Pipeline robot and control method thereof

Abstract

The invention relates to the field of pipeline robots, and particularly discloses a pipeline robot and a control method thereof.The pipeline robot comprises a first section body, a second section body, a third section body and a fourth section body which are sequentially hinged, the hinged axes of all the hinged positions are parallel to one another, and the first section body, the second section body, the third section body and the fourth section body are connected into an M shape; the multiple sets of wheel set mechanisms are arranged, and the multiple sets of wheel set mechanisms are arranged at the hinged positions correspondingly and used for driving the first section body, the second section body, the third section body and the fourth section body to advance along the axis of the pipeline; one elastic assembly is arranged between the first section body and the second section body in a tensioning mode, and the other elastic assembly is arranged between the third section body and the fourth section body in a tensioning mode; one driven wheel set is arranged at the end, away from the second section body, of the first section body, and the other driven wheel set is arranged at the end, away from the third section body, of the fourth section body. The pipeline robot has the effect that the pipeline robot needs to adapt to different pipe diameters.

Description

Technical Field

[0001] The present invention relates to the field of pipeline robots, and in particular to a pipeline robot and a control method thereof. Background Art

[0002] Pipeline robots are robotic systems designed specifically to perform various tasks in pipelines. These robots typically possess autonomous navigation and intelligent perception capabilities, enabling them to perform tasks such as inspection and monitoring within pipelines.

[0003] In actual applications, pipes usually have different diameters, so the pipeline robot needs to automatically adapt to different pipe diameters. Summary of the Invention

[0004] The object of the present invention is to provide a pipeline robot and a control method thereof, so as to solve the problem proposed in the above background technology that the pipeline robot needs to adapt to different pipe diameters.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] In the first aspect, the present application provides a pipeline robot, which includes a first section, a second section, a third section and a fourth section hinged in sequence, the hinge axes of each hinge are parallel to each other, and the first section, the second section, the third section and the fourth section are connected in an "M" shape; a wheel group mechanism, which is provided with multiple groups, and the multiple groups of wheel group structures are respectively arranged at each hinge, for driving the first section, the second section, the third section and the fourth section to move forward along the pipeline axis; two groups of elastic components, one group of elastic components is tightened and arranged between the first section and the second section, and the other group of elastic components is tightened and arranged between the third section and the fourth section; two groups of passive wheel groups, one group of the passive wheel groups is arranged at the end of the first section away from the second section, and the other group of the passive wheel groups is arranged at the end of the fourth section away from the third section.

[0007] By adopting the above technical solution, under the action of the elastic component, when the pipeline robot is placed in the pipeline, the angle between the first and second sections continues to decrease, and the angle between the third and fourth sections continues to decrease, thereby allowing the wheel assembly mechanism and the passive wheel assembly to adhere closely to the inner wall of the pipeline. At the same time, due to the elastic effect of the elastic component, the angle between the first and second sections can be adaptively adjusted according to the diameter of the inner wall of the pipeline, and the angle between the third and fourth sections can be adaptively adjusted according to the diameter of the inner wall of the pipeline, allowing the pipeline robot to adapt to different pipe diameters.

[0008] In a further embodiment, the elastic component includes a plurality of tension springs, and the tension springs are tautly connected between the first segment and the second segment, or the tension springs are tautly connected between the third segment and the fourth segment.

[0009] By adopting the above technical solution, when the tension spring is tightened, it generates an elastic restoring force, thereby causing the angle between the first and second segments to continue to decrease, and the angle between the third and fourth segments to continue to decrease. The tensioning force of the elastic assembly can be adjusted by adjusting the number of tension springs or adapting tension springs of different stiffnesses, thereby facilitating adjustment of the tension between the first and second segments, and between the third and fourth segments.

[0010] In a further embodiment, the elastic component further includes a connecting column, the connecting column passes through the end of the tension spring, and the connecting column is fixed to the first section or the second section or the third section or the fourth section.

[0011] By adopting the above technical solution, the tension spring can be connected to the first section, the second section, the third section or the fourth section by passing the tensioning column through the end of the tension spring, which facilitates the disassembly and assembly of the tension spring.

