Crawler-type pipeline foreign matter grabbing robot

Abstract

The invention discloses a crawler-type pipeline foreign matter grabbing robot which comprises a vehicle body, a magnetic attraction crawler wheel walking device supporting the vehicle body and a foreign matter grabbing tool head installed at the top of the vehicle body. A quick mounting seat is arranged at the top of the vehicle body, and the foreign matter grabbing tool head is detachably mounted at the top of the vehicle body by being matched with the quick mounting seat; and the quick mounting seat can move back and forth in one direction relative to the vehicle body to drive the foreign matter grabbing tool head to move back and forth relative to the vehicle body. According to the crawler-type pipeline foreign matter grabbing robot, a magnetic attraction crawler wheel walking device is adopted at the bottom, and effective traction force is guaranteed so that the robot can freely move in a pipeline; the foreign matter grabbing tool head can be quickly disassembled and assembled through the quick mounting base on the top of the vehicle body, so that quick switching of different tool heads is facilitated, the suitable tool head can be quickly selected and switched according to the form and size of the foreign matter in a field pipeline, and the foreign matter in the pipeline can be effectively grabbed.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline maintenance equipment, and in particular to a crawler-type pipeline foreign body grabbing robot. Background Art

[0002] In nuclear power plant operations and maintenance, foreign matter incidents often occur in pipelines due to component detachment, aging, or human involvement. When foreign matter does occur, existing endoscopes are limited in length and the pipelines contain fittings like elbows and tees, making it difficult to effectively inspect the interior of the pipeline and locate the foreign matter.

[0003] Currently, inspecting and removing foreign objects from pipelines during nuclear power plant operation and maintenance is plagued by operational difficulties, high risk of human error, and low efficiency. Based on the types and layouts of pipelines on nuclear power sites, it is necessary to develop new nuclear-grade pipeline inspection and foreign object removal robots to comprehensively improve safety, quality, timeliness, and cost in these operations and maintenance areas.

[0004] The existing pipeline foreign body grabbing work has the following problems:

[0005] The distance into the pipeline is too short, so foreign objects can basically only be inspected and captured in the area near the pipe mouth. To inspect and capture foreign objects inside a narrow and long pipeline, the pipeline often needs to be disassembled in sections. The operation is difficult, consumes a lot of manpower and time costs, and has low efficiency.

[0006] Traditional endoscopy combined with foreign body grasping tools has poor coupling, and it is often necessary to combine multiple tools to operate together to remove foreign objects. This has the problems of great operational difficulty and low operational reliability. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a crawler-type pipeline foreign body grabbing robot.

[0008] The technical solution adopted by the present invention to solve the technical problem is as follows: providing a crawler-type pipeline foreign body grabbing robot, comprising a body, a magnetic crawler wheel running device supporting the body, and a foreign body grabbing tool head installed on the top of the body;

[0009] A quick mounting seat is provided on the top of the vehicle body, and the foreign object grasping tool head is detachably mounted on the top of the vehicle body by cooperating with the quick mounting seat; the quick mounting seat can move back and forth in one direction relative to the vehicle body, driving the foreign object grasping tool head to move back and forth relative to the vehicle body.

[0010] In some embodiments, the quick mounting base comprises a movable base and at least one retractable pin, the movable base is provided with a pin hole, and the retractable pin is inserted into the pin hole and is movable relative to the movable base to extend out of the pin hole or retract into the pin hole;

[0011] The foreign matter grabbing tool head is provided with at least one connecting part, and the connecting part is provided with a socket matched with the retractable pin;

[0012] When the foreign matter grabbing tool head is locked on the top of the vehicle body, the part of the retractable pin extending out of the pin hole penetrates into the socket; when the retractable pin is separated from the socket and retracts into the pin hole, the locking of the foreign matter grabbing tool head is released.

[0013] In some embodiments, the tracked pipeline foreign matter grabbing robot further comprises a driving mechanism connected to and driving the quick mounting base to move relative to the vehicle body.

[0014] In some embodiments, the driving mechanism comprises a driving motor, a motor gear coaxially arranged on the output shaft of the driving motor, and a rack matched with the motor gear.

