Pipeline circulating robot

Abstract

The utility model discloses a pipeline touring robot, and relates to the technical field of pipeline detection and maintenance devices, the pipeline touring robot comprises a main body, and a detection instrument is arranged on one side face, corresponding to the advancing direction, of the main body; main driving wheels are arranged at the bottom of the body, lifting assemblies are arranged at the bottom of the body, the main driving wheels are connected with the body through the lifting assemblies, and the lifting assemblies are used for driving the main driving wheels to ascend and descend to lift the body; at least two pairs of auxiliary driving wheels are arranged at the top of the main body, each pair of auxiliary driving wheels is located on the same horizontal line and symmetrically distributed on the two sides of the main body, different pairs of auxiliary driving wheels are arranged at intervals, the rotating axes of the auxiliary driving wheels are vertical, the main body is provided with telescopic assemblies, and each auxiliary driving wheel corresponds to one telescopic assembly. Each auxiliary driving wheel is connected with the main body through a telescopic assembly, and the telescopic assemblies are used for driving the auxiliary driving wheels corresponding to the telescopic assemblies to move in the direction close to or away from the main body in the horizontal direction. The pipeline circulating robot has the effect that the passing ability of the pipeline circulating robot in the pipeline is improved.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline inspection and maintenance devices, and in particular to a pipeline patrol robot. Background Art

[0002] Pipeline transportation is a method of transporting liquid and gas materials over long distances using pipelines as a means of transportation. It is a special component of trunk transportation in the unified transportation network. In municipal engineering, it is necessary to regularly desilt the inside of the pipeline. Pipeline desilting refers to dredging the pipeline, cleaning the silt and other waste inside the pipeline, and keeping it unobstructed for a long time to prevent urban waterlogging. If the pipeline is not desilted regularly, it will cause sewage overflow, pollute the environment, and cause trouble to people's lives.

[0003] Before dredging the pipeline, it is necessary to first inspect the silt deposition inside the pipeline. The pipeline inspection work is usually completed by pipeline patrol robots. The patrol robots are equipped with cameras, sensors and other detection devices. They can move inside the pipeline, take pictures of the situation inside the pipeline and transmit them, so that the staff can understand the specific situation inside the pipeline.

[0004] However, for the existing roller-type pipeline robots, when there is a lot of silt deposited inside the pipeline, it will affect the rotation of the robot's rollers, hinder the robot's movement, and thus hinder the pipeline inspection work. Utility Model Content

[0005] In order to improve the situation where silt in the pipeline hinders the movement of the inspection robot and causes obstruction to the pipeline inspection work, the present application provides a pipeline patrol robot.

[0006] The present application provides a pipeline patrol robot, which adopts the following technical solution:

[0007] A pipeline patrol robot comprises a main body, wherein a detection instrument is arranged on a side of the main body corresponding to a forward direction, a driving power supply is arranged inside the main body, and the detection instrument is electrically connected to the driving power supply;

[0008] A main driving wheel is provided at the bottom of the main body, and a lifting assembly is also provided at the bottom of the main body. The main driving wheel is connected to the main body through the lifting assembly, and the lifting assembly is used to drive the main driving wheel to rise and fall to lift the main body;

[0009] At least two pairs of auxiliary drive wheels are arranged on the top of the main body, each pair of the auxiliary drive wheels are on the same horizontal line and are symmetrically distributed on both sides of the main body, and different pairs of the auxiliary drive wheels are arranged at intervals, and the rotation axes of the auxiliary drive wheels are all vertical. The main body is provided with a telescopic component, each of the auxiliary drive wheels corresponds to a telescopic component, and each of the auxiliary drive wheels is connected to the main body through the telescopic component, and the telescopic component is used to drive the corresponding auxiliary drive wheel to move in a horizontal direction toward or away from the main body, and the main drive wheel and the auxiliary drive wheel are both electrically connected to a driving power supply.