[0012] In a further embodiment, the wheel assembly mechanism includes an omnidirectional wheel and a driving mechanism, wherein the driving mechanism is used to drive the omnidirectional wheel to rotate along the axis of the omnidirectional wheel; one end of the passive wheel assembly is rotatably connected to the end of the first section or the end of the fourth section, and the rotation axis is along the axis of the first section or the fourth section.

[0013] By adopting the above technical solution, the omnidirectional wheel can slide along its side, driving one set of passive wheel groups to turn around the rotation axis of the first section, and another set of passive components to turn around the rotation axis of the fourth section, thereby controlling the pipeline robot to rotate around the axis of the pipeline, or changing the angle between the pipeline robot and the pipeline axis, so that the movement of the pipeline robot is more comprehensive and the pipeline can be inspected more comprehensively.

[0014] In a further embodiment, the driving mechanism includes a driving motor, a first bevel gear and a second bevel gear, the driving motor is fixed to the second section or the third section, the rotating shaft of the driving motor is coaxially fixed to the first bevel gear, the second bevel gear and the rotating shaft of the omnidirectional wheel are coaxially fixed, and the first bevel gear and the second bevel gear are engaged with each other.

[0015] By adopting this technical solution, when the drive motor's shaft rotates, the first bevel gear rotates, meshing with the second bevel gear, which then drives the omnidirectional wheels via the shaft, thereby enabling the pipeline robot to move forward. Because the first and second bevel gears' shafts intersect perpendicularly, the drive motor can be positioned along the axis of the second or third segment, facilitating its installation.

[0016] In a further embodiment, the first section and the second section are hinged via the rotating shaft of the omnidirectional wheel, the second section and the third section are hinged via the rotating shaft of the omnidirectional wheel, and the third section and the fourth section are hinged via the rotating shaft of the omnidirectional wheel.

[0017] By adopting the above technical solution, the rotating shaft of the omnidirectional wheel can not only serve as the rotating shaft for its own rotation, but also as the rotating shaft for the hinge between the segments, making the structure of the pipeline robot simpler and more compact.

[0018] In a further embodiment, the rotation axis of the drive motor is along the axis direction of the second segment or the third segment, and a battery for supplying energy to the drive motor is fixed to the tail end of the drive motor.

[0019] By adopting the above technical solution, the drive motor occupies a smaller space volume, and the battery can also power the drive motor without the need for cable power supply, making the pipeline robot more flexible in walking.

[0020] In a further embodiment, the passive wheel group includes a rotating motor, a connecting rod, a first hemisphere and a second hemisphere, the rotating motor is fixed to the first section or the fourth section, one end of the connecting rod is coaxially fixed to the drive shaft of the rotating motor, the first hemisphere and the second hemisphere are coaxial, and the first hemisphere and the second hemisphere are both rotatably connected to the other end of the connecting rod, and the rotation axis of the first hemisphere is perpendicular to the axis of the connecting rod.

[0021] By adopting the above technical solution, the rotating motor rotates, and the connecting rod drives the first hemisphere and the second hemisphere to rotate around the axis of the first section or the fourth section. At the same time, the first hemisphere and the second hemisphere can also rotate around their own axes, and the structure is simple and compact.

[0022] On the second aspect, the present application also discloses a control method for a pipeline robot, which includes the following steps: placing the pipeline robot into the pipeline, and under the action of the elastic member, the omnidirectional wheel and the passive wheel group are both close to the inner wall of the pipeline; rotating the passive wheel group along the axis of the first section or the fourth section so that the rotation axis of the passive wheel group is parallel to the rotation axis of the omnidirectional wheel; the driving mechanism drives the omnidirectional wheel to rotate, the omnidirectional wheel rolls along the inner wall of the pipeline, and the passive wheel group follows the rotation of the omnidirectional wheel.

[0023] In a further embodiment, rotating the passive wheel group along the axis of the first section or the fourth section also includes: when the direction of rotation along the axis of the first section and the direction of rotation along the axis of the fourth section are the same, the pipeline robot rotates around the axis of the pipeline; when the direction of rotation along the axis of the first section and the direction of rotation along the axis of the fourth section are opposite, the angle between the pipeline robot and the axis of the pipeline changes.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. Due to the elastic component, once the pipeline robot is placed in a pipeline, the angle between the first and second sections continues to decrease, as does the angle between the third and fourth sections. This allows both the wheel assembly and the passive wheel assembly to adhere closely to the inner wall of the pipeline. Furthermore, due to the elasticity of the elastic component, the angle between the first and second sections can be adaptively adjusted to the diameter of the pipeline's inner wall, as can the angle between the third and fourth sections, allowing the pipeline robot to adapt to varying pipe diameters.

