Pipeline robot

Abstract

The invention provides a pipeline robot with a program-controlled manipulator, and belongs to the technical field of robots, the pipeline robot comprises a first machine body, a second machine body, a rotating joint mechanism and the program-controlled manipulator, and the first machine body is provided with a plurality of action mechanisms; the second machine body is provided with a plurality of action mechanisms; the rotating joint mechanism is arranged between the first machine body and the second machine body; and the program-controlled manipulator is arranged on the first machine body and / or the second machine body. The robot can quickly advance in a pipeline, can not only passively turn, but also achieve active bending by adjusting the posture of the robot body, can give consideration to both the advancing speed and the turning capacity, and is stable in operation.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a pipeline robot equipped with a programmable manipulator. Background Technology

[0002] Pipeline transportation, as an economical and safe mode of transport, is widely used, such as for oil pipelines, gas pipelines, and drinking water pipelines. However, due to factors such as pipe diameter, the internal condition of many pipelines is difficult to observe after installation. To address this, various pipeline robots have been developed, among which pipeline robots equipped with programmable manipulators are the most flexible, capable of performing a variety of complex operations using the programmable manipulator mounted on the robot body. The programmable manipulator is the core of the robot's end effector, achieving automated operation control through preset programs and real-time sensor feedback. It can be adapted to various scenarios such as municipal drainage, industrial transportation, and oil and gas extraction, for tasks such as pipeline inspection, cleaning, and repair. Its core value lies in replacing manual labor in narrow, corrosive, or toxic environments, completing complex tasks with programmable precision movements. There are precedents in the existing technology of using programmable manipulators mounted on pipeline robots for pipeline operations. However, because programmable manipulators have a certain weight, even if they are relatively flexible, they require a large and powerful body to support them. Therefore, pipeline robots with programmable manipulators often cannot simultaneously achieve both travel speed and turning ability, making them inconvenient to use. This greatly reduces the flexibility of pipeline robots with programmable manipulators and cannot meet the needs of more application scenarios. Summary of the Invention

[0003] The purpose of this invention is to provide a pipeline robot with a programmable manipulator to solve the technical problem that existing pipeline robots often cannot simultaneously achieve both travel speed and turning ability, resulting in inconvenience in use.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A pipeline robot with a programmable manipulator is provided, comprising a first body, a second body, a rotary joint mechanism, and a programmable manipulator. The first body is provided with multiple action mechanisms; the second body is provided with multiple action mechanisms; the rotary joint mechanism is located between the first and second bodies; the programmable manipulator is located on the first body and / or the second body; wherein, the action mechanisms are outwardly extendable arm-type mechanisms; the rotary joint mechanism includes a rotary driver, a mounting base, a main elastic element, and multiple auxiliary elastic elements; the rotary driver is located on the second body; the mounting base is connected to the power output end of the rotary driver to rotate relative to the second body under the drive of the rotary driver; the main elastic element is an elastic structure, with one end connected to the first body and the other end connected to the mounting base; the multiple auxiliary elastic elements are all elastic structures and are arranged around the main elastic element, with both ends of each auxiliary elastic element connected to the first body and the mounting base respectively, and providing tension.

[0005] The beneficial effects of the pipeline robot with a programmable manipulator provided by the present invention are as follows: Compared with the prior art, the present invention can move forward quickly when traveling in the pipeline, and when encountering a bend in the pipeline, it can not only passively turn, but also actively enter the bend by adjusting the body posture. Thus, while carrying the programmable manipulator, it can also take into account the travel speed and the ability to turn corners, and the operation is stable. Attached Figure Description

[0006] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0007] Figure 1 This is a top view of the pipeline robot provided in an embodiment of the present invention; Figure 2 This is a side view of the rotating joint mechanism of the pipeline robot provided in an embodiment of the present invention. Figure 3 A schematic diagram of the external structure of the pipeline robot provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the internal structure of the pipeline robot provided in an embodiment of the present invention; Figure 5 This is a partial cross-sectional view of the rotating joint mechanism of a pipeline robot according to an embodiment of the present invention. Figure 6 A partial cross-sectional view of the rotating joint mechanism of a pipeline robot provided in another embodiment of the present invention; Figure 7 This is a schematic diagram of the planar structure of the connecting plate of the pipeline robot provided in an embodiment of the present invention.

