An adaptive stepwise travelling device for use in a large slope metal pipeline

Abstract

The application discloses a self-adaptive stepping type travelling device for a large-gradient metal pipeline, which comprises an upper travelling unit, a lower travelling unit, a hydraulic stepping mechanism, an artificial platform device and a control system, the upper travelling unit comprises an upper travelling frame, an upper tensioning mechanism and an upper pulley mechanism are installed on the upper travelling frame, and the upper tensioning mechanism and the upper pulley mechanism are located on the side of the upper travelling frame. The lower travelling unit comprises a lower travelling frame, a lower tensioning mechanism and a lower pulley mechanism are installed on the lower travelling frame, and the lower tensioning mechanism and the lower pulley mechanism are located on the side of the lower travelling frame. The artificial platform device is arranged on the upper travelling frame and the lower travelling frame, the upper tensioning mechanism is parallel to the lower tensioning mechanism, the upper pulley mechanism is parallel to the lower pulley mechanism, the hydraulic stepping mechanism is located between the upper travelling unit and the lower travelling unit, and the movement between the upper travelling unit and the lower travelling unit is realized through the hydraulic stepping mechanism.

Description

Technical Field

[0001] This invention belongs to the field of industrial automation equipment technology, specifically relating to an adaptive stepping travel device for use in steep slope metal pipes. Background Technology

[0002] With the development of industries such as energy, chemical industry, nuclear power, and power generation, large metal pipelines (such as reactor cooling pipes, main oil and gas pipelines, and water pipelines) are widely used in various infrastructures. Because these pipelines are often installed at high angles or even vertically, traditional wheeled or tracked crawling robots have difficulty overcoming the effects of gravity, which can easily lead to slippage, instability, or falls, making it impossible for them to effectively complete tasks such as internal inspection, painting, and welding.

[0003] Existing pipeline robots mostly rely on friction for propulsion, resulting in poor stability in steep slope environments. Some devices using adsorption methods (such as permanent magnets or vacuum) are limited by the pipe material and surface flatness, and also have high energy consumption and insufficient mobility. Furthermore, most devices lack reliable hierarchical locking and alternating stepping mechanisms, making it difficult to achieve safe and controllable continuous climbing.

[0004] Therefore, there is an urgent need for a new type of pipeline travel device that can operate stably at any slope from 0° to 90°, has strong adhesion, low resistance movement capability, and high environmental adaptability. Summary of the Invention

[0005] The purpose of this invention is to solve the above-mentioned problems and provide an adaptive stepping travel device that can achieve safe, stable and controllable autonomous movement within smooth metal pipe walls at different inclination angles (including the vertical direction) for use in steep metal pipes.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is: an adaptive stepping travel device for use in a steep slope metal pipe, comprising an upper travel unit, a lower travel unit, a hydraulic stepping mechanism, a manual platform device, and a control system. The upper travel unit includes an upper travel frame, on which an upper tensioning mechanism and an upper pulley mechanism are mounted, both located on the side of the upper travel frame. The lower travel unit includes a lower travel frame, on which a lower tensioning mechanism and a lower pulley mechanism are mounted, both located on the side of the lower travel frame. The manual platform device passes through the upper and lower travel frames, with the upper and lower tensioning mechanisms parallel to each other, and the upper and lower pulley mechanisms parallel to each other. The hydraulic stepping mechanism is located between the upper and lower travel units, connecting them, and realizing the movement between the upper and lower travel units through the hydraulic stepping mechanism.

[0007] Preferably, the upward moving frame includes an upward frame body and an upward moving frame mounting plate. The upward moving frame mounting plate is fixedly connected to the upward frame body. The upward moving frame body has a ring structure. The upward tensioning mechanism and the upward pulley mechanism are respectively mounted on the upward moving frame mounting plate.

[0008] Preferably, the upward tensioning mechanism includes an upward first electromagnet group, an upward second electromagnet group, and an upward electromagnet group connecting device. The upward first electromagnet group includes an upward electromagnet support frame, an upward electromagnet, an upward electromagnet driver, and an upward electromagnet guide rod. The upward electromagnet driver is mounted on the upward electromagnet support frame, the upward electromagnet is mounted at the end of the upward electromagnet driver, the bottom of the upward electromagnet is connected to the upward electromagnet guide rod, and the upward electromagnet guide rod passes through the upward electromagnet support frame. The upward first electromagnet group and the upward second electromagnet group have the same structure and are connected by the electromagnet group connecting device.

