High-temperature-resistant and corrosion-resistant intelligent pipeline robot

Abstract

The utility model relates to the field of pipeline robots, in particular to a high-temperature-resistant and corrosion-resistant pipeline intelligent robot which comprises two working units, fixing mechanisms and a telescopic mechanism used for connecting the two working units, the working units are respectively provided with the fixing mechanisms, the fixing mechanisms comprise a plurality of limiting assemblies, and the limiting assemblies are arranged on the telescopic mechanism. The supporting assemblies are in one-to-one correspondence with the limiting assemblies; and the magnetic assemblies are in one-to-one correspondence with the supporting assemblies. According to the pipeline intelligent robot, the supporting assembly of the pipeline intelligent robot is controlled through the magnetic assembly, so that the supporting assembly can be fixed to the inner wall of a pipeline without being connected with internal parts of the pipeline robot, the sealing performance of the pipeline robot is greatly improved, heat transfer through air is reduced, and the service life of the pipeline robot is prolonged. And the pipeline robot can work in the environment with relatively high temperature and corrosive substances.

Description

Technical Field

[0001] The utility model relates to the field of pipeline robots, in particular to an intelligent pipeline robot with high temperature resistance and corrosion resistance. Background Technique

[0002] A pipeline robot is a robot specifically designed to perform operations such as inspection, maintenance, and repair on the inner wall of a pipeline. Pipeline robots are widely used in fields such as oil, natural gas, chemical engineering, and electric power. Especially in some special fields, pipeline robots need to be specially designed to work in special environments.

[0003] At present, a Chinese utility model patent application with the publication number CN208670436U and the publication date of March 29, 2019, proposed a pipeline robot, including: a robot control main body; a power telescopic mechanism arranged on the robot control main body; a first support mechanism arranged on the side of the power telescopic mechanism away from the robot control main body; a second support mechanism arranged on the robot control main body and on the side opposite to the first support mechanism; the first support mechanism and the second support mechanism are used to contact and press against the inner wall of the pipeline to support the robot control main body.

[0004] During use, the pipeline robot is fixed by driving the power telescopic mechanism to make the first support mechanism and the second support mechanism contact and press against the inner wall of the pipeline, and the robot is controlled to move by cooperating the first support mechanism, the second support mechanism and the power telescopic mechanism with each other.

[0005] In view of the above related technologies, the support mechanism connected by mechanical structure will contact with high-temperature gas and corrosive substances in the pipeline, and is easily affected by the high temperature and corrosive substances inside the pipeline. Moreover, its complex mechanical structure is not easy to replace and repair after being corroded or expanded and worn. Summary of the Utility Model

[0006] In order to reduce the difficulty of maintenance and repair when a pipeline robot is damaged during operation in a high-temperature pipeline and a pipeline with corrosive gas, the utility model provides an intelligent pipeline robot with high temperature resistance and corrosion resistance.

[0007] The utility model provides an intelligent pipeline robot with high temperature resistance and corrosion resistance, and adopts the following technical solutions:

[0008] An intelligent pipeline robot with high temperature resistance and corrosion resistance, comprising: two working units, fixing mechanisms corresponding to the working units one by one, and a telescopic mechanism for connecting the two working units, and the inside of the working unit is sealed; each of the fixing mechanisms includes a plurality of limiting components, supporting components corresponding to the limiting components one by one, and magnetic force components corresponding to the supporting components one by one. A plurality of the limiting components are fixed on the outer wall of the working unit. The supporting components are slidably arranged on the limiting components along the radial direction of the working unit. The magnetic force components include electromagnets and magnets corresponding to the electromagnets. The electromagnets are fixedly installed inside the working unit, and the magnets are respectively installed on the corresponding supporting components. The housing of the working unit is made of a material with low magnetic permeability.

