61, second bevel gear; 7, rotating shaft; 71, second gear; 8, mounting rod; 81, rack. Detailed implementation manners

[0018] The present invention will be further described in detail below with reference to the accompanying drawings. Embodiment 1

[0019] Refer to Figures 1-5 As shown, a magnetic adsorption wall-climbing device for variable-diameter pipelines includes a fixed column 1. Clamping arms 2 are slidably arranged at both ends of the fixed column 1. The clamping arms 2 are L-shaped. A plurality of first mounting seats 22 are symmetrically arranged on the opposite sides of the two clamping arms 2, and universal wheels 221 are arranged on the first mounting seats 22.

[0020] On the opposite sides of the clamping arms 2, first cylinders 23 are also symmetrically arranged. A second mounting seat 231 is arranged at the telescopic end of the first cylinder 23, and an electromagnet 232 is mounted on the second mounting seat 231. The first cylinder 23 is communicated with external compressed air.

[0021] On one side of the fixed column 1 close to the universal wheel 221, a driving wheel 12 is arranged, and a first motor 11 capable of driving the driving wheel 12 to rotate is arranged on the driving wheel 12.

[0022] A fixed housing 3 is arranged on the fixed column 1. A main control board 31 is arranged in the fixed housing 3. The first motor 11 and the electromagnet 232 are both electrically connected to the main control board 31.

[0023] The fixed column 1 is provided with a driving mechanism capable of driving two clamping arms 2 to move towards and away from each other. The driving mechanism includes blind holes 18 opened at both ends of the fixed column 1 and screws 6 threadedly connected to the ends of the clamping arms 2. The blind holes 18 are provided with sliding grooves 16. A slider 17 is provided on the outer side of one end of the clamping arm 2. One end of the clamping arm 2 is slidably arranged in the blind hole 18 through the slider 17 and the sliding groove 16. An installation cavity 19 is provided in the fixed column 1. One end of the screw 6 extends into the installation cavity 19, and the screw 6 is rotatably connected to the bottom of the blind hole 18.

[0024] The installation cavity 19 is provided with a driving component capable of driving two screws 6 to rotate in opposite directions. The driving component includes a rotating rod 5, two second bevel gears 61 and a second motor 4.

[0025] The rotating rod 5 is rotatably arranged in the installation cavity 19, and a first bevel gear 53 is provided on the rotating rod 5.

[0026] Two of the second bevel gears 61 are respectively fixed on the ends of two screws 6 extending into the installation cavity 19, and the two bevel gears 61 are simultaneously meshed with the first bevel gear 53.

[0027] The second motor 4 is fixed on the fixed column 1, and the output shaft of the second motor 4 is fixedly connected to the rotating rod 5.

[0028] A fixed shell 3 is provided on the fixed column 1. A main control board 31 is provided in the fixed shell 3. The first motor 11, the second motor 4 and the electromagnet 232 are all electrically connected to the main control board 31.

[0029] Start the second motor 4 to drive the first bevel gear 51 to rotate, so that the two second bevel gears 61 rotate in opposite directions. The rotation of the second bevel gear 61 drives the second screw 6 to rotate. Since the second screw 6 is threadedly connected to the clamping arm 2, the clamping arm 2 also rotates. The clamping arm 2 is restricted by the sliding groove 16 and can only slide along the blind hole 18. Thus, the distance between the two clamping arms 2 can be adjusted in real time according to the diameter of the pipeline to be measured, so that it can be applicable to pipelines of different sizes and pipelines with variable diameters, and has strong practicability.

[0030] In the embodiment, a fixed block 13 is provided on one side of the fixed column 1 close to the clamping arm 2. One end of the fixed block 13 is slidably provided with a telescopic block 14. The driving wheel 12 is fixed on the telescopic block 14. A buffer spring 15 is provided between the telescopic block 14 and the fixed block 13. Since there may be unevenness on the outer side of the pipeline, setting the buffer spring 15 between the telescopic block 14 and the fixed block 13 can make the driving wheel 12 always contact the outer wall of the pipeline to be measured and drive the device to move smoothly.