[0009] Preferably, the upward pulley mechanism includes an upward first pulley device, an upward second pulley device, and a pulley connecting device. The upward first pulley device includes an upward pulley base, an upward pulley, an upward pulley bracket, an upward pulley guide rod, and an upward pulley driver. The upward pulley driver is mounted on the upward pulley base and connected to the upward pulley bracket. The upward pulley is rotatably connected to the upward pulley bracket, and the upward pulley bracket is connected to the upward pulley guide rod, which passes through the upward pulley base. The upward first pulley device and the upward second pulley device have the same structure and are connected by the pulley connecting device.

[0010] Preferably, the hydraulic stepping mechanism includes a hydraulic module and a hydraulic guide module. The hydraulic module includes a first hydraulic base, a second hydraulic base, and a hydraulic cylinder. The hydraulic cylinder is mounted on the first hydraulic base, and the piston rod end of the hydraulic cylinder is connected to the second hydraulic base. The hydraulic guide module includes a first hydraulic guide block, a second hydraulic guide block, and a hydraulic guide rod. The end of the hydraulic guide rod is connected to the first hydraulic guide block, and the rod end of the hydraulic guide rod passes through the second hydraulic guide block. The first hydraulic base is connected to the upper moving unit, the second hydraulic base is connected to the lower moving unit, the first hydraulic guide block is connected to the lower moving unit, and the second hydraulic guide block is connected to the upper moving unit.

[0011] Preferably, the bottom of the downward travel unit is provided with a protective plate, which is circular.

[0012] Preferably, the artificial platform device includes an upper platform device, an intermediate platform device, and a lower platform device connected in sequence. The upper platform device includes an upper platform railing, the intermediate platform device includes an intermediate platform frame, and the lower platform device includes a lower platform cabin with an inverted triangular bottom.

[0013] Preferably, the artificial platform device further includes a staircase, which passes through the upper platform device, the intermediate platform device, and the lower platform device.

[0014] Preferably, the control system includes a control unit, a sensor module, a power management unit, and a data storage unit. The control unit is connected to the sensor module, the power management unit, and the data storage unit respectively. The sensor module includes a tilt sensor, an attitude gyroscope, a displacement encoder, a pressure sensor, and a limit switch. The tilt sensor, attitude gyroscope, displacement encoder, pressure sensor, and limit switch are respectively mounted on the upper traveling unit, the lower traveling unit, and the hydraulic stepping mechanism.

[0015] The beneficial effects of this invention are:

[0016] 1. This invention provides an adaptive stepping travel device for use in steep slope metal pipes. It possesses superior adhesion capabilities, employing a composite fixing method of "mechanical tensioning + electromagnetic adsorption," which greatly enhances its anti-slip ability in steep slopes or vertical pipes. "Mechanical tensioning + electromagnetic adsorption" refers to the tensioning mechanism of this invention.

[0017] 2. This invention features low-resistance and high-efficiency movement. Through pulley-assisted guidance and drag reduction design, the hydraulic propulsion load is significantly reduced.

[0018] 3. The present invention has a safe and reliable stepping mechanism. Through the alternating locking and movement of the upper and lower units, at least one set is always completely fixed, eliminating the risk of falling.

[0019] 4. This invention has the characteristics of wide adaptability, adapting to metal pipes with an inner diameter of 2.5 to 10 meters, and has a certain curvature adaptability.

[0020] 5. This invention features fully automatic operation, supports autonomous positioning and continuous stepping in unmanned mode, and can also be manually controlled.

[0021] 6. The present invention adopts a modular design, which facilitates the later addition of working modules such as detection probes, spray guns, and welding machines, thereby expanding the application scenarios.

[0022] 7. This invention solves the problems of weak climbing ability, easy slippage, and discontinuous movement in the prior art. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of an adaptive stepping travel device for use in a steep slope metal pipe according to the present invention.