[0010] By adopting the above technical solution, when the travel path of the pipeline patrol robot is blocked by silt in the pipeline, the lifting component drives the main drive wheel to move downward to raise the height of the main body so that the position of the main body is higher than the height of the deposited silt. At this time, the telescopic component drives the corresponding auxiliary drive wheels to move horizontally away from the main body until each pair of auxiliary drive wheels is against the inner wall of the pipe. At this time, the pipeline patrol robot is fixed in the pipeline by the telescopic component and the auxiliary drive wheel. Then the lifting component drives the main drive wheel to rise until the height of the main drive wheel is also higher than the deposition height of the silt. At this time, the pipeline patrol robot is driven by the auxiliary drive wheel, so that the pipeline patrol robot continues to move forward until it crosses the silt blocking the path. Then the lifting component lowers the main drive wheel, and the telescopic component retracts the auxiliary drive wheel, and continues to be driven forward by the active drive wheel.

[0011] Optionally, the telescopic assembly includes a horizontally placed first driving member and a connecting rod, wherein the end of the first driving member away from its own output shaft is connected to the main body, the output shaft of the first driving member is coaxially fixed with the connecting rod, and the end of the connecting rod away from the first driving member is connected to the auxiliary driving wheel.

[0012] By adopting the above technical solution, the first driving member drives the connecting rod to perform telescopic movement in the horizontal direction, thereby realizing the movement of the auxiliary driving wheel in the horizontal direction toward or away from the main body, so that the auxiliary driving wheel completes the retraction action or abuts against the inner wall of the pipe.

[0013] Optionally, a turntable is rotatably connected to the top of the main body, and two first driving members corresponding to each pair of auxiliary driving wheels are symmetrically distributed on both sides of a turntable and are fixed to the turntable, and the rotation axis of the turntable is vertical.

[0014] By adopting the above technical solution, the first driving member is connected to the main body through a turntable. The first driving member can rotate with the turntable to adjust the direction of the output shaft drive, so that each pair of auxiliary driving wheels can adjust the contact position with the inner wall of the pipeline according to the actual situation of the inner wall of the pipeline, so that the pipeline patrol robot can be suitable for different pipelines.

[0015] Optionally, an adjusting rod is coaxially inserted and slidably connected inside the end of the connecting rod away from the first driving member, and the end of the adjusting rod away from the first driving member is connected to the auxiliary driving wheel. An elastic member is provided at one end of the adjusting rod located inside the connecting rod, and both ends of the elastic member are respectively abutted against or connected to the adjusting rod and the inner wall of the connecting rod.

[0016] By adopting the above technical solution, the adjusting rod is slidably connected to the connecting rod, and an elastic member is also provided between the connecting rod and the adjusting rod. The first driving member enables the auxiliary driving wheel to always be in contact with the inner wall of the pipeline through the connecting rod to fix the position of the robot in the pipeline. If the inner wall of the pipeline is uneven or the robot passes through a curved part of the pipeline, the elastic member can absorb part of the vibration of the adjusting rod when sliding, and the restoring force generated when the elastic member is compressed can act on the auxiliary driving wheel through the adjusting rod, so that the auxiliary driving wheel always remains in contact with the inner wall of the pipeline.

[0017] Optionally, the lifting assembly includes a vertical second driving member and a horizontally placed sealing plate, the second driving member is fixed inside the main body and the output shaft is vertically downward, the output shaft of the second driving member is connected to the sealing plate, the sealing plate is slidably connected to the bottom of the main body, and the main driving wheel is arranged on the bottom surface of the sealing plate.

[0018] By adopting the above technical solution, when the height of the main body needs to be raised to pass through the mud obstruction, the output shaft of the second driving member drives the main driving wheel to move downward through the sealing plate, lifting the main body, thereby achieving the height increase of the main body.

[0019] Optionally, the lifting assembly further includes a guide rod and a guide block, wherein the guide block is arranged inside the main body and located above the sealing plate, one end of the guide rod is fixed to the sealing plate, and the other end is vertically penetrated and slidably connected to the guide block.

[0020] By adopting the above technical solution, when the second driving member lifts the main body through the sealing plate and the main driving wheel, the guide rod slides vertically along the guide block, and the guide block can provide support and guidance for the movement of the guide rod, thereby improving the stability of the main body during ascent.

[0021] Optionally, a control module is provided on the top of the main body, and the control module is electrically connected to the detection instrument and the driving power supply respectively.

[0022] By adopting the above technical solution, a control module is arranged on the top of the main body, which can send control instructions to the main drive wheel and the auxiliary drive wheel, thereby controlling the movement of the pipeline patrol robot. At the same time, the control module can also send detection instructions to the detection instrument and transmit the detected information to the ground receiving equipment through the data cable.