[0031] In this embodiment, a fixed sleeve 53 is fixedly arranged on the outer side of the fixed column 1. An active block 54 is slidably arranged in the fixed sleeve 53. A second chute 531 is arranged on the inner side of the fixed sleeve 53. A second slider 541 is arranged on the outer side of the active block 54. The second slider 541 is slidably arranged in the second chute 531. One end of the active block 54 extends out of the fixed sleeve 53 and the end is rotatably connected to the fixed block 13. A first screw rod 52 is threadedly connected to the end of the active block 54 located in the fixed sleeve 53. One end of the rotating rod 5 passes through the installation cavity 19 and extends into the fixed sleeve 53, and the end is fixedly connected to the first screw rod 52.

[0032] When the size of the pipeline is large, when the second motor 4 is started to drive the first bevel gear 51 to rotate, it drives the two second bevel gears 61 and the second screw rod 6 to rotate, so that the two second screw rods 6 move away from each other, and the universal wheels 221 on the two clamping arms 2 move away from each other. At the same time, the first screw rod 52 moves inward, and the driving wheel 12 gradually moves away from the pipeline, so as to adapt to pipelines with larger sizes. Similarly, when the pipeline size is small, the two clamping arms 2 move towards each other, the universal wheels 221 on both sides move closer to each other, and at the same time the driving wheel 12 also moves inward close to the outer wall of the pipeline, ensuring that the driving wheel 12 and the universal wheels 221 always contact the outer wall of the pipeline, so that the equipment can move normally.

[0033] In this embodiment, an extension plate 55 is arranged on the active block 54 located outside the fixed sleeve 53. A third motor 56 is arranged on the extension plate 55. A first gear 561 is arranged on the output shaft of the third motor 56. A ring gear 131 is arranged on the outer side of the fixed block 13. The first gear 561 is meshed and connected with the ring gear 131.

[0034] In the initial state, the rolling direction of the driving wheel 12 is arranged along the length direction of the outer wall of the pipeline. When the equipment needs to move circumferentially along the outer wall of the pipeline, the third motor 56 is started to drive the first gear 561 to rotate, so that the ring gear 131 and the fixed block 13 rotate accordingly, and the driving wheel 12 rotates 90 degrees. At this time, the third motor 56 can drive the driving wheel 21 to move circumferentially along the pipeline, and the structure is simple.

[0035] The operation method of the above magnetic adsorption wall-climbing equipment includes the following steps: S1. Place the equipment on the surface of the pipeline, connect the power supply, start the second motor 4, and drive the two second bevel gears 61 to rotate synchronously through the first bevel gear 53, and adjust the distance between the two clamping arms 2 so that it can clamp the pipeline to be measured; S2. At the same time, start the electromagnet 232 to adsorb the equipment on the outer wall of the pipeline to be measured, and then start the first motor 11 to drive the driving wheel 12 to rotate, so that the equipment moves up and down along the pipeline to be measured; S3. When the device needs to move circumferentially along the pipeline to be measured, the third motor 56 drives the first gear 561 to rotate, drives the driving wheel 12 to rotate 90 degrees through the annular gear ring 131, changes the rolling direction of the driving wheel 12, and then uses the first motor 11 to drive the device to move circumferentially along the pipeline to be measured; S4. When the pipeline size becomes smaller, the second motor 4 drives the two clamping arms 2 to approach each other, so that the universal wheels 221 always contact the outer wall of the pipeline to be measured. At the same time, the movable block 54 slides outward along the outer side of the fixed sleeve 53, pushes the driving wheel 12 to move outward, and makes it contact the outer wall of the pipeline to be measured, ensuring that the device moves smoothly on the outer wall of the pipeline to be measured; S5. When the device moves to the specified position, start the second cylinder 24 to make it extend, push the clamping block 242 to contact and press the pipeline to be measured, and fix the device at the current position. Embodiment 2

[0036] Reference Figures 4-7 As shown, the second cylinders 24 are symmetrically arranged on the opposite sides of the two clamping arms 2. The output end of the second cylinder 24 is provided with a third mounting seat 241. A connecting block 242 is hinged on the third mounting seat 241. A clamping block 243 is provided on the connecting block 242. Pull springs 245 are provided on both sides between the third mounting seat 241 and the connecting block 242. The second cylinder 24 is communicated with external compressed air.

