Natural gas pipeline inspection robot based on lead screw stepless pressure regulation

Abstract

The invention discloses a natural gas pipeline inspection robot based on lead screw stepless pressure regulation, and the robot comprises power joints which are respectively arranged at the front and rear ends of the robot; the power section comprises a first main body frame, a pressing mechanism is arranged on the first main body frame, and a walking mechanism is arranged at the adjusting end of the pressing mechanism; the at least one driven joint is arranged between the power joints at the two ends and is connected through a universal coupling; the driven joint comprises a second main body frame, a plurality of elastic pressing mechanisms are arranged on the side portion of the second main body frame, and first walking wheels are arranged at the adjusting ends of the elastic pressing mechanisms. A modular segmented structure is adopted, flexible adjustment can be achieved according to detection requirements, and the moving flexibility in a pipeline can be improved.

Description

TECHNICAL FIELD

[0001] The application relates to a pipeline inspection robot, in particular to a natural gas pipeline inspection robot based on a screw rod stepless pressure regulation, and belongs to the technical field of pipeline inspection. BACKGROUND

[0002] As core infrastructure for energy transportation, the long-term safe operation of a natural gas pipeline is directly related to the stability of energy supply and public safety. As key equipment for replacing manual work to complete internal defect detection and hidden danger investigation of the pipeline, the walking stability, pipe diameter adaptability and pipe wall protection of a pipeline inspection robot become core factors restricting the inspection efficiency and safety. Therefore, various pipeline inspection robots have been developed in the industry. For example, a pipeline intelligent automatic inspection robot is disclosed in Chinese Patent No. CN116481741A, which specifically discloses a snake-type direction-changing assembly, a peristaltic climbing assembly and a drilling inspection assembly. The inflation frame and the peristaltic frame constitute a robot movement unit, the peristaltic air bag is inflated to adhere to the inner wall of the pipeline through the inflation pump, and the friction between the robot movement unit and the inner wall of the pipeline is increased. The peristaltic pump controls the extension and retraction of the peristaltic tube to realize the peristaltic movement of the inspection robot on the smooth inner wall of the pipeline. The overall length of this type of robot is too long, and when passing through the common 90-degree corner or arc corner in the pipeline system, the turning flexibility may be affected, and the turning difficulty or even the inability to turn may occur, thereby affecting the efficiency and continuity of the overall inspection task. SUMMARY

[0003] The application aims to provide a natural gas pipeline inspection robot based on a screw rod stepless pressure regulation. The application adopts a modular segmented structure, can be flexibly adjusted according to detection requirements, and can improve the flexibility of movement in the pipeline.

[0004] The technical scheme of the application is as follows: a natural gas pipeline inspection robot based on a screw rod stepless pressure regulation, characterized by comprising: A power joint is arranged at the front end and the rear end of the robot respectively; the power joint comprises a first main frame, a pressing mechanism is arranged on the first main frame, and an adjusting end of the pressing mechanism is provided with a walking mechanism; the power joint is configured to adapt to the inner diameter of the pipeline through the pressing mechanism, and drive the walking mechanism to tightly adhere to the inner wall of the pipeline to drive the overall movement of the robot; At least one driven joint is arranged between the two power joints and connected through a universal coupling; the driven joint comprises a second main frame, a plurality of elastic pressing mechanisms are arranged on the side of the second main frame, and an adjusting end of the elastic pressing mechanism is provided with a first walking wheel; the driven joint is used for carrying functional modules and moving together with the power joint.

[0005] The natural gas pipeline inspection robot based on the screw rod stepless pressure regulation has the advantages that the first motor is arranged in the first main frame, the output end of the first motor is connected with the multi-stage gear reduction box, the multi-stage gear reduction box is fixedly connected with the first main frame, the screw rod is rotatably connected in the central part of the first main frame, the nut is arranged on the screw rod, a plurality of extension rods are arranged on the side of the nut, a plurality of sliding grooves are arranged on the side of the first main frame, the extension rods are arranged to extend out of the sliding grooves, and the output end of the multi-stage gear reduction box is fixedly connected with the screw rod.