[0023] Optionally, the outer surfaces of the main drive wheel and the auxiliary drive wheel are both provided with anti-slip textures.

[0024] By adopting the above technical solution, the outer surfaces of the main drive wheel and the auxiliary drive wheel are provided with anti-slip textures, so that when the main drive wheel and the auxiliary drive wheel contact the inner wall of the pipeline, the grip of the main drive wheel and the auxiliary drive wheel is improved and the slipping phenomenon is reduced.

[0025] In summary, the present application includes at least one of the following beneficial effects:

[0026] 1. By using a lifting component to drive the main driving wheel to move downward, the main body can raise its own height when encountering silt deposited in the pipeline, thereby facilitating crossing the silt obstacle;

[0027] 2. By setting multiple pairs of auxiliary drive wheels on the top of the main body, when the pipeline patrol robot is blocked by silt, after lifting the main drive wheel, the auxiliary drive wheel can be used for auxiliary driving to overcome the obstacle;

[0028] 3. By connecting the auxiliary drive wheel to the main body through a telescopic assembly, the telescopic assembly can drive the auxiliary drive wheel to move horizontally toward or away from the main body. When the auxiliary drive wheel moves away from the main body, the auxiliary drive wheel can be pressed against the inner wall of the pipe, thereby fixing the position of the main body in the pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram showing the overall structure of the pipeline patrol robot in Example 1 of the present application;

[0030] Figure 2 is a schematic diagram showing the structure inside the connecting rod of Example 1 of the present application;

[0031] Figure 3 is a schematic structural diagram showing a lifting assembly in Example 1 of the present application;

[0032] Figure 4 This is a schematic diagram showing the structure of the second turntable in Example 2 of the present application.

[0033] Explanation of the accompanying drawings: 1. Main body; 11. Detection instrument; 12. Main driving wheel; 13. Auxiliary driving wheel; 2. Control module; 3. Turntable; 31. First driving member; 32. Connecting rod; 33. Adjusting rod; 34. Elastic member; 4. Lifting assembly; 41. Second driving member; 42. Sealing plate; 43. Guide block; 44. Guide rod; 5. Mounting seat; 6. Second turntable. DETAILED DESCRIPTION

[0034] The following is combined with Figure 1-4 This application is described in further detail.

[0035] Embodiment 1:

[0036] Embodiment 1 of the present application discloses a pipeline patrol robot, referring to Figure 1 The pipeline patrol robot includes a main body 1, which can be a rectangular or cylindrical shape. In Example 1 of the present application, the main body 1 is a rectangular shape, and the outer wall of the main body 1 can be made of corrosion-resistant materials such as polytetrafluoroethylene and polyvinyl chloride, which effectively improves the corrosion resistance of the main body 1, thereby improving the overall service life of the pipeline patrol robot. The main body 1 is fixed with a detection instrument 11 on the side corresponding to the forward direction. The detection instrument 11 can be a high-definition camera, an infrared sensor or other types of detection equipment for detection, and can also be an integration of the above-mentioned types of detection equipment, so that the detection performance of the detection instrument 11 can meet various detection requirements as much as possible. In other embodiments of the present application, the detection instrument 11 can also be distributed on the two opposite side walls of the main body 1 corresponding to the forward direction, or distributed on the outer walls on both sides of the forward direction of the main body 1, so that the pipeline patrol robot can perform detection in more directions.

[0037] A main drive wheel 12 is provided at the bottom of the main body 1, and at least two pairs of auxiliary drive wheels 13 are provided at the top of the main body 1. Among them, four main drive wheels 12 are provided and distributed at the four end angle positions at the bottom of the main body 1. The main drive wheel 12 serves as the main driving member of the pipeline patrol robot, and is used to drive the main body 1 forward or backward in the pipeline. In Example 1 of the present application, two pairs of auxiliary drive wheels 13 are provided, and the two pairs of auxiliary drive wheels 13 are spaced apart along the travel direction of the main body 1. Both the main drive wheel 12 and the auxiliary drive wheel 13 are drive wheels with independent motors, and can rotate independently after power is turned on. A driving power supply is fixed inside the main body 1, and the driving power supply can be a battery pack or a battery pack. The detection instrument 11 is electrically connected to the driving power supply, and the main drive wheel 12 and the auxiliary drive wheel 13 are both electrically connected to the driving power supply. The driving power supply can provide the necessary power support for the main drive wheel 12 and the auxiliary drive wheel 13. In addition, the outer surfaces of the main drive wheel 12 and the auxiliary drive wheel 13 are both provided with anti-skid textures, so that when the main drive wheel 12 and the auxiliary drive wheel 13 contact the inner wall of the pipeline, the grip of the main drive wheel 12 and the auxiliary drive wheel 13 is improved to reduce slipping.