[0015] The rack is arranged on the top of the vehicle body, and the length direction of the rack is parallel to the moving direction of the quick mounting base; the driving motor is arranged on the quick mounting base with the output shaft facing the rack, and the motor gear is engaged with the rack.

[0016] After the driving motor is started, the output shaft drives the motor gear to rotate synchronously, and the motor gear rotates while moving along the rack, thereby driving the quick mounting base to move on the top of the vehicle body.

[0017] In some embodiments, the driving mechanism comprises a driving motor, a lead screw, and a nut seat matched with the lead screw.

[0018] The lead screw is arranged on the top of the vehicle body and coaxially connected with the output shaft of the driving motor, and the length direction of the lead screw is parallel to the moving direction of the quick mounting base; the nut seat is sleeved on the lead screw and fixed below the quick mounting base.

[0019] After the driving motor is started, the output shaft drives the lead screw to rotate synchronously, and the rotation of the lead screw drives the nut seat to move axially along the lead screw, thereby driving the quick mounting base to move on the top of the vehicle body.

[0020] In some embodiments, the top of the vehicle body is further provided with at least one movable guide rail movably matched with the quick mounting base, and the length direction of the movable guide rail is parallel to the moving direction of the quick mounting base.

[0021] In some embodiments, the magnetic track wheel walking device comprises two groups of relatively independent track wheel modules, which are arranged at an angle and connected to opposite sides of the vehicle body.

[0022] In some embodiments, the track wheel module comprises a fixed support, a driving wheel and a driven wheel rotatably connected to the fixed support respectively, a track wrapped around the outer periphery of the driving wheel and the driven wheel, and a track motor connected to and driving the rotation of the driving wheel; part or all of the track is made of magnetic material or has a magnet.

[0023] In some embodiments, the track-type pipeline foreign object grabbing robot further comprises a foreign object collection frame mounted on the vehicle body and located in front of the foreign object grabbing tool head.

[0024] In some embodiments, the top of the vehicle body is further provided with a turnover seat, one end of the turnover seat being connected to the vehicle body through a rotary joint, and the turnover seat being capable of being turned over about the rotary joint.

[0025] The quick mounting seat is arranged on the turnover seat.

[0026] The track-type pipeline foreign object grabbing robot of the present application has the following advantages: the bottom of the track-type pipeline foreign object grabbing robot adopts a magnetic track wheel walking device, which ensures effective traction to freely move in the pipeline; the quick mounting seat on the top of the vehicle body realizes quick disassembly and assembly of the foreign object grabbing tool head, thereby facilitating quick switching of different tool heads, and the tool head suitable for the form and size of the foreign object in the pipeline can be quickly selected and switched to effectively grab the foreign object in the pipeline. BRIEF DESCRIPTION OF DRAWINGS

[0027] The present application will be further described below in conjunction with the drawings and embodiments, wherein:

[0028] Figure 1 is a structural schematic view of the track-type pipeline foreign object grabbing robot of an embodiment of the present application;

[0029] Figure 2 is Figure 1 is a structural schematic view of the quick mounting seat in the track-type pipeline foreign object grabbing robot shown in the figure;

[0030] Figure 3 is a structural schematic view of the first embodiment of the foreign object grabbing tool head in the track-type pipeline foreign object grabbing robot of the present application;

[0031] Figure 4 is Figure 3 is a partial cross-sectional structural schematic view of the foreign object grabbing tool head shown in the figure;

[0032] Figure 5is a second embodiment structure diagram of the foreign matter grabbing tool head in the track type pipeline foreign matter grabbing robot of the present application;

[0033] Figure 6 is Figure 5 is a schematic diagram of the internal structure of the foreign matter grabbing tool head.