[0037] After the device moves to the specified position, the second cylinder 24 is used to push the clamping block 243 to contact and squeeze the outer wall of the pipeline to be measured. Under the pressing action of the two symmetrical clamping blocks 243, the device is firmly fixed at the current position to avoid accidental detachment during work.

[0038] In this embodiment, a pressure sensor 244 is embedded on the outer side of the clamping block 243. Infrared distance sensors 21 are provided on the opposite sides of the two clamping arms 2. A fixed shell 3 is provided on the fixed column 1. An attitude sensor 32 is provided on the fixed shell 3. A main control board 31 is provided in the fixed shell 3. The main control board 31 is electrically connected to the infrared distance sensors 21, the attitude sensor 32 and the pressure sensor 244. At the same time, the electromagnet 232, the first cylinder 23, the second cylinder 24, the first motor 11, the second motor 4 and the third motor 56 are all electrically connected to the main control board 31. Preferably, a storage battery can be provided on the fixed column 1, or an external power supply can be connected through a wire to supply electrical energy to the above devices.

[0039] The infrared ranging sensor 21 measures the outer diameter of the pipeline and transmits the measurement result to the main control board 31. The main control board 31 rotates the second motor 4 according to the measured data. The rotation of the second motor 4 drives the first bevel gear 51 to rotate the second bevel gear 61. The rotation of the second bevel gear 61 drives the second screw rod 6 to rotate. The rotation of the second screw rod 6 moves the clamping arm 2 to clamp the pipeline. According to the pipe diameter information, the first cylinder 23 drives the electromagnet 232 to move, automatically adjusting the current magnitude and the magnetic pole spacing of the electromagnet 232 so that the adsorption force can be adaptively adjusted according to the change of the pipeline, ensuring that the robot can firmly adsorb on the pipeline walls with different pipe diameters and preventing slipping.

[0040] The second cylinder 24 drives the pressure sensor 244 to move the clamping block 243 to clamp the pipeline, ensuring the stability of the device. The pressure sensor 244 detects the clamping pressure. The pressure sensor 244 detects the magnitude of the clamping force and feeds it back to the control mechanism to achieve precise clamping force control. The attitude sensor 32 detects the attitude of the device, and then the main control board 31 automatically adjusts the attitude of the device according to the attitude data.

[0041] Preferably, a jack 33 is installed on the fixed housing 3. A plug 34 is inserted into the inner wall of the jack 33. A fixed cylinder 35 is bolted to the surface of the fixed housing 3. A rotating cylinder 36 is threadedly connected to the surface of the fixed cylinder 35. A triangular groove 37 is formed in the inner wall of the rotating cylinder 36. A telescopic rod 38 is slidably sleeved in the inner wall of the triangular groove 37. A spring 39 is sleeved on the surface of the telescopic rod 38. One end of the telescopic rod 38 is bolted with a pressing plate 381. The plug 34 is inserted into the jack 33. The rotating cylinder 36 is rotated to move the triangular groove 37. The movement of the triangular groove 37 makes the telescopic rod 38 drive the pressing plate 381 to press the plug 34, fixing the plug 34 and preventing the plug 34 from loosening, improving the stability. Embodiment III

[0042] Reference Figures 8-9 As shown, the clamping arm 2 includes a first movable arm 25 and a second movable arm 26. The first movable arm 25 is slidably arranged in the blind hole 18. One end of the first movable arm 25 extends out of the blind hole 18 and a rotating shaft 7 is rotatably arranged at the end. One end of the second movable arm 26 is fixedly connected to the rotating shaft 7. A second gear 71 is arranged at the upper end of the rotating shaft 7. An installation rod 8 is rotatably arranged on the fixed column 1 along the length direction of the first movable arm 25. A rack 81 meshing with the second gear 71 is arranged on one side of the installation rod 8 close to the second gear 71.