[0006] The natural gas pipeline inspection robot based on the screw rod stepless pressure regulation has the advantages that the extension rod is connected with the connecting rod mechanism at the end away from the nut, the other end of the connecting rod mechanism is provided with a telescopic rod, and the walking mechanism is arranged on the telescopic rod.

[0007] The natural gas pipeline inspection robot based on the screw rod stepless pressure regulation has the advantages that the connecting rod mechanism comprises a first rocker rotatably connected with the telescopic rod, a plurality of second rockers and a third rocker rotatably connected with the first main frame, the second rocker is arranged on the side of the first rocker facing the multi-stage gear reduction box, and the other end of the second rocker is rotatably connected with the telescopic rod.

[0008] The natural gas pipeline inspection robot based on the screw rod stepless pressure regulation has the advantages that the third rocker is arranged on the side of the first rocker away from the second rocker and has a T shape, and the three end points of the third rocker are rotatably connected with the first main frame, the telescopic rod and the first rocker respectively.

[0009] The natural gas pipeline inspection robot based on the screw rod stepless pressure regulation has the advantages that the walking mechanism comprises a second walking wheel symmetrically arranged on the same side of the two ends of the telescopic rod, a second motor is arranged on the other side of the other end of the telescopic rod, a reducer is arranged at the output end of the second motor, and the output end of the reducer is connected with the corresponding second walking wheel.

[0010] The natural gas pipeline inspection robot based on the screw rod stepless pressure regulation has the advantages that the elastic pressure holding mechanism comprises a first mounting seat, a second mounting seat and a fourth rocker arranged on the side of the second main frame, the second mounting seat is arranged between the first mounting seat and the fourth rocker, the fourth rocker is rotatably connected with the second main frame, a sliding rod is arranged between the first mounting seat and the second mounting seat, a sliding block is slidably connected with the sliding rod, a fifth rocker is rotatably connected with the outer end of the sliding block, and a spring is arranged around the sliding rod between the sliding block and the second mounting seat.

[0011] The natural gas pipeline inspection robot based on the screw rod stepless pressure regulation has the advantages that the fourth rocker has a T shape, the outermost end of the fourth rocker is rotatably connected with the first walking wheel, and the other two ends of the fourth rocker are rotatably connected with the second main frame and the fifth rocker respectively.

[0012] The second main body frame is hollow inside, and the function modules carried include at least one of a power module, a control module and a sensor module.

[0013] Compared with the prior art, the application has the following beneficial effects: 1、In the application, through the cooperation of the front and rear power joints and the at least one driven joint, the power joint can be self-adapted to the inner diameter of the pipeline by means of the compression mechanism, tightly adhere to the inner wall and then stably drive the whole movement by the walking mechanism, without the need for additional adjustment to adapt to different pipe diameters, avoiding slipping or moving jam caused by poor adhesion; the driven joint realizes auxiliary support through the elastic compression mechanism and the first walking wheel, can maintain the stable posture of the robot in the pipeline together with the power joint, prevent deviation during movement, and can specially carry function modules, which neither interferes with the movement function of the power joint nor guarantees the realization of the required function of the inspection. The segmented modularization of the power joint and the driven joint avoids the problem of too long overall length of the robot, makes it can flexibly adjust its posture, smoothly pass through the pipe turning or corner, further improves the smoothness of movement, and overall considers the stability of movement in the pipeline, pipe diameter adaptability, function bearing demand and passability in complex pipeline environment, effectively improves the applicability and reliability of the robot in the natural gas pipeline inspection.

