Multi-joint pipeline robot with self-adaptive tightening mechanism

Abstract

The invention relates to the field of pipeline robots, and discloses a multi-joint pipeline robot with a self-adaptive tightening mechanism, the multi-joint pipeline robot comprises two groups of main connecting plates, a double-shaft motor is fixedly connected between the two groups of main connecting plates, and the outer sides of the two groups of main connecting plates are fixedly connected with connecting rods. And through the intelligent design of the self-adaptive tight-supporting mechanism, the adaptive capacity and tight-supporting stability of the self-adaptive tight-supporting mechanism to pipelines with different diameters are greatly improved. A double-shaft motor drives a threaded rod to drive a threaded sleeve to move, a connecting arm is pushed through a hinge rod to achieve self-adaptive opening and attaching of a moving wheel, linkage feedback of an infrared instrument and the double-shaft motor is matched, the tensioning force can be accurately adjusted in real time according to the size of a pipeline, manual intervention is not needed, and the pipeline tensioning device is suitable for pipelines of various diameter specifications. Meanwhile, it is ensured that the tightening force on the two sides is uniform, equipment advancing deviation is avoided, a foundation is laid for follow-up stable advancing and accurate detection, and the application range of equipment is widened.

Description

Technical Field

[0001] This invention relates to the field of pipeline robot technology, specifically to a multi-joint pipeline robot with an adaptive tensioning mechanism. Background Technology

[0002] In the field of pipeline operation and maintenance, pipeline robots are the core equipment for detecting pipeline defects in long-distance and complex environments. They need to have stable pipeline adaptability, travel ability and accurate detection capabilities to adapt to the inspection needs of pipelines with different diameters and working conditions.

[0003] With the continuous improvement of urban pipe networks, industrial pipelines and other infrastructure, the pipe diameter specifications are becoming more diversified, which places higher demands on the capabilities of pipeline robots.

[0004] However, existing pipeline robots generally suffer from poor traversal stability and compromised detection accuracy. Some robots exhibit poor coordination between their movement and clamping mechanisms, resulting in uneven clamping force. This causes the equipment to easily deviate and sway while moving within the pipeline, affecting the accuracy of the detection data. Simultaneously, the inner walls of pipelines are typically covered with dust, rust, and other impurities. Most existing robots lack effective synchronous cleaning mechanisms, allowing these impurities to affect the grip of the moving wheels, causing slippage and potentially obstructing the detection field of view of the detection elements, further reducing detection accuracy. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a multi-joint pipeline robot with an adaptive tensioning mechanism, solving the problems of poor travel stability and compromised detection accuracy commonly found in existing pipeline robots. In some robots, the coordination between the moving mechanism and the tensioning mechanism is poor, resulting in uneven tensioning force. This causes the device to easily deviate and shake while traveling within the pipeline, affecting the accuracy of the detection data.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a multi-joint pipe robot with an adaptive tensioning mechanism, comprising a main connecting plate, wherein two sets of the main connecting plates are provided, a dual-axis motor is fixedly connected between the two sets of the main connecting plates, a connecting rod is fixedly connected to the outer side of each set of the main connecting plates, a top plate is fixedly connected to the end of the connecting rod away from the main connecting plate, threaded rods are fixedly connected to the output shafts on both sides of the dual-axis motor, a threaded sleeve is threadedly connected to the surface of the threaded rod, a hinge rod is hinged to the surface of the threaded sleeve, a connecting arm is hinged to the end of the hinge rod away from the threaded sleeve, a moving wheel is rotatably connected to the end of the connecting arm, a moving component is provided at the rear end of the connecting arm, and a cleaning component is provided on the inner sidewall of each set of the main connecting plates; A moving component is used to drive the entire assembly to move within the pipe to perform crack detection operations; The cleaning component is used to clean the path of the moving wheels within the pipe.

[0007] Preferably, the moving component includes a servo motor, which is fixedly connected to the outside of a set of connecting arms. The output shaft of the servo motor is fixedly connected to a bevel gear rod, and the rotation center shaft of the moving wheel is fixedly connected to a bevel gear.