[0026] 2. The tensioning force of the elastic component can be adjusted by adjusting the number of tension springs or adapting tension springs of different stiffness, so as to facilitate adjustment of the tensioning force between the first section and the second section, and between the third section and the fourth section.

[0027] 3. The omnidirectional wheels can slide sideways, driving one set of passive wheel groups to turn around the first section's rotation axis, and another set of passive components to turn around the fourth section's rotation axis, thereby controlling the pipeline robot to rotate around the pipeline's axis or changing the angle between the pipeline robot and the pipeline's axis, thereby making the pipeline robot's movement more comprehensive and enabling a more comprehensive inspection of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the overall structure of the embodiment of this application;

[0029] Figure 2 This is a schematic structural diagram of the reverse side of an embodiment of the present application;

[0030] Figure 3 This is a schematic diagram showing the internal structure in the embodiment of the present application;

[0031] Figure 4 for Figure 2 Schematic diagram of the enlarged structure of part A;

[0032] Figure 5 This is a schematic diagram of the cross-sectional structure in the embodiment of the present application;

[0033] Figure 6This is a schematic diagram of the arrangement of the internal structure in the embodiment of the present application;

[0034] Figure 7 This is a schematic diagram of the rotation of the pipeline robot in an embodiment of the present application.

[0035] In the figure: 1. First section; 2. Second section; 3. Third section; 4. Fourth section; 5. Wheel assembly; 51. Omnidirectional wheel; 52. Driving mechanism; 521. Driving motor; 522. First bevel gear; 523. Second bevel gear; 6. Elastic assembly; 61. Tension spring; 7. Passive wheel assembly; 71. Rotating motor; 72. Connecting rod; 721. Spherical wheel flange; 73. First hemisphere; 74. Second hemisphere; 8. Battery; DETAILED DESCRIPTION

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, 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 cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0037] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] See also Figure 1 and Figure 2 The present application provides an embodiment of a pipeline robot, which includes a first segment 1, a second segment 2, a third segment 3, a fourth segment 4, a wheel assembly mechanism 5, an elastic component 6 and a passive wheel assembly 7 that are hinged in sequence. The first segment 1, the second segment 2, the third segment 3, the fourth segment 4, the hinge axes of each hinge are parallel to each other, and the first segment 1, the second segment 2, the third segment 3 and the fourth segment 4 are connected to form an "M" shape. The wheel assembly mechanism 5 is provided with multiple groups, and the multiple groups of wheel assembly structures are respectively provided at each hinge, for driving the first segment 1, the second segment 2, the third segment 3 and the fourth segment 4 to advance along the pipeline axis. There are two groups of elastic components 6, one group of elastic components 6 is tensioned and arranged between the first segment 1 and the second segment 2, and the other group of elastic components 6 is tensioned and arranged between the third segment 3 and the fourth segment 4. There are two sets of passive wheel sets 7 , one set of passive wheel sets 7 is arranged at one end of the first segment 1 away from the second segment 2 , and the other set of passive wheel sets 7 is arranged at one end of the fourth segment 4 away from the third segment 3 .

[0040] Under the action of the elastic component 6, when the pipeline robot is placed in the pipeline, the angle between the first segment 1 and the second segment 2 continues to decrease, and the angle between the third segment 3 and the fourth segment 4 continues to decrease, thereby allowing the wheel assembly mechanism 5 and the passive wheel assembly 7 to be closely attached to the inner wall of the pipeline. At the same time, due to the elastic effect of the elastic component 6, the angle between the first segment 1 and the second segment 2 can be adaptively adjusted according to the diameter of the inner wall of the pipeline, and the angle between the third segment 3 and the fourth segment 4 can be adaptively adjusted according to the diameter of the inner wall of the pipeline, allowing the pipeline robot to adapt to different pipe diameters.

