Pipeline robot and operation method thereof

Abstract

The pipeline robot comprises an in-pipe robot body and a coil, the in-pipe robot body comprises a supporting mechanism, at least two walking devices are annularly and evenly installed on the supporting mechanism along the axis, each walking device comprises a base, and supporting wheel sets are installed at the two ends of the upper side of each base in a hinged mode respectively; a telescopic supporting piece is installed on the supporting wheel set and connected with the base. A crawler wheel set is further installed on the upper side of the base and located between the two supporting wheel sets, the crawler wheel set is driven by a first motor or generates electricity, and a magnetic conductance adsorption part is further installed on the base; the in-pipe robot is further provided with a storage battery and a controller, and the coil is used for being arranged on the outer wall of the pipeline in a sleeving mode. When a section of obstacle exists on the outer wall of the pipeline, the crawler wheel set is driven by the first motor to rotate, so that the in-pipe robot autonomously moves in the pipeline; when the power of the storage battery is insufficient, the storage battery is charged through the first motor, and the cruising ability of the in-pipe robot is enhanced.

Description

Technical Field

[0001] This invention relates to the field of pipeline robot technology, and in particular to a pipeline robot and its operation method. Background Technology

[0002] Currently, pipeline robots are generally powered by batteries or umbilical cables. While battery power offers greater flexibility, the robot's runtime depends on battery capacity. However, larger batteries are heavier, significantly increasing the robot's overall weight. This increased weight hinders movement within inclined or vertical pipelines, and the need to consider return trip power further limits operational time. While umbilical cable-powered pipeline robots have unlimited runtime, the longer the cable is extended, the greater the drag, limiting the robot's travel distance. Therefore, this application proposes a pipeline robot and its operating method.

[0003] A search revealed Chinese patent document CN104251365A, which discloses a magnetically driven pipeline robot. The robot comprises an internal pipeline robot and an external trolley. The internal pipeline robot consists of a body and drive wheel sets distributed at both ends of the body. A lower magnet is located on the upper surface of the body, and a corresponding upper magnet is located on the lower surface of the external trolley. An adjustment mechanism is located at the tail end of the body, and maintenance equipment is located at the front end. Its advantage is that the pipeline robot can operate using the magnetic force of the external trolley. Its disadvantage is that the internal pipeline robot cannot pass through obstacles on the outer wall of the pipeline. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a pipeline robot and its operation method. When the robot is supported by a support wheel set, the robot can be driven to move inside the pipeline by a coil. When there is an obstacle on the outer wall of the pipeline, the track wheel set can be driven to rotate by a first motor, so that the robot can move autonomously inside the pipeline. When the battery power is insufficient, the battery can be charged by the first motor to enhance the robot's endurance.

[0005] To achieve the above objectives, this application provides a pipeline robot, including an in-pipe robot and a coil. The in-pipe robot includes a support mechanism, on which at least two walking devices are evenly distributed in a ring along an axis. Each walking device includes a base, with support wheel sets hinged to both ends of the upper side of the base. Telescopic support members are mounted on the support wheel sets and connected to the base. A track wheel set is also mounted on the upper side of the base between the two support wheel sets. The track wheel set is driven by a first motor or generates electricity. A magnetic adsorption component is also mounted on the base. The in-pipe robot is also equipped with a battery and a controller. The battery is electrically connected to the controller, and the controller is electrically connected to the first motor. The coil is used to be sleeved on the outer wall of the pipeline. The support mechanism includes a fixed base, on one side of which at least two fixed rods are installed. The fixed rods are parallel to each other, and a first slide, a second slide, and a third slide are slidably installed on each of the two fixed rods. The first slide is located on one side of the fixed base, and the third slide is located between the first slide and the second slide. A screw is screwed to the center of the third slide, and the screw slides through the center holes of the first slide and the third slide. One end of the lower side of the base is hinged to one end of the first connecting rod, and the other end of the first connecting rod is hinged to the first slide. The other end of the lower side of the base is hinged to one end of the second connecting rod, and the other end of the second connecting rod is hinged to the second slide. The middle part of the second connecting rod is hinged to one end of the third connecting rod, and the other end of the third connecting rod is hinged to the third slide. The opening distance of the walking device can be adjusted by rotating the screw.