[0009] By adopting such a technical solution, after the electromagnets inside the working unit are energized, they will generate a repulsive force on the magnets. The supporting components will move away from the axis with the magnets and press against the inner wall of the pipeline for fixation; at this time, after the electromagnets inside the other working unit are energized, they will generate an attractive force on the corresponding magnets, and the supporting components installed with the magnets will move towards the axis with the magnets, and the telescopic mechanism will contract to pull one working unit towards the other working unit; at this time, the electromagnets inside the two working units are respectively energized in the reverse direction, so that the fixing mechanism on the other working unit presses against the inner wall of the pipeline for fixation, and the telescopic mechanism extends to push one working unit away from the other working unit to complete the movement of the pipeline robot. In this way, the inside of the working unit is set to be sealed. By controlling the electromagnets arranged inside the working unit, the fixing mechanism can be controlled for fixation, and it is combined with the telescopic mechanism to complete the movement of the pipeline robot. During this process, the air inside the pipeline and the air inside the working unit do not exchange, reducing heat transfer and keeping the temperature inside the working unit at a relatively low level, so that the pipeline robot can work in a relatively high-temperature environment. At the same time, since the inside of the working unit is sealed, corrosive gases or liquids can be reduced from entering the inside of the pipeline robot, making it have good corrosion resistance. And because the supporting components are not directly connected to the housing, it is easy to disassemble and repair when the supporting components are corroded and damaged, reducing the maintenance cost.

[0010] Optionally, the limiting component includes a limiting portion and a first blocking portion. One end of the limiting portion is fixed on the outer wall of the working unit, and the first blocking portion is detachably installed at the other end of the limiting portion. The limiting portion is arranged along the radial direction of the working unit, and a second blocking portion is also correspondingly arranged on the supporting component for the first blocking portion.

[0011] By adopting such a technical solution, the limiting part can restrict the movement of the support component in a set direction, and the cooperation of the first blocking part and the second blocking part restricts the movement of the support component, reducing the probability of the support component falling off due to sliding beyond the expected range on the limiting part. When the support component is damaged, the first blocking part can be removed to take down the support component, which is simple to disassemble and assemble, greatly reducing the maintenance cost and operation difficulty.

[0012] Optionally, a first guiding part is further arranged on the limiting part, the first guiding part is arranged along the sliding direction of the support component, a second guiding part corresponding to the first guiding part is arranged on the support component, and the second guiding part is arranged in cooperation with the first guiding part.

[0013] By adopting such a technical solution, the arrangement of the first guiding part and the second guiding part limits the rotation of the support component on the limiting part, and can reduce the risk that the magnet on the support component deviates from the electromagnet and cannot cooperate for control due to the rotation of the support component on the limiting part.

[0014] Optionally, the support component further includes a connecting part and a supporting part, the connecting part is slidably installed on the limiting part, the supporting part is arranged at one end of the connecting part away from the working unit, the second blocking part is connected to the other end of the connecting part, and a buffer is further arranged between the first blocking part and the second blocking part.

[0015] By adopting such a technical solution, the connecting part is slidably installed on the limiting part. When the supporting part moves along with the connecting part on the limiting part towards the direction close to the inner wall of the pipeline, the supporting part can be attached to the inner wall of the pipeline to play a fixing role, and the buffer arranged between the first blocking part and the second blocking part can play a buffering role when the first blocking part and the second blocking part come into contact, reducing the impact force when the connecting part collides with the blocking part.

[0016] Optionally, an elastic part is further arranged on the support component, one end of the elastic part is connected to the connecting part, the other end of the elastic part is connected to the limiting component, and the elastic part has a tendency to move the support component away from the working unit.

[0017] By adopting such a technical solution, the elastic part can automatically push the support component towards the direction close to the inner wall of the pipeline when the electromagnet is not powered on. In this way, when the magnet or the internal circuit fails, the pipeline robot can be automatically fixed on the inner wall of the pipeline, reducing the risk of the pipeline robot falling in the vertical pipeline when a failure occurs.

[0018] Optionally, the end face of the supporting part away from the connecting part is arc-shaped and provided with tooth-shaped protrusions.

[0019] By adopting such a technical solution, the arc surface of the support part can better fit the inner wall of the pipeline, providing effective support when the pipeline robot is fixed; the tooth-shaped protrusions can increase the friction between the support part and the inner wall of the pipeline, making the pipeline robot fixed more firmly.

[0020] Optionally, the magnetic force assembly further includes a magnetic force adjustment assembly, and the magnetic force adjustment assembly is electrically connected to the electromagnet.