[0008] Preferably, the cleaning assembly includes a protruding rod fixedly connected to the outer sidewall of the connecting arm. A connecting seat is fixedly connected between the two sets of main connecting plates. An infrared sensor is provided on the surface of the connecting seat. A multi-stage telescopic rod is fixedly connected to the upper surface of the connecting seat. A convex sliding rod is fixedly connected to the end of the multi-stage telescopic rod away from the connecting seat. A sliding rod is elastically connected to the inner sidewall of the convex sliding rod via a return spring. A connecting plate is fixedly connected to the end of the sliding rod away from the return spring. A contact wheel is rotatably connected to the left side surface of the connecting plate. A drive wheel is rotatably connected to the right side surface of the connecting plate. A sliding column is rotatably connected to the inner sidewall of the connecting plate. A scraper is fixedly connected to the upper surface of the sliding column. A sliding sleeve is slidably connected to the outer wall of the bottom end of the sliding column. A pin is fixedly connected to the outer sidewall of the sliding sleeve.

[0009] Preferably, the threaded rod is rotatably connected between the main connecting plate and the top plate, the output shaft of the dual-axis motor passes through and is rotatably connected at the center of the main connecting plate, the end of the connecting arm is hinged to the outer sidewall of the main connecting plate, and the threaded sleeve is slidably connected to the surface of the connecting rod.

[0010] Preferably, the bevel gear meshes with the bevel gear rod.

[0011] Preferably, the convex slide rod is convex in shape, and guide grooves are provided on both sides of the convex shape of the convex slide rod. The inner wall of the guide groove of the convex slide rod is in contact with the outer side wall of the convex rod.

[0012] Preferably, one end of the return spring is fixedly connected to the rear end of the slide rod, the other end of the return spring is fixedly connected to the inner side wall of the connecting plate, and the slide rod is slidably connected to the inner side wall of the convex slide rod.

[0013] Preferably, the contact wheel and the drive wheel are connected by a belt drive, and the outer arc surface of the contact wheel is in contact with the outer arc surface of the drive wheel.

[0014] Preferably, the surface of the drive wheel is provided with an annular corrugated groove, and the end of the ejector pin away from the sliding sleeve is slidably connected to the inner wall of the annular corrugated groove of the drive wheel.

[0015] Preferably, an auxiliary wheel is rotatably connected to the inner wall of the bottom end of the convex slide rod.

[0016] Working Principle: After the equipment enters the pipeline, the dual-shaft motor fixed between the two main connecting plates starts, and its output shafts on both sides drive the fixedly connected threaded rod to rotate synchronously (the output shaft of the dual-shaft motor passes through and is rotatably connected to the center of the main connecting plate). Because the threaded sleeve connected to the threaded rod surface is slidably connected to the connecting rod surface (the connecting rod is fixed between the main connecting plate and the top plate), the rotation of the threaded rod drives the threaded sleeve to move axially along the connecting rod. When the threaded sleeve moves, the hinged rod on its surface moves in conjunction, pushing the connecting arm, hinged at the end furthest from the threaded sleeve, to rotate around the hinge point on the outer sidewall of the main connecting plate. The moving wheel rotatably connected to the end of the connecting arm opens outward with the rotation of the connecting arm until it adaptively fits against the inner sidewall of the pipeline. By increasing the contact pressure with the inner wall of the pipeline, the friction is increased, ensuring the stability of the equipment within the pipeline. At the same time, the infrared sensor on the surface of the connecting seat between the two main connecting plates is activated. It measures the distance to the inner wall of the pipe by emitting infrared rays, and converts the distance signal into an electrical signal and transmits it to the dual-axis motor. The dual-axis motor adjusts the rotation of the threaded rod in real time according to the signal to ensure that the contact force between the moving wheels on both sides and the inner wall of the pipe is uniform, thereby further improving the stability of the support.

[0017] After adaptive tensioning is completed, the moving component initiates the drive to move the equipment and perform crack detection. A servo motor fixed to the outside of the connecting arm drives a bevel gear rod fixed to its output shaft. Since the bevel gear rod meshes with a bevel gear fixed to the rotation center shaft of the moving wheel, the rotational power of the bevel gear rod is transmitted to the bevel gear, causing the moving wheel to rotate synchronously. Multiple sets of moving wheels rotate in tandem, driving the entire equipment to move smoothly within the pipeline. During this movement, an infrared scanner continuously scans the inner wall of the pipeline, capturing information on defects such as cracks in real time, thus completing the crack detection operation.