[0008] The labels for the attached figures are as follows: 10. First fuselage; 11. Rotary drive; 12. Transmission assembly; 20. Second fuselage; 30. Rotary joint mechanism; 31. Rotary actuator; 32. Mounting base; 33. Main elastic element; 331. Main spring; 332. First spring seat; 3321. Limiting ring; 333. Second spring seat; 334. Tail claw; 335. Elastic actuation assembly; 3351. Elastic sheet; 3352. Positioning shaft; 336. Torsion actuator; 3361. Connecting plate; 3362. Drive rod; 34. Auxiliary elastic element; 341. Pull rope; 342. Outer tube; 3421. Through-hole; 343. Electric telescopic rod; 40. Action mechanism; 41. Rotating chamber; 42. Extending arm; 43. Extending drive assembly; 431. Sliding rod; 432. Lead screw; 433. Extending actuator; 434. Threaded slider; 435. Support rod; 44. Action wheel assembly; 441. Wheel; 442. Rotary joint; 51. Camera; 52. Endoscope. Detailed Implementation

[0009] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. All other embodiments obtained by those skilled in the art based on the embodiments in this application without creative effort are within the scope of protection of this application.

[0010] It should be further noted that the accompanying drawings and embodiments of the present invention mainly describe the concept of the present invention. Based on this concept, some specific forms and arrangements of connection relationships, positional relationships, power mechanisms, power supply systems, hydraulic systems and control systems may not be fully described. However, under the premise that those skilled in the art understand the concept of the present invention, they can implement the above-mentioned specific forms and arrangements in a well-known manner.

[0011] When a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0012] The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself. The terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0013] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, and "several" means one or more, unless otherwise explicitly specified.

[0014] The pipeline robot with a programmable manipulator provided by the present invention will now be described.

[0015] like Figure 1 and Figure 2 As shown, the pipeline robot provided in the first embodiment of the present invention includes a first body 10, a second body 20, a rotary joint mechanism 30, and a programmable manipulator. The first body 10 is provided with multiple action mechanisms 40; the second body 20 is provided with multiple action mechanisms 40; the rotary joint mechanism 30 is located between the first body 10 and the second body 20; the programmable manipulator is located on the first body 10 and / or the second body 20; wherein, the action mechanism 40 is an arm-type mechanism capable of extending outward; the rotary joint mechanism 30 includes a rotary driver 31, a mounting base 32, a main elastic element 33, and multiple auxiliary elements. The elastic element 34 and the rotary driver 31 are mounted on the second body 20. The mounting base 32 is connected to the power output end of the rotary driver 31 so that it can rotate relative to the second body 20 under the drive of the rotary driver 31. The main elastic element 33 is an elastic structure, with one end connected to the first body 10 and the other end connected to the mounting base 32. Multiple auxiliary elastic elements 34 are also elastic structures and are arranged around the main elastic element 33. The two ends of each auxiliary elastic element 34 are connected to the first body 10 and the mounting base 32 respectively, and provide tension to the first body 10 and the mounting base 32 respectively.

[0016] The programmable robotic arm comprises a multi-degree-of-freedom (DOF) robotic arm, a drive system, and a programmable control unit. The multi-DOF robotic arm employs a modular joint design, with typical configurations including telescopic arm sections and rotary joints, enabling radial extension, circumferential rotation, and axial feed movements. It adapts to various pipe diameters ranging from 200mm to several meters. For example, in small-diameter models, the maximum radial dimension of the robotic arm can be controlled within 150mm, meeting the requirements for passage through narrow spaces. The drive system integrates a motor-reducer transmission module and precision control circuitry, transmitting power to the end effector via bevel gears, chains, and other transmission mechanisms. Some models utilize linear or pneumatic drives to improve operational smoothness and quietness. The programmable control unit includes a main controller and a sensor feedback module. The main controller incorporates a programmable logic controller (PLC) and a motion control chip, supporting offline programming and online debugging. It can preset pipe diameter adaptation parameters, operating paths, and force thresholds, with a response latency of ≤100ms. The sensor feedback module integrates camera and lighting components, pressure sensors, and displacement sensors to collect data such as pipe wall distance and operating resistance in real time, dynamically correcting the robotic arm's trajectory, such as automatically adjusting the extension and retraction range in areas of pipe deformation. The main controller can be integrated into the control unit of the machine body or set up separately.