[0021] By adopting such a technical solution, the magnetic force adjustment assembly can adjust the current passing through the electromagnet and thereby control the strength of the magnetic force of the electromagnet. When the magnetic force of the electromagnet is strong, it can control the support assembly to move a farther distance and fix the support assembly in a pipeline with a larger inner diameter. When the magnetic force of the electromagnet is weak, it can control the support assembly to move a closer distance and fix the support assembly in a pipeline with a smaller inner diameter, enabling the pipeline robot to work in pipelines with different inner diameters.

[0022] Optionally, a pressure sensor is further provided on the limiting part. The pressure sensor is in contact with the elastic member, and the pressure sensor is electrically connected to the magnetic force adjustment assembly.

[0023] By adopting such a technical solution, when the elastic member is a thrust spring and the pressure sensor is arranged between the limiting part and the elastic member, since the pressures at both ends of the elastic member are the same, the pressure sensor can detect in real time the pressure between the elastic member and the limiting part, which is the pressure between the support assembly and the elastic member. When the support assembly supports on the inner wall of the pipeline, the larger the pipeline diameter, the smaller the deformation of the elastic member, and the smaller the force exerted on the pressure sensor by the elastic member. Conversely, the smaller the pipeline diameter, the greater the force exerted on the pressure sensor by the elastic member. Thus, the diameter of the pipeline can be calculated based on the parameters of the pressure sensor, and the magnetic force adjustment assembly can adjust the magnetic force in real time according to the signal of the pressure sensor, control the support assembly to move a corresponding distance and fix it on the inner wall of the pipeline, enabling the support assembly to be adaptively fixed in pipelines with different diameters.

[0024] Optionally, universal connectors are respectively arranged at both ends of the telescopic mechanism, and the two universal connectors are respectively connected to the two working units.

[0025] By adopting such a technical solution, when the pipeline robot passes through a pipeline bend, the two working units can rotate relative to each other through the universal connectors and the telescopic mechanism, enabling the pipeline robot to better pass through the bent pipeline.

[0026] Optionally, the support part is made of a metal material or a ceramic material with low magnetic permeability and high temperature resistance, and a heat preservation layer is further provided on the working unit, and the heat preservation layer seals the internal environment of the working unit.

[0027] By adopting such a technical solution, when the support part is made of a metal material or a ceramic material with low magnetic permeability, it will not affect the operation of the magnetic force component. At the same time, most metal materials and ceramic materials are not affected by high-temperature environments. Therefore, the support part can be fixed on a pipeline with a relatively high temperature for a long time, further increasing the resistance of the pipeline robot to high temperature on the inner wall of the pipeline. The heat-insulating layer can delay the speed of heat transfer from the outside temperature of the working unit to the inside of the working unit, further reducing the temperature inside the working unit.

[0028] In summary, the utility model includes at least one of the following beneficial technical effects:

[0029] 1. By using a magnetic force component to control the support component of the pipeline robot, the support component does not need to be connected to the internal parts of the pipeline robot, greatly increasing the sealing performance of the pipeline robot, reducing the heat exchange between the inside of the pipeline robot and the external environment through air, and keeping the inside of the pipeline robot in a relatively low-temperature state. At the same time, due to its sealing performance, corrosive substances are difficult to enter the inside of the pipeline robot, enabling the pipeline robot to operate in an environment with a relatively high temperature and corrosive substances. And because the support component is not connected to the robot, when the support component is damaged, only the first blocking part needs to be removed to remove the support component, which can disassemble and assemble the support component more conveniently and quickly, facilitating maintenance.

[0030] 2. An elastic member is provided on the support component. The elastic member can automatically push the support component away when the support part is not restricted by the magnetic field and fix the support component on the inner wall of the pipeline, reducing the probability that the pipeline robot suddenly falls from the inner wall of the pipeline when a power failure or a malfunction occurs.