[0018] The cleaning components simultaneously perform cleaning operations along the travel route. During the swinging and tightening process of the connecting arm, the protruding rod fixed to its outer sidewall rises synchronously with the connecting arm. The protruding rod slides within the guide grooves on both sides of the convex slide rod, pushing the convex slide rod up and down (the convex slide rod is connected to the connecting seat via a multi-stage telescopic rod, which can adaptively extend and retract to match the movement of the convex slide rod). Simultaneously, when the moving wheel rotates, its outer arc surface contacts the outer arc surface of the contact wheel (the contact wheel surface is made of high-friction sand and gravel material), causing the contact wheel to rotate synchronously. The contact wheel and the drive wheel are connected via belt drive; the rotation of the contact wheel drives the drive wheel to rotate. The drive wheel surface has an annular corrugated groove, and its inner wall is slidably connected to the ejector pin fixed to the outer side of the sliding sleeve. When the drive wheel rotates, it drives the ejector pin to slide along the annular corrugated groove, causing the sliding sleeve to swing. The sliding column slidably connected to the inner wall of the bottom of the sliding sleeve swings with the sliding sleeve. Simultaneously, the sliding column can slide up and down within the sliding sleeve and rotate circumferentially inside the connecting plate, thereby causing the scraper fixed to the upper surface of the sliding column to swing back and forth. During the scraper's oscillation, impurities and dust are scraped away from the path of the moving wheels on the inner wall of the pipe, preventing impurities from affecting the wheels' grip and blocking the infrared radiation from the infrared meter, thus ensuring detection accuracy. Furthermore, the slide rod, elastically connected to the inner wall of the convex slide rod via a return spring, ensures that the connecting plate and the contact wheel remain in contact with the surface of the moving wheel under the elastic action of the return spring, guaranteeing transmission stability and the continuity of the cleaning action.

[0019] This invention provides a multi-joint pipe robot with an adaptive tensioning mechanism. It offers the following advantages: 1. This invention significantly improves the adaptability and tensioning stability of pipes with different diameters through the intelligent design of the adaptive tensioning mechanism. A dual-axis motor drives a threaded rod to move a threaded sleeve, and a hinged rod pushes the connecting arm to achieve adaptive opening and closing of the moving wheels. Combined with the linkage feedback between the infrared sensor and the dual-axis motor, the tensioning force can be precisely adjusted in real time according to the pipe size without manual intervention, adapting to pipes of various diameters. Simultaneously, it ensures uniform tensioning force on both sides, preventing equipment deviation and laying the foundation for stable movement and accurate detection, thus broadening the applicability of the equipment.

[0020] 2. This invention achieves synchronous automatic cleaning of the travel path through the coordinated design of the cleaning component, moving component, and tensioning component, ensuring travel stability and detection accuracy without requiring additional drive components. The connecting arm's tensioning action drives the convex sliding rod to move, and the rotational power of the moving wheels drives the scraper to reciprocate, simplifying the equipment structure and reducing manufacturing costs and energy consumption. The scraper effectively removes impurities from the travel path, improving the grip of the moving wheels to prevent slippage and preventing impurities from obstructing the infrared detector, ensuring a clear detection field and improving detection accuracy and operational reliability.

[0021] 3. This invention achieves real-time and precise adjustment of the tensioning force through the linkage of an infrared instrument and a dual-axis motor. The linkage of the moving component and the cleaning component enables simultaneous movement and cleaning. The smooth coordination of the various components eliminates the need for manual step-by-step operation, significantly improving work efficiency. At the same time, the overall structure is compact, and the layout of key components such as the moving wheels and cleaning scraper is reasonable. While ensuring operational performance, the size and weight of the equipment are effectively controlled, facilitating flexible operation in complex pipeline environments. It has high practical value and promising prospects for promotion. Attached Figure Description

[0022] Figure 1 This is an overall perspective view of the present invention; Figure 2 This is a schematic diagram of the overall side view structure of the present invention; Figure 3 This is a three-dimensional structural diagram of the mobile component of the present invention; Figure 4 This is a three-dimensional structural diagram of the cleaning component of the present invention; Figure 5 This is a partial cross-sectional view of the convex slide bar of the present invention; Figure 6 This is a schematic diagram of the sliding sleeve and sliding column in the separated state of the present invention; Figure 7 This is a schematic diagram of the rear end structure of the sliding sleeve of the present invention.