[0034] Figure 7 is a third embodiment structure diagram of the foreign matter grabbing tool head in the track type pipeline foreign matter grabbing robot of the present application;

[0035] Figure 8 is a fourth embodiment structure diagram of the foreign matter grabbing tool head in the track type pipeline foreign matter grabbing robot of the present application;

[0036] Figure 9 is Figure 8 is a schematic diagram of the internal structure of the foreign matter grabbing tool head. DETAILED DESCRIPTION

[0037] In order to have a clearer understanding of the technical features, objectives and effects of the present application, the specific embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0038] As shown in Figure 1 An embodiment of the track type pipeline foreign matter grabbing robot of the present application includes a vehicle body 10, a magnetic track wheel walking device 20, and a foreign matter grabbing tool head 30. The vehicle body 10 is arranged on the magnetic track wheel walking device 20, which supports the vehicle body 10 and drives the vehicle body 10 to enter and exit the pipeline and travel in the pipeline. The foreign matter grabbing tool head 30 is installed on the top of the vehicle body 10 and is used to grab foreign matter in the pipeline. The foreign matter grabbing tool head 30 can be various types of tool heads, including a dust suction tool head, a magnetic attraction tool head, a clamping tool head, and a rope sleeve tool head.

[0039] The vehicle body 10 can include a vehicle frame, which is a support frame of the track type pipeline foreign matter grabbing robot and integrates the magnetic track wheel walking device 20 and the foreign matter grabbing tool head 30. The magnetic track wheel walking device 20 is installed below the vehicle body 10, supports the vehicle body 10, and realizes the walking of the track type pipeline foreign matter grabbing robot, including forward and backward movement. The foreign matter grabbing tool head 30 is on the top of the vehicle body 10 and faces the forward direction of the vehicle body 10.

[0040] The front end of the vehicle body 10 is provided with a front camera 11 for photographing the front end of the tracked pipeline foreign matter grabbing robot, which is used to find foreign matters in the pipeline and provide remote visual guidance. The rear end of the vehicle body 10 can also be provided with a rear camera, which is convenient for observing the rear end of the tracked pipeline foreign matter grabbing robot and providing visual guidance when the tracked pipeline foreign matter grabbing robot exits the pipeline. The front end and the rear end of the vehicle body 10 are also respectively provided with illuminating lamps, which ensure that the front and rear fields of view of the tracked pipeline foreign matter grabbing robot are imaged in real time and clearly, and are convenient for observing the foreign matter in the pipeline, foreign matter grabbing, robot advancing video guidance, etc.

[0041] The rear end of the vehicle body 10 is also provided with a tail cable outlet 12 as a control cable outlet, and the cables of the foreign matter grabbing tool head 30 and the magnetic tracked wheel walking device 20 can be concentratedly led out from the tail cable outlet 12 and connected with an external control device.

[0042] The magnetic tracked wheel walking device 20 is a tracked wheel walking device with magnetic attraction performance. When walking in a pipeline with ferromagnetic properties, a certain magnetic attraction force is generated between the magnetic tracked wheel walking device 20 and the pipe wall, which ensures the overall robot advancing traction force and enables the walking on the wall surface in the pipeline.

[0043] Specifically, the magnetic tracked wheel walking device 20 includes two groups of relatively independent tracked wheel modules 21, which are arranged at an angle and connected to opposite sides of the vehicle body 10 to satisfy stable walking in the pipeline. The two groups of tracked wheel modules 21 are the same in structure.

[0044] Each tracked wheel module 21 can include a fixed support, a driving wheel and a driven wheel rotatably connected to the fixed support respectively, a track 211 wrapped around the outer periphery of the driving wheel and the driven wheel, and a track motor connected and driving the driving wheel to rotate. Part or all of the tracks are made of magnetic material with magnets (such as permanent magnets). The two groups of tracked wheel modules 21 are driven to walk by the respective track motors, and can be synchronized to advance or retreat, or can be different in advancing or retreating, one advancing and one retreating, to realize the advancing, retreating, turning left and right, etc. of the magnetic tracked wheel walking device 20 and the whole robot.

[0045] The foreign matter grabbing tool head 30 is installed on the top of the vehicle body 10, and the top of the vehicle body 10 is correspondingly provided with a quick mounting seat 40. The foreign matter grabbing tool head 30 is detachably mounted on the top of the vehicle body 10 by cooperating with the quick mounting seat 40, so that the quick switching of different foreign matter grabbing tool heads 30 on the vehicle body 10 can be realized. Therefore, when the tracked pipeline foreign matter grabbing robot works, the applicable tool head can be quickly selected and switched according to the form and size of the foreign matter in the on-site pipeline, so that the foreign matter in the pipeline can be effectively grabbed.