[0014] 2、In the application, the first motor of the compression mechanism drives the screw rod to rotate through the multi-stage gear reduction box, can stably convert the rotary motion into the linear motion of the nut, cooperate with the directional sliding of the extension rod along the sliding groove, can avoid motion deviation and ensure accurate power transmission; through the number of rotation of the screw rod, the movement amount of the lifting nut part can be accurately controlled, realizing the effect of stepless regulation and control; the extension rod drives the first rocker of the connecting rod mechanism to act, the third rocker is connected with the first rocker and the extension and retraction rod, the first rocker makes the third rocker swing, and under the auxiliary support of the second rocker, realizes the outward expansion or inward contraction of the extension and retraction rod, not only enhances the overall rigidity of the connecting rod mechanism, but also makes the radial extension and contraction movement of the extension and retraction rod more stable and synchronous, avoiding local jamming or uneven stress; finally, the walking mechanism can realize accurate and stable adjustment along the radial direction of the pipeline, ensuring that it can reliably adhere to the inner wall of the pipeline with different diameters, providing protection for the stable movement of the robot driven by the power joint.

[0015] 3. In this invention, the spring of the elastic clamping mechanism applies elastic force to the slider, pushing the slider to move directionally along the slide bar. When the slider moves, it drives the fifth rocker arm to rotate synchronously. The fifth rocker arm further drives the fourth rocker arm to rotate around the hinge point with the second main frame, ultimately causing the first traveling wheel at the outermost end of the fourth rocker arm to stably contact the pipe wall. This elastic transmission structure can adapt to the slight undulations or minor changes in pipe diameter of the inner wall of the pipe through the extension and contraction of the spring, avoiding damage to the non-metallic pipe wall caused by rigid contact. It can also ensure that the first traveling wheel always maintains a moderate contact force, which, together with the power joint, maintains the overall centered posture of the robot, reducing swaying or jamming during movement. At the same time, the buffering effect of the spring can also weaken the vibration during walking, protect the functional modules mounted on the driven joint, and ensure the stability of the inspection. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the power joint structure; Figure 3 This is a schematic diagram of the internal structure of the power joint; Figure 4 This is a structural diagram with part of the first main frame removed; Figure 5 This is a structural diagram with the first main frame removed; Figure 6 This is a schematic diagram of the driven joint; Figure 7 This is a schematic diagram of the internal structure of the driven joint.