[0023] The components include: 1. Main connecting plate; 2. Dual-axis motor; 3. Connecting rod; 4. Top plate; 5. Threaded rod; 6. Threaded sleeve; 7. Hinge rod; 8. Connecting arm; 9. Moving wheel; 10. Moving assembly; 1001. Servo motor; 1002. Bevel gear rod; 1003. Bevel gear; 11. Cleaning assembly; 1101. Convex rod; 1102. Connecting seat; 1103. Infrared sensor; 1104. Multi-stage telescopic rod; 1105. Convex slide rod; 1106. Auxiliary wheel; 1107. Slide rod; 1108. Connecting plate; 1109. Contact wheel; 1110. Drive wheel; 1111. Return spring; 1112. Sliding column; 1113. Scraper; 1114. Sliding sleeve; 1115. Ejector pin. Detailed Implementation

[0024] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Example: Please see Figures 1-3This invention provides a multi-joint pipe robot with an adaptive tensioning mechanism, including a main connecting plate 1. Two sets of main connecting plates 1 are provided, and a dual-axis motor 2 is fixedly connected between the two sets of main connecting plates 1. Connecting rods 3 are fixedly connected to the outer sides of both sets of main connecting plates 1. A top plate 4 is fixedly connected to the end of each connecting rod 3 away from the main connecting plate 1. Threaded rods 5 are fixedly connected to the output shafts on both sides of the dual-axis motor 2. Threaded sleeves 6 are threadedly connected to the surface of the threaded rods 5, and the threaded sleeves 6 are slidably connected to the surface of the connecting rods 3. A hinged rod 7 is hinged to the surface of the threaded sleeve 6, and a connecting arm 8 is hinged to the end of the hinged rod 7 away from the threaded sleeve 6. The threaded rods 5 are rotatably connected between the main connecting plate 1 and the top plate 4. Between plates 4, the output shaft of the dual-axis motor 2 passes through and is rotatably connected to the center of the main connecting plate 1. The end of the connecting arm 8 is hinged to the outer sidewall of the main connecting plate 1. The end of the connecting arm 8 is rotatably connected to a moving wheel 9. By rotating the dual-axis motor 2, the left and right sets of threaded rods 5 can rotate, and the threaded sleeve 6 moves threadedly on the surface of the threaded rod 5, and drives the hinge rod 7 to push the connecting arm 8 to rotate around the hinge point of the main connecting plate 1, so that the moving wheel 9 can adaptively contact the inner side of the pipe, thereby increasing the friction. The rear end of the connecting arm 8 is provided with a moving component 10, and the inner sidewalls of the two sets of main connecting plates 1 are provided with a cleaning component 11. The moving component 10 is used to drive the entire assembly to move within the pipe to perform crack detection operations; Cleaning component 11 is used to clean the movement path of the moving wheel 9 within the pipe.

[0026] Reference Figure 3 The moving component 10 includes a servo motor 1001, which is fixedly connected to the outside of a set of connecting arms 8. The output shaft of the servo motor 1001 is fixedly connected to a bevel gear rod 1002. The rotation center shaft of the moving wheel 9 is fixedly connected to a bevel gear 1003. The bevel gear 1003 meshes with the bevel gear rod 1002. The output shaft of the servo motor 1001 drives the bevel gear rod 1002 to rotate, thereby transmitting power to the bevel gear 1003 so that the moving wheel 9 rotates synchronously with it, allowing the entire device to move within the pipe.