[0041] Specifically, refer to Figure 1 and Figure 2 The elastic assembly 6 includes a plurality of tension springs 61, which are tautly connected between the first segment 1 and the second segment 2, or between the third segment 3 and the fourth segment 4. With this arrangement, when the tension springs 61 are taut, they generate an elastic restoring force, thereby causing the angle between the first segment 1 and the second segment 2 to continue to decrease, and the angle between the third segment 3 and the fourth segment 4 to continue to decrease. The tension of the elastic assembly 6 can be adjusted by adjusting the number of tension springs 61 or adapting tension springs 61 of different stiffnesses, thereby facilitating adjustment of the tension between the first segment 1 and the second segment 2, and between the third segment 3 and the fourth segment 4.

[0042] The greater the stiffness of the tension spring 61, the greater the vertical pressure and friction exerted by the pipeline robot on the pipe wall under the same test environment and at the same stretching amount. This also increases the torque required to rotate the drive motor 521 and the power consumption, making it suitable for working conditions with a low friction coefficient against the pipe wall. The same applies to the opposite situation.

[0043] Further, refer to Figure 1 and Figure 2 The elastic component 6 further includes a connecting post, which passes through the end of the tension spring 61 and is fixed to the first segment 1, the second segment 2, the third segment 3, or the fourth segment 4. By passing the tension post through the end of the tension spring 61, the tension spring 61 can be connected to the first segment 1, the second segment 2, the third segment 3, or the fourth segment 4, facilitating assembly and disassembly of the tension spring 61. Specifically, the connecting post can be a screw, a stud, or other cylindrical fastener, with a screw being preferred for ease of assembly and disassembly.

[0044] Regarding the elastic component 6, in addition to the embodiment of the present application, the elastic component 6 can also be a torsion spring. The torsion spring is mounted on the hinge shaft between two adjacent segments, and can also achieve the elastic effect between the two adjacent segments.

[0045] Further, refer to Figure 1-5 The wheel assembly 5 includes an omnidirectional wheel 51 and a driving mechanism 52. The driving mechanism 52 is used to drive the omnidirectional wheel 51 to rotate along the axis of the omnidirectional wheel 51. One end of the passive wheel assembly 7 is rotatably connected to the end of the first segment 1 or the end of the fourth segment 4, and the rotation axis is along the axis of the first segment 1 or the fourth segment 4.

[0046] The omnidirectional wheel 51 can slide along its side, driving one set of passive wheel groups 7 to turn around the rotating axis of the first section 1, and another set of passive components to turn around the rotating axis of the fourth section 4, so as to control the pipeline robot to rotate around the axis of the pipeline, or change the angle between the pipeline robot and the pipeline axis, so that the movement of the pipeline robot is more comprehensive and the pipeline can be inspected more comprehensively.

[0047] Specifically, refer to Figure 1-5 The driving mechanism 52 includes a driving motor 521, a first bevel gear 522 and a second bevel gear 523. The driving motor 521 is fixed to the second segment 2 or the third segment 3. The rotating shaft of the driving motor 521 is coaxially fixed with the first bevel gear 522. The second bevel gear 523 is coaxially fixed with the rotating shaft of the omnidirectional wheel 51. The first bevel gear 522 and the second bevel gear 523 are meshed with each other.

[0048] When the shaft of the drive motor 521 rotates, the first bevel gear 522 rotates, meshing with the second bevel gear 523. The second bevel gear 523 then drives the omnidirectional wheels 51 via the shaft, thus enabling the pipeline robot to move forward. Because the first and second bevel gears 522, 523, have their axes of rotation perpendicular to each other, the drive motor 521 can be positioned along the axis of the second segment 2 or the third segment 3, facilitating its installation.

[0049] Further, refer to Figure 1-Figure 5The first section 1 and the second section 2 are hinged through the rotating shaft of the omnidirectional wheel 51, the second section 2 and the third section 3 are hinged through the rotating shaft of the omnidirectional wheel 51, and the third section 3 and the fourth section 4 are hinged through the rotating shaft of the omnidirectional wheel 51.

[0050] The rotating shaft of the omnidirectional wheel 51 can not only serve as the rotating shaft for its own rotation, but also as the rotating shaft for the hinge between the segments, making the structure of the pipeline robot simpler and more compact.

