A pipe crawling robot

Abstract

This invention relates to the field of pipeline inspection technology and discloses a pipeline crawling robot, including a guide part and a follower part. A flexible connector is provided between the guide part and the follower part. The length of the flexible connector between the guide part and the follower part is adjustable. Pulling the flexible connector moves the follower part closer to the guide part. Both the guide part and the follower part have a walking state and a pressing state. When passing through a bend in the pipeline, the guide part is in the pressing state while the follower part is in the walking state, and vice versa. The pipeline crawling robot proposed in this invention, through the setting of the flexible connector, facilitates the guide part to pass through the bend first, and then the follower part is also passed through the bend by pulling the flexible connector. When passing through the bend, the guide part and the follower part move alternately, further improving stability and facilitating the robot's passage through the bend.

Description

Technical Field

[0001] This invention relates to the field of pipeline robot technology, and more particularly to a pipeline crawling robot. Background Technology

[0002] A pipeline robot is a device used to automatically move inside narrow pipes. It carries one or more sensors and detection components and performs a series of pipeline inspection tasks under the remote control of operators or automatic computer control. Conventional pipeline robots are rigid integral structures with a long length. When passing through some bends in the pipeline, they are prone to jamming due to insufficient turning radius.

[0003] A search revealed that a Chinese patent with authorization announcement number CN204062502U and titled "A Pipe Crawling Robot" discloses a structure in which a flexible tube is set between the front and rear ends of the robot, allowing the front or rear sections to move synchronously during the walking process. Summary of the Invention

[0004] To address the technical problems existing in the background art, the present invention proposes a pipe crawling robot.

[0005] The present invention proposes a pipe crawling robot, comprising a guide part and a follower part. The guide part and / or the follower part are equipped with detection devices such as cameras. Unlike the prior art, a flexible connector is provided between the guide part and the follower part. The length of the flexible connector between the guide part and the follower part is adjustable. Pulling the flexible connector can drive the follower part to move closer to the guide part.

[0006] Both the guide part and the follower part have a walking state and a pressing state. When passing through the bend of the pipe, the guide part is in the pressing state and the follower part is in the walking state, and the guide part is in the walking state and the follower part is in the pressing state.

[0007] As a further optimization of the present invention, when the guide part is in the walking state, the first abutting block installed on the guide part is disengaged from the pipe, and the first roller installed on the guide part is in contact with the pipe; when the guide part is in the abutting state, the first abutting block is abutted against the pipe and the first roller is disengaged from the pipe.

[0008] When the following part is in the walking state, the second abutting block installed on the following part is disengaged from the pipe, and the second roller installed on the following part is in contact with the pipe. When the following part is in the abutting state, the second abutting block is abutted against the pipe and the second roller is disengaged from the pipe.

[0009] As a further optimization of the present invention, a first slide rod is slidably mounted on the guide portion along the radial direction of the guide portion, the first roller is mounted on the first slide rod, a second slide rod is slidably mounted on the guide portion along the radial direction of the guide portion, and the first abutting block is mounted on the second slide rod.

[0010] As a further optimization of the present invention, a first adjusting cylinder is installed in the guide section, and a first adjusting piston is installed in the first adjusting cylinder through a telescopic member. The first adjusting piston divides the inner cavity of the first adjusting cylinder into a first air storage chamber and a second air storage chamber.

[0011] The outer wall of the first regulating cylinder is provided with a first piston cylinder and a second piston cylinder. The inner cavity of the first piston cylinder is connected to the first air storage cavity, and the inner cavity of the second piston cylinder is connected to the second air storage cavity.

[0012] The end of the first slide rod away from the first roller is the first piston part, which is slidably and sealed in the inner cavity of the first piston cylinder. The end of the second slide rod away from the first abutment block is the second piston part, which is slidably and sealed in the inner cavity of the second piston cylinder.

[0013] The telescopic component drives the first adjusting piston to move, thereby causing the displacement directions of the first slide rod and the second slide rod to be opposite.