[0027] Reference Figures 2-4The cleaning component 11 includes a protruding rod 1101, which is fixedly connected to the outer sidewall of the connecting arm 8. A connecting seat 1102 is fixedly connected between the two main connecting plates 1. An infrared sensor 1103 is provided on the surface of the connecting seat 1102. The infrared sensor 1103 emits infrared rays to contact the inside of the pipe, thereby transmitting an electrical signal to the dual-axis motor 2 based on the distance of the pipe. This allows the dual-axis motor 2 to drive the two sets of threaded rods 5 to rotate synchronously. A multi-stage telescopic rod 1104 is fixedly connected to the upper surface of the connecting seat 1102. A convex sliding rod 1105 is fixedly connected to the end of the multi-stage telescopic rod 1104 away from the connecting seat 1102. The multi-stage telescopic rod 1104 is a multi-stage telescopic rod. The telescopic rods are connected in a series, so that when the convex slide rod 1105 is slid up by the two sets of convex rods 1101, it will drive the multi-stage telescopic rod 1104 to extend and retract. The inner wall of the bottom end of the convex slide rod 1105 is rotatably connected to an auxiliary wheel 1106. The convex slide rod 1105 is convex in shape. Guide grooves are opened on both sides of the convex shape of the convex slide rod 1105. The inner wall of the guide groove of the convex slide rod 1105 is in contact with the outer side wall of the convex rod 1101. When the two sets of connecting arms 8 are tilted by the movement of the hinge rod 7, they will drive the convex rod 1101 to rise synchronously, so that it can slide on the inner wall of the guide groove of the convex slide rod 1105, thereby pushing the convex slide rod 1105 to move up and down.

[0028] Reference Figures 5-7The inner sidewall of the convex slide rod 1105 is elastically connected to the slide rod 1107 via a return spring 1111. One end of the return spring 1111 is fixedly connected to the rear end of the slide rod 1107, and the other end is fixedly connected to the inner sidewall of the connecting plate 1108. The function of the return spring 1111 is to automatically reset the position of the slide rod 1107 after it has moved, thereby ensuring that the contact wheel 1109 can always be in contact with the surface of the moving wheel 9. The slide rod 1107 is slidably connected to the convex slide rod 1105. On the inner sidewall of 5, a connecting plate 1108 is fixedly connected to the end of the slide rod 1107 away from the return spring 1111. A contact wheel 1109 is rotatably connected to the left side surface of the connecting plate 1108. The contact wheel 1109 is connected to the drive wheel 1110 via a belt drive. The outer arc surface of the contact wheel 1109 contacts the outer arc surface of the moving wheel 9. The surface of the contact wheel 1109 is made of sand with high friction. The rotation of the moving wheel 9 can make contact with the surface of the contact wheel 1109, thereby driving the contact wheel 1109 to move forward. The drive wheel 1110 is rotatably connected to the right side surface of the connecting plate 1108. A sliding column 1112 is rotatably connected to the inner side wall of the connecting plate 1108. A scraper 1113 is fixedly connected to the upper surface of the sliding column 1112. A sliding sleeve 1114 is slidably connected to the outer wall of the bottom end of the sliding column 1112. A ejector pin 1115 is fixedly connected to the outer side wall of the sliding sleeve 1114. An annular corrugated groove is formed on the surface of the drive wheel 1110. The end of the ejector pin 1115 away from the sliding sleeve 1114 is slidably connected to the drive wheel 1110. The inner wall of the annular corrugated groove is rotated by the drive wheel 1110, which causes the ejector pin 1115 to slide within the annular corrugated groove. This causes the sliding sleeve 1114 to swing. At the same time, the sliding column 1112 can slide up and down inside the sliding sleeve 1114 and rotates circumferentially inside the connecting plate 1108. This causes the scraper 1113 to swing back and forth to scrape the path of the moving wheel 9, avoiding impurities and also preventing infrared radiation from the infrared instrument 1103.

[0029] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-joint pipe robot with an adaptive tensioning mechanism, characterized in that, Includes a main connecting plate (1), which is provided in two sets. A dual-axis motor (2) is fixedly connected between the two sets of main connecting plates (1). A connecting rod (3) is fixedly connected to the outer side of each set of main connecting plates (1). A top plate (4) is fixedly connected to the end of the connecting rod (3) away from the main connecting plate (1). A threaded rod (5) is fixedly connected to the output shafts on both sides of the dual-axis motor (2). A threaded sleeve (6) is threadedly connected to the surface of the threaded rod (5). A hinge rod (7) is hinged to the surface of the threaded sleeve (6). A connecting arm (8) is hinged to the end of the hinge rod (7) away from the threaded sleeve (6). A moving wheel (9) is rotatably connected to the end of the connecting arm (8). A moving component (10) is provided at the rear end of the connecting arm (8). A cleaning component (11) is provided on the inner sidewall of each set of main connecting plates (1). A moving component (10) is used to drive the entire assembly to move within the pipe to perform crack detection operations; Cleaning component (11) is used to clean the movement path of the moving wheel (9) in the pipe.