[0043] When the diameter of the pipeline is relatively large, the second motor 4 drives the two clamping arms 2 to move away from each other. The rotating shaft 7 and the second gear 71 gradually move away from the fixed column 1. Under the action of the rack 81 of the mounting rod 8, the second gear 71 rotates outwards, driving the rotating shaft 7 and the second movable arm 26 to rotate outwards, increasing the angle between the two second movable arms 26. Similarly, when the diameter of the pipeline is relatively small, the second motor 4 drives the two clamping arms 2 to move towards each other. The rotating shaft 7 and the second gear 71 gradually approach the fixed column 1. Under the action of the rack of the mounting rod 8, the second gear 71 rotates inwards, driving the rotating shaft 7 and the second movable arm 26 to rotate inwards, reducing the angle between the two second movable arms 26. Through the above structural design, the device can quickly adapt to pipelines of different sizes, improving the scope of application.

Claims

1. A magnetic adsorption wall-climbing device for variable-diameter pipelines, including a fixed column (1), characterized in that, L-shaped clamping arms (2) are slidably arranged at both ends of the fixed column (1), and a plurality of universal wheels (221) are symmetrically arranged on the opposite sides of the two clamping arms (2); On the opposite sides of the clamping arms (2), first cylinders (23) are also symmetrically arranged, and electromagnets (232) are installed at the telescopic ends of the first cylinders (23); On one side of the fixed column (1) close to the universal wheels (221), a driving wheel (12) is arranged, and a first motor (11) capable of driving the driving wheel (12) to rotate is provided on the driving wheel (12); A driving mechanism capable of driving the two clamping arms (2) to move towards and away from each other is arranged in the fixed column (1).

2. The magnetic adsorption wall-climbing device for a variable-diameter pipeline according to claim 1, wherein Blind holes (18) are arranged at both ends of the fixed column (1), and one end of the clamping arm (2) is slidably arranged in the blind hole (18); At the end of the clamping arm (2) located in the blind hole (18), a second screw rod (6) is threadedly connected. An installation cavity (18) is arranged in the fixed column (1). One end of the second screw rod (6) extends into the installation cavity (19). The second screw rod (6) is rotatably connected to the bottom of the blind hole (18). A driving component capable of driving the two second screw rods (6) to rotate in the opposite direction is arranged in the installation cavity (19).

3. The magnetic adsorption wall-climbing device for a variable-diameter pipeline according to claim 2, wherein, The driving component includes: A rotating rod (5) rotatably arranged in the installation cavity (19), and a first bevel gear (53) is arranged on the rotating rod (5); Two second bevel gears (61) are respectively fixed at the ends of the two screw rods (6) extending into the installation cavity (19). The two second bevel gears (61) are simultaneously meshed with the first bevel gear (53); A second motor (4) is fixed on the fixed column (1), and the output shaft of the second motor (4) is in transmission connection with the rotating rod (5).

4. The magnetic adsorption wall-climbing device for a variable-diameter pipeline according to claim 3, wherein, A fixed block (13) is arranged on one side of the fixed column (1) close to the clamping arm (2). A telescopic block (14) is slidably arranged at one end of the fixed block (13). The driving wheel (12) is fixed on the telescopic block (14). A buffer spring (15) is arranged between the telescopic block (14) and the fixed block (13).

5. The magnetic adsorption wall-climbing device for a variable-diameter pipeline according to claim 4, wherein A fixed sleeve (53) is fixedly arranged on the outer side of the fixed column (1). A movable block (54) is slidably arranged in the fixed sleeve (53). One end of the movable block (54) extends out of the fixed sleeve (53) and is rotatably connected to the fixed block (13). A first screw rod (52) is threadedly connected to the end of the movable block (54) located in the fixed sleeve (53). One end of the rotating rod (5) passes through the installation cavity (19) and extends into the fixed sleeve (53), and is fixedly connected to the first screw rod (52).