[0038] A control module 2 is fixed between two pairs of auxiliary drive wheels 13 at the top of the main body 1. A control circuit board and a control chip are arranged inside the control module 2. The control module 2 is electrically connected to the detection instrument 11 and the drive power supply, respectively. The control module 2 is also electrically connected to the main drive wheel 12 and the auxiliary drive wheel 13. The control module 2 can send control instructions to the main drive wheel 12 and the auxiliary drive wheel 13 to control the movement of the pipeline patrol robot. At the same time, the control module 2 can also send detection instructions to the detection instrument 11 and transmit the detected information to the ground receiving device through the data line.

[0039] Reference Figure 1 and Figure 2The top of the main body 1 is rotatably connected to two turntables 3, each pair of auxiliary drive wheels 13 corresponds to one turntable 3, the rotation axis of the turntable 3 is vertical, and each pair of auxiliary drive wheels 13 is symmetrically distributed on both sides of the turntable 3. A telescopic assembly is arranged between each auxiliary drive wheel 13 and the corresponding turntable 3, and the telescopic assembly includes a horizontally placed first drive member 31 and a connecting rod 32, wherein the end of the first drive member 31 away from its own output shaft is fixed to the turntable 3, the output shaft of the first drive member 31 is coaxially fixed with the connecting rod 32, and the end of the connecting rod 32 away from the turntable 3 is rotatably connected to the auxiliary drive wheel 13 through the mounting seat 5, and the rotation axis of each auxiliary drive wheel 13 is vertical. The first drive member 31 drives the connecting rod 32 to perform telescopic movement in the horizontal direction, thereby realizing the auxiliary drive wheel 13 to move in the horizontal direction toward or away from the main body 1, so that the auxiliary drive wheel 13 completes the retraction action or abuts against the inner wall of the pipeline. In other embodiments of the present application, the number of turntables 3 and auxiliary drive wheels 13 can be further increased along the moving direction of the main body 1 according to actual conditions, so that the auxiliary drive wheels 13 can provide greater grip for the main body 1.

[0040] When the auxiliary drive wheels 13 are pressed against the inner wall of the pipeline, the pipeline patrol robot can be fixed in position in the pipeline by the four auxiliary drive wheels 13, and can be driven to move by the four auxiliary drive wheels 13. At the same time, the first drive member 31 is connected to the main body 1 through the turntable 3, and the first drive member 31 can rotate with the turntable 3 to adjust the direction of the output shaft extension, so that each pair of auxiliary drive wheels 13 can adjust the contact position with the inner wall of the pipeline according to the actual inner wall of the pipeline, so that the pipeline patrol robot can be applied to different pipelines.

[0041] Reference Figure 1 and Figure 2 The end of the connecting rod 32 away from the first driving member 31 is coaxially inserted and slidably connected with an adjusting rod 33, the end of the adjusting rod 33 away from the first driving member 31 is fixedly connected to the mounting seat 5, and the end of the adjusting rod 33 sliding in the connecting rod 32 is provided with an elastic member 34, which can be a compression spring, and the two ends of the elastic member 34 are respectively fixedly connected with the end of the adjusting rod 33 and the inner wall of the connecting rod 32. In other embodiments of the present application, the two ends of the elastic member 34 can also be respectively in contact with the end of the adjusting rod 33 and the inner wall of the connecting rod 32.