[0006] One end of the screw is connected to the output shaft of the second motor, which is mounted on the other side of the fixed base. The fixed base is located on one side of the second motor and has a housing. The housing contains a battery and a controller, and the second motor is electrically connected to the controller.

[0007] The first slide, the second slide, and the third slide are all circular structures with multiple sliding holes. The fixing rod passes through the sliding holes. Multiple slots are provided on the outer circumference of the circular structure, and hinge pins are installed in the slots. The first connecting rod is hinged to the hinge pin on the first slide, the second connecting rod is hinged to the hinge pin on the second slide, and the third connecting rod is hinged to the hinge pin on the third slide.

[0008] The two support wheel sets on the base are spread outward; the support wheel set includes a wheel seat, one end of which is hinged to two supports on the upper side of the base, and the other end of which is provided with a wheel groove. A support wheel is rotatably installed in the wheel groove through a wheel axle. The telescopic support is a spring, one end of which is connected to the wheel seat for support, and the other end of which is connected to the base for support.

[0009] The track wheel assembly includes a track base, with track wheels mounted on both ends of the track base via track wheel axles. Tracks are fitted onto the two track wheels. A first motor is mounted on one side of the track base. The output shaft of the first motor is connected to one of the track wheel axles for transmission. The first motor is electrically connected to a controller.

[0010] The coil is covered with a rubber shell, and the wires at both ends of the coil are led out from the rubber shell. A connector is provided on the coil. One end of the connector has an elastic contact and the other end has a stationary contact. The elastic contact and the stationary contact are respectively connected to each turn of the wire in the coil. When the connector is installed and closed, the coil is conductive.

[0011] The coil is equipped with at least three driving devices. Each driving device includes a mounting base, one side of which is fixed to the inner wall of the coil, and the other side is equipped with a driving base. Pulleys are rotatably mounted at both ends of the driving base, and belts are mounted on the pulleys. A third motor is mounted on one side of the driving base, and the output shaft of the third motor is connected to one of the pulleys for transmission.

[0012] Two drive screws are rotatably mounted on the mounting base, and a fourth motor is mounted on the mounting base between the two drive screws. The output shaft of the fourth motor is simultaneously connected to the two drive screws for transmission. The bottom of the drive base is provided with a base plate. The front end of the base plate is hinged to one end of the two fourth links, the other end of the fourth links is hinged to the front end of the mounting base, the rear end of the base plate is hinged to one end of the two fifth links, the other end of the fifth links is hinged to the rear end of the mounting base, the middle part of the fourth links is hinged to one end of the sixth connection, the other end of the sixth connection is hinged to the adjusting nut seat, and the two adjusting nut seats are respectively screwed onto the corresponding drive screws.

[0013] A method for operating a pipeline robot includes the steps of wheeled travel, wheel-track switching, and reverse charging; wherein the wheeled travel step includes: S10. Place the robot inside the pipe and adjust the distance of the walking device by rotating the screw, so that the support wheel group on each walking device abuts against the inner wall of the pipe. S11. The coil is placed on the outer wall of the pipe, and the coil is moved along the pipe. The coil and the magnetic adsorption component are pulled by magnetic force to drive the robot inside the pipe to move inside the pipe. The wheel-track switching steps include: S20. Adjust the screw rotation so that the track wheel assembly abuts against the inner wall of the pipe. At this time, the support wheel assembly swings towards the screw side under the action of the telescopic support. S22. Start the first motor on the track wheel assembly and let the robot move inside the pipe via the track wheel assembly. The reverse charging step includes: S30. With the robot inside the pipe supported by the track wheel assembly, the coil moves along the pipe. The coil and the magnetic adsorption component are magnetically pulled, driving the robot inside the pipe to move. S31. When the robot moves inside the tube, it drives the first motor to rotate and generate electricity to charge the battery.