[0017] To achieve certain functional operations, the multi-degree-of-freedom robotic arm is also equipped with quickly replaceable actuators. In some embodiments, the actuators can be cleaning tools, such as retractable scrapers, rubber adaptation discs, and mechanical grippers. The scraper adheres to the pipe wall through an elastic component and rotates under motor drive to remove scale; the rubber adaptation disc adopts a multi-ring groove structure, which can deform and adapt to the pipe diameter, efficiently removing dirt from the inner wall; the three-jaw mechanical gripper triggers a closing action through a sensor rod, which can wrap around and lock blockages such as tree roots and stones for removal. The actuators can also be repair tools, such as those equipped with a welding torch holder and a sealing material nozzle, combined with laser seam tracking technology, to achieve automatic repair welding of pipe welds and sealing of cracks. The actuators can also be inspection tools, such as those equipped with an ultrasonic flaw detector probe and a high-definition camera, which can complete 360° full-section inspection through robotic arm posture adjustment.

[0018] When traveling inside the pipe, it can move forward quickly via the action mechanism 40 on the first fuselage 10 and the second fuselage 20.

[0019] When encountering a bend in the pipeline, the axial angle between the first body 10 and the second body 20 can be passively changed by directly rotating the main elastic element 33 and multiple auxiliary elastic elements 34 in the joint mechanism 30, which is equivalent to the entire middle part of the robot being able to bend freely.

[0020] When the pipe bend is difficult to turn passively, taking the second body 20 in front and the first body 10 behind as an example, the friction between the first body 10 and the inner wall of the pipe can be increased by opening the action mechanism 40 on the first body 10. Then, the angle of the second body 20 can be rotated by rotating the drive 31, so that the orientation of the second body 20 can more smoothly avoid the obstacle and enter the bend. Then, after releasing the action mechanism 40 on the first body 10, it can move forward a distance. Then, the angle of the second body 20 or the first body 10 can be adjusted by opening the action mechanism 40 on the first body 10 or the second body 20, so that the relative angle between the first body 10 and the second body 20 is in a suitable position, and it can continue to move forward.

[0021] In addition, by setting multiple auxiliary elastic elements 34 around the main elastic element 33, on the one hand, the torque generated by each of the auxiliary elastic elements 34 can balance the force on the main elastic element 33, reduce vibration and instability during robot movement, and prevent the robot from collapsing in the middle; on the other hand, by adjusting the tightness of the auxiliary elastic elements 34 in advance, the bending degree of the main elastic element 33 can be adjusted, thereby adjusting the initial axial angle between the first body 10 and the second body 20, that is, the bending degree of the body, which makes it easier for the robot to turn.

[0022] like Figures 1 to 7 As shown, the present invention provides some specific embodiments based on the above embodiments as follows.

[0023] The main elastic element 33 and the auxiliary elastic element 34 can be elastic components such as springs, sheet springs, and elastic blocks. In one specific embodiment, both the main elastic element 33 and the auxiliary elastic element 34 are springs, and the specific specifications of the springs can be selected as needed.

[0024] There are at least three auxiliary elastic elements 34, which are evenly distributed on the outer periphery of the main elastic element 33 to facilitate the adjustment of the fuselage angle.

[0025] In one specific embodiment, such as Figure 2 As shown, the main elastic element 33 includes a main spring 331, a first spring seat 332, and a second spring seat 333. The first spring seat 332 is connected to the first body 10; the second spring seat 333 is connected to the mounting base 32; both ends of the main spring 331 are connected to the first body 10 and the mounting base 32 respectively through the first spring seat 332 and the second spring seat 333; wherein, both ends of the main spring 331 are provided with tail claws 334 parallel to the axial direction of the main spring 331, and the first spring seat 332 and the second spring seat 333 are provided with grooves that cooperate with the ends of the main spring 331 and the tail claws 334 to facilitate installation and fixation.

[0026] The auxiliary elastic element 34 is equipped with a length adjustment component to facilitate the adjustment of the length or tension of the auxiliary elastic element 34 between the first body 10 and the mounting base 32. The length adjustment component can be a stepless adjustment component such as a threaded adjustment component, or a component with step-by-step adjustment such as a pin-connection adjustment component. The length adjustment component can be either passively adjusted during robot installation and debugging, or actively adjusted during robot operation.