[0014] As a further optimization of the present invention, a third slide rod is slidably mounted on the following part along the radial direction of the following part, the second roller is mounted on the third slide rod, a fourth slide rod is slidably mounted on the following part along the radial direction of the following part, and the second abutting block is mounted on the fourth slide rod.

[0015] As a further optimization of the present invention, a second adjusting cylinder is installed inside the following part, and a second adjusting piston is installed inside the second adjusting cylinder. The second adjusting piston divides the inner cavity of the second adjusting cylinder into a third air storage cavity and a fourth air storage cavity.

[0016] The outer wall of the second regulating cylinder is provided with a third piston cylinder and a fourth piston cylinder. The inner cavity of the third piston cylinder is connected to the third air storage chamber, and the inner cavity of the fourth piston cylinder is connected to the fourth air storage chamber.

[0017] The end of the third slide rod away from the second roller is the third piston part, which is slidably and sealingly installed in the inner cavity of the third piston cylinder. The end of the fourth slide rod away from the second abutment block is the fourth piston part, which is slidably and sealingly installed in the inner cavity of the fourth piston cylinder.

[0018] Move the second adjusting piston so that the third and fourth slides move in opposite directions.

[0019] As a further optimization of the present invention, the third air storage chamber is closer to the guide portion than the fourth air storage chamber. An elastic element is provided in the third air storage chamber. The elastic element can deform along the moving direction of the second adjusting piston. When there is no external force, the elastic element is in a compressed state, squeezing the second adjusting piston to separate the second roller from the pipe, and the second pressing block abuts against the pipe.

[0020] The second adjusting piston has a connecting rod extending out of the third air storage chamber. The connecting rod is slidably sealed to the second adjusting cylinder. The connection method between the connecting rod and the second adjusting chamber is the same as the connection method between the existing cylinder and the piston rod of the cylinder. The portion of the second adjusting piston extending out of the third air storage chamber is connected to the flexible connecting member. When the flexible connecting member is pulled, the elastic member is further compressed, causing the second roller to contact the pipe, and the second abutting block to separate from the pipe.

[0021] As a further optimization of the present invention, the flexible connector is a connecting rope, a reel is installed on the guide part, one end of the connecting rope is installed on the reel, the other end of the connecting rope is installed on the following part, and a second motor for driving the reel to rotate is provided on the guide part.

[0022] As a further optimization of the present invention, the guide part has a mounting cavity, the reel is installed in the mounting cavity, the guide part has a through hole, and the connecting rope passes through the through hole and is connected to the following part.

[0023] As a further optimization of the present invention, an annular brush is provided in the through hole, the bristles of the annular brush form a brush hole, the connecting rope passes through the brush hole, and the bristles clean the outer wall of the connecting rope during the sliding process of the connecting rope relative to the brush hole.

[0024] As a further optimization of the present invention, a conical cover is provided on the side of the guide portion near the follower portion. When the follower portion contacts the guide portion, the conical cover covers the outside of the contact position between the follower portion and the guide portion.

[0025] In this invention, the proposed pipe crawling robot facilitates the guide part to pass through the curved pipe section first by setting up a flexible connector, and then the following part also passes through the curved pipe section by pulling the flexible connector.

[0026] When passing through a bend, the guiding and following parts move alternately, further improving stability and facilitating the robot's passage through the bend.

[0027] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0029] Figure 2 This is a cross-sectional structural schematic diagram of an embodiment of the present invention;

[0030] Figure 3 This is a bottom view of the guide section in an embodiment of the present invention;

[0031] Figure 4 This is a cross-sectional structural diagram of the guide portion in an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the reel structure in an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the cross-sectional structure of the first regulating cylinder in an embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the following part in an embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram of the second regulating cylinder in an embodiment of the present invention;

[0036] Figure 9 This is a cross-sectional structural diagram of the second regulating cylinder in an embodiment of the present invention.