[0024] Figure 2 This is a schematic diagram of the installation of the upper traveling unit, the lower traveling unit, and the hydraulic stepping mechanism of the present invention;

[0025] Figure 3This is a schematic diagram of the upward tensioning mechanism of the present invention;

[0026] Figure 4 This is a schematic diagram of the upward pulley mechanism of the present invention;

[0027] Figure 5 This is a schematic diagram of the hydraulic stepping mechanism of the present invention;

[0028] Figure 6 This is a schematic diagram of the artificial platform device of the present invention;

[0029] Figure 7 This is a schematic diagram of the side structure of the artificial platform device of the present invention;

[0030] Figure 8 This is a flowchart of the power-on initialization control of the system of the present invention;

[0031] Figure 9 This is a flowchart of the slope adaptive control of the present invention;

[0032] Figure 10 This is the flowchart of the upward step control of the present invention;

[0033] Figure 11 This is a flowchart of the downward step control of the present invention;

[0034] Figure 12 This is a flowchart of the fault diagnosis and safety protection process of this invention;

[0035] Figure 13 This is a block diagram of the overall structure of the control system of the present invention.

[0036] Explanation of reference numerals in the attached drawings: 1. Upward moving unit; 2. Downward moving unit; 3. Hydraulic stepping mechanism; 4. Manual platform device; 5. Protective plate; 11. Upward moving frame; 12. Upward tensioning mechanism; 13. Upward pulley mechanism; 21. Downward moving frame; 22. Downward tensioning mechanism; 23. Downward pulley mechanism; 31. Hydraulic module; 32. Hydraulic guide module; 41. Upper platform device; 42. Intermediate platform device; 43. Lower platform device; 44. Staircase; 111. Main body of the upward frame; 112. Mounting plate of the upward moving frame; 121. First upward electromagnet group; 122. Second upward electromagnet group; 123. Connecting device for the upward electromagnet group; 131. First upward pulley. Device; 132, Second upward pulley device; 133, Pulley connection device; 311, First hydraulic base; 312, Second hydraulic base; 313, Hydraulic cylinder; 321, First hydraulic guide block; 322, Second hydraulic guide block; 323, Hydraulic guide rod; 411, Upper platform railing; 421, Middle platform frame; 431, Lower platform compartment; 1211, Upward electromagnet support frame; 1212, Upward electromagnet; 1213, Upward electromagnet actuator; 1214, Upward electromagnet guide rod; 1311, Upward pulley base; 1312, Upward pulley; 1313, Upward pulley bracket; 1314, Upward pulley guide rod; 1315, Upward pulley actuator. Detailed Implementation

[0037] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0038] like Figures 1 to 13 As shown, the present invention provides an adaptive stepping travel device for use in steep slope metal pipes, comprising an upper travel unit 1, a lower travel unit 2, a hydraulic stepping mechanism 3, a manual platform device 4, and a control system. The upper travel unit 1 includes an upper travel frame 11, on which an upper tensioning mechanism 12 and an upper pulley mechanism 13 are mounted, both located on the side of the upper travel frame 11. The lower travel unit 2 includes a lower travel frame 21, on which a lower tensioning mechanism 22 and a lower pulley mechanism 23 are mounted, both located on the side of the lower travel frame 21. The artificial platform device 4 is installed through the upper moving frame 11 and the lower moving frame 21. The upper tensioning mechanism 12 and the lower tensioning mechanism 22 are parallel, the upper pulley mechanism 13 and the lower pulley mechanism 23 are parallel, and the hydraulic stepping mechanism 3 is located between the upper moving unit 1 and the lower moving unit 2. It is used to connect the upper moving unit 1 and the lower moving unit 2 and realize the movement between the upper moving unit 1 and the lower moving unit 2 through the hydraulic stepping mechanism 3.

[0039] The upward frame 11 includes an upward frame body 111 and an upward frame mounting plate 112. The upward frame mounting plate 112 is fixedly connected to the upward frame body 111. The upward frame body 111 has a ring structure. The upward tensioning mechanism 12 and the upward pulley mechanism 13 are respectively installed on the upward frame mounting plate 112.

[0040] The upper travel frame mounting plate 112 is a long strip structure used to install corresponding components. In actual use, the number of upper travel frame mounting plates 112 and the distance between adjacent upper travel frame mounting plates 112 are set according to actual needs to adapt to the needs of more usage environments.