[0051] Further, refer to Figure 1-5 The rotation axis of the drive motor 521 is along the axis of the second segment 2 or the third segment 3. A battery 8 for powering the drive motor 521 is fixed to the rear end of the drive motor 521. The drive motor 521 occupies a relatively small space, and the battery 8 can also power the drive motor 521, eliminating the need for power cables and making the pipeline robot more flexible. Furthermore, the first segment 1 and the fourth segment 4 are also equipped with batteries 8, so that each segment is equipped with a battery 8, thereby improving the pipeline robot's endurance.

[0052] Further, refer to Figure 1-6 The passive wheel assembly 7 includes a rotating motor 71, a connecting rod 72, a first hemisphere 73, and a second hemisphere 74. The rotating motor 71 is fixed to the first segment 1 or the fourth segment 4. One end of the connecting rod 72 is coaxially fixed to the drive shaft of the rotating motor 71. The first hemisphere 73 and the second hemisphere 74 are coaxial, and both the first hemisphere 73 and the second hemisphere 74 are rotatably connected to the other end of the connecting rod 72. The rotation axis of the first hemisphere 73 is perpendicular to the axis of the connecting rod 72. Specifically, the end of the connecting rod 72 away from the rotating motor 71 is rotatably connected to two ball wheel flanges 721. The axis of the ball wheel flange 721 is perpendicular to the axis of the connecting rod 72, and the two ball wheel flanges 721 are respectively located on both sides of the connecting rod 72. The first hemisphere 73 and the second hemisphere 74 are respectively fixed to the two ball wheel flanges 721.

[0053] The rotating motor 71 rotates, driving the first hemisphere 73 and the second hemisphere 74 to rotate around the axis of the first segment 1 or the fourth segment 4 through the connecting rod 72. At the same time, the first hemisphere 73 and the second hemisphere 74 can also rotate around their own axes, and the structure is simple and compact.

[0054] Further, refer to Figure 7 , detailing each rotational axis of the pipeline robot. The solid axis represents the active drive axis, the dashed axis represents the passive drive axis, and the dashed axis represents the drive transmission axis. Specifically, the rotation at drive motor 521 represents the active drive, the rotation at ball wheel flange 721 represents the passive drive, and the rotation at omnidirectional wheel 51 represents the drive transmission. The pipeline robot has five active degrees of freedom and seven passive degrees of freedom (excluding the local degrees of freedom of the omnidirectional wheel).

[0055] Based on the above pipeline robot, the present application also discloses a control method for the pipeline robot, comprising the following steps:

[0056] S1. Place the pipeline robot into the pipeline. Under the action of the elastic member, the omnidirectional wheel 51 and the passive wheel group 7 are close to the inner wall of the pipeline;

[0057] S2 along the axis of the first section 1 or the fourth section 4 of the driven wheel assembly 7 is rotated so that the rotation axis of the driven wheel assembly 7 and the rotation axis of the omnidirectional wheel 51 are parallel;

[0058] S3. The driving mechanism 52 drives the omnidirectional wheel 51 to rotate. The omnidirectional wheel 51 rolls along the inner wall of the pipe, and the driven wheel set 7 rotates following the omnidirectional wheel 51.

[0059] Furthermore, the step S2 of rotating the driven wheel assembly 7 along the axis of the first segment 1 or the fourth segment 4 further includes:

[0060] S21. When the direction of rotation along the axis of the first segment 1 and the direction of rotation along the axis of the fourth segment 4 are the same, the pipeline robot rotates around the axis of the pipeline;

[0061] S22. When the direction of rotation along the axis of the first segment 1 and the direction of rotation along the axis of the fourth segment 4 are opposite, the angle between the pipeline robot and the pipeline axis changes.

[0062] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0063] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A pipeline robot comprising: The first section (1), the second section (2), the third section (3) and the fourth section (4) are hinged in sequence, and the hinge axes of each hinge are parallel to each other. The first section (1), the second section (2), the third section (3) and the fourth section (4) are connected to form an "M" shape; A wheel assembly mechanism (5) is provided with multiple groups, and the multiple groups of wheel assembly structures are respectively provided at each hinged location, and are used to drive the first section (1), the second section (2), the third section (3) and the fourth section (4) to move forward along the pipeline axis; Two groups of elastic components (6), one group of elastic components (6) is tensioned and arranged between the first section (1) and the second section (2), and the other group of elastic components (6) is tensioned and arranged between the third section (3) and the fourth section (4); Two sets of passive wheel assemblies (7), one set of the passive wheel assemblies (7) is arranged at one end of the first section (1) away from the second section (2), and the other set of the passive wheel assemblies (7) is arranged at one end of the fourth section (4) away from the third section (3).