[0037] In the diagram: 1. Guide section; 2. Following section; 3. Flexible connector; 4. First abutting block; 5. First roller; 6. Second abutting block; 7. Second roller; 8. First slide rod; 80. First piston section; 9. Second slide rod; 90. Second piston section; 10. First adjusting cylinder; 100. First air storage chamber; 101. Second air storage chamber; 11. First adjusting piston; 12. First piston cylinder; 13. Second piston cylinder; 14. Telescopic component; 15. First... 16. Motor; 17. Third slide rod; 18. Third piston section; 19. Fourth slide rod; 10. Fourth piston section; 11. Second adjusting cylinder; 12. Third air storage chamber; 13. Fourth air storage chamber; 14. Second adjusting piston; 15. Connecting rod; 26. Third piston cylinder; 27. Fourth piston cylinder; 28. Elastic element; 29. ​​Roller wheel; 20. Second motor; 21. Annular brush; 22. Conical cover; 23. Positioning groove; 24. Positioning protrusion. Detailed Implementation

[0038] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar symbols denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0039] like Figure 1-9 The illustrated pipe-crawling robot includes a guide section 1 and a follower section 2, both of which are cylindrical structures. The guide section 1 and / or follower section 2 are equipped with detection components such as cameras (not shown in the figure). Unlike existing technologies, a flexible connector 3 is provided between the guide section 1 and the follower section 2. The length of the flexible connector 3 between the guide section 1 and the follower section 2 is adjustable. Pulling the flexible connector 3 moves the follower section 2 closer to the guide section 1; that is, by adjusting the length of the flexible connector 3, the follower section 2 can be moved. The cylindrical flexible connector 3 allows the guide section 1 to pass through the bend in the pipe (i.e., the curved section) first, and then the follower section 2 passes through the curved section in one go. It should be noted that, similar to existing technologies, the guide section 1 is equipped with a drive component to drive the guide section 1 to move relative to the pipe.

[0040] Both the guide part 1 and the follower part 2 have a walking state and a pressing state. When passing through a bend in the pipe, the guide part 1 is in the pressing state while the follower part 2 is in the walking state, and vice versa. When passing through the bend, when the guide part 1 is in the walking state, the follower part 2 is in the pressing state, i.e., it is pressed against the pipe and stationary, and the length of the flexible connector 3 between the follower part 2 and the guide part 1 increases; when the follower part 2 is in the walking state, the guide part 1 is in the pressing state, and the flexible connector 3 becomes shorter. This further improves stability while facilitating passage through bends.

[0041] Preferably, the guide portion 1 is equipped with a first abutting block 4 and a first roller 5. At least three sets of the first roller 5 are circumferentially distributed around the outer periphery of the guide portion 1, and at least three sets of the first abutting block 4 are also circumferentially distributed around the outer periphery of the guide portion 1. Similarly, the following portion 2 is equipped with a second abutting block 6 and a second roller 7. At least three sets of both the second roller 7 and the second abutting block 6 are circumferentially distributed around the outer side of the following portion 2, and the second roller 7 is also circumferentially distributed around the outer side of the following portion 2. The first abutting block 4 and the second abutting block 6 can be made of elastic materials with a high coefficient of friction, such as rubber. The driving component that drives the guide portion 1 to move can be a first motor 15 used to drive the first roller 5 to rotate.

[0042] When the guide part 1 is in the walking state, the first abutting block 4 installed on the guide part 1 is disengaged from the pipe, and the first roller 5 installed on the guide part 1 is in contact with the pipe. When the guide part 1 is in the abutting state, the first abutting block 4 is abutted against the pipe and the first roller 5 is disengaged from the pipe. Specifically, the contact or separation of the first abutting block 4 and the roller with the pipe can be achieved by telescopic components such as electric cylinders and pneumatic cylinders.