[0046] Reference Figure 1 and Figure 2The quick mounting base 40 can include a movable base 41 and at least one retractable pin 42. The movable base 41 is provided with a pin hole 410, and the retractable pin 42 is inserted into the pin hole 410 and can move out of or retract into the pin hole 410 relative to the movable base 41. The retractable pin 42 is composed of a pin and a spring member connected to the pin and abutting between the pin hole and the pin. In a natural state, the retractable pin 42 partially extends out of the pin hole 410, and under the action of an external force, the retractable pin 42 can retract into the pin hole 410 while compressing the spring member.

[0047] The foreign object grabbing tool head 30 is provided with at least one connecting part 31 provided with a socket 310 matched with the retractable pin 42. When the foreign object grabbing tool head 30 is installed, the connecting part 31 is fitted on one side of the movable base 41 provided with the retractable pin 42, and the retractable pin 42 is retracted into the pin hole 410 by pressing the retractable pin 42. After the socket 310 is aligned with the pin hole 410, the retractable pin 42 extends out of the pin hole 410 and passes through the socket 310 under the restoring force of the spring member, that is, the part of the retractable pin 42 extending out of the pin hole 410 penetrates into the socket 310, so that the foreign object grabbing tool head 30 is locked on the top of the vehicle body 10. When the retractable pin 42 is pressed to be separated from the socket 310 and retracted into the pin hole 410, the locking of the foreign object grabbing tool head 30 is released, and the foreign object grabbing tool head 30 can be separated from the quick mounting base 40 and removed from the top of the vehicle body 10.

[0048] The end of the foreign object grabbing tool head 30 facing the foreign object and grabbing the foreign object is the front end, and the other end opposite to the front end is the rear end. In a preferred embodiment, the rear end of the foreign object grabbing tool head 30 is provided with two connecting parts 31 spaced apart from each other, and the movable base 41 is provided with pin holes 410 on the opposite sides. The distance between the two connecting parts 31 is equivalent to the distance between the opposite sides of the movable base 41. When the foreign object grabbing tool head 30 is installed, the two connecting parts 31 are clamped to the opposite sides of the movable base 41, the retractable pin 42 is pressed, and the socket 310 is aligned with the pin hole 410. After alignment, the retractable pin 42 extends out of the pin hole 410 and penetrates into the socket 310.

[0049] The connecting part 31 can be a connecting arm extending outward from the rear end of the foreign object grabbing tool head 30. The two connecting arms are oppositely spaced apart, and when the foreign object grabbing tool head 30 is installed, they can also play a guiding and centering role, so that the movable base 41 can be quickly and accurately clamped between the two connecting arms, and then locked.

[0050] Further, the quick mounting base 40 can also move back and forth relative to the vehicle body 10 in a direction, driving the foreign matter grabbing tool head 30 to move back and forth relative to the vehicle body 10. In combination with the foreign matter grabbing tool head 30 having a front end and a rear end, the back and forth movement of the quick mounting base 40 and the foreign matter grabbing tool head 30 relative to the vehicle body 10 is the back and forth movement of the front end and the rear end of the foreign matter grabbing tool head 30.

[0051] To drive the quick mounting base 40 to move relative to the vehicle body 10, the tracked pipeline foreign matter grabbing robot further comprises a driving mechanism connected to the quick mounting base 40 and driving the quick mounting base 40 to move back and forth relative to the vehicle body 10 in a direction.

[0052] The top of the vehicle body 10 is further provided with at least one moving guide rail 101, the length direction of the moving guide rail 101 being parallel to the moving direction of the quick mounting base 40. The moving guide rail 101 is used to movably cooperate with the quick mounting base 40, playing a guiding role in the movement of the quick mounting base 40. When the quick mounting base 40 moves back and forth relative to the vehicle body 10, it moves back and forth along the length direction of the moving guide rail 101.