2. A pipeline robot according to claim 1, characterized in that: The elastic component (6) includes a plurality of tension springs (61), wherein the tension springs (61) are tensionedly connected between the first section (1) and the second section (2), or the tension springs (61) are tensionedly connected between the third section (3) and the fourth section (4).

3. The pipeline robot according to claim 2, characterized in that: The elastic component (6) further comprises a connecting column, the connecting column passing through the end of the tension spring (61), and the connecting column being fixed to the first section (1) or the second section (2) or the third section (3) or the fourth section (4).

4. The pipeline robot according to claim 1, characterized in that: The wheel assembly mechanism (5) comprises an omnidirectional wheel (51) and a driving mechanism (52), wherein the driving mechanism (52) is used to drive the omnidirectional wheel (51) to rotate along the axis of the omnidirectional wheel (51); One end of the driven wheel group (7) is rotatably connected to the end of the first segment (1) or the end of the fourth segment (4), and the rotation axis is along the axis of the first segment (1) or the fourth segment (4).

5. The pipeline robot according to claim 4, characterized in that: The driving mechanism (52) comprises a driving motor (521), a first bevel gear (522) and a second bevel gear (523); the driving motor (521) is fixed to the second segment (2) or the third segment (3); the rotating shaft of the driving motor (521) and the first bevel gear (522) are fixed coaxially; the second bevel gear (523) and the rotating shaft of the omnidirectional wheel (51) are fixed coaxially; and the first bevel gear (522) and the second bevel gear (523) are meshed with each other.

6. The pipeline robot according to claim 5, characterized in that: The first section (1) and the second section (2) are hinged via the rotating shaft of the omnidirectional wheel (51), the second section (2) and the third section (3) are hinged via the rotating shaft of the omnidirectional wheel (51), and the third section (3) and the fourth section (4) are hinged via the rotating shaft of the omnidirectional wheel (51).

7. The pipeline robot according to claim 4, characterized in that: The rotation axis of the drive motor (521) is along the axis direction of the second segment (2) or the third segment (3), and a battery (8) for supplying energy to the drive motor (521) is fixed at the tail end of the drive motor (521).

8. The pipeline robot according to claim 7, characterized in that The passive wheel group (7) includes a rotating motor (71), a connecting rod (72), a first hemisphere (73) and a second hemisphere (74), wherein the rotating motor (71) is fixed to the first section (1) or the fourth section (4), one end of the connecting rod (72) is coaxially fixed to the driving shaft of the rotating motor (71), the first hemisphere (73) and the second hemisphere (74) are coaxial, and the first hemisphere (73) and the second hemisphere (74) are both rotatably connected to the other end of the connecting rod (72), and the rotation axis of the first hemisphere (73) is perpendicular to the axis of the connecting rod (72).

9. The control method of the pipeline robot according to any one of claims 4 to 8, comprising the following steps: The pipeline robot is placed in the pipeline, and under the action of the elastic member, the omnidirectional wheel (51) and the passive wheel group (7) are both pressed against the inner wall of the pipeline; Rotating the passive wheel assembly (7) along the axis of the first segment (1) or the fourth segment (4) so that the rotation axis of the passive wheel assembly (7) is parallel to the rotation axis of the omnidirectional wheel (51); The driving mechanism (52) drives the omnidirectional wheel (51) to rotate, the omnidirectional wheel (51) rolls along the inner wall of the pipeline, and the passive wheel group (7) rotates following the omnidirectional wheel (51).

10. The control method of a pipeline robot according to claim 9, characterized in that: Rotating the passive wheel assembly (7) along the axis of the first segment (1) or the fourth segment (4) further comprises: When the direction of rotation along the axis of the first segment (1) and the direction of rotation along the axis of the fourth segment (4) are the same, the pipeline robot rotates around the axis of the pipeline; When the direction of rotation along the axis of the first segment (1) and the direction of rotation along the axis of the fourth segment (4) are opposite, the angle between the pipeline robot and the pipeline axis changes.

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