[0043] When the following part 2 is in the walking state, the second abutting block 6 installed on the following part 2 is disengaged from the pipe, and the second roller 7 installed on the following part 2 is in contact with the pipe. When the following part 2 is in the abutting state, the second abutting block 6 is abutted against the pipe and the second roller 7 is disengaged from the pipe. Specifically, the contact or separation of the first abutting block 4 and the roller with the pipe can be achieved by telescopic components such as cylinders or electric cylinders.

[0044] like Figure 2 , Figure 4 and Figure 6 As shown, in some preferred embodiments, a first slide rod 8 is slidably mounted on the guide portion 1 along the radial direction of the guide portion 1, a first roller 5 is mounted on the first slide rod 8, a first motor 15 can be mounted on the first slide rod 8, a second slide rod 9 is slidably mounted on the guide portion 1 along the radial direction of the guide portion 1, a first abutting block 4 is mounted on the second slide rod 9, the first slide rod 8 and the second slide rod 9 are both located in the cavity inside the guide portion 1, and the first slide rod 8 and the second slide rod 9 have portions extending out of the guide portion 1.

[0045] like Figure 2 , Figure 4 and Figure 6 As shown, in some preferred embodiments, a first adjusting cylinder 10 is installed inside the guide part 1, and a first adjusting piston 11 is installed inside the first adjusting cylinder 10 through a telescopic member 14. The first adjusting piston 11 divides the inner cavity of the first adjusting cylinder 10 into a first air storage chamber 100 and a second air storage chamber 101. The connection method between the first adjusting cylinder 10 and the first adjusting piston 11 is the same as the connection method of the cylinder or the piston in the cylinder. The specific structure of the first adjusting piston 11 will not be described in detail here.

[0046] The outer wall of the first regulating cylinder 10 is provided with a first piston cylinder 12 and a second piston cylinder 13. The inner cavity of the first piston cylinder 12 is connected to the first air storage cavity, and the inner cavity of the second piston cylinder 13 is connected to the second air storage cavity 101.

[0047] The end of the first slide rod 8 away from the first roller 5 is the first piston part 80. The first piston part 80 is slidably and sealedly installed in the inner cavity of the first piston cylinder 12, and the first slide rod 8 is slidably and sealedly connected to the first piston cylinder 12. The end of the second slide rod 9 away from the first abutting block 4 is the second piston part 90. The second piston part 90 is slidably and sealedly installed in the inner cavity of the second piston cylinder 13, and the second slide rod 9 is slidably and sealedly connected to the second piston cylinder 13.

[0048] The connection between the first piston section 80 and the first piston cylinder 12 and the connection between the second piston section 90 and the second piston cylinder 13 are the same as the connection method of existing cylinders and pistons inside cylinders. The specific structure of the first piston section 80 and the second piston section 90 will not be described in detail here.

[0049] The connection between the first slide rod 8 and the first piston cylinder 12, and the connection between the second slide rod 9 and the second piston cylinder 13, are the same as the connection between existing cylinders and piston rods, so the specific structure will not be described in detail here.

[0050] The telescopic member 14 drives the first adjusting piston 11 to move, thereby causing the displacement directions of the first piston section 80 and the second piston section 90 to be opposite. It should be noted that the telescopic member 14 can be an electric cylinder or a pneumatic cylinder in the prior art, and the connection between the first piston section 80 and the first piston cylinder 12 and the connection between the second piston section 90 and the second piston cylinder 13 are the same as the connection between the cylinder barrel and the piston rod in a pneumatic cylinder. The specific connection method will not be described in detail, and the attached drawings are only schematic illustrations (the sealing structure is not detailed, but it is the same as the sealing of the existing pneumatic cylinder and the piston inside the cylinder).

[0051] The telescopic component 14 drives the first adjusting piston 11 to move, thereby enabling the first piston part 80 and the second piston part 90 to perform opposite actions relative to the first piston cylinder 12 and the second piston cylinder 13, thereby enabling the first roller 5 to contact the pipe and the first pressing block 4 to separate from the pipe, or the first pressing block 4 to press against the pipe and the first roller 5 to separate from the pipe.