[0014] Compared with the prior art, the above-conceptual technical solution conceived in this application has the following beneficial effects: 1. When the present invention is in use, if the robot inside the pipe is supported by the support wheel set, the robot can be driven to move inside the pipe by the coil. If the robot inside the pipe is obstructed or if there is an obstacle on the outer wall of the pipe that obstructs the coil's operation, the first motor can drive the track wheel set to rotate, thereby enabling the robot inside the pipe to move autonomously inside the pipe. When the battery power is insufficient, the first motor can also charge the battery, thereby enhancing the robot's endurance.

[0015] 2. The magnetic force of the coil is controllable and adjustable. The strength of the magnetic force can be adjusted by changing the current and frequency. The magnetic force can be adjusted according to specific conditions to save energy. Moreover, the magnetic field of the coil is distributed in a ring, and the magnetic adsorption components on the robot inside the pipe are also evenly distributed in a ring. Therefore, the robot inside the pipe experiences more balanced forces and walks more stably.

[0016] 3. The controllable magnetic force of the coil makes it easy to precisely control the start and stop of the robot in the pipeline and change the robot's movement mode.

[0017] 4. Electromagnetic fields can penetrate pipe walls better, especially non-magnetic pipes, and the magnetic force decays more slowly than that of a solid magnet.

[0018] 5. No residual adsorption: The magnetic force disappears immediately after the coil is de-energized, unlike a magnet which can attract impurities in the pipe or make it difficult to detach from objects. 6. The coil will not experience magnetic attenuation due to collisions or wear, resulting in a longer service life and lower maintenance costs. The magnetic force of a magnet will decrease or fluctuate due to wear, temperature, and the adsorption of impurities. The magnetic force of the coil is precisely defined by the current parameters. As long as the current is stable, the magnetic field strength and direction will be stable, and there will be no situation where the magnetic force fluctuates.

[0019] 7. The coil does not need to be tightly attached to the pipe, making it suitable for more complex underground pipe environments.

[0020] 8. The coil has a high upper limit of magnetic force. Simulation shows that the magnetic induction intensity is greatest in the core area of ​​the closed-loop coil near the pipe, reaching a maximum of about 1.7 Tesla. The magnetic induction intensity decreases towards both ends. 1.7T is a very strong magnetic field, close to the saturation magnetization intensity of pure iron. It can be estimated that under a magnetic field of 1.7T, the theoretical attraction force on the surface of a 1 square meter iron block can reach about 175.5 tons, which can attract tons of iron. This fully meets the working requirements of the magnetic pipe robot. In addition, the coil has appropriate protrusions at three ends to leave space for diameter changes while maintaining a certain magnetic induction intensity. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0022] Figure 1 This is a three-dimensional structural diagram of the robot inside the tube according to the present invention.

[0023] Figure 2 This is a side view of the in-tube robot of the present invention.

[0024] Figure 3 This is a schematic diagram of the front view structure of the robot inside the tube according to the present invention.

[0025] Figure 4 This is a schematic diagram of the structure of the robot support mechanism and walking device in the tube according to the present invention.

[0026] Figure 5 This is a structural schematic diagram of the robot support mechanism and walking device inside the tube from another perspective.

[0027] Figure 6 This is a three-dimensional structural diagram of the coil of the present invention.

[0028] Figure 7 This is a schematic diagram of the main structure of the internal driving device of the coil of the present invention.

[0029] Figure 8 This is a three-dimensional structural diagram of the internal driving device of the coil of the present invention.