[0017] The labels in the attached diagram are as follows: 1-Power joint, 2-Driven joint, 3-Universal coupling, 100-First main frame, 101-Clamping mechanism, 102-Traveling mechanism, 103-First motor, 104-Multi-stage gear reducer, 105-Lead screw, 106-Nut, 107-Extending rod, 108-Slide groove, 109-Linkage mechanism, 110-First rocker arm, 111-Second rocker arm, 112-Third rocker arm, 113-Retracting rod, 120-Second traveling wheel, 121-Second motor, 122-Reducer, 200-Second main frame, 201-Elastic clamping mechanism, 202-First traveling wheel, 203-First mounting base, 204-Second mounting base, 205-Fourth rocker arm, 206-Slide rod, 207-Slider, 208-Fifth rocker arm, 209-Spring. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0019] Example: A natural gas pipeline inspection robot based on screw-driven stepless pressure regulation, comprising the following components: Figures 1-7As shown, it includes: Power sections 1 are located at the front and rear ends of the robot, respectively; for example... Figures 2 to 5 As shown, the power section 1 includes a first main frame 100, which is made of aluminum alloy and is used to support the clamping mechanism 101 and the walking mechanism 102, providing a stable mounting foundation for the various components of the power section 1. The lightweight and high-strength characteristics of aluminum alloy reduce the overall weight of the robot while ensuring support rigidity; as shown Figure 2 , Figure 3 and Figure 4 As shown, a clamping mechanism 101 is provided on the first main frame 100, and a walking mechanism 102 is provided on the adjusting end of the clamping mechanism 101; the power section 1 is configured to adapt to the inner diameter of the pipe through the clamping mechanism 101 and drive the walking mechanism 102 to closely adhere to the inner wall of the pipe to drive the robot to move as a whole; the clamping mechanism 101 includes a first motor 103 disposed inside the first main frame 100, the output end of the first motor 103 is connected to a multi-stage gear reducer 104, which is used to reduce the speed and increase the torque, converting the high speed and low torque of the motor into the low speed and high torque required by the lead screw 105; a lead screw 105 is rotatably connected to the center of the first main frame 100, and a nut 106 is provided on the lead screw 105, which is used to convert the rotational motion into linear motion and drive the extension rod 107 to move; multiple extension rods 107 are provided on the side of the nut 106. 7. The extension rod 107 is made of stainless steel and is welded and fixed to the nut 106. It is used to transmit linear motion and drive the linkage mechanism 109 to move. The side of the first main frame 100 is provided with multiple sliding grooves 108. The sliding grooves 108 are rectangular grooves and are integrally formed with the first main frame 100. They are used to guide the extension rod 107 and restrict the extension rod 107 to move only along the groove direction. The extension rod 107 extends outward from the sliding groove 108. The output end of the multi-stage gear reducer 104 is fixedly connected to the lead screw 105 by a flat key to ensure synchronous power transmission. The end of the extension rod 107 away from the nut 106 is connected to the linkage mechanism 109. The other end of the linkage mechanism 109 is provided with a retractable rod 113. The retractable rod 113 is made of high-strength aluminum alloy and is used to install the walking mechanism 102 and realize radial extension and retraction, driving the second walking wheel 120 to move closer to or away from the pipe wall. Figure 4 and Figure 5As shown, the connecting rod mechanism 109 includes a first rocker 110 rotatably connected with the telescopic rod 113, a plurality of second rockers 111 and third rockers 112 rotatably connected with the first main frame 100, all of which are made of high-strength aluminum alloy material and are hinged by stainless steel pins, for transmitting motion and changing the direction of force, converting the linear motion of the extension rod 107 into the radial telescopic motion of the telescopic rod 113; the second rocker 111 is located on the side of the first rocker 110 facing the multi-stage gear reducer 104, and the other end is rotatably connected with the telescopic rod 113, for auxiliary support and guidance to prevent the telescopic rod 113 from tilting when telescoping; the third rocker 112 is located on the side of the first rocker 110 away from the second rocker 111; the third rocker 112 is T-shaped, and the three endpoints of the third rocker 112 are rotatably connected with the first main frame 100, the telescopic rod 113 and the first rocker 110 respectively, for synchronous linkage. The first motor 103 of the pressing mechanism 101 drives the screw rod 105 to rotate through the multi-stage gear reducer 104, which can stably convert the rotary motion into the linear motion of the nut 106, and cooperate with the directional sliding of the extension rod 107 along the sliding groove 108 to avoid motion deviation and ensure accurate power transmission; the extension rod 107 drives the first rocker 110 of the connecting rod mechanism 109 to act, the third rocker 112 connects the telescopic rod 113 and the first rocker 110, the first rocker 110 makes the third rocker 112 swing, and under the auxiliary support of the second rocker 111, the telescopic rod 113 realizes outward expansion or inward contraction, and the multi-rocker cooperation not only improves the stability of the telescopic action, but also enhances the overall carrying capacity of the mechanism. The walking mechanism 102 includes second walking wheels 120 symmetrically arranged on the same side of the two ends of the telescopic rod 113, which are made of polyurethane material and have aluminum alloy cores, for contacting the pipe wall to realize movement and drive the robot to travel in the pipeline. The polyurethane material is soft and wear-resistant, which can increase the friction force with the non-metal pipe wall to prevent slipping, avoid rigid contact damage to the pipe wall, and ensure the structural strength of the aluminum alloy core; the other end of the telescopic rod 113 is provided with a second motor 121 on the opposite side, the output end of the second motor 121 is provided with a speed reducer 122, the output end of the speed reducer 122 is fixedly connected with the corresponding second walking wheel 120 through a shaft coupling, for providing walking power and driving the second walking wheel 120 to rotate.