[0052] like Figure 7 - Figure 9 As shown, in some preferred embodiments, a third slide rod 16 is slidably mounted on the following portion 2 along the radial direction of the following portion 2, a second roller 7 is mounted on the third slide rod 16, and a fourth slide rod 17 is slidably mounted on the following portion 2 along the radial direction of the following portion 2, with a second abutting block 6 mounted on the fourth slide rod 17. Both the third slide rod 16 and the fourth slide rod 17 are also mounted in the mounting cavity within the following portion 2, and both the fourth slide rod 16 and the third slide rod 17 have portions extending beyond the following portion 2.

[0053] More preferably, a second adjusting cylinder 18 is installed in the following part 2, and a second adjusting piston 19 is installed in the second adjusting cylinder 18. The second adjusting piston 19 divides the inner cavity of the second adjusting cylinder 18 into a third air storage chamber 180 and a fourth air storage chamber 181. The connection between the second adjusting cylinder 18 and the second adjusting piston 19 is the same as the connection between the existing cylinder and the piston in the cylinder.

[0054] The outer wall of the second regulating cylinder 18 is provided with a third piston cylinder 20 and a fourth piston cylinder 21. The inner cavity of the third piston cylinder 20 is connected to the third air storage chamber, and the inner cavity of the fourth piston cylinder 21 is connected to the fourth air storage chamber 181.

[0055] The end of the third slide rod 16 furthest from the second roller 7 is the third piston part 160, which is slidably and sealingly installed in the inner cavity of the third piston cylinder 20. The third slide rod 16 is also slidably and sealingly installed on the third piston cylinder 20. The end of the fourth slide rod 17 furthest from the second abutment block 6 is the fourth piston part 170, which is slidably and sealingly installed in the inner cavity of the fourth piston cylinder 21. The fourth slide rod 17 is also slidably and sealingly installed on the fourth piston cylinder 21. That is, the connection method between the third piston part 160 and the third piston cylinder 20, and the connection method between the fourth piston part 170 and the fourth piston cylinder 21 are the same as the existing connection method between a cylinder and a piston, and will not be described again here. The connection method between the third slide rod 16 and the third piston cylinder 20, and the connection method between the fourth slide rod 17 and the fourth piston cylinder 21 are the same as the existing connection method between a cylinder and a piston rod, and will not be described again here.

[0056] Move the second adjusting piston 19 so that the movement directions of the third piston section 160 and the fourth piston section 170 are opposite.

[0057] More preferably, the third air storage chamber 180 is closer to the guide part 1 than the fourth air storage chamber 181. The third air storage chamber 180 is provided with an elastic element 22, which can be a spring. The elastic element 22 can deform along the moving direction of the second adjusting piston 19. When there is no external force, the elastic element 22 is in a compressed state, squeezing the second adjusting piston 19 to separate the second roller 7 from the pipe, and the second pressing block 6 abuts against the pipe.

[0058] The second adjusting piston 19 has a connecting rod 190 extending into the third air storage chamber 180, and the connecting rod 190 extending into the third air storage chamber 180 is connected to the flexible connector 3. When the flexible connector 3 is pulled, the elastic member 22 is further squeezed, causing the second roller 7 to contact the pipe, and the second abutting block 6 to separate from the pipe.

[0059] like Figure 2 - Figure 4Preferably, the flexible connector 3 is a connecting rope, which can be a steel wire rope. A reel 23 is installed on the guide part 1. One end of the connecting rope is installed on the reel 23, and the other end of the connecting rope is installed on the following part 2. The guide part 1 is provided with a second motor 24 for driving the reel 23 to rotate. The reel 23 and the second motor 24 are installed in the mounting cavity of the guide part 1. Specifically, the reel 23 is rotatably installed on the guide part 1, and the second motor 24 is used to drive the reel 23 to rotate. The second motor 24 drives the reel 23 to rotate forward and reverse to realize the winding and unwinding of the connecting rope. During the unwinding process of the connecting rope, the change in the length of the connecting rope is the same as the displacement of the guide part 1.