[0027] In some specific embodiments, such as Figure 5 As shown, to improve ease of operation, the auxiliary elastic element 34 also uses a spring. Each auxiliary elastic element 34 has a pull rope 341 inside. One end of the pull rope 341 is connected to the mounting base 32, and the other end passes through the connection between the first body 10 and the auxiliary elastic element 34 and extends into the first body 10. A traction device is provided inside the first body 10, and the traction device is connected to the pull rope 341 corresponding to each auxiliary elastic element 34. In a specific embodiment, the traction device includes an outer tube 342 and an electric telescopic rod 343. One end of the outer tube 342 is fixed on the first body 10 where the pull rope 341 passes through. The outer shell of the electric telescopic rod 343 is fixed to the other end of the outer tube 342, and the driving end of the electric telescopic rod 343 is connected to the pull rope 341 so as to pull the pull rope 341 by extension and retraction, so that the length of the auxiliary elastic element 34 changes, thereby actively changing the robot's body posture.

[0028] To further improve the bending performance of the fuselage and prevent the main spring 331 from being too stiff and causing overload on the auxiliary elastic element 34, a torsion actuator 336 is provided inside the first fuselage 10. The power output end of the torsion actuator 336 passes through the first fuselage 10 and the first spring seat 332, extending into the main spring 331. An elastic actuating component 335 is provided inside the main spring 331. The elastic actuating component 335 is connected to the torsion actuator 336 and abuts against the middle of the main spring 331, rotating under the drive of the torsion actuator 336, thereby applying lateral pressure to the main spring 331 and causing it to bend. In use, the torsion actuator 336 can adjust the orientation of the elastic actuating component 335 according to the degree of tension of the auxiliary elastic element 34 by the pull rope 341, so that the elastic actuating component 335 applies lateral pressure to the main spring 331 in the desired direction, causing the main spring 331 to bend in a predetermined direction, thus facilitating the improvement of the fuselage bending performance.

[0029] In one specific embodiment, such as Figure 5As shown, the torsion driver 336 employs a stepper motor equipped with a reducer. An extension shaft is mounted on the stepper motor's shaft, extending into the main spring 331. The elastic actuation assembly 335 includes an elastic sheet 3351 and a positioning shaft 3352. The positioning shaft 3352 is rotatably limited by the second spring seat 333. The elastic sheet 3351 is elastic at least in its middle portion, with one end connected to the positioning shaft 3352 and the other end connected to the extension shaft, allowing it to rotate under the drive of the torsion driver 336. In its natural state, the elastic sheet 3351 is bent due to the elastic force. The shorter the main spring 331 is compressed, the more bent it becomes. Simultaneously, after the middle portion of the bent elastic sheet 3351 contacts the main spring 331, it applies lateral pressure to the main spring 331, causing it to bend. The torsion driver can then rotate the elastic drive rod, thereby adjusting the bending direction of the elastic sheet 3351, ultimately enabling the robot's body posture to be actively adjusted. Furthermore, this method, combined with the active control method of the aforementioned auxiliary elastic element 34, can precisely control the robot's body posture. To reduce wear, wear-resistant layers, ball bearings, or other anti-friction structures can be provided at the contact area between the elastic sheet 3351 and the main spring 331.

[0030] In another specific embodiment, such as Figure 6 and Figure 7 As shown, the outer tube 342 has a through-hole 3421. The torsion actuator 336 includes a connecting plate 3361 and a drive rod 3362. The connecting plate 3361 is cross-shaped, and its ends pass through the through-hole 3421 and are movably connected to the drive end of the electric telescopic rod 343 so as to move under the drive of the electric telescopic rod 343. Specifically, it can be connected by a ball joint or a ring sleeve limiting connection. One end of the drive rod 3362 is connected to the connecting plate 3361, and the other end is connected to the elastic actuating component 335. The first spring seat 332 is provided with a limiting ring 3321 to limit the middle part of the drive rod 3362. The elastic actuating component 335 adopts an elastic spherical structure, which can be a hollow spherical structure made of elastic sheets, an integrally formed spherical structure, or other spherical structures. By setting the connecting plate 3361, the power of the elastic actuation component 335 can be provided through the electric telescopic rod 343 corresponding to each auxiliary elastic element 34, reducing the use of power components. At the same time, the action of the electric telescopic rod 343 corresponding to each auxiliary elastic element 34 is directly transmitted to the elastic actuation component 335 through the drive rod 3362 after comprehensive action, and acts on the main spring 331. This avoids the time difference of the electronic control system calculating and controlling the torsion actuator 336. In addition, the drive rod 3362 forms a more flexible lever structure under the restriction of the limiting ring 3321. It can not only transmit motion directly with a relatively simple structure, but also avoid excessive restrictions on the action of the drive rod 3362. Furthermore, the transmitted motion or force can be reasonably scaled by the design of the specific position, which facilitates improved operability.