[0020] The driven links 2, at least one, are arranged between the power links 1; Figure 6 and Figure 7As shown, the driven section 2 comprises a second main frame 200 made of the same aluminum alloy material as the first main frame 100, for bearing the elastic compression mechanism 201 and the functional module, providing mounting support for the components of the driven section 2 and accommodating the functional module; the side of the second main frame 200 is provided with a plurality of elastic compression mechanisms 201, the adjustment end of the elastic compression mechanism 201 is provided with a first walking wheel 202 made of the same polyurethane material as the second walking wheel 120, for auxiliary support and guidance, cooperating with the power section 1 to maintain the central posture of the robot; the driven section 2 is used to carry the functional module and move with the power section 1. The elastic compression mechanism 201 comprises a first mounting seat 203, a second mounting seat 204 and a fourth rocker 205 arranged on the side of the second main frame 200, the first mounting seat 203 and the second mounting seat 204 are made of aluminum alloy material, and the fourth rocker 205 is made of high-strength aluminum alloy material, for installing and transmitting elastic force, supporting the slide rod 206 and driving the first walking wheel 202; the second mounting seat 204 is located between the first mounting seat 203 and the fourth rocker 205; the fourth rocker 205 is rotatably connected with the second main frame 200 through a stainless steel pin shaft to ensure smooth rotation; a slide rod 206 is arranged between the first mounting seat 203 and the second mounting seat 204, and the slide rod 206 is made of stainless steel and is welded and fixed with the first mounting seat 203 and the second mounting seat 204; a sliding block 207 is slidably connected on the slide rod 206, for transmitting elastic force and driving the fifth rocker 208 to move; the outer end of the sliding block 207 is rotatably connected with a fifth rocker 208 made of the same aluminum alloy material as the fourth rocker 205, which is hinged with the sliding block 207 through a pin shaft, for transmitting rotation and converting the linear motion of the sliding block 207 into the rotary motion of the fourth rocker 205; a spring 209 is arranged around the outside of the slide rod 206 between the sliding block 207 and the second mounting seat 204, for providing continuous elastic force, pushing the sliding block 207 to move and realizing buffering, and at the same time, the spring 209 can adapt to the slight ups and downs of the inner wall of the pipeline through its own extension and contraction, weakening the vibration; the fourth rocker 205 is in T shape, the outermost end of the fourth rocker 205 is rotatably connected with the first walking wheel 202 through a bearing, and the other two ends are rotatably connected with the second main frame 200 and the fifth rocker 208 respectively, for synchronous linkage, driving the first walking wheel 202 to stably abut against the pipe wall.The spring 209 of the elastic pressing mechanism 201 continuously and uniformly exerts elastic force on the sliding block 207, and pushes the sliding block 207 to move along the sliding rod 206 in a directional manner. When the sliding block 207 moves, the fifth rocker 208 is synchronously rotated, and the fifth rocker 208 further drives the fourth rocker 205 to rotate around the hinge joint of the second main frame 200, so that the first walking wheel 202 at the outermost end of the fourth rocker 205 is stably abutted against the pipe wall. The buffering effect of the spring 209 can also weaken the vibration during walking. The second main frame 200 is internally hollow, and the functional modules carried include at least one of a power module, a control module and a sensor module, so as to provide an installation space and integrate the required functional components of the inspection.

[0021] As shown in Figure 1 The power section 1 and the driven section 2 are respectively provided with a universal coupling 3, and the universal coupling 3 is made of stainless steel and is used for connecting the sections and realizing flexible transmission, so that the sections can be relatively bent. The cross shaft type structure allows the adjacent two sections to relatively rotate within a certain angle range, and the stainless steel material ensures corrosion resistance and impact resistance, can adapt to the bending and turning of the pipeline, avoids the robot from being unable to pass through the corner due to excessive overall rigidity, and simultaneously ensures the synchronization of the movement of the sections.

