Crawler-type pipeline operation and maintenance bionic robot

Abstract

The crawler-type pipeline operation and maintenance bionic robot comprises at least one crawler-type basic unit, each crawler-type basic unit comprises at least one crawler-type driving assembly and a first transfer frame, one end of each crawler-type driving assembly is fixedly connected to one end of the corresponding first transfer frame, and the other end of each first transfer frame is fixedly connected with an angle adjusting joint; the angle adjusting joint comprises a first joint motor with a base detachably connected to the other end of the first adapter frame, an adapter plate with one end fixedly connected to the driving end of the first joint motor, and a second joint motor with a base detachably connected to the other end of the adapter plate. The rotating axis of the first joint motor is perpendicular to the rotating axis of the second joint motor, the driving end of the second joint motor is fixedly connected with a second adapter frame, and the second adapter frame is used for fixing an installation tool or at least one crawler-type driving assembly. The passing efficiency of the robot can be relatively improved, and the application range can be expanded.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a tracked biomimetic robot for pipeline maintenance. Background Technology

[0002] Pipeline robots are mechatronic systems that can automatically walk along the inside or outside of pipelines, carry one or more sensors and operating machinery, and perform a series of pipeline operations under the remote control of workers or the automatic control of computers. They are widely used in many fields such as pipeline flaw detection, joint repair, maintenance, and welding.

[0003] Tracked pipeline maintenance biomimetic robots, as a type of pipeline robot, move by means of tracks, which move their onboard tools (such as defect detection cameras, dredging tools, plugging tools, and repair tools) in sync to perform tasks. However, existing tracked pipeline maintenance biomimetic robots typically adopt a single-section rigid structure or a simple articulated design, which limits their obstacle-crossing ability and makes it difficult to adapt to complex working conditions such as elevation differences and large potholes inside pipelines. At the same time, the tool's working posture is also difficult to adjust flexibly, limiting its application range. Summary of the Invention

[0004] This invention provides a tracked biomimetic robot for pipeline maintenance, which can improve throughput and application range, adapt to complex working conditions such as elevation differences and large potholes inside pipelines, and also facilitates adjustment of the tool's working posture.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A tracked pipeline maintenance biomimetic robot includes at least one set of tracked base units. Each tracked base unit includes at least one tracked drive assembly and a first adapter frame. One end of the tracked drive assembly is fixedly connected to one end of the first adapter frame. The other end of the first adapter frame is fixedly connected to an angle adjustment joint. The angle adjustment joint includes a first joint motor whose base is detachably connected to the other end of the first adapter frame, an adapter plate whose base is fixedly connected to the drive end of the first joint motor, and a second joint motor whose base is detachably connected to the other end of the adapter plate. The rotation axis of the first joint motor and the rotation axis of the second joint motor are perpendicular to each other. The drive end of the second joint motor is fixedly connected to a second adapter frame. The second adapter frame is used to fix and install tools or at least one tracked drive assembly.

[0006] The beneficial effects of this invention are as follows: When performing pipeline maintenance operations, tools or the tracked drive assembly of another tracked base unit can be mounted on the second adapter frame to realize tool installation or series connection of multiple tracked base units. During the operation, the rotation of the first joint motor and the second joint motor can drive the corresponding tool or another tracked base unit to achieve angle flipping adjustment, thereby adjusting the tool's working posture. Alternatively, by adjusting the travel angle path of the tracked drive assemblies of different tracked base units, obstacle crossing can be achieved, thereby relatively improving the passage efficiency and application range. It is easy to adapt to complex working conditions such as elevation differences and large-sized pits inside the pipeline, and it is also easy to adjust the tool's working posture.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Furthermore, the angle adjustment joint also includes a joint protective sleeve, which covers the first joint motor, the adapter plate, and the second joint motor.

[0009] Furthermore, the tracked drive assembly includes two side plates, a drive member fixedly connected between the two side plates, a driven pulley rotatably connected to one end of each of the two side plates, a drive pulley rotatably connected to the other end of each of the two side plates, and a track tensioned between the driven pulley and the drive pulley. One end of each of the two side plates is fixedly connected to one end of the first adapter frame, and one end of the drive pulley is drively connected to one end of the drive member.