[0030] Figure Labels Fixed base 10, second motor 11, fixed rod 12, screw 13, first slide 14, sliding hole 141, slot 142, hinge shaft 143, second slide 15, third slide 16, housing 17, battery 18, controller 19. Walking device 20, base 21, support 211, support wheel set 22, wheel seat 221, wheel groove 222, support wheel 223, wheel axle 224, first link 23, second link 24, third link 25, telescopic support 26, magnetic adsorption component 27. Track wheel assembly 30, track base 31, track wheel axle 32, track 33, first motor 34. Coil 40, connector 41; Drive unit 50, mounting base 51, drive screw 52, ​​driven synchronous pulley 521, fourth motor 53, driving synchronous pulley 531, synchronous belt 54, base plate 55, fourth connecting rod 551, fifth connecting rod 552, sixth connecting rod 553, adjusting nut seat 554, drive base 56, pulley 561, belt 562, third motor 57. Detailed Implementation

[0031] To more clearly illustrate the purpose, technical solution, and beneficial effects of this application, a further detailed description of this application is provided below in conjunction with illustrations and specific embodiments. It should be specifically noted that the specific embodiments described below are only for illustrating the technical content of this application and do not constitute a limitation on the scope of protection of this application.

[0032] Regarding the explanation of terminology: In this application, "and / or" is used to describe the relationship between related objects, covering three possible situations: taking "A and / or B" as an example, it can indicate the situation where only A exists, A and B exist simultaneously, or only B exists; the symbol " / " indicates the "or" relationship between related objects, such as "A / B" which refers to A or B.

[0033] Regarding the description of the embodiments: The terms "exemplary" and "for example" appearing in this application are only used to illustrate the technical solutions through specific examples. It should be particularly emphasized that any implementation method or design scheme marked as "exemplary" or "for example" should not be construed as having an advantage over other solutions. Such expressions are only used to present the technical concepts more intuitively.

[0034] Example 1: See Figure 1-6This embodiment provides a pipeline robot, including an in-pipe robot and a coil 40. The in-pipe robot includes a support mechanism, on which at least two walking devices 20 are evenly distributed in a ring along the axis. Each walking device 20 includes a base 21, with support wheel sets 22 hinged to both ends of the upper side of the base 21. Telescopic support members 26 are installed on the support wheel sets 22 and connected to the base 21. A track wheel set 30 is also installed on the upper side of the base 21 between the two support wheel sets 22. The track wheel set 30 is driven by a first motor 34 or generates electricity. A magnetic adsorption member 27 is also installed on the base 21. The in-pipe robot is also equipped with a battery 18 and a controller 19. The battery 18 is electrically connected to the controller 19, and the controller 19 is electrically connected to the first motor 34. The coil 40 is used to be sleeved on the outer wall of the pipeline. When the robot inside the pipe is supported by the support wheel set 22, the robot can be driven to move inside the pipe by the coil 40. When there is an obstacle on the outer wall of the pipe, the first motor 34 can drive the track wheel set 30 to rotate, so that the robot inside the pipe can move autonomously inside the pipe. When the battery 18 is low on power, the first motor 34 can charge the battery 18, thereby enhancing the robot's endurance.

[0035] In the initial state, the support wheel assembly 22 is higher than one end of the track wheel assembly 30. In use, the coil 40 is sleeved on the outer wall of the pipe. By moving the coil 40 along the pipe, the coil 40 and the magnetic adsorption component 27 are magnetically pulled together to drive the robot to move inside the pipe.

[0036] In this embodiment, the magnetic adsorption component 27 is a magnet, and the magnetic field is generated by the coil 40. By utilizing the principle of attraction between opposite magnetic poles, the robot inside the pipe is pulled to move inside the pipe.

[0037] The controller 19 remotely controls the operating state of the first motor 34, which includes a driving state as a power device and a power generation state as a generator. In the driving state, the electrical energy in the battery 18 is transferred to the first motor 34 through the controller 19. In the power generation state, the power generated by the first motor 34 is transferred to the battery 18 for storage through the controller 19.

[0038] See Figure 2 Three walking devices 20 are evenly distributed in a ring along the axis of the support mechanism.