[0053] In the embodiment shown in Figure 1 and Figure 2 , the driving mechanism comprises a driving motor 43, a motor gear 44 coaxially arranged on the output shaft of the driving motor 43, and a rack 45 matched with the motor gear 44. Among them, the rack 45 is laid on the top of the vehicle body 10, and the length direction of the rack 45 is parallel to the moving direction of the quick mounting base 40; the driving motor 43 is installed on the quick mounting base 40 with the output shaft facing the rack 45, and the motor gear 44 is engaged with the rack 45. After the driving motor 43 is started, the output shaft drives the motor gear 44 to rotate synchronously, and the motor gear 44 rotates while moving along the rack 45, converting the rotary motion into linear motion, driving the quick mounting base 40 to move on the top of the vehicle body 10.

[0054] Specifically, in Figure 2 , the driving motor 43 is fixed on the moving base 41 of the quick mounting base 40 with the output shaft downward, the output shaft of the driving motor 43 extends to the lower side of the vehicle body 10 from the moving base 41, and the motor gear 44 is located on the lower side of the moving base 41. The motor gear 44 is also located on one side of the rack 45 and engaged with the rack 45.

[0055] The lower end of the moving base 41 can be provided with a groove part to provide a space for the motor gear 44 and the rack 45. That is, the moving base 41 can accommodate the motor gear 44 through the groove part, and is sleeved above the rack 45 through the groove part, without interfering with the rotation of the motor gear 44 and being able to move above the rack 45.

[0056] In other embodiments, the driving mechanism can be a screw drive module, which specifically can include a driving motor, a screw rod, and a nut seat matched with the screw rod. The screw rod is laid on the top of the vehicle body 10 and coaxially connected with the output shaft of the driving motor, and the length direction of the screw rod is parallel to the moving direction of the quick mounting seat; the nut seat is sleeved on the screw rod and fixed below the quick mounting seat. After the driving motor is started, the output shaft drives the screw rod to rotate synchronously, and the rotation of the screw rod drives the nut seat to move axially along the screw rod, thereby driving the quick mounting seat to move on the top of the vehicle body 10.

[0057] According to needs, the tracked pipeline foreign matter grabbing robot can further include a foreign matter collecting frame 50 installed on the vehicle body 10 and located at the front end of the foreign matter grabbing tool head 30, to provide temporary storage space for the grabbed foreign matter.

[0058] After the foreign matter grabbing tool head 30 grabs the foreign matter in the pipeline, the foreign matter can be temporarily stored in the foreign matter collecting frame 50, so as to facilitate the grabbing of the next foreign matter and also to avoid the foreign matter grabbed by the foreign matter grabbing tool head 30 from falling off before the tracked pipeline foreign matter grabbing robot exits the pipeline.

[0059] The foreign matter collecting frame 50 is detachable on the vehicle body 10 and can be detached from the vehicle body 10 when it is not needed to enter the pipeline.

[0060] In some embodiments, the top of the vehicle body 10 is further provided with a turnover seat 60, one end of the turnover seat 60 being connected with the vehicle body 10 through a rotary joint 61, and the turnover seat 60 being capable of turning about the rotary joint 61. The quick mounting seat 40 is arranged on the turnover seat 60 and turns with the turnover seat 60 relative to the vehicle body 10.

[0061] Preferably, one end of the turnover seat 60 corresponding to the front end of the foreign matter grabbing tool head 30 is connected with the vehicle body 10 through the rotary joint 61, and the turnover seat 60 turns relative to the vehicle body 10 to drive the quick mounting seat 40 and the foreign matter grabbing tool head 30 to swing in a certain angle range.

[0062] In some embodiments, the turnover seat 60 is a telescopic structure, which further can include a support connected with the vehicle body 10 through the rotary joint 61 and a seat plate matched with the support. The seat plate can move back and forth along the support, so that the seat plate can move to the front end of the vehicle body 10 and be suspended in front of the vehicle body 10. The quick mounting seat 40 and the foreign matter grabbing tool head 30 are specifically arranged on the seat plate. When the seat plate and the foreign matter grabbing tool head 30 thereon extend outward (in the direction of the front end of the vehicle body 10) relative to the support, the turnover seat 60 rotates relative to the vehicle body 10 about the rotary joint 61, the turnover seat 60 changes from a horizontal state to an inclined state, the foreign matter grabbing tool head 30 is inclined forward to approach the foreign matter, and is located in the middle of the field of view of the front camera 11 of the vehicle body 10.