[0010] Furthermore, a cabin is fixedly connected between the two side plates, the drive unit is installed in the cabin, and its drive end extends out of the cabin and is connected to the drive pulley.

[0011] Furthermore, two wear-resistant plates located on the same plane are fixedly connected to both sides of the upper and lower belt surfaces of the chassis near the track. The surfaces of the two wear-resistant plates on the same plane are located outside the end sides of the corresponding side plates and are simultaneously supported on the inner side of the track.

[0012] Furthermore, a first limiting groove is formed between the two wear-resistant plates on the same plane at their closest ends, and a first limiting block that is adapted to and slidably connected to the inner side of the track is fixedly connected to the first limiting groove.

[0013] Furthermore, the passive pulley and / or the active pulley are provided with annular grooves, and the first limiting block is simultaneously connected to the annular grooves.

[0014] Furthermore, each of the two wear-resistant plates on the same plane has a limiting plate fixedly connected to one end of each other. The height of the limiting plate is less than the thickness of the corresponding track, and the two opposing limiting plates abut against the two sides of the track.

[0015] Furthermore, each of the two side plates is fixedly connected to an adjusting component at one end. Each adjusting component includes an adjusting seat fixedly connected to the corresponding side plate, a screw threaded to the adjusting seat, and a sliding rod rotatably connected to one end of the screw. The two sliding rods are slidably connected to the two side plates respectively, and the other ends of the two sliding rods are coaxially fixedly connected to both ends of the driven pulley respectively.

[0016] Furthermore, the track base unit is provided in two sets, and each set of track base units includes a track drive assembly. The other end of the track drive assembly of the second set of track base units is fixed to the second adapter frame of the first set of track base units, and the second adapter frame of the second set of track base units is used to fix and install the third track drive assembly. Attached Figure Description

[0017] Figure 1 This is a first structural diagram of the present invention, showing a set of tracked basic units; Figure 2 For the present invention Figure 1 A magnified view of the local structure; Figure 3 For the present invention Figure 1 A partial structural sectional view; Figure 4 For the present invention Figure 3 Enlarged view of section A in the middle; Figure 5 For the present invention Figure 1 A partial structural diagram; Figure 6 For the present invention Figure 5 Enlarged view of section B; Figure 7 The second structural diagram of the present invention shows a state in which two sets of track base units and a tracked drive assembly are connected in series.

[0018] The attached diagram lists the components represented by each number as follows: 1. Side plate; 11. Cabin; 12. Wear-resistant plate; 121. First limiting groove; 122. Annular groove; 123. Limiting plate; 2. Drive components; 21. Drive motor; 22. Circuit board; 23. Bevel gear set; 24. Gear set; 25. Gear cover; 3. Passive pulley; 4. Active pulley; 5. Track; 51. First limit block; 6. First adapter frame; 61. First clamp; 62. First flange seat; 63. Joint adapter seat; 7. Angle adjustment joint; 71. First joint motor; 72. Adapter plate; 73. Second joint motor; 74. Joint protective sleeve; 8. Second adapter frame; 81. Second flange seat; 82. Second clamp; 9. Adjusting component; 91. Adjusting seat; 92. Screw; 93. Slide rod. Detailed Implementation

[0019] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0020] Example 1 like Figures 1-7 A tracked pipeline maintenance biomimetic robot includes at least one set of tracked base units. Each tracked base unit includes at least one tracked drive assembly and a first adapter frame 6. One end of the tracked drive assembly is fixedly connected to one end of the first adapter frame 6. The other end of the first adapter frame 6 is fixedly connected to an angle adjustment joint 7. The angle adjustment joint 7 includes a first joint motor 71 whose base is detachably connected to the other end of the first adapter frame 6, an adapter plate 72 whose one end is fixedly connected to the drive end of the first joint motor 71, and a second joint motor 73 whose base is detachably connected to the other end of the adapter plate 72. The rotation axis of the first joint motor 71 and the rotation axis of the second joint motor 73 are perpendicular to each other. The drive end of the second joint motor 73 is fixedly connected to a second adapter frame 8. The second adapter frame 8 is used to fix and install tools or at least one tracked drive assembly.