[0031] 3. By setting a magnetic force adjustment component to control the current passing through the electromagnet to control the strength of the magnetic force of the electromagnet, the support component can extend different lengths and be fixed on the inner walls of pipelines with different diameters. And by setting a pressure sensor, the pressure sensor can identify the diameter of the pipeline. The magnetic force adjustment component can adjust the magnetic force in real time according to the signal of the pressure sensor and automatically adjust the extended length of the support component, enabling the pipeline robot using the magnetic force component to adaptively operate in pipelines with different inner diameters, increasing the usage scenarios of the pipeline robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic diagram of the overall structure of an embodiment of the utility model;

[0033] Figure 2 is a side view of an embodiment of the utility model;

[0034] Figure 3 is Figure 2 a partial cross-sectional view taken along line A-A in

[0035] Figure 4 is Figure 3 Partial enlarged schematic view at position A in

[0036] Figure 5 is Figure 3 Cross-sectional schematic view of B - B in

[0037] Description of reference numerals: 1, working unit; 101, heat insulation layer; 2, fixing mechanism; 201, limiting component; 2011, limiting part; 2012, first blocking part; 2013, first guiding part; 2014, pressure sensor; 202, supporting component; 2021, connecting part; 2022, supporting part; 2023, buffer; 2024, second blocking part; 2025, second guiding part; 203, magnetic force component; 2031, electromagnet; 2032, magnet; 2033, magnetic force adjusting component; 204, elastic part; 3, telescopic mechanism; 301, universal connecting piece. Detailed implementation manners

[0038] The following is combined with Figures 1 to 5 to further elaborate on the present utility model in detail.

[0039] An embodiment of the present utility model discloses a pipeline intelligent robot with high temperature resistance and corrosion resistance. Referring to Figures 1 to 2 , a pipeline intelligent robot with high temperature resistance and corrosion resistance mainly includes two working units 1, a telescopic mechanism 3 for connecting the two working units 1, and a fixing mechanism 2 for fixing the working unit 1 on the inner wall of the pipeline.

[0040] Referring to Figures 1 to 2 , the working unit 1 includes a housing and a bottom plate. Three mounting grooves are circumferentially arranged on the housing of the working unit 1. A heat insulation layer 101 made of heat insulation materials such as heat insulation cotton or foam cotton is adhesively provided on the inner wall of the working unit 1. The bottom plate is fixed to the housing by screws, and a sealed setting is provided between the bottom plate and the housing. In this way, the space inside the working unit 1 is separated from the external space, reducing the heat transfer between the inside and outside of the working unit 1, and further reducing the heat transfer by setting the heat insulation layer 101, so that the environment inside the working unit 1 is in a relatively low temperature state. And because the inside of the working unit 1 is hermetically arranged, it can reduce the entry of corrosive gases or liquids into the inside of the working unit 1, playing a protective role for the components inside the working unit 1, enabling the pipeline robot to operate in a pipeline with relatively high temperature and corrosive substances.

[0041] Referring to Figures 3 to 5, the fixing mechanism 2 includes three limiting components 201, support components 202 corresponding to the limiting components 201 one by one, and magnetic components 203 corresponding to the support components 202 one by one. The limiting component 201 includes a limiting portion 2011 and a first blocking portion 2012. The limiting portion 2011 is a square column structure with one end fixed in the installation groove of the working unit 1. The side of the square column structure is a plane and this plane serves as the first guiding portion 2013. A threaded hole is provided at the other end of the square column. The first blocking portion 2012 is a metal block installed at the end of the square column structure. The edge of the first blocking portion 2012 extends beyond the edge of the limiting portion 2011 to play a blocking role. The first blocking portion 2012 is fixed in the threaded hole of the limiting portion 2011 by a screw. A pressure sensor 2014 is also provided on the end face of the limiting portion 2011 away from the working unit 1. In this way, the limiting component 201 can enable the support component 202 to slide stably along the set direction by setting the first guiding portion 2013. The first blocking portion 2012 can reduce the risk of the support component 202 falling off the limiting component 201 and reduce the probability of damage to the pipeline robot. Moreover, the first blocking portion 2012 also simplifies the disassembly and assembly process of the support component 202. The support component 202 can be removed by removing the screw on the first blocking portion 2012, making the maintenance and replacement of the support component 202 more convenient and simple.