[0041] The upward tensioning mechanism 12 includes an upward first electromagnet group 121, an upward second electromagnet group 122, and an upward electromagnet group connecting device 123. The upward first electromagnet group 121 includes an upward electromagnet support frame 1211, an upward electromagnet 1212, an upward electromagnet driver 1213, and an upward electromagnet guide rod 1214. The upward electromagnet driver 1213 is mounted on the upward electromagnet support frame 1211. The upward electromagnet 1212 is mounted at the end of the upward electromagnet driver 1213, and its bottom is connected to the upward electromagnet guide rod 1214. The upward electromagnet guide rod 1214 passes through the upward electromagnet support frame 1211. The upward first electromagnet group 121 and the upward second electromagnet group 122 have the same structure and are connected by the electromagnet group connecting device 123. In this embodiment, the upward first electromagnet group 121 and the upward second electromagnet group 122 are arranged symmetrically. The upward pulley mechanism 13 includes an upward first pulley device 131, an upward second pulley device 132, and a pulley connecting device 133. The upward first pulley device 131 includes an upward pulley base 1311, an upward pulley 1312, an upward pulley bracket 1313, an upward pulley guide rod 1314, and an upward pulley driver 1315. The upward pulley driver 1315 is mounted on the upward pulley base 1311 and connected to the upward pulley bracket 1313. The upward pulley 1312 is rotatably connected to the upward pulley bracket 1313. The upward pulley bracket 1313 is connected to the upward pulley guide rod 1314, which passes through the upward pulley base 1311. The upward first pulley device 131 and the upward second pulley device 132 have the same structure and are connected by the pulley connecting device 133. The first upward pulley device 131 and the second upward pulley device 132 are arranged symmetrically.

[0042] In this embodiment, the upward electromagnet assembly connecting device 123 is an existing device. The upward electromagnet assembly connecting device 123 includes a motor and a gearbox. The motor is connected to the gearbox, and the gearbox is connected to the upward electromagnet guide rod 1214. When the motor rotates, it drives the gearbox to work, thereby driving the upward electromagnet guide rod 1214 to move. The upward electromagnet driver 1213 is an existing mature technology device. When the upward electromagnet guide rod 1214 moves, it drives the upward electromagnet driver 1213 to move, thereby realizing the telescopic movement of the upward electromagnet 1212. The upward electromagnet assembly connecting device 123 is the same as the pulley connecting device 133. The connection method between the pulley connecting device 133 and the upward pulley driver 1315 is the same as the connection method between the electromagnet assembly connecting device 123 and the upward electromagnet driver 1213. The upward electromagnet driver 1213 and the upward pulley driver 1315 have the same structure.

[0043] The hydraulic stepping mechanism 3 includes a hydraulic module 31 and a hydraulic guide module 32. The hydraulic module 31 includes a first hydraulic base 311, a second hydraulic base 312, and a hydraulic cylinder 313. The hydraulic cylinder 313 is mounted on the first hydraulic base 311, and its piston rod end is connected to the second hydraulic base 312. The hydraulic guide module 32 includes a first hydraulic guide block 321, a second hydraulic guide block 322, and a hydraulic guide rod 323. The end of the hydraulic guide rod 323 is connected to the first hydraulic guide block 321, and its rod end passes through the second hydraulic guide block 322. The first hydraulic base 311 is connected to the upper moving unit 1, the second hydraulic base 312 is connected to the lower moving unit 2, the first hydraulic guide block 321 is connected to the lower moving unit 2, and the second hydraulic guide block 322 is connected to the upper moving unit 1. During use, when the hydraulic cylinder 313 is working, it can separate and close the hydraulic first base 311 and the hydraulic second base 312, thereby enabling the upper traveling unit 1 to separate and close the lower traveling unit 2.

[0044] The bottom of the downward travel unit 2 is provided with a protective plate 5, which is circular.

[0045] The artificial platform device 4 includes an upper platform device 41, an intermediate platform device 42 and a lower platform device 43 connected in sequence. The upper platform device 41 includes an upper platform railing 411, the intermediate platform device 42 includes an intermediate platform frame 421, and the lower platform device 43 includes a lower platform cabin 431. The bottom of the lower platform cabin 431 is an inverted triangular structure.