[0021] The beneficial effects of this embodiment are: when performing pipeline maintenance operations, tools or the tracked drive assembly of another tracked base unit can be mounted on the second adapter frame 8 to realize tool installation or series connection of multiple tracked base units. During the operation, the rotation of the first joint motor 71 and the second joint motor 73 can drive the corresponding tool or another tracked base unit to achieve angle flipping adjustment, thereby adjusting the tool's working posture. Alternatively, by adjusting the travel angle path of the tracked drive assemblies of different tracked base units, obstacle crossing can be achieved, thereby relatively improving the passage efficiency and application range. It is convenient to adapt to complex working conditions such as height differences and large-sized pits inside the pipeline, and it is also convenient to adjust the tool's working posture.

[0022] Specifically, regarding the specific setup method for the tracked basic unit: As one of the parallel solutions, a set of track base units is provided, and each track base unit is provided with one or at least two tracked drive assemblies. When there is only one track base unit, it supports the angle adjustment joint 7 and the second adapter frame 8, and at the same time, it realizes the movement function. When there are at least two track base units, the track base units are arranged side by side and connected to the first adapter frame 6. Specifically, the track base units can be arranged according to the inner shape of the pipe to improve the adaptability to pipes of various sizes and internal shapes. When the inner side of the pipe is circular, the track base units are distributed in a circular pattern. When the inner side of the pipe is rectangular, the track base units are distributed in a corresponding rectangular pattern. In this case, multiple track base units can relatively improve the stability of movement.

[0023] As a second parallel option, at least two sets of track base units are provided. The number of track drive assemblies in each set of track base units may be equal or unequal. Taking only two sets as an example, the other end of the track drive assembly of the second set of track base units is fixedly connected to the other end of the second adapter frame 8 of the first set to realize the connection between the two sets of track base units.

[0024] By analogy, multiple sets of track base units can be installed in series.

[0025] Specifically, the specific setup of the second adapter frame 8 is as follows: As one of the setup options, it can be equipped with various tools, such as defect detection cameras, dredging tools, sealing tools, and repair tools. By adjusting the angles of the first joint motor 71 and the second joint motor 73, the tools can be adjusted in multiple directions. For example, when using a defect detection camera, it can perform shooting actions from multiple angles.

[0026] As a second configuration, it can be equipped with at least one tracked drive assembly. In this case, the number of tracked drive assemblies is one more than the number of corresponding angle adjustment joints 7, forming a multi-section serial robot. During pipeline maintenance, the travel angle of at least one of the tracked drive assemblies can be changed by adjusting the angle of the first joint motor 71 and the second joint motor 73, thereby adapting to various pipeline working conditions with different elevations or large pits. For example, when there are three tracked drive assemblies, the direction of the two tracked drive assemblies on the side can be changed to form an "eight"-shaped parallel connection to improve the ability to pass through pipelines with larger inner diameters.

[0027] Therefore, the tracked pipeline maintenance biomimetic robot of this invention has high crawling capability: it adopts a multi-section series-parallel tracked drive assembly, enabling it to adapt to pipelines of various sizes; modular design: the tracked drive assembly of each tracked basic unit is an independent module, and its number and arrangement can be arbitrarily changed. When the power of a single section is insufficient, it can be increased by connecting it in series. When the pipeline is large, two drive sections can be connected in parallel in a figure-eight pattern; and switchable end effector: based on the second adapter frame 8, it can carry any tool, such as a defect detection camera, etc. Dredging tools, sealing tools, repair tools, etc.; Super obstacle crossing ability: The multi-section tracked drive assembly connected in series can adapt to various pipeline working conditions such as height differences or large pits. By adjusting the angle of the middle joint 7, the front tracked drive assembly can achieve a pitch of ±90°, so as to deliver the front drive section to the corresponding height difference position and continue to move forward. When a rollover occurs, the front tracked drive assembly can achieve a 360° roll movement by adjusting the angle of the middle joint 7, and the rollover tracked drive assembly can be corrected by twisting.