[0042] Refer to Figures 3 to 5 , the support component 202 includes a connecting portion 2021 and a support portion 2022. The connecting portion 2021 is a square tube structure. The outer ring surface of the square tube structure can be inserted into the installation groove of the working unit 1. The inner ring surface of the square tube structure can be sleeved on the square column structure of the limiting portion 2011. The plane corresponding to the first guiding portion 2013 on the square tube structure is the second guiding portion 2025. The inner diameter of the square tube structure is larger than the outer diameter of the square column structure. An annular portion with an inner diameter equal to the outer diameter of the square column structure is provided at one end of the square tube structure. This annular portion forms a second blocking portion 2024 that cooperates with the first blocking portion 2012. A buffer member 2023 is provided on the second blocking portion 2024 of the square tube structure. The buffer member 2023 is a rubber ring provided on the inner end face of the annular portion. When the first blocking portion 2012 passes through the square tube structure and is fixed on the limiting portion 2011, the rubber ring is arranged between the first blocking portion 2012 and the second blocking portion 2024. In this way, the square tube structure can slide along the square column structure. The mutual cooperation of the first blocking portion 2012 and the second blocking portion 2024 can reduce the risk of the support component 202 falling off the limiting component 201. The buffer member 2023 can reduce the impact force when the annular portion and the blocking portion collide, reduce the damage caused by the impact force to the internal components of the pipeline robot, and extend the service life of the pipeline robot.

[0043] Refer to Figures 3 to 5, the supporting part 2022 is a metal block structure arranged at the other end of the square tube structure. The metal block structure is fixed to the connecting part 2021 by screws. One end face of the supporting part 2022 away from the square tube structure is arc-shaped, and a tooth-shaped protrusion structure is arranged on this arc-shaped end face. The arc-shaped setting of the supporting part 2022 can better fit the inner wall of the pipeline, increase the contact area, and reduce the probability of the pipeline robot falling in the pipeline. The tooth-shaped protrusions can increase the friction between the supporting part 2022 and the inner wall of the pipeline, making the pipeline robot fixed more firmly.

[0044] Referring to Figures 3 to 5 , an elastic member 204 is further arranged between the limiting part 2011 and the supporting part 2022. The elastic member 204 is a thrust spring. The two ends of the thrust spring respectively abut between the pressure sensor 2014 installed on the end face of the limiting part 2011 and the end face of the supporting part 2022 close to the connecting part 2021. The elastic member 204 has the potential energy to push the supporting part 2022 outwards. After the magnetic force assembly 203 fails, the elastic member 204 can release itself to push the supporting part 2022 outwards to abut against the inner wall of the pipeline to fix the pipeline robot, reducing the probability of the pipeline robot suddenly falling from the inner wall of the pipeline when a power failure occurs; and the pressure sensor 2014 can measure the elastic force of the elastic member 204. When the inner diameter of the pipeline is small, the extending length of the supporting component 202 is small, and the deformation amount of the thrust spring when it is compressed is larger, and the pressure sensor 2014 recognizes a larger spring pressure; when the inner diameter of the pipeline is large, the extending length of the supporting component 202 is large, and the deformation amount of the thrust spring when it is compressed is smaller, and the pressure sensor 2014 recognizes a smaller spring pressure. Thus, the pipeline intelligent robot can automatically identify the inner diameter size of the pipeline based on the pressure sensor 2014.