[0046] The artificial platform device 4 also includes a staircase 44, which passes through the upper platform device 41, the intermediate platform device 42 and the lower platform device 43.

[0047] An upper platform railing through slot is provided on the upper platform railing 411. The upper platform railing through slot is a rectangular slot and is connected to the top of the staircase 44. Workers can enter the staircase 44 through the upper platform railing through slot, go from the top to the bottom of the staircase 44, and then enter the interior of the lower platform compartment 431.

[0048] During operation within the pipeline, the upward traveling unit 1 and the downward traveling unit 2 are symmetrically structured and respectively arranged around the inner circumference of the pipeline, working in coordination through the following mechanisms:

[0049] Each unit of the upward tensioning mechanism 12 is equipped with four sets, evenly distributed along the circumference. The extension length of the upward electromagnet 1212 is adjusted by the upward electromagnet driver 1213. The upward electromagnet 1212 is an electrically controlled magnetic chuck used for adsorption. When it comes into contact with the pipe wall, the upward electromagnet 1212 is activated, generating a strong magnetic force to adhere to the inner wall of the metal pipe, achieving a firm fixation. It has both mechanical tensioning and electromagnetic adsorption locking functions, significantly improving shear resistance.

[0050] Each unit of the upward pulley mechanism 13 is equipped with four sets, which are staggered with the upward tensioning mechanism 12. The pulleys can be extended or retracted via the upward pulley drive 1315. When extended in the non-fixed phase, the pulleys lightly touch the pipe wall, bearing the weight of the device and reducing movement resistance. When retracted in the fixed phase, they avoid interfering with locking. This reduces frictional resistance during hydraulic propulsion and improves the smoothness of movement.

[0051] There are four sets of hydraulic stepping mechanisms 3, used to connect the upper and lower traveling units. The extension and retraction of the hydraulic cylinder drives one unit to move axially relative to the other unit. The built-in hydraulic guide module 32 prevents the upper and lower units from deflecting or misaligning during the movement, accurately matches the single step length, and ensures that the movement is in place each time.

[0052] The control system includes a control unit, sensor modules, a power management unit, and a data storage unit. The control unit is connected to the sensor modules, power management unit, and data storage unit. The sensor modules include tilt sensors, attitude gyroscopes, displacement encoders, pressure sensors, and limit switches, which are respectively mounted on the upper traveling unit 1, the lower traveling unit 2, and the hydraulic stepping mechanism 3. In actual use, the tilt sensors, attitude gyroscopes, displacement encoders, pressure sensors, and limit switches are positioned according to actual needs to achieve their respective functions. The tilt sensors detect the tilt angle of the corresponding components, the attitude gyroscopes control the attitude, the pressure sensors detect pressure, and the limit switches control the distance traveled. The information detected by the sensor modules is fed back to the control unit via electrical connections for corresponding control. The power management unit provides electrical energy. The data storage unit stores the data fed back by the sensor modules.

[0053] In this embodiment, the control unit is the core unit, employing an STM32H743ZIT6 chip, industrial grade, LQFP144 package. The tilt sensor uses an SCA100T-D02 to collect pipe slope data from 0° to 90° and automatically match the operating mode. The attitude gyroscope uses an MPU6050 to collect three-axis acceleration and angular velocity, determining trolley skew, swaying, and instability. The displacement encoder uses an E6B2-CWZ6C to detect hydraulic stroke and achieve closed-loop step control. The pressure sensor uses an MS5803-02BA to detect the contact pressure between the tensioning mechanism and the pipe wall, determining whether effective locking is achieved. The limit switch uses a GL-12H for over-travel protection, preventing misalignment between upper and lower units. The control unit is connected to the working components in the downward moving unit 2 and the hydraulic stepping mechanism 3, controlling their corresponding operations. The power management unit accepts a DC 24V lithium battery or external power supply for overvoltage, overcurrent, short circuit, reverse connection, undervoltage, and power-down retention. The storage unit uses a W25Q128 (16MB SPI Flash) to store system parameters, operation logs, fault codes, and device information, which is retained even after power loss.

[0054] Material thickness, distance, and presence status are collected through a dual-modal fusion of laser displacement and capacitive sensing. After algorithm judgment, the following outputs are provided: normal / shortage / wrong material / full material / count. The signal is uploaded to the main control unit. If a material abnormality is detected, the trolley will immediately stop stepping and trigger an alarm.