[0039] See Figure 4 , 5The support mechanism includes a fixed base 10. At least two fixed rods 12 are installed on one side of the fixed base 10. The fixed rods 12 are parallel to each other. A first slide block 14, a second slide block 15, and a third slide block 16 are slidably installed on each of the two fixed rods 12. The first slide block 14 is located on one side of the fixed base 10, and the third slide block 16 is located between the first slide block 14 and the second slide block 15. A screw rod 13 is screwed to the center of the third slide block 16 and slides through the center hole of the first slide block 14 and the third slide block 16. One end of the lower side of the base 21 is hinged to one end of the first connecting rod 23, and the other end of the first connecting rod 23 is hinged to the first slide block 14. The other end of the lower side of the base 21 is hinged to one end of the second connecting rod 24, and the other end of the second connecting rod 24 is hinged to the second slide block 15. The middle part of the second connecting rod 24 is hinged to one end of the third connecting rod 25, and the other end of the third connecting rod 25 is hinged to the third slide block 16. By rotating the screw 13, the opening distance of the traveling device 20 can be adjusted to accommodate pipes with different inner diameters.

[0040] For details, see Figure 4 When the third slide 16 moves to the right, the third link 25 pushes the second link 24 to swing clockwise, thereby moving the base 21 away from the screw 13. This allows it to accommodate pipes with larger inner diameters, and vice versa.

[0041] Further, see Figure 5 One end of the screw 13 is connected to the output shaft of the second motor 11, which is mounted on the other side of the fixed base 10. A receiving compartment 17 is mounted on one side of the fixed base 10, containing a battery 18 and a controller 19. The second motor 11 is electrically connected to the controller 19. The controller 19 controls the second motor 11 to start, causing it to rotate the screw 13, thus automatically adjusting the opening distance of the walking device 20. (See also...) Figure 4 and Figure 5 The image shows only part of the storage compartment 17. The outer wall of the storage compartment 17 can be equipped with working tools such as cameras and lighting.

[0042] Specifically, see Figure 4 The first slide 14, the second slide 15, and the third slide 16 are all circular structures. Multiple sliding holes 141 are provided on the circular structures. The fixing rod 12 passes through the sliding holes 141. Multiple slots 142 are provided on the outer circumference of the circular structures. A hinge shaft 143 is installed in the slot 142. The first connecting rod 23 is hinged to the hinge shaft 143 on the first slide 14, the second connecting rod 24 is hinged to the hinge shaft 143 on the second slide 15, and the third connecting rod 25 is hinged to the hinge shaft 143 on the third slide 16.

[0043] See Figure 4 , 5The support wheel assembly 22 includes a wheel seat 221. One end of the wheel seat 221 is hinged to two supports 211 on the upper side of the base 21. The other end of the wheel seat 221 is provided with a wheel groove 222. A support wheel 223 is rotatably mounted in the wheel groove 222 via a wheel axle 224. The telescopic support member 26 is a spring. One end of the spring is connected to the wheel seat 221 for support, and the other end is connected to the base 21 for support. Of course, the support member 26 can also be an electric push rod.

[0044] In the initial state, the two support wheel sets 22 on the base 21 are spread outwards, with the support wheel sets 22 being higher than one end of the track wheel set 30. At this time, the robot inside the pipe is supported by the support wheel sets 22, and the track wheel set 30 is not under force. When the track wheel set 30 needs to be driven, the second motor 11 drives the screw 13 to rotate, and the track wheel set 30 abuts against the inner wall of the pipe. At this time, the support wheel sets 22 swing outwards.

[0045] See also Figure 4 , 5 The track wheel assembly 30 includes a track seat 31. Track wheels are mounted on both ends of the track seat 31 via track wheel shafts 32. Tracks 33 are fitted on the two track wheels. A first motor 34 is mounted on one side of the track seat 31. The output shaft of the first motor 34 is connected to one of the track wheel shafts 32 for transmission. The first motor 34 is electrically connected to the controller 19.

[0046] Specifically, see Figure 5 The output shaft of the first motor 34 is equipped with a drive gear, and one end of the central shaft of the track wheel is equipped with a driven gear. The drive gear and the driven gear mesh and transmit power.