6. The magnetic adsorption wall-climbing device for a variable-diameter pipeline according to claim 5, characterized in that, An extension plate (55) is arranged on the movable block (54) located outside the fixed sleeve (53). A third motor (56) is arranged on the extension plate (55). A first gear (561) is arranged on the output shaft of the third motor (56). A ring gear (131) is arranged on the outer side of the fixed block (13). The first gear (561) is meshed with the ring gear (131).

7. The magnetic adsorption wall-climbing device for variable-diameter pipelines according to claim 6, wherein, On the opposite sides of the two clamping arms (2), second cylinders (24) are symmetrically arranged. An output end of the second cylinder (24) is provided with a third mounting seat (241). A connecting block (242) is hinged on the third mounting seat (241). A clamping block (243) is arranged on the connecting block (242). Tension springs (245) are arranged on both sides between the third mounting seat (241) and the connecting block (242).

8. A magnetic adsorption wall-climbing device for a variable-diameter pipeline according to claim 7, characterized in that, A pressure sensor (244) is embedded on an outer side of the clamping block (243). Infrared distance sensors (21) are arranged on opposite sides of the two clamping arms (2). A fixed shell (3) is arranged on the fixed column (1). An attitude sensor (32) is arranged on the fixed shell (3). A main control board (31) is arranged inside the fixed shell (3). The main control board (31) is electrically connected to the infrared distance sensors (21), the attitude sensor (32), and the pressure sensor (244).

9. The magnetic adsorption wall-climbing device for a variable-diameter pipeline according to claim 2, characterized in that, The clamping arm (2) includes a first movable arm (25) and a second movable arm (26). The first movable arm (25) is slidably arranged in a blind hole (18). One end of the first movable arm (25) extends out of the blind hole (18) and a rotating shaft (7) is rotatably arranged at an end portion thereof. One end of the second movable arm (26) is fixedly connected to the rotating shaft (7). A second gear (71) is arranged at an upper end of the rotating shaft (7). An installation rod (8) is rotatably arranged on the fixed column (1) along a length direction of the first movable arm (25). A rack (81) meshingly connected to the second gear (71) is arranged on a side of the installation rod (8) close to the second gear (71).

10. The operating method of a magnetic adsorption wall-climbing device for a variable-diameter pipeline according to claim 8, characterized in that, It includes the following steps: S1. Place the device on the surface of the pipeline, connect the power supply, start the second motor (4), drive two second bevel gears (61) to rotate synchronously through a first bevel gear (53), and adjust the distance between the two clamping arms (2) so that it can clamp the pipeline to be measured; S2. Start the electromagnet (232) simultaneously, adsorb the device on the outer wall of the pipeline to be measured, and then start the first motor (11) to drive the driving wheel (12) to rotate, so that the device moves up and down along the pipeline to be measured; S3. When the device needs to move circumferentially along the pipeline to be measured, drive a first gear (561) to rotate through a third motor (56), drive the driving wheel (12) to rotate 90 degrees through an annular gear ring (131), change the rolling direction of the driving wheel (12), and then drive the device to move circumferentially along the pipeline to be measured by using the first motor (11); S4. When the pipeline size becomes smaller, drive the two clamping arms (2) to approach each other through the second motor (4), so that the universal wheels (221) always contact the outer wall of the pipeline to be measured. At the same time, the movable block (54) slides outward on the outer side of the fixed sleeve (53), pushes the driving wheel (12) to move outward, so that it contacts the outer wall of the pipeline to be measured, and ensures that the device moves smoothly on the outer wall of the pipeline to be measured; S5. When the device moves to a specified position, start the second cylinder (24) to make it extend, push the clamping block (242) to contact and press the pipeline to be measured, and fix the device at the current position.

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