[0055] The working process of this invention, taking upward stepping as an example:

[0056] 1) The tensioning mechanism in the downward advancing unit 2 extends and is magnetically attracted and locked securely.

[0057] 2) The pulley mechanism in the downward advancing unit 2 retracts and disengages from the pipe wall.

[0058] 3) The pulley mechanism in the upward moving unit 1 extends out to support and guide.

[0059] 4) The tensioning mechanism of the upward-moving unit 1 retracts, releasing the adsorption.

[0060] 5) The hydraulic cylinder 313 in the hydraulic stepping mechanism 3 extends and pushes the upper moving unit 1 to move upward by one step.

[0061] 6) After the upward moving unit 1 reaches the new position, the tensioning mechanism of the upward moving unit 1 extends and is attracted by electromagnetic force.

[0062] 7) The pulley in the upper traveling unit 1 retracts, and the pulley in the lower traveling unit 2 extends.

[0063] 8) The hydraulic cylinder 313 retracts, pulling the downward advancing unit 2 to move upward until it closes.

[0064] 9) Repeat the above process to achieve continuous upward climbing.

[0065] The device supports bidirectional stepping, i.e., up / down and horizontal forward / backward movement, and can also operate in pipes at any intermediate angle.

[0066] The control system of this invention integrates attitude sensors, including an inclinometer, a gyroscope, a displacement encoder, and a pressure feedback module, i.e., a pressure sensor; it can: autonomously determine the current slope and stress state, automatically switch the working modes of the upper and lower units, achieve precise stepping under closed-loop control, and support remote central control platform monitoring, parameter adjustment, and emergency intervention; an optional manual operation platform can be equipped for precise positioning and on-site material replacement / maintenance.

[0067] This invention discloses an adaptive stepping travel device for use in steeply sloped metal pipes. It employs a stepping mechanism with alternating locking and movement of upper and lower dual units, combined with mechanical tensioning, electromagnetic adsorption, pulley drag reduction, and hydraulic drive technology, achieving stable, safe, and controllable autonomous travel at inclination angles from 0° to 90°. This device is suitable for operations inside large-diameter metal pipes, exhibiting high reliability, strong adhesion, and good environmental adaptability, and can be used in nuclear power, petrochemical, and municipal engineering fields.

[0068] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of the invention, and should be understood that the scope of protection of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical teachings disclosed in this invention without departing from the spirit of the invention, and these modifications and combinations are still within the scope of protection of this invention.

Claims

1. An adaptive stepping travel device for use in steep slope metal pipes, characterized in that: The system includes an upward moving unit (1), a downward moving unit (2), a hydraulic stepping mechanism (3), a manual platform device (4), and a control system. The upward moving unit (1) includes an upward moving frame (11), on which an upward tensioning mechanism (12) and an upward pulley mechanism (13) are mounted. Both the upward tensioning mechanism (12) and the upward pulley mechanism (13) are located on the side of the upward moving frame (11). The downward moving unit (2) includes a downward moving frame (21), on which a downward tensioning mechanism (22) and a downward pulley mechanism (23) are mounted. (22) and the downward pulley mechanism (23) are both located on the side of the downward advancing frame (21); the artificial platform device (4) passes through the upward advancing frame (11) and the downward advancing frame (21), the upward tensioning mechanism (12) and the downward tensioning mechanism (22) are parallel, the upward pulley mechanism (13) and the downward pulley mechanism (23) are parallel, the hydraulic stepping mechanism (3) is located between the upward advancing unit (1) and the downward advancing unit (2), and is used to connect the upward advancing unit (1) and the downward advancing unit (2), and realize the movement between the upward advancing unit (1) and the downward advancing unit (2) through the hydraulic stepping mechanism (3).

2. The adaptive stepping travel device for use in a steep slope metal pipe according to claim 1, characterized in that: The upward frame (11) includes an upward frame body (111) and an upward frame mounting plate (112). The upward frame mounting plate (112) is fixedly connected to the upward frame body (111). The upward frame body (111) has a ring structure. The upward tensioning mechanism (12) and the upward pulley mechanism (13) are respectively installed on the upward frame mounting plate (112).