[0042] When the first driving member 31 drives the auxiliary driving wheel 13 to press against the inner wall of the pipeline through the connecting rod 32, the adjusting rod 33 slides inside the connecting rod 32, and the mounting seat 5 compresses the elastic member 34 through the adjusting rod 33. The elastic member 34 after being compressed generates a restoring force, so that the auxiliary driving wheel 13 is always pressed against the inner wall of the pipeline to fix the position of the robot in the pipeline, so that the main body 1 is more stable when moving on the auxiliary driving wheel 13, and can also pass smoothly when passing through the curved part of the pipeline. If the inner wall of the pipeline is uneven, when the pipeline patrol robot is moving, the elastic member 34 can absorb part of the vibration generated by the auxiliary driving wheel 13 when rolling, reducing the impact of the vibration on the control unit and the main body 1.

[0043] Reference Figure 1 and Figure 3 , a lifting assembly 4 is also provided at the bottom of the main body 1, and the lifting assembly 4 includes a vertical second driving member 41 and a horizontally placed sealing plate 42. The second driving member 41 can be a vertically placed electric cylinder, and the second driving member 41 is fixed at the four end angles inside the main body 1 and the output shaft is vertically downward. The sealing plate 42 is vertically slidably connected to the bottom of the main body 1, and the four edges of the sealing plate 42 are coated with sealing strips, so that a better sealing effect can be formed when the sealing plate 42 contacts the main body 1. The output shaft of the second driving member 41 is fixed to the sealing plate 42, and the main driving wheel 12 is rotatably connected to the bottom surface of the sealing plate 42. When the output shaft of the second driving member 41 drives the sealing plate 42 to move downward, the height of the main body 1 can be lifted. A guide block 43 is also fixed inside the main body 1, and the guide block 43 is located above the sealing plate 42. At the same time, a vertical guide rod 44 is fixed on the top surface of the sealing plate 42, and the guide rod 44 is penetrated and slidably connected in the guide block 43.

[0044] When the main body 1 is blocked in its travel path by the silt in the pipeline, the output shaft of the second driving member 41 drives the main driving wheel 12 to move downward through the sealing plate 42, lifting the main body 1 so that the position of the main body 1 is higher than the height of the deposited silt. At this time, the first driving member 31 drives the corresponding auxiliary driving wheels 13 to move horizontally away from the main body 1 through the connecting rod 32 until each pair of auxiliary driving wheels 13 is against the inner wall of the pipeline. At this time, the pipeline patrol robot is fixed in the pipeline by the telescopic assembly and the two pairs of auxiliary driving wheels 13. Then the second driving member 41 drives the main driving wheel 12 to rise through the sealing plate 42 until the height of the main driving wheel 12 is also higher than the deposition height of the silt. At this time, the pipeline patrol robot is driven by the auxiliary driving wheel 13, and the pipeline patrol robot continues to move forward until it passes the silt blocking the path. Then the second driving member 41 lowers the main driving wheel 12, and at the same time the telescopic assembly retracts the auxiliary driving wheel 13, and continues to be driven forward by the active driving wheel. When the second driving member 41 lifts the main body 1 through the sealing plate 42 and the main driving wheel 12, the guide rod 44 slides vertically along the guide block 43, and the guide block 43 can provide support and guidance for the movement of the guide rod 44, thereby improving the stability of the main body 1 when rising.

[0045] The implementation principle of a pipeline patrol robot in Example 1 of the present application is as follows: when the travel path of the pipeline patrol robot is blocked by silt in the pipeline, the lifting component 4 drives the main drive wheel 12 to move downward to raise the height of the main body 1, and the telescopic component drives the corresponding auxiliary drive wheels 13 to move horizontally away from the main body 1 until the auxiliary drive wheels 13 are against the inner wall of the pipeline. The pipeline patrol robot is fixed in the pipeline by the telescopic component and the auxiliary drive wheel 13, and the pipeline patrol robot is driven by the auxiliary drive wheel 13. When the pipeline patrol robot continues to move forward until it passes over the silt blocking the path, the lifting component 4 then lowers the main drive wheel 12, and the telescopic component retracts the auxiliary drive wheel 13, and continues to be driven forward by the active drive wheel, so that the main body 1 passes over the silt obstacle.