[0047] See Figure 6 The coil 40 is encased in a rubber-coated shell. Both ends of the coil 40 extend from this shell to supply power. A connector 41 is mounted on the coil 40. One end of the connector 41 has a resilient contact, and the other end has a stationary contact. The resilient and stationary contacts connect to each turn of the wire within the coil 40. When the connector 41 is closed, the coil 40 is conductive. When the connector 41 is open, it facilitates installation onto the outer wall of a pipe. The rubber coating is made of flexible rubber, allowing the coil 40 to be opened from the connector 41. When the connector 41 is closed, it is externally secured with bolts.

[0048] Further, see Figure 6 At least three drive devices 50 are installed inside the coil 40, which drive the coil 40 to move on the outer wall of the pipe.

[0049] For details, see Figure 7 , 8The drive device 50 includes a mounting base 51. One side of the mounting base 51 is fixed to the inner wall of the coil 40, and the other side is equipped with a drive base 56. Pulleys 561 are rotatably mounted at both ends of the drive base 56. A belt 562 is mounted on the pulleys 561. A third motor 57 is mounted on one side of the drive base 56. The output shaft of the third motor 57 is connected to one of the pulleys 561 for transmission.

[0050] Specifically, see Figure 8 The first bevel gear is mounted on the output shaft of the third motor 57, and a second bevel gear is mounted on the end of the central shaft of one of the pulleys 561. The first bevel gear and the second bevel gear mesh.

[0051] Furthermore, two drive screws 52 are rotatably mounted on the mounting base 51. A fourth motor 53 is installed between the two drive screws 52 on the mounting base 51, and the output shaft of the fourth motor 53 is simultaneously connected to both drive screws 52 for transmission. A base plate 55 is provided at the bottom of the drive base 56. The front end of the base plate 55 is hinged to one end of two fourth connecting rods 551, and the other end of the fourth connecting rods 551 is hinged to the front end of the mounting base 51. The rear end of the base plate 55 is hinged to one end of two fifth connecting rods 552, and the other end of the fifth connecting rods 552 is hinged to the rear end of the mounting base 51. The middle part of the fourth connecting rods 551 is hinged to one end of a sixth connecting rod 553, and the other end of the sixth connecting rod 553 is hinged to an adjusting nut seat 554. Two adjusting nut seats 554 are respectively screwed onto the corresponding drive screws 52. The fourth motor 53 drives the two drive screws 52 to rotate, thereby adjusting the distance between the base plate 55 and the mounting base 51 to accommodate pipes of different outer diameters.

[0052] Specifically, see Figure 8 The output shaft of the fourth motor 53 is equipped with a driving synchronous pulley 531, and the drive screw 52 is equipped with a driven synchronous pulley 521. A synchronous belt 54 is fitted on the driven synchronous pulley 521 and the driving synchronous pulley 531. The height of the driving synchronous pulley 531 is higher than that of the driven synchronous pulley 521. The synchronous belt 54 passes over the driving synchronous pulley 531 so that the synchronous belt 54 meets the mechanical transmission requirements.

[0053] Example 2: Based on Example 1, the present invention also proposes a method for operating a pipeline robot, including the steps of wheeled travel, wheel-track switching, and reverse charging.

[0054] The steps involved in wheeled travel include: S10. Place the robot inside the pipe and adjust the opening distance of the walking device 20 by rotating the adjusting screw 13 so that the support wheel group 22 on each walking device 20 abuts against the inner wall of the pipe. S11. The coil 40 is fitted onto the outer wall of the pipe, and the coil 40 is moved along the pipe. The coil 40 and the magnetic adsorption component 27 are magnetically pulled to drive the robot inside the pipe to move inside the pipe.

[0055] The steps for switching between wheel and track include: S20. Adjust the screw 13 to rotate so that the track wheel assembly 30 abuts against the inner wall of the pipe. At this time, the support wheel assembly 22 swings towards the side closer to the screw 13 under the action of the telescopic support 26. S22, the first motor 34 on the track wheel assembly 30 is started, and the robot moves inside the pipe through the track wheel assembly 30.