[0063] The foreign object grabbing tool head 30 can be a suction tool head, a clamping tool head, a magnetic tool head, or a rope tool head. Alternatively, the tracked foreign object grabbing robot is configured with multiple foreign object grabbing tool heads 30, i.e., a suction tool head, a clamping tool head, a magnetic tool head, and a rope tool head, and when performing foreign object grabbing in the pipeline, the applicable tool head is selected according to the form and size of the foreign object in the pipeline.

[0064] As shown in FIGS. 1, 2, and 3, the tracked foreign object grabbing robot comprises a tracked chassis 10, a foreign object grabbing tool head 30, and a control system 40. Figure 3 and Figure 4 As shown in FIGS. 1, 2, and 3, the tracked foreign object grabbing robot comprises a tracked chassis 10, a foreign object grabbing tool head 30, and a control system 40.

[0065] As shown in FIGS. 1, 2, and 3, the tracked foreign object grabbing robot comprises a tracked chassis 10, a foreign object grabbing tool head 30, and a control system 40. Figure 5 and Figure 6 As shown in FIGS. 1, 2, and 3, the tracked foreign object grabbing robot comprises a tracked chassis 10, a foreign object grabbing tool head 30, and a control system 40.

[0066] As shown in FIGS. 1, 2, and 3, the tracked foreign object grabbing robot comprises a tracked chassis 10, a foreign object grabbing tool head 30, and a control system 40. Figure 7 As shown in FIGS. 1, 2, and 3, the tracked foreign object grabbing robot comprises a tracked chassis 10, a foreign object grabbing tool head 30, and a control system 40.

[0067] AsFigure 8 and Figure 9 As shown in Fig. 6, in the fourth embodiment of the foreign matter grabbing tool head 30, the foreign matter grabbing tool head 30 is a lasso tool head, which comprises a retractable lasso 341 and a lasso driving box 342, the lasso 341 extending out of the lasso driving box 342 to form a lasso for lassoing the foreign matter in the pipeline. The lasso driving box 342 further comprises a lasso reel (not shown) and a lasso driving assembly; the lasso 341 is released from the lasso reel and fixed at the end face of the lasso driving box 342 to form the lasso. The lasso driving assembly comprises a lasso driving motor 343, a driving gear 344 and a driven gear 345, the driving gear 344 being installed on the output shaft of the lasso driving motor 343, and the driven gear 345 being engaged with the driving gear 344 and coaxially connected with the central shaft of the lasso reel. When the lasso driving motor 343 is started, the output shaft rotates to drive the driving gear 344 and the driven gear 345 to rotate, thereby driving the lasso reel to release or recover the lasso 341.

[0068] When the foreign matter is in the form of fine and scattered particles, the dust suction tool head is preferably used as the foreign matter grabbing tool head 30 to remove the foreign matter in the pipeline by suction. When the foreign matter has ferromagnetic properties, the magnetic suction tool head is used as the foreign matter grabbing tool head 30 to remove the foreign matter in the pipeline by adsorption. When the foreign matter is in the form of long and thin strips, the clamping tool head is used as the foreign matter grabbing tool head 30 to remove the foreign matter in the pipeline by clamping. When the foreign matter has long and thin protrusions or complex and irregular structures, the lasso tool head is used as the foreign matter grabbing tool head 30 to remove the foreign matter in the pipeline by lassoing.

[0069] In summary, the crawler-type pipeline foreign matter grabbing robot of the present application can realize full-automatic grabbing of the foreign matter in the pipeline, the magnetic suction crawler wheel walking device 20 is used as the chassis structure, the foreign matter in the pipeline with a diameter of more than φ150 mm can be grabbed, and the pipeline can pass through the elbow, U-shaped head, tee joint and inclined pipeline with a certain slope; the multiple forms of tool heads can be switched and used, the on-site foreign matter form and pipeline condition are reasonably selected, the on-site flexibility is good, the demand for removing the foreign matter is met, and the pipeline operation is more favorable.

[0070] The above description is only an embodiment of the present application, and does not limit the patent range of the present application, any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection range of the present application.