[0022] Working principle: Firstly, the power section 1 performs the self-adaptive pipe diameter adaptation action: the first motor 103 is started, the rotating power output by the first motor 103 is reduced in speed and increased in torque through the multi-stage gear reducer 104, and then drives the screw rod 105 in the first main frame 100 to rotate; the screw rod 105 and the nut 106 are threadedly connected, and the rotating motion is converted into the linear motion of the nut 106, the extension rod 107 on the side of the nut 106 slides along the sliding groove 108 on the side of the first main frame 100 in a directional manner, so as to avoid movement deviation; the extension rod 107 drives the connecting rod mechanism 109 to move, so that the first rocker 110 swings, the first rocker 110 further drives the third rocker 112 to rotate around the hinge joint of the first main frame 100, and the second rocker 111 assists in supporting the telescopic rod 113 from the side close to the reducer, and the three together drive the telescopic rod 113 to radially extend and retract, until the second walking wheel 120 at the two ends of the telescopic rod 113 is tightly attached to the inner wall of the pipeline, and the self-adaptive adaptation of the power section 1 to the inner diameter of the pipeline is completed.

[0023] After the adaptation is completed, the power section 1 drives the whole body to move: the second motor 121 of the walking mechanism 102 is started, the rotating power of the second motor 121 is reduced in speed and increased in torque through the speed reducer 122, and then is transmitted to the second walking wheel 120, the second walking wheel 120 rotates by means of the friction force with the inner wall of the pipeline, and then drives the power section 1 to move; since the driven section 2 is connected with the power section 1 through the universal coupling 3, the movement of the power section 1 will synchronously drive the driven section 2 to follow, so as to realize the movement of the whole robot in the pipeline.

[0024] During the movement, the driven section 2 plays the role of auxiliary support and function bearing: the spring 209 of the elastic compression mechanism 201 continuously applies elastic force to the sliding block 207, which pushes the sliding block 207 to move along the slide rod 206, drives the fifth rocker 208 to rotate, and drives the fourth rocker 205 to rotate around the hinge point of the second main frame 200, so that the first walking wheel 202 at the outer end of the fourth rocker 205 always contacts the inner wall of the pipeline and cooperates with the second walking wheel 120 of the power section 1 to maintain the central posture of the robot in the pipeline, preventing deviation or shaking during movement; at the same time, the power module, control module, sensor module and other functional modules carried in the hollow second main frame 200 of the driven section 2 can normally perform power supply, control, detection and other inspection tasks.

[0025] When the robot encounters a pipeline turning place or a corner, the universal coupling 3 between the power section 1 and the driven section 2 and between the multiple driven sections 2 allows the adjacent two sections to bend relative to each other, avoids the robot being blocked from turning due to the overall length being too long, and enables the sections to flexibly adjust the posture to smoothly pass through the pipeline corner, ensuring the continuous and smooth inspection task.

Claims

1. A natural gas pipeline inspection robot based on screw-driven stepless pressure regulation, characterized in that: The utility model relates to a robot, which comprises: a power joint (1) arranged at the front and rear ends of the robot respectively; the power joint (1) comprises a first main frame (100), a pressing mechanism (101) is arranged on the first main frame (100), and an adjusting end of the pressing mechanism (101) is provided with a walking mechanism (102); the power joint (1) is configured to adapt to the inner diameter of a pipeline through the pressing mechanism (101) and drive the walking mechanism (102) to tightly adhere to the inner wall of the pipeline to drive the whole robot to move; a driven joint (2) arranged between the two power joints (1) and connected through a universal joint (3); the driven joint (2) comprises a second main frame (200), a plurality of elastic pressing mechanisms (201) are arranged on the side of the second main frame (200), and an adjusting end of each elastic pressing mechanism (201) is provided with a first walking wheel (202); the driven joint (2) is used for carrying a functional module and moving together with the power joint (1).