[0045] Referring to Figures 3 to 5, the magnetic component 203 includes an electromagnet 2031, a plurality of magnets 2032 and a magnetic force adjusting component 2033. The magnets 2032 are fixedly installed on the supporting portion 2022 of the supporting component 202. The plurality of magnets 2032 are distributed around the end face of the supporting portion 2022 close to the housing of the working unit 1. The electromagnet 2031 is fixedly installed on the housing inside the working unit 1. The electromagnet 2031 is arranged in a ring around the groove on the working unit 1. The position of the electromagnet 2031 is correspondingly set with that of the magnets 2032. The magnetic force adjusting component 2033 is fixedly installed inside the working unit 1 and is electrically connected to the electromagnet 2031. At the same time, the magnetic force adjusting component 2033 is also electrically connected to the pressure sensor 2014. In this way, the supporting portion 2022 is controlled by the magnetic component 203. The electromagnet 2031 is installed inside the working unit 1, while the magnets 2032 are installed outside the working unit 1. The electromagnet 2031 controls the magnets 2032 through the magnetic field. The electromagnet 2031 and the magnets 2032 do not contact each other, enabling the supporting component 202 to avoid direct contact with the internal parts of the working unit 1, greatly increasing the sealing performance of the working unit 1, reducing the influence of high-temperature gases and corrosive substances entering the inside of the working unit 1 on other internal parts. At the same time, the magnetic force adjusting component 2033 can also control the extended length of the supporting component 202 by controlling the magnitude of the magnetic force of the electromagnet 2031, enabling it to be fixed on the inner wall of pipes with different diameters. After the magnetic force adjusting component 2033 is electrically connected to the pressure sensor 2014, the magnetic force adjusting component 2033 can identify the size of the inner diameter of the pipe according to the signal of the pressure sensor 2014 and adjust the magnetic force of the electromagnet 2031 by itself, so that the supporting component 202 can be fixed on the inner wall of the pipe. In this way, the pipeline intelligent robot can identify the size of the inner diameter of the pipe by itself and adjust the magnetic force of the electromagnet 2031 to control the extended length of the supporting component 202, enabling the pipeline robot to identify and fix itself in pipes with different diameters for operation.

[0046] Referring to Figures 1 to 2 , the telescopic mechanism 3 includes a telescopic rod and two universal joints 301. The universal joints 301 adopt ball joint shafts, and the telescopic rod adopts a hydraulic telescopic rod. The two ball joint shafts are respectively installed at both ends of the telescopic mechanism 3, and the other ends of the two ball joint shafts are respectively connected to the bottom plates of the two working units 1. In this way, the telescopic mechanism 3 connects the two working units 1 and enables the pipeline robot to move by controlling the telescopic mechanism 3. The universal joints 301 facilitate the rotation of the pipeline robot when passing through a curved pipeline.

[0047] The implementation principle of an intelligent pipeline robot with high temperature resistance and corrosion resistance in an embodiment of the present utility model is as follows: After the electromagnet 2031 in the working unit 1 is energized, it generates a repulsive force on the magnet 2032. The support part 2022 installed with the magnet 2032 will move along the first guiding part 2013 of the limiting component 201 away from the axis with the magnet 2032, and press the support part 2022 against the inner wall of the pipeline for fixation. At this time, after the electromagnet 2031 in another working unit 1 is energized, it will generate an attractive force on the corresponding magnet 2032, causing the support assembly 202 provided on this working unit 1 to move towards the axis direction, and the telescopic mechanism 3 contracts to pull this working unit 1 towards another working unit 1. Subsequently, the electromagnets 2031 in the two working units 1 are energized in reverse respectively, so that the fixing mechanism 2 on the working unit 1 abuts against the inner wall of the pipeline for fixation, and the telescopic mechanism 3 extends to push one working unit 1 away from another working unit 1, completing the movement of the pipeline robot.

[0048] In summary, the pipeline robot in this embodiment controls the support assembly 202 of the pipeline robot by using the magnetic force assembly 203, which increases the sealing performance of the pipeline robot, reduces the heat transfer between the internal environment and the external environment through air, and reduces the probability of corrosive gases or liquids entering the inside of the pipeline robot, making the temperature inside the pipeline robot in a relatively low state, so that the pipeline robot can work in an environment with a relatively high temperature and an environment with corrosive substances; the elastic member 204 can automatically push the support assembly 202 towards the inner wall of the pipeline when the electromagnet 2031 is not energized, and fix the support assembly 202 on the inner wall of the pipeline, reducing the risk of the pipeline robot falling in a vertical pipeline when a failure occurs; by setting the magnetic force adjustment assembly 2033 and the pressure sensor 2014 to identify the pipeline diameter and regulate the magnetic force of the electromagnet 2031, the inner diameter of the pipeline can be automatically identified and the support assembly 202 can be fixed in pipelines with different inner diameters, enabling the pipeline robot to work in pipelines with different inner diameters.

[0049] The above is the preferred embodiment of the present utility model. It does not limit the protection scope of the present utility model accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present utility model should be covered within the protection scope of the present utility model.