2. A multi-joint pipe robot with an adaptive tensioning mechanism according to claim 1, characterized in that, The moving component (10) includes a servo motor (1001), which is fixedly connected to the outside of a set of connecting arms (8). The output shaft of the servo motor (1001) is fixedly connected to a bevel gear rod (1002), and the rotation center shaft of the moving wheel (9) is fixedly connected to a bevel gear (1003).

3. A multi-joint pipe robot with an adaptive tensioning mechanism according to claim 1, characterized in that, The cleaning assembly (11) includes a protruding rod (1101), which is fixedly connected to the outer sidewall of the connecting arm (8). A connecting seat (1102) is fixedly connected between the two sets of main connecting plates (1). An infrared meter (1103) is provided on the surface of the connecting seat (1102). A multi-stage telescopic rod (1104) is fixedly connected to the upper surface of the connecting seat (1102). A convex sliding rod (1105) is fixedly connected to the end of the multi-stage telescopic rod (1104) away from the connecting seat (1102). A sliding rod (1107) is elastically connected to the inner sidewall of the convex sliding rod (1105) through a return spring (1111). The end of the slide rod (1107) away from the return spring (1111) is fixedly connected to a connecting plate (1108). A contact wheel (1109) is rotatably connected to the left side surface of the connecting plate (1108). A drive wheel (1110) is rotatably connected to the right side surface of the connecting plate (1108). A sliding column (1112) is rotatably connected to the inner side wall of the connecting plate (1108). A scraper (1113) is fixedly connected to the upper surface of the sliding column (1112). A sliding sleeve (1114) is slidably connected to the outer wall of the bottom end of the sliding column (1112). A pin (1115) is fixedly connected to the outer side wall of the sliding sleeve (1114).

4. A multi-joint pipe robot with an adaptive tensioning mechanism according to claim 1, characterized in that, The threaded rod (5) is rotatably connected between the main connecting plate (1) and the top plate (4). The output shaft of the dual-axis motor (2) passes through and is rotatably connected at the center of the main connecting plate (1). The end of the connecting arm (8) is hinged to the outer sidewall of the main connecting plate (1). The threaded sleeve (6) is slidably connected to the surface of the connecting rod (3).

5. A multi-joint pipe robot with an adaptive tensioning mechanism according to claim 2, characterized in that, The bevel gear (1003) meshes with the bevel gear rod (1002).

6. A multi-joint pipe robot with an adaptive tensioning mechanism according to claim 3, characterized in that, The convex slide rod (1105) is convex in shape. Guide grooves are provided on both sides of the convex shape of the convex slide rod (1105). The inner wall of the guide groove of the convex slide rod (1105) is in contact with the outer side wall of the convex rod (1101).

7. A multi-joint pipe robot with an adaptive tensioning mechanism according to claim 3, characterized in that, One end of the return spring (1111) is fixedly connected to the rear end of the slide rod (1107), and the other end of the return spring (1111) is fixedly connected to the inner side wall of the connecting plate (1108). The slide rod (1107) is slidably connected to the inner side wall of the convex slide rod (1105).

8. A multi-joint pipe robot with an adaptive tensioning mechanism according to claim 3, characterized in that, The contact wheel (1109) and the drive wheel (1110) are connected by belt drive, and the outer arc surface of the contact wheel (1109) is in contact with the outer arc surface of the moving wheel (9).

9. A multi-joint pipe robot with an adaptive tensioning mechanism according to claim 3, characterized in that, The surface of the drive wheel (1110) is provided with an annular corrugated groove, and the end of the ejector pin (1115) away from the sliding sleeve (1114) is slidably connected to the inner wall of the annular corrugated groove of the drive wheel (1110).

10. A multi-joint pipe robot with an adaptive tensioning mechanism according to claim 3, characterized in that, An auxiliary wheel (1106) is rotatably connected to the inner wall of the bottom end of the convex slide rod (1105).

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