[0060] As a further optimization of the present invention, the guide part 1 has a mounting cavity, and multiple mounting cavities can be provided. The roller 23 is installed in the mounting cavity. The guide part 1 has a through hole, and the connecting rope passes through the through hole and is connected to the following part 2.

[0061] like Figure 5 As shown, preferably, an annular brush 25 is provided inside the through hole, the bristles of the annular brush 25 form a brush hole, the connecting rope passes through the brush hole, and the bristles clean the outer wall of the connecting rope during the sliding process of the connecting rope relative to the brush hole.

[0062] like Figure 7 Preferably, the guide portion 1 is provided with a conical cover 26 on the side near the follower portion 2. When the follower portion 2 contacts the guide portion 1, the conical cover 26 covers the outside of the contact position between the follower portion 2 and the guide portion 1. The conical cover 26 is made of an elastic material such as rubber.

[0063] like Figure 2 Preferably, the guide part 1 has a positioning groove 27 on the side opposite to the follower part 2, and the follower part 2 has a positioning protrusion 28 on the side opposite to the guide part 1. The positioning protrusion 28 matches the positioning groove 27 to further increase its stability. When the robot walks in a straight position in the pipeline, the flexible connector 3 between the follower part 2 and the guide part 1 is at its shortest length and is in a pulling state. The positioning protrusion 28 matches the positioning groove 27, and the guide part 1 and the follower part 2 move synchronously.

[0064] 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 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.

[0065] 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.

[0066] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "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, an electrical connection, or a connection that allows communication between the components; 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.

[0067] 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.

[0068] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A pipe-crawling robot, comprising a guide unit (1) and a follower unit (2), characterized in that, A flexible connector (3) is provided between the guide part (1) and the follower part (2). The length of the flexible connector (3) between the guide part (1) and the follower part (2) is adjustable. Pulling the flexible connector (3) will cause the follower part (2) to move closer to the guide part (1). Both the guide part (1) and the follower part (2) have a walking state and a pressing state. When passing through the bend of the pipe, the guide part (1) is in the pressing state and the follower part (2) is in the walking state, and the guide part (1) is in the walking state and the follower part (2) is in the pressing state.

2. The pipe-crawling robot according to claim 1, characterized in that, When the guide (1) is in the walking state, the first abutting block (4) installed on the guide (1) is disengaged from the pipe, and the first roller (5) installed on the guide (1) is in contact with the pipe. When the guide (1) is in the abutting state, the first abutting block (4) is abutted against the pipe and the first roller (5) is disengaged from the pipe. When the following part (2) is in the walking state, the second abutting block (6) installed on the following part (2) is disengaged from the pipe, and the second roller (7) installed on the following part (2) is in contact with the pipe. When the following part (2) is in the abutting state, the second abutting block (6) is abutted against the pipe and the second roller (7) is disengaged from the pipe.

3. The pipe-crawling robot according to claim 2, characterized in that, A first slide rod (8) is slidably mounted on the guide part (1) along the radial direction of the guide part (1), and a first roller (5) is mounted on the first slide rod (8). A second slide rod (9) is slidably mounted on the guide part (1) along the radial direction of the guide part (1), and a first abutting block (4) is mounted on the second slide rod (9).

4. The pipe-crawling robot according to claim 3, characterized in that, The guide section (1) is equipped with a first regulating cylinder (10), and a first regulating piston (11) is installed in the first regulating cylinder (10) through a telescopic member (14). The first regulating piston (11) divides the inner cavity of the first regulating cylinder (10) into a first air storage chamber (100) and a second air storage chamber (101). The outer wall of the first regulating cylinder (10) is provided with a first piston cylinder (12) and a second piston cylinder (13). The inner cavity of the first piston cylinder (12) is connected to the first air storage cavity, and the inner cavity of the second piston cylinder (13) is connected to the second air storage cavity (101). The end of the first slide rod (8) away from the first roller (5) is the first piston part (80), and the first piston part (80) is slidably and sealed in the inner cavity of the first piston cylinder (12). The end of the second slide rod (9) away from the first abutting block (4) is the second piston part (90), and the second piston part (90) is slidably and sealed in the inner cavity of the second piston cylinder (13). The telescopic member (14) drives the first adjusting piston (11) to move, thereby causing the displacement directions of the first slide rod (8) and the second slide rod (9) to be opposite.