2. The natural gas pipeline inspection robot based on the screw rod stepless pressure regulation according to claim 1, characterized in that: The pressing mechanism (101) comprises a first motor (103) arranged inside the first main frame (100), a multistage gear reduction box (104) connected to the output end of the first motor (103), and the multistage gear reduction box (104) is fixedly connected with the first main frame (100); a screw rod (105) is rotatably connected in the center of the first main frame (100), a nut (106) is arranged on the screw rod (105), a plurality of extension rods (107) are arranged on the side of the nut (106); a plurality of sliding grooves (108) are arranged on the side of the first main frame (100), and the extension rods (107) are outwardly arranged from the sliding grooves (108); the output end of the multistage gear reduction box (104) is fixedly connected with the screw rod (105).

3. The natural gas pipeline inspection robot based on the screw rod stepless pressure regulation according to claim 2, characterized in that: An end of the extension rod (107) away from the nut (106) is connected with a connecting rod mechanism (109), the other end of the connecting rod mechanism (109) is provided with a telescopic rod (113), and the walking mechanism (102) is arranged on the telescopic rod (113).

4. The natural gas pipeline inspection robot based on the screw rod stepless pressure regulation according to claim 3, characterized in that: The connecting rod mechanism (109) comprises a first rocker (110) rotatably connected with the telescopic rod (113), a plurality of second rockers (111) and third rockers (112) rotatably connected with the first main frame (100); the second rocker (111) is located on the side of the first rocker (110) facing the multistage gear reduction box (104), and the other end is rotatably connected with the telescopic rod (113).

5. The natural gas pipeline inspection robot based on the screw rod stepless pressure regulation according to claim 4, characterized in that: The third rocker (112) is located on the side of the first rocker (110) away from the second rocker (111) and is in T shape; three end points of the third rocker (112) are rotatably connected with the first main frame (100), the telescopic rod (113) and the first rocker (110) respectively.

6. The natural gas pipeline inspection robot based on the lead screw stepless pressure regulation according to claim 3, characterized in that: The walking mechanism (102) comprises second walking wheels (120) symmetrically arranged on the same side of both ends of the telescopic rod (113); the other end of the telescopic rod (113) is provided with a second motor (121) on the opposite side, the output end of the second motor (121) is provided with a speed reducer (122), and the output end of the speed reducer (122) is connected with the corresponding second walking wheel (120).

7. The natural gas pipeline inspection robot based on the screw rod stepless pressure regulation according to claim 1, characterized in that: The elastic pressing mechanism (201) comprises a first mounting seat (203), a second mounting seat (204) and a fourth rocker (205) arranged on the side of the second main frame (200); the second mounting seat (204) is located between the first mounting seat (203) and the fourth rocker (205); the fourth rocker (205) is rotationally connected with the second main frame (200); a sliding rod (206) is arranged between the first mounting seat (203) and the second mounting seat (204), a sliding block (207) is slidably connected on the sliding rod (206), and a fifth rocker (208) is rotationally connected with the outer end of the sliding block (207); a spring (209) is arranged around the outer side of the sliding rod (206) between the sliding block (207) and the second mounting seat (204).

8. The natural gas pipeline inspection robot based on the lead screw stepless pressure regulation according to claim 7, characterized in that: The fourth rocker (205) is in T shape, the outermost end of the fourth rocker (205) is rotationally connected with the first walking wheel (202), and the other two ends are respectively rotationally connected with the second main frame (200) and the fifth rocker (208).

9. The natural gas pipeline inspection robot based on the screw rod stepless pressure regulation according to claim 1, characterized in that: The second main frame (200) is internally hollow, and the functional modules to be carried include at least one of a power module, a control module and a sensor module.

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