[0046] Embodiment 2:

[0047] The difference between Example 2 and Example 1 is that: Figure 4 , an identical second turntable 6 is coaxially fixed on the top of each turntable 3, and two sets of telescopic components and two auxiliary drive wheels 13 are correspondingly arranged on each second turntable 6. The installation method of the telescopic components and the auxiliary drive wheels 13 on the second turntable 6 is consistent with the installation method in Example 1, and will not be repeated here. The four auxiliary drive wheels 13 on the two second turntables 6 form two layers of upper and lower layers with the four auxiliary drive wheels 13 on the original turntable 3. Compared with the four auxiliary drive wheels 13 in Example 1, the eight auxiliary drive wheels 13 can provide a stronger grip for the main body 1, and the support for the main body 1 is also more stable.

[0048] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A pipeline patrol robot, characterized in that: It comprises a main body (1), wherein a detection instrument (11) is provided on a side surface of the main body (1) corresponding to the forward direction, a driving power supply is provided inside the main body (1), and the detection instrument (11) is electrically connected to the driving power supply; A main driving wheel (12) is arranged at the bottom of the main body (1), and a lifting assembly (4) is also arranged at the bottom of the main body (1); the main driving wheel (12) is connected to the main body (1) via the lifting assembly (4), and the lifting assembly (4) is used to drive the main driving wheel (12) to rise and fall so as to lift the main body (1); At least two pairs of auxiliary drive wheels (13) are arranged on the top of the main body (1), each pair of the auxiliary drive wheels (13) are located on the same horizontal line and are symmetrically distributed on both sides of the main body (1), and different pairs of the auxiliary drive wheels (13) are arranged at intervals, and the rotation axes of the auxiliary drive wheels (13) are all vertical. The main body (1) is provided with a telescopic component, and each of the auxiliary drive wheels (13) corresponds to a telescopic component. Each of the auxiliary drive wheels (13) is connected to the main body (1) via the telescopic component. The telescopic component is used to drive the auxiliary drive wheel (13) corresponding thereto to move in a horizontal direction toward or away from the main body (1), and the main drive wheel (12) and the auxiliary drive wheel (13) are both electrically connected to a drive power source.

2. A pipeline patrol robot according to claim 1, characterized in that: The telescopic assembly comprises a first driving member (31) and a connecting rod (32) placed horizontally, wherein one end of the first driving member (31) away from its output shaft is connected to the main body (1), the output shaft of the first driving member (31) is coaxially fixed to the connecting rod (32), and one end of the connecting rod (32) away from the first driving member (31) is connected to the auxiliary driving wheel (13).

3. A pipeline patrol robot according to claim 2, characterized in that: A turntable (3) is rotatably connected to the top of the main body (1); two first drive members (31) corresponding to each pair of auxiliary drive wheels (13) are symmetrically distributed on both sides of a turntable (3) and are both fixed to the turntable (3); and the rotation axis of the turntable (3) is vertical.

4. A pipeline patrol robot according to claim 2, characterized in that: An adjusting rod (33) is coaxially inserted and slidably connected inside the end of the connecting rod (32) away from the first driving member (31); the end of the adjusting rod (33) away from the first driving member (31) is connected to the auxiliary driving wheel (13); an elastic member (34) is provided at one end of the adjusting rod (33) located inside the connecting rod (32); two ends of the elastic member (34) are respectively against or connected to the inner walls of the adjusting rod (33) and the connecting rod (32).

5. The pipeline patrol robot according to claim 1, characterized in that: The lifting assembly (4) comprises a vertical second driving member (41) and a horizontally placed sealing plate (42); the second driving member (41) is fixed inside the main body (1) and its output shaft is vertically downward; the output shaft of the second driving member (41) is connected to the sealing plate (42); the sealing plate (42) is slidably connected to the bottom of the main body (1); and the main driving wheel (12) is arranged on the bottom surface of the sealing plate (42).

6. A pipeline patrol robot according to claim 5, characterized in that: The lifting assembly (4) further comprises a guide rod (44) and a guide block (43); the guide block (43) is arranged inside the main body (1) and above the sealing plate (42); one end of the guide rod (44) is fixed to the sealing plate (42), and the other end is vertically penetrated and slidably connected to the guide block (43).

7. The pipeline patrol robot according to claim 1, characterized in that: A control module (2) is arranged on the top of the main body (1), and the control module (2) is electrically connected to the detection instrument (11) and the driving power supply respectively.

8. The pipeline patrol robot according to claim 1, characterized in that: The outer surfaces of the main driving wheel (12) and the auxiliary driving wheel (13) are both provided with anti-slip textures.

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