[0031] In one specific embodiment, both the first body 10 and the second body 20 are provided with a swing angle drive assembly. The moving mechanism 40 includes a rotating chamber 41, an extension arm 42, an extension drive assembly 43, and a moving wheel assembly 44. The rotating chamber 41 is rotatably mounted on the first body 10 or the second body 20 and connected to the swing angle drive assembly to rotate under its drive. One end of the extension arm 42 is rotatably connected to the rotating chamber 41. The extension drive assembly 43 is located inside the rotating chamber 41 and connected to the extension arm 42 to drive the extension arm 42 to extend and retract outward. The moving wheel assembly 44 is connected to the other end of the extension arm 42. In some specific embodiments, in a three-dimensional Cartesian coordinate system, the rotation axis of the rotating chamber 41 is in the X-axis direction, and the rotation axis of the extension arm 42 is in the YZ plane.

[0032] In one specific embodiment, such as Figure 4 As shown, the movable wheel assembly 44 is hinged to the extension arm 42, and the hinge is elastically connected, allowing the movable wheel assembly 44 to extend outward in its natural state. The movable wheel assembly 44 includes a wheel 441, a swivel joint 442, a wheel driver, and a swivel joint driver. One end of the swivel joint 442 is connected to the extension arm 42, and the other end is used to mount the wheel 441. The rotation direction of the swivel joint 442 is perpendicular to the rotation direction of the wheel 441. That is, in a three-dimensional rectangular coordinate system, the axis of rotation of the swivel joint 442 is the Z-axis, and the axis of rotation of the wheel 441 is on the XY plane. The axis of rotation of the swivel joint 442 can be parallel to or at an angle to the length direction of the extension arm 42. The wheel driver is located on the swivel joint 442 and is used to drive the wheel 441 to rotate. The swivel joint driver is located on the swivel joint 442 and is used to drive the swivel joint to rotate. This further enhances mobility. By rotating joint 442, the orientation of wheel 441 can be changed, facilitating movement in different directions without affecting other functional operations.

[0033] In one specific embodiment, the extension drive assembly 43 includes a sliding rod 431, a lead screw 432, an extension driver 433, a threaded slider 434, and a support rod 435. The sliding rod 431 is disposed within the rotating chamber 41; the lead screw 432 is rotatably disposed within the rotating chamber 41 and is parallel to the sliding rod 431; the extension driver 433 is disposed within the rotating chamber 41 and connected to the lead screw 432 to drive the lead screw 432 to rotate; the threaded slider 434 is threadedly engaged with the lead screw 432 and slidably engaged with the sliding rod 431; one end of the support rod 435 is rotatably connected to the threaded slider 434, and the other end is rotatably connected to the middle of the extension arm 42. This method not only facilitates the extension of the extension arm 42 but also provides strong support, which is beneficial for maintaining the stability of subsequent operations.

[0034] Two action mechanisms 40 are provided on the first fuselage 10 and the second fuselage 20 respectively, and the two action mechanisms 40 are located on the sides of the first fuselage 10 or the second fuselage 20 respectively.

[0035] One end of the extension arm 42 on the first fuselage 10, which is equipped with a drive wheel assembly 44, extends away from the second fuselage 20. The other end of the extension arm 42 on the second fuselage 20, which is equipped with a drive wheel assembly 44, extends away from the first fuselage 10. Both ends of the sliding rod 431 extend outside the rotating chamber 41 and are rotatably connected to the first fuselage 10 or the second fuselage 20.