Claims

1. An intelligent pipeline robot with high temperature resistance and corrosion resistance, comprising: Two working units (1), fixing mechanisms (2) corresponding to the working units (1) one by one, and a telescopic mechanism (3) for connecting the two working units (1). It is characterized in that; The interior of the working unit (1) is hermetically arranged; Each of the fixing mechanisms (2) includes a plurality of limiting components (201), supporting components (202) corresponding to the limiting components (201) one by one, and magnetic force components (203) corresponding to the supporting components (202) one by one. A plurality of the limiting components (201) are all fixed on the outer wall of the working unit (1). The supporting components (202) are slidably arranged on the limiting components (201) along the radial direction of the working unit (1). The magnetic force components (203) include electromagnets (2031) and magnets (2032) corresponding to the electromagnets (2031). The electromagnets (2031) are all fixedly installed inside the working unit (1), and the magnets (2032) are respectively installed on the corresponding supporting components (202). The housing of the working unit (1) is made of a material with low magnetic permeability.

2. The intelligent pipeline robot with high temperature resistance and corrosion resistance according to claim 1, wherein: The limiting component (201) includes a limiting part (2011) and a first blocking part (2012). One end of the limiting part (2011) is fixed on the outer wall of the working unit (1), and the first blocking part (2012) is detachably installed at the other end of the limiting part (2011). The limiting part (2011) is arranged along the radial direction of the working unit (1). A second blocking part (2024) is also correspondingly arranged on the supporting component (202) for the first blocking part (2012).

3. The intelligent pipeline robot with high temperature resistance and corrosion resistance according to claim 2, characterized in that: A first guiding part (2013) is further arranged on the limiting part (2011). The first guiding part (2013) is arranged along the sliding direction of the supporting component (202). A second guiding part (2025) is correspondingly arranged on the supporting component (202) for the first guiding part (2013). The second guiding part (2025) is arranged in cooperation with the first guiding part (2013).

4. The intelligent pipeline robot with high temperature resistance and corrosion resistance according to claim 3, characterized in that: The supporting component (202) further includes a connecting part (2021) and a supporting part (2022). The connecting part (2021) is slidably installed on the limiting part (2011). The supporting part (2022) is arranged at the end of the connecting part (2021) away from the working unit (1). The second blocking part (2024) is connected to the other end of the connecting part (2021). A buffer member (2023) is further arranged between the first blocking part (2012) and the second blocking part (2024).

5. The intelligent pipeline robot with high temperature resistance and corrosion resistance according to claim 4, characterized in that: An elastic member (204) is further arranged on the supporting component (202). One end of the elastic member (204) is connected to the connecting part (2021), and the other end of the elastic member (204) is connected to the limiting component (201). The elastic member (204) has a tendency to move the supporting component (202) in a direction away from the working unit (1).

6. The intelligent pipeline robot with high temperature resistance and corrosion resistance according to claim 5, characterized in that: The end face of the support portion (2022) away from the connection portion (2021) is arc-shaped and provided with tooth-shaped protrusions.

7. The intelligent pipeline robot with high temperature resistance and corrosion resistance according to claim 6, characterized in that: The magnetic force assembly (203) further includes a magnetic force adjustment assembly (2033), and the magnetic force adjustment assembly (2033) is electrically connected to the electromagnet (2031).

8. The intelligent pipeline robot with high temperature resistance and corrosion resistance according to claim 7, characterized in that: A pressure sensor (2014) is further provided on the limiting portion (2011). The pressure sensor (2014) is in contact with the elastic member (204), and the pressure sensor (2014) is electrically connected to the magnetic force adjustment assembly (2033).

9. An intelligent pipeline robot with high temperature resistance and corrosion resistance according to any one of claims 1 to 8, characterized in that: Universal connectors (301) are respectively provided at both ends of the telescopic mechanism (3), and the two universal connectors (301) are respectively connected to the two working units (1).

10. A pipeline intelligent robot with high temperature resistance and corrosion resistance according to any one of claims 4 to 8, characterized in that: The support portion (2022) is made of a metal material or a ceramic material with low magnetic permeability and high temperature resistance. A heat preservation layer (101) is further provided on the working unit (1), and the heat preservation layer (101) seals the internal environment of the working unit (1).

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