[0056] Specifically, the screw 13 is driven to rotate by the second motor 11, and the track wheel set 30 abuts against the inner wall of the pipe. At this time, the support wheel set 22 swings outward.

[0057] Then, the third motor 57 can be powered by the battery 18, enabling the robot to move autonomously inside the pipe. This scenario is suitable for situations where the robot is obstructed inside the pipe, or where the operation of the coil outside the pipe is obstructed.

[0058] The steps for reverse charging include: S30. With the robot inside the pipe supported by the track wheel set 30, the coil 40 moves along the pipe. The coil 40 and the magnetic adsorption component 27 are magnetically pulled, driving the robot inside the pipe to move. S31. When the robot moves inside the tube, it drives the first motor 34 to rotate and generate electricity to charge the battery 18, thereby enhancing the robot's endurance.

[0059] While specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and not intended to limit the scope of the invention. Modifications and variations made by those skilled in the art in accordance with the spirit of the invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A pipeline robot, characterized in that: The system includes an in-pipe robot and a coil (40). The in-pipe robot includes a support mechanism, on which at least two walking devices (20) are evenly distributed in a ring along the axis. Each walking device (20) includes a base (21). Support wheel sets (22) are hinged to both ends of the upper side of the base (21). Telescopic support members (26) are installed on the support wheel sets (22) and are connected to the base (21). A track wheel set (30) is also installed on the upper side of the base (21) between the two support wheel sets (22). The track wheel set (30) is driven or generated by a first motor (34). A magnetic adsorption member (27) is also installed on the base (21). The in-pipe robot is also equipped with a battery (18) and a controller (19). The battery (18) is electrically connected to the controller (19), and the controller (19) is electrically connected to the first motor (34). The coil (40) is used to be sleeved on the outer wall of the pipe.

2. The pipeline robot according to claim 1, characterized in that: The support mechanism includes a fixed base (10), and at least two fixed rods (12) are installed on one side of the fixed base (10). The fixed rods (12) are parallel to each other. A first slide (14), a second slide (15) and a third slide (16) are slidably installed on each of the two fixed rods (12). The first slide (14) is located on one side of the fixed base (10), and the third slide (16) is located between the first slide (14) and the second slide (15). A screw (13) is screwed into the center of the third slide (16), and the screw (13) slides through the center hole of the first slide (14) and the third slide (16). One end of the base (21) is hinged to one end of the first connecting rod (23), the other end of the first connecting rod (23) is hinged to the first slide (14), the other end of the base (21) is hinged to one end of the second connecting rod (24), the other end of the second connecting rod (24) is hinged to the second slide (15), the middle part of the second connecting rod (24) is hinged to one end of the third connecting rod (25), and the other end of the third connecting rod (25) is hinged to the third slide (16); the opening distance of the walking device (20) can be adjusted by rotating the screw (13).

3. The pipeline robot according to claim 2, characterized in that: One end of the screw (13) is connected to the output shaft of the second motor (11), and the second motor (11) is installed on the other side of the fixed base (10). The fixed base (10) is located on one side of the second motor (11) and has a receiving compartment (17). The receiving compartment (17) contains a battery (18) and a controller (19). The second motor (11) is electrically connected to the controller (19).

4. The pipeline robot according to claim 2, characterized in that: The first slide (14), the second slide (15) and the third slide (16) are all circular structures. Multiple sliding holes (141) are provided on the circular structure. The fixing rod (12) passes through the sliding holes (141). Multiple slots (142) are provided on the outer circumference of the circular structure. A hinge (143) is installed in the slot (142). The first connecting rod (23) is hinged to the hinge (143) on the first slide (14), the second connecting rod (24) is hinged to the hinge (143) on the second slide (15), and the third connecting rod (25) is hinged to the hinge (143) on the third slide (16).