[0036] The swing angle drive assembly includes a rotation driver 11 and a transmission assembly 12. The rotation driver 11 is fixed on the first body 10 or the second body 20 and is connected to the sliding rod 431 through the transmission assembly 12 to drive the rotating chamber 41 to rotate.

[0037] The pipeline robot also includes a monitoring module, which is located on the first body 10 and / or the second body 20, for detecting or monitoring the conditions inside the pipeline. In addition to the monitoring module, other functional modules can also be mounted on the first body 10 and / or the second body 20.

[0038] In some specific embodiments, the monitoring module includes a camera 51 and an endoscope 52. The camera 51 is mounted on the second body 20 and is used to capture images behind the second body 20. The end of the endoscope 52 is mounted on the first body 10 and its cables are connected to the first body 10 and the second body 20 respectively to extend backward and facilitate the transmission of data to the outside.

[0039] The pipeline robot also includes a control module and a data cable. The control module is located on the first body 10 or the second body 20 and is electrically connected to the monitoring module, the motion mechanism 40, the rotary drive 31, and all other aforementioned electronic control or data acquisition components for control and data transmission. One end of the data cable is connected to the first body 10 or the second body 20 and is electrically connected to the controller to transmit data, provide power, and provide traction. To improve strength and functionality, the data cable can be a composite cable.

[0040] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A pipeline robot, characterized in that, include: The first fuselage (10) is equipped with multiple action mechanisms (40); The second fuselage (20) is equipped with multiple action mechanisms (40); A rotating joint mechanism (30) is located between the first fuselage (10) and the second fuselage (20); A programmable robotic arm is mounted on the first body (10) and / or the second body (20); The action mechanism (40) is an arm-type mechanism that can extend outward; The rotating joint mechanism (30) includes: Rotary drive (31) is mounted on the second body (20); The mounting base (32) is connected to the power output end of the rotary driver (31) so that it can rotate relative to the second body (20) under the drive of the rotary driver (31); The main elastic element (33) is an elastic structure, with one end connected to the first body (10) and the other end connected to the mounting base (32); Multiple auxiliary elastic elements (34) are all elastic structures and are arranged around the main elastic element (33). The two ends of each auxiliary elastic element (34) are respectively connected to the first body (10) and the mounting base (32) and provide tension.

2. The pipeline robot as described in claim 1, characterized in that: Both the main elastic element (33) and the auxiliary elastic element (34) are springs; there are at least three auxiliary elastic elements (34), which are evenly distributed around the outer periphery of the main elastic element (33); the auxiliary elastic element (34) is provided with a length adjustment component to adjust the length or tension of the auxiliary elastic element (34) between the first body (10) and the mounting base (32).

3. The pipeline robot as described in claim 1, characterized in that, The main elastic element (33) includes: The first spring seat (332) is connected to the first fuselage (10); The second spring seat (333) is connected to the mounting seat (32); The main spring (331) is connected at both ends to the first body (10) and the mounting base (32) respectively through the first spring seat (332) and the second spring seat (333); The main spring (331) has tail claws (334) at both ends that are parallel to the axial direction of the main spring (331), and the first spring seat (332) and the second spring seat (333) have grooves that cooperate with the end of the main spring (331) and the tail claws (334).

4. The pipeline robot as described in claim 1, characterized in that, Both the first fuselage (10) and the second fuselage (20) are provided with a swing angle drive assembly, and the action mechanism (40) includes: The rotating chamber (41) is rotatably mounted on the first body (10) or the second body (20) and connected to the swing angle drive assembly so as to rotate under the drive of the swing angle drive assembly; An extension arm (42) is rotatably connected at one end to the rotating chamber (41); An extension drive assembly (43) is disposed within the rotating chamber (41) and connected to the extension arm (42) to drive the extension arm (42) to extend and retract outward; The motion wheel assembly (44) is connected to the other end of the extension arm (42).

5. The pipeline robot as described in claim 4, characterized in that, The moving wheel assembly (44) is hinged to the extension arm (42) and the hinge is elastically connected, so that the moving wheel assembly (44) extends outward in its natural state; the moving wheel assembly (44) includes a wheel (441), a rotating joint (442), a wheel driver and a rotating joint driver. One end of the rotating joint (442) is connected to the extension arm (42), and the other end is used to install the wheel (441). The rotation direction of the rotating joint (442) is perpendicular to the rotation direction of the wheel (441); the wheel driver is located on the rotating joint (442) and is used to drive the wheel (441) to rotate; the rotating joint driver is located on the rotating joint (442) and is used to drive the rotating joint to rotate.