[0028] Based on the above embodiments, the first adapter frame 6 includes a first chuck 61 at one end for fixing the tracked drive assembly, a first flange seat 62 at one end fixedly connected to the first chuck 61, and a joint adapter seat 63 at one end fixedly connected to the first flange seat 62. The base of the first joint motor 71 is detachably connected to the other end of the joint adapter seat 63. The second adapter frame 8 includes a second flange seat 81 at one end fixedly connected to the drive end of the second joint motor 73 and a second chuck 82 at one end fixedly connected to the second flange seat 81. The second chuck 82 is used to fix and install tools or at least one tracked drive assembly.

[0029] Example 2 like Figure 1 and Figure 2 Based on embodiment 1, the angle adjustment joint 7 also includes a joint protective sleeve 74, which covers the first joint motor 71, the adapter plate 72 and the second joint motor 73.

[0030] The beneficial effect of adopting the preferred solution in the above embodiments is that the joint protective sleeve 74 can protect the first joint motor 71, the adapter plate 72 and the second joint motor 73.

[0031] It should be noted that the joint protective sleeve 74 is a flexible protective sleeve, which can be made of materials such as rubber. The two ends of the joint protective sleeve 74 are respectively sealed and connected to the first flange seat 62 and the second flange seat 81.

[0032] Example 3 like Figures 3-6Based on embodiments 1 and 2, the tracked drive assembly includes two side plates 1, a drive component 2 fixedly connected between the two side plates 1, a passive pulley 3 rotatably connected to one end of the two side plates 1 at both ends, a drive pulley 4 rotatably connected to the other end of the two side plates 1 at both ends, and a track 5 tensioned between the passive pulley 3 and the drive pulley 4. One end of the two side plates 1 is fixedly connected to one end of the first adapter frame 6, and one end of the drive pulley 4 is drively connected to one end of the drive component 2.

[0033] The beneficial effect of adopting the preferred solution in the above embodiments is that during pipeline operation and maintenance, the drive component 2 drives the active pulley 4 to rotate, which in turn drives the track 5 to rotate, thereby achieving movement.

[0034] The drive unit 2 includes a drive motor 21 and a circuit board 22 for controlling the start and stop of the drive motor 21. The drive end of the drive motor 21 drives the drive pulley 4 through the transmission of bevel gear set 23 and gear set 24. One bevel gear of bevel gear set 23 and one gear of gear set 24 are coaxially fixedly connected through a rotating shaft. The other gear of gear set 24 is coaxially fixedly connected to one end of the drive pulley 4.

[0035] Each gear in gear set 24 is rotatably connected to side plate 1.

[0036] A gear cover 25 is fixedly connected to the outside of the side plate 1. The gear cover 25 encloses and protects the gear set 24.

[0037] Based on the above embodiments, the first clamp 61 has a "U" shaped structure, and its two straight arm ends are respectively fixedly connected to the outer side of one end of the two side plates 1.

[0038] Example 4 like Figure 2 and Figure 3 Based on embodiments 1-3, a cabin 11 is fixedly connected between the two side plates 1, and the driving component 2 is installed inside the cabin 11, with its driving end extending out of the cabin 11 and being connected to the drive pulley 4.

[0039] The beneficial effect of adopting the preferred solution in the above embodiments is that the drive component 2 is protected by the cabin 11, and the two side plates 1 are stably installed by the cabin 11.

[0040] As a parallel solution to the above embodiments, based on the above embodiments, the drive motor 21, circuit board 22 and bevel gear set 23 are all installed inside the cabin 11, and the rotating shaft passes through the cabin 11 to be coaxially fixed with one of the gears of the gear set 24.

[0041] Example 5 like Figures 2-4Based on embodiments 1-4, two wear-resistant plates 12 located on the same plane are fixedly connected to both sides of the upper and lower belt surfaces of the compartment 11 near the track 5. The surfaces of the two wear-resistant plates 12 on the same plane are located outside the end sides of the corresponding side plates 1 and are simultaneously supported on the inner side of the track 5.