5. The pipeline robot according to claim 1, characterized in that: The two support wheel sets (22) on the base (21) are spread outward; the support wheel set (22) includes a wheel seat (221), one end of the wheel seat (221) is hinged to two supports (211) on the upper side of the base (21), and the other end of the wheel seat (221) is provided with a wheel groove (222). A support wheel (223) is rotatably installed in the wheel groove (222) through a wheel axle (224). The telescopic support member (26) is a spring, one end of the spring is connected to the wheel seat (221) for support, and the other end is connected to the base (21) for support.

6. The pipeline robot according to claim 3, characterized in that: The track wheel assembly (30) includes a track seat (31), with track wheels mounted on both ends of the track seat (31) via track wheel shafts (32), and tracks (33) fitted on the two track wheels. A first motor (34) is mounted on one side of the track seat (31), and the output shaft of the first motor (34) is connected to one of the track wheel shafts (32) for transmission. The first motor (34) is electrically connected to the controller (19).

7. The pipeline robot according to claim 1, characterized in that: The coil (40) is provided with an outer shell covered with rubber. The wires at both ends of the coil (40) are led out from the outer shell. A connector (41) is provided on the coil (40). One end of the connector (41) is provided with an elastic contact, and the other end is provided with a stationary contact. The elastic contact and the stationary contact are respectively connected to each turn of wire in the coil (40). When the connector (41) is installed and closed, the coil (40) is turned on.

8. A pipeline robot according to claim 1 or 7, characterized in that: At least three drive devices (50) are installed inside the coil (40); each drive device (50) includes a mounting base (51), one side of which is fixed to the inner wall of the coil (40), and the other side is equipped with a drive base (56). Pulleys (561) are rotatably installed at both ends of the drive base (56), and belts (562) are installed on the pulleys (561). A third motor (57) is installed on one side of the drive base (56), and the output shaft of the third motor (57) is connected to one of the pulleys (561) for transmission.

9. A pipeline robot according to claim 8, characterized in that: Two drive screws (52) are rotatably mounted on the mounting base (51). A fourth motor (53) is installed between the two drive screws (52) on the mounting base (51). The output shaft of the fourth motor (53) is connected to both drive screws (52) for transmission. The bottom of the drive seat (56) is provided with a base plate (55). The front end of the base plate (55) is hinged to one end of the two fourth connecting rods (551), the other end of the fourth connecting rods (551) is hinged to the front end of the mounting seat (51), the rear end of the base plate (55) is hinged to one end of the two fifth connecting rods (552), the other end of the fifth connecting rods (552) is hinged to the rear end of the mounting seat (51), the middle part of the fourth connecting rods (551) is hinged to one end of the sixth connection (553), the other end of the sixth connection (553) is hinged to the adjusting nut seat (554), and the two adjusting nut seats (554) are respectively screwed onto the corresponding drive screws (52).

10. A method for operating the pipeline robot as described in claim 6, characterized in that: The process includes steps such as wheeled travel, wheel-track switching, and reverse charging; wherein the wheeled travel step includes: S10. Place the robot inside the pipe and adjust the distance of the opening of the walking device (20) by rotating the adjusting screw (13) so that the support wheel group (22) on each walking device (20) abuts against the inner wall of the pipe. S11. The coil (40) is fitted onto the outer wall of the pipe, and the coil (40) is moved along the pipe. The coil (40) and the magnetic adsorption component (27) are magnetically pulled to drive the robot inside the pipe to move inside the pipe. The wheel-track switching steps include: S20. Adjust the screw (13) to rotate so that the track wheel assembly (30) abuts against the inner wall of the pipe. At this time, the support wheel assembly (22) swings towards the side closer to the screw (13) under the action of the telescopic support (26). S22, the first motor (34) on the track wheel assembly (30) is started, and the robot moves in the pipe through the track wheel assembly (30); The reverse charging step includes: S30. With the robot inside the pipe supported by the track wheel assembly (30), the coil (40) moves along the pipe. The coil (40) and the magnetic adsorption component (27) are driven by magnetic force to move the robot inside the pipe. S31. When the robot moves inside the tube, it drives the first motor (34) to rotate and generate electricity to charge the battery (18).

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