5. The pipe-crawling robot according to claim 2, characterized in that, A third slide rod (16) is slidably mounted on the following part (2) along the radial direction of the following part (2), and a second roller (7) is mounted on the third slide rod (16). A fourth slide rod (17) is slidably mounted on the following part (2) along the radial direction of the following part (2), and a second abutting block (6) is mounted on the fourth slide rod (17).

6. The pipe-crawling robot according to claim 5, characterized in that, The following part (2) is equipped with a second regulating cylinder (18), and the second regulating cylinder (18) is equipped with a second regulating piston (19). The second regulating piston (19) divides the inner cavity of the second regulating cylinder (18) into a third air storage chamber (180) and a fourth air storage chamber (181). The outer wall of the second regulating cylinder (18) is provided with a third piston cylinder (20) and a fourth piston cylinder (21). The inner cavity of the third piston cylinder (20) is connected to the third air storage chamber, and the inner cavity of the fourth piston cylinder (21) is connected to the fourth air storage chamber (181). The end of the third slide rod (16) away from the second roller (7) is the third piston part (160), and the third piston part (160) is slidably and sealed in the inner cavity of the third piston cylinder (20). The end of the fourth slide rod (17) away from the second abutment block (6) is the fourth piston part (170), and the fourth piston part (170) is slidably and sealed in the inner cavity of the fourth piston cylinder (21). Move the second adjusting piston (19) so that the third slide (16) and the fourth slide (17) move in opposite directions.

7. The pipe-crawling robot according to claim 6, characterized in that, The third air storage chamber (180) is closer to the guide part (1) than the fourth air storage chamber (181). The third air storage chamber (180) is provided with an elastic element (22). The elastic element (22) can deform along the moving direction of the second adjusting piston (19). When there is no external force, the elastic element (22) is in a compressed state and squeezes the second adjusting piston (19) to separate the second roller (7) from the pipe, and the second pressing block (6) abuts against the pipe. The second adjusting piston (19) has a portion extending out of the third air storage chamber (180), and the portion of the second adjusting piston (19) extending out of the third air storage chamber (180) is connected to the flexible connector (3). When the flexible connector (3) is pulled, the elastic element (22) is further squeezed to make the second roller (7) contact the pipe, and the second abutting block (6) separates from the pipe.

8. The pipe-crawling robot according to claim 1, characterized in that, The flexible connector (3) is a connecting rope. A reel (23) is installed on the guide part (1). One end of the connecting rope is installed on the reel (23), and the other end of the connecting rope is installed on the following part (2). A second motor (24) is provided on the guide part (1) to drive the reel (23) to rotate.

9. The pipe-crawling robot according to claim 8, characterized in that, The guide part (1) has an installation cavity, the reel (23) is installed in the installation cavity, the guide part (1) has a through hole, and the connecting rope passes through the through hole and is connected to the following part (2).

10. The pipe-crawling robot according to claim 9, characterized in that, An annular brush (25) is provided inside the through hole. The bristles of the annular brush (25) form a brush hole. The connecting rope passes through the brush hole. During the sliding process of the connecting rope relative to the brush hole, the bristles clean the outer wall of the connecting rope.

11. The pipe-crawling robot according to claim 1, characterized in that, The guide part (1) is provided with a conical cover (26) on the side near the follower part (2). When the follower part (2) contacts the guide part (1), the conical cover (26) covers the outside of the contact position between the follower part (2) and the guide part (1).

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