3. The adaptive stepping travel device for use in a steep slope metal pipe according to claim 1, characterized in that: The upward tensioning mechanism (12) includes an upward first electromagnet group (121), an upward second electromagnet group (122), and an upward electromagnet group connecting device (123). The upward first electromagnet group (121) includes an upward electromagnet support frame (1211), an upward electromagnet (1212), an upward electromagnet driver (1213), and an upward electromagnet guide rod (1214). The upward electromagnet driver (1213) is mounted on the upward electromagnet support frame (1211). On 1211), the upward electromagnet (1212) is installed at the end of the upward electromagnet driver (1213). The bottom of the upward electromagnet (1212) is connected to the upward electromagnet guide rod (1214). The upward electromagnet guide rod (1214) passes through the upward electromagnet support frame (1211). The upward first electromagnet group (121) and the upward second electromagnet group (122) have the same structure and are connected by the electromagnet group connecting device (123).

4. The adaptive stepping travel device for use in a steep slope metal pipe according to claim 1, characterized in that: The upward pulley mechanism (13) includes an upward first pulley device (131), an upward second pulley device (132), and a pulley connecting device (133). The upward first pulley device (131) includes an upward pulley base (1311), an upward pulley (1312), an upward pulley bracket (1313), an upward pulley guide rod (1314), and an upward pulley driver (1315). The upward pulley driver (1315) is mounted on the upward pulley base (1311). The upward pulley driver (1315) is connected to the upward pulley bracket (1313), the upward pulley (1312) is rotatably connected to the upward pulley bracket (1313), the upward pulley bracket (1313) is connected to the upward pulley guide rod (1314), and the upward pulley guide rod (1314) passes through the upward pulley base (1311); the upward first pulley device (131) and the upward second pulley device (132) have the same structure and are connected by a pulley connecting device (133).

5. The adaptive stepping travel device for use in a steep slope metal pipe according to claim 1, characterized in that: The hydraulic stepping mechanism (3) includes a hydraulic module (31) and a hydraulic guide module (32). The hydraulic module (31) includes a first hydraulic base (311), a second hydraulic base (312), and a hydraulic cylinder (313). The hydraulic cylinder (313) is mounted on the first hydraulic base (311), and the piston rod end of the hydraulic cylinder (313) is connected to the second hydraulic base (312). The hydraulic guide module (32) includes a first hydraulic guide block (321) and a second hydraulic guide block (322). The hydraulic guide rod (323) is connected to the first hydraulic guide block (321) at its end and to the second hydraulic guide block (322) at its end. The first hydraulic base (311) is connected to the upper moving unit (1), the second hydraulic base (312) is connected to the lower moving unit (2), the first hydraulic guide block (321) is connected to the lower moving unit (2), and the second hydraulic guide block (322) is connected to the upper moving unit (1).

6. The adaptive stepping travel device for use in a steep slope metal pipe according to claim 1, characterized in that: The bottom of the down-going unit (2) is provided with a protective plate (5), which is circular.

7. The adaptive stepping travel device for use in a steep slope metal pipe according to claim 1, characterized in that: The artificial platform device (4) includes an upper platform device (41), an intermediate platform device (42) and a lower platform device (43) connected in sequence. The upper platform device (41) includes an upper platform fence (411), the intermediate platform device (42) includes an intermediate platform frame (421), and the lower platform device (43) includes a lower platform cabin (431). The bottom of the lower platform cabin (431) is an inverted triangular structure.

8. The adaptive stepping travel device for use in a steep slope metal pipe according to claim 1, characterized in that: The artificial platform device (4) also includes a staircase (44), which passes through the upper platform device (41), the middle platform device (42) and the lower platform device (43).

9. The adaptive stepping travel device for use in a steep slope metal pipe according to claim 1, characterized in that: The control system includes a control unit, a sensor module, a power management unit, and a data storage unit. The control unit is connected to the sensor module, the power management unit, and the data storage unit respectively. The sensor module includes a tilt sensor, an attitude gyroscope, a displacement encoder, a pressure sensor, and a limit switch. The tilt sensor, attitude gyroscope, displacement encoder, pressure sensor, and limit switch are respectively installed on the upper moving unit (1), the lower moving unit (2), and the hydraulic stepping mechanism (3).

Images