[0042] The beneficial effect of adopting the preferred solution in the above embodiments is that the track 5 is supported by four wear-resistant plates 12 and the track 5 is supported outside the end side of the side plate 1, so that the rotating track 5 can move smoothly.

[0043] Example 6 like Figures 2-4 Based on embodiments 1-5, a first limiting groove 121 is formed between the two wear-resistant plates 12 on the same plane that are close to each other, and a first limiting block 51 that is adapted to and slidably connected to the inner side of the track 5 is fixedly connected to the first limiting groove 121.

[0044] The beneficial effect of adopting the preferred solution in the above embodiments is that the track 5 is limited by the first limiting groove 121, so as to prevent the track 5 from running off track.

[0045] Specifically, the first limiting groove 121 can be a stepped groove, a dovetail groove, or a U-shaped groove.

[0046] Example 7 like Figure 2 and Figure 3 Based on embodiments 1-6, the passive pulley 3 and / or the active pulley 4 are provided with annular grooves 122, and the first limiting block 51 is simultaneously connected to the annular grooves 122.

[0047] The beneficial effect of adopting the preferred solution in the above embodiments is that the annular groove 122 further limits the track 5, preventing the track 5 from running off track.

[0048] As a parallel solution in the above embodiments, specifically, the annular groove 122 is a U-shaped groove or a V-shaped groove.

[0049] Example 8 like Figure 2 and Figure 3 Based on embodiments 1-7, two wear-resistant plates 12 on the same plane are fixedly connected to a limiting plate 123 at their ends that are far apart from each other. The height of the limiting plate 123 is less than the thickness of the corresponding track 5, and the two limiting plates 123 respectively abut against the two sides of the track 5.

[0050] The beneficial effect of adopting the preferred solution in the above embodiments is that by forming a limit on the width direction of the track 5 through two opposing limiting plates 123, the track 5 is further prevented from derailing, thus ensuring the stability of travel.

[0051] Example 9 like Figure 5 and Figure 6 Based on embodiments 1-8, an adjusting member 9 is fixedly connected to one end of each of the two side plates 1. Each adjusting member 9 includes an adjusting seat 91 fixedly connected to the corresponding side plate 1, a screw 92 threadedly connected to the adjusting seat 91, and a sliding rod 93 rotatably connected to one end of the screw 92. The two sliding rods 93 are slidably connected to the two side plates 1 respectively, and the other ends of the two sliding rods 93 are coaxially fixedly connected to both ends of the driven pulley 3 respectively.

[0052] The beneficial effect of adopting the preferred solution in the above embodiments is that by rotating the two screws 92, the corresponding slide bar 93 is pushed or pulled to move, thereby changing the position of the passive pulley 3, adjusting the distance between the passive pulley 3 and the active pulley 4, and thus adjusting the tension of the track 5.

[0053] In this embodiment, a rectangular sliding groove is provided through one end of each of the two side plates 1 to realize the sliding installation of the sliding rod 93.

[0054] Based on the above embodiments, the first clamp 61 has a "U" shaped structure, and both straight arm ends are installed in the mounting groove to install the corresponding adjusting member 9, thereby protecting the two adjusting members 9 through the first clamp 61.

[0055] Example 10 like Figure 7 Based on embodiments 1-9, two sets of track base units are provided, and each set of track base units includes a track drive assembly. The other end of the track drive assembly of the second set of track base units is fixed to the second adapter frame 8 of the first set of track base units, and the second adapter frame 8 of the second set of track base units is used to fix and install the third track drive assembly.

[0056] The beneficial effect of adopting the preferred solution in the above embodiments is that the three tracked drive assemblies are connected in series through two spaced angle adjustment joints 7. When the inner diameter of the pipe is large, the angles of the two tracked drive assemblies on the side can be changed through the two angle adjustment joints 7, forming a figure-eight parallel state to facilitate passage.

[0057] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to 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 this invention.