6. The pipeline robot as described in claim 4, characterized in that, The extension drive component (43) includes: A sliding rod (431) is provided inside the rotating chamber (41); The lead screw (432) is rotatably disposed within the rotating chamber (41) and is arranged parallel to the sliding rod (431); An extension actuator (433) is disposed in the rotating chamber (41) and connected to the lead screw (432) to drive the lead screw (432) to rotate; The threaded slider (434) is threadedly engaged with the lead screw (432) and slidably engaged with the sliding rod (431); The support rod (435) is rotatably connected at one end to the threaded slider (434) and at the other end to the middle of the extension arm (42).

7. The pipeline robot as described in claim 4, characterized in that: Two actuation mechanisms (40) are provided on the first body (10) and the second body (20), and the two actuation mechanisms (40) are respectively located on both sides of the first body (10) or the second body (20); the extension arm (42) on the first body (10) has one end of the actuation wheel assembly (44) extending away from the second body (20), and the extension arm (42) on the second body (20) has one end of the actuation wheel assembly (44) extending away from the first body (10); the sliding rod (431) extends to the outside of the rotating chamber (41) at both ends and is rotatably connected to the first body (10) or the second body (20); the swing angle drive assembly includes a rotation driver (11) and a transmission assembly (12). The rotation driver (11) is fixed on the first body (10) or the second body (20) and is connected to the sliding rod (431) through the transmission assembly (12) to drive the rotating chamber (41) to rotate.

8. The pipeline robot as described in claim 3, characterized in that, The auxiliary elastic element (34) is a spring. Each of the auxiliary elastic elements (34) is provided with a pull rope (341). One end of the pull rope (341) is connected to the mounting base (32), and the other end passes through the connection between the first body (10) and the auxiliary elastic element (34) and extends into the first body (10). The first body (10) is provided with a traction device, which is connected to the pull rope (341) corresponding to each of the auxiliary elastic elements (34). The traction device includes an outer tube (342) and an electric telescopic rod (343). One end of the outer tube is fixed to the insertion point of the pull rope (341) on the first body (10). The outer shell of the electric telescopic rod (343) is fixed to the other end of the outer tube, and the driving end of the electric telescopic rod (343) is connected to the pull rope (341) so as to pull the pull rope (341) by telescopic extension. The first body (10) is provided with a torsion drive (336). The power output end of the torsion drive (336) passes through the first body (10) and the first spring seat (332) and extends into the main spring (331). The main spring (331) is provided with an elastic actuating component (335). The elastic actuating component (335) is connected to the torsion drive (336) and is used to abut against the middle of the main spring (331) so as to rotate under the drive of the elastic actuating component torsion drive (336), thereby applying lateral pressure to the main spring (331) so that the main spring (331) has a tendency to bend.

9. The pipeline robot as described in claim 8, characterized in that, The outer tube (342) is provided with a through-hole (3421), the elastic actuation component (335) is an elastic spherical structure, and the torsion actuator (336) includes: The connecting plate (3361) passes through the through hole (3421) and is movably connected to the drive end of the electric telescopic rod (343) so as to move under the drive of the electric telescopic rod (343); The drive rod (3362) is connected at one end to the connecting plate (3361) and at the other end to the elastic actuation assembly (335). The first spring seat (332) is provided with a limiting ring (3321) to limit the middle part of the drive rod (3362).

10. The pipeline robot as described in claim 1, characterized in that, The pipeline robot also includes: The monitoring module is installed on the first body (10) and / or the second body (20) for detecting or monitoring the situation inside the pipeline; The monitoring module includes: A camera (51) is mounted on the second body (20) and is used to capture images behind the second body (20); An endoscope (52) is mounted on the first body (10) and its cables are connected to the first body (10) and the second body (20) respectively. The pipeline robot also includes: The control module is located on the first body (10) or the second body (20) and is electrically connected to the monitoring module, the action mechanism (40) and the rotation drive (31); The data cable is connected at one end to the first body (10) or the second body (20) and electrically connected to the controller to transmit data.

Images