Claims

1. A crawler-type pipeline foreign body grabbing robot, characterized in that: It includes a vehicle body, a magnetic track wheel walking device supporting the vehicle body, and a foreign matter grabbing tool head installed on the top of the vehicle body; A quick mounting seat is provided on the top of the vehicle body, and the foreign object grasping tool head is detachably mounted on the top of the vehicle body by cooperating with the quick mounting seat; the quick mounting seat can move back and forth in one direction relative to the vehicle body, driving the foreign object grasping tool head to move back and forth relative to the vehicle body.

2. The crawler-type pipeline foreign body grabbing robot according to claim 1, characterized in that: The quick mounting base includes a movable base and at least one retractable pin, wherein the movable base is provided with a pin hole, and the retractable pin is inserted into the pin hole and can be moved relative to the movable base to extend out of the pin hole or retract into the pin hole; The foreign body grabbing tool head is provided with at least one connecting portion, and the connecting portion is provided with a socket adapted to the retractable latch; When the foreign object grabbing tool head is locked on the top of the vehicle body, the portion of the retractable pin extending out of the pin hole penetrates into the insertion hole; when the retractable pin is disengaged from the insertion hole and retracted into the pin hole, the lock on the foreign object grabbing tool head is released.

3. The crawler-type pipeline foreign body grabbing robot according to claim 1, characterized in that: The crawler-type pipeline foreign body grabbing robot further includes a driving mechanism that is connected to and drives the quick mounting seat to move relative to the vehicle body.

4. The crawler-type pipeline foreign body grabbing robot according to claim 3, characterized in that: The driving mechanism includes a driving motor, a motor gear coaxially arranged on the output shaft of the driving motor, and a rack adapted to the motor gear; The rack is laid on the top of the vehicle body, and the length direction of the rack is parallel to the moving direction of the quick mounting seat; the drive motor is installed on the quick mounting seat with the output shaft facing the rack, and the motor gear is meshed with the rack; After the driving motor is started, the output shaft drives the motor gear to rotate synchronously, and the motor gear rotates and moves along the rack, driving the quick mounting seat to move on the top of the vehicle body.

5. The crawler-type pipeline foreign body grabbing robot according to claim 3, characterized in that: The driving mechanism includes a driving motor, a lead screw, and a nut seat adapted to the lead screw; The lead screw is laid on the top of the vehicle body and is coaxially connected to the output shaft of the drive motor, and the length direction of the lead screw is parallel to the moving direction of the quick mounting seat; the nut seat is sleeved on the lead screw and fixed under the quick mounting seat; After the driving motor is started, the output shaft drives the lead screw to rotate synchronously, and the rotation of the lead screw drives the nut seat to move along the axial direction of the lead screw, driving the quick mounting seat to move on the top of the vehicle body.

6. The crawler-type pipeline foreign body grabbing robot according to claim 3, characterized in that: The top of the vehicle body is further provided with at least one movable guide rail movably matched with the quick mounting seat, and the length direction of the movable guide rail is parallel to the moving direction of the quick mounting seat.

7. The crawler-type pipeline foreign body grabbing robot according to claim 1, characterized in that: The magnetic track wheel walking device includes two relatively independent track wheel modules, which are arranged at an angle and connected to opposite sides of the vehicle body.

8. The crawler-type pipeline foreign body grabbing robot according to claim 7, characterized in that: The track wheel module includes a fixed bracket, a driving wheel and a driven wheel rotatably connected to the fixed bracket, a track wrapped around the outer circumference of the driving wheel and the driven wheel, and a track motor connected to and driving the driving wheel to rotate; part or all of the track is made of magnetic material or has a magnet.

9. The crawler-type pipeline foreign body grabbing robot according to any one of claims 1 to 8, characterized in that: The crawler-type pipeline foreign body grabbing robot further includes a foreign body collecting frame mounted on the vehicle body and located at the front end of the foreign body grabbing tool head.

10. The crawler-type pipeline foreign body grabbing robot according to any one of claims 1 to 8, characterized in that: The top of the vehicle body is also provided with a flip seat, one end of which is connected to the vehicle body via a rotary joint, and the flip seat can be flipped with the rotary joint as the axis; The quick mounting seat is arranged on the flip seat.

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