[0058] Furthermore, 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 at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0059] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0060] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0061] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0062] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A bionic robot for pipeline operation and maintenance, characterized in that, The system includes at least one set of track base units, each track base unit including at least one tracked drive assembly and a first adapter frame (6). One end of the tracked drive assembly is fixedly connected to one end of the first adapter frame (6), and the other end of the first adapter frame (6) is fixedly connected to an angle adjustment joint (7). The angle adjustment joint (7) includes a first joint motor (71) whose base is detachably connected to the other end of the first adapter frame (6), an adapter plate (72) whose one end is fixedly connected to the drive end of the first joint motor (71), and a second joint motor (73) whose base is detachably connected to the other end of the adapter plate (72). The rotation axis of the first joint motor (71) and the rotation axis of the second joint motor (73) are perpendicular to each other. The drive end of the second joint motor (73) is fixedly connected to a second adapter frame (8), which is used to fix and install tools or at least one tracked drive assembly.

2. The bionic robot for pipeline operation and maintenance according to claim 1, characterized in that, The angle adjustment joint (7) also includes a joint protective sleeve (74), which covers the first joint motor (71), the adapter plate (72) and the second joint motor (73).

3. The bionic robot for pipeline operation and maintenance according to claim 1, characterized in that, The tracked drive assembly includes two side plates (1), a drive member (2) fixedly connected between the two side plates (1), a passive pulley (3) rotatably connected to one end of the two side plates (1), an active pulley (4) rotatably connected to the other end of the two side plates (1), and a track (5) tensioned between the passive pulley (3) and the active pulley (4). One end of the two side plates (1) is fixedly connected to one end of the first adapter frame (6), and one end of the active pulley (4) is drivenly connected to one end of the drive member (2).

4. The bionic robot for pipeline operation and maintenance according to claim 3, characterized in that, A cabin (11) is fixedly connected between the two side plates (1). The drive unit (2) is installed inside the cabin (11), and its drive end extends out of the cabin (11) and is connected to the drive pulley (4).

5. The bionic robot for pipeline operation and maintenance according to claim 4, characterized in that, The cabin (11) has two wear-resistant plates (12) fixedly connected to both sides of the upper and lower belt surfaces of the track (5). The surfaces of the two wear-resistant plates (12) on the same plane are located outside the end sides of the corresponding side plates (1) and are supported on the inner side of the track (5).

6. The bionic robot for pipeline operation and maintenance according to claim 5, characterized in that, A first limiting groove (121) is formed between the two wear-resistant plates (12) on the same plane and their close-to-each ends, and a first limiting block (51) is fixedly connected to the inner side of the track (5) and is adapted to and slidably connected to the first limiting groove (121).

7. The tracked pipeline maintenance biomimetic robot according to claim 6, characterized in that, The passive pulley (3) and / or the active pulley (4) are provided with annular grooves (122), and the first limiting block (51) is connected to the annular grooves (122).

8. The tracked pipeline maintenance biomimetic robot according to claim 5, characterized in that, Two wear-resistant plates (12) on the same plane are fixedly connected to a limiting plate (123) at their far ends. The height of the limiting plate (123) is less than the thickness of the corresponding track (5). The two limiting plates (123) respectively abut against the two sides of the track (5).

9. The tracked pipeline maintenance biomimetic robot according to claim 3, characterized in that, One end of each of the two side plates (1) is fixedly connected to an adjusting member (9). Each adjusting member (9) includes an adjusting seat (91) fixedly connected to the corresponding side plate (1), a screw (92) threadedly connected to the adjusting seat (91), and a sliding rod (93) rotatably connected to one end of the screw (92). The two sliding rods (93) are slidably connected to the two side plates (1), and the other ends of the two sliding rods (93) are coaxially fixedly connected to both ends of the driven pulley (3).

10. A tracked pipeline maintenance biomimetic robot according to any one of claims 1-9, characterized in that, The track base unit is provided in two sets, and each set of track base units includes a track drive assembly. The other end of the track drive assembly of the second set of track base units is fixed to the second adapter (8) of the first set of track base units, and the second adapter (8) of the second set of track base units is used to fix the third track drive assembly.

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