Intelligent self-adaptive pipeline robot

Abstract

The utility model relates to an intelligent self-adaptive pipeline robot, which comprises a detection unit, a driving unit and a supporting unit, and is characterized in that the detection unit comprises a functional bin shell, and a high-definition camera and an ultrasonic sensor are mounted on the functional bin shell; the driving unit is a centrosymmetric support, a telescopic walking mechanism is arranged in the middle of the support, and a transmission coupler is arranged in the center of the tail end of the support. The supporting unit is a centrosymmetric support, a telescopic supporting mechanism is arranged in the middle of the support, and a rotating motor is fixed to the center of the front end of the support. An output shaft of the rotating motor is connected with a transmission coupler of the driving unit, and the detection unit is connected to the front portion of the driving unit. The robot has the advantages that the structure is simple, the diameter of the cross section of the robot body can be actively adjusted, the robot is suitable for pipelines with different pipe diameters, the robot flexibly and reliably walks in the pipelines with different pipe diameters, and full-coverage scanning, detection, flaw detection and other operations in the pipelines are achieved.

Description

Technical Field

[0001] The utility model relates to an intelligent adaptive pipeline robot, belonging to the technical field of pipeline inspection robots. Background Art

[0002] As the most common transportation equipment in modern times, pipelines are widely used in the transportation of water, oil, gas, etc. Under the action of environmental corrosion, working stress, etc. during long-term operation, pipelines will have faults such as damage and deformation. If not repaired in time, it is easy to cause major safety accidents. The renovation of underground pipe networks and pipeline maintenance belong to municipal engineering. Underground pipe networks include municipal public pipelines such as water supply, rainwater, sewage, reclaimed water, natural gas, heating, electricity, and communication within the urban area. In China, the total length of water supply pipelines, drainage pipelines, natural gas pipelines, and heating pipelines in underground pipe networks is very long, and the number of annual inspections and renovations is very large. Especially in the renovation of old communities, the inspection and repair of building pipelines are an important step in the work. Due to the long age of old buildings and multiple renovations, the pipelines show characteristics such as complex pipeline systems, variable pipe diameters, and narrow spaces. Existing engineering pipeline robots are large in size and long in body length, not suitable for narrow building pipelines, and most of them are in contact with the pipeline wall through wheels, prone to slipping, and have low stability. Summary of the Invention

[0003] The purpose of the utility model is to provide an intelligent adaptive pipeline robot with a simple structure, which can walk flexibly and reliably in pipelines with different diameters and can actively adjust the cross-sectional diameter of the fuselage to detect pipelines, aiming at the technical problems existing in the prior art.

[0004] The purpose of the utility model is realized through the following scheme:

[0005] The pipeline robot of the utility model includes: a detection unit, a driving unit, and a supporting unit.

[0006] The detection unit includes a functional compartment housing, on which a high-definition camera and an ultrasonic sensor are installed.

[0007] The driving unit is a centrosymmetric bracket, with a telescopic walking mechanism in the middle of the bracket. The telescopic walking mechanism includes a telescopic mechanism and an adaptive driving wheel assembly that is slidably connected to the telescopic mechanism and arranged at equal intervals in a circumferential manner in a wheel spoke shape. A transmission coupling is provided at the center of the tail end of the bracket.

[0008] The supporting unit is a centrosymmetric bracket, with a telescopic supporting mechanism in the middle of the bracket. The telescopic supporting mechanism includes a telescopic mechanism and an adaptive supporting wheel assembly that is slidably connected to the telescopic mechanism and arranged at equal intervals in a circumferential manner in a wheel spoke shape. A rotating motor is fixed at the center of the front end of the bracket.

[0009] The output shaft of the rotary electric machine is connected to the transmission coupling of the drive unit, and the detection unit is connected to the front part of the drive unit.

[0010] The functional compartment housing is a conical housing formed by splicing two semi-conical housings.

[0011] Preferably, the bracket of the drive unit includes a first servo fixing plate and a drive support plate arranged parallel to the first servo fixing plate. The drive support plate and the first servo fixing plate are evenly spaced and connected by first copper columns on the same circumference, and first drive baffles are evenly spaced between the outer circumferences of the drive support plate and the first servo fixing plate.

[0012] Preferably, the bracket of the support unit includes a motor mounting plate, a support plate, a second servo fixing plate, and an external unit plate arranged parallel to each other. The motor mounting plate and the support plate are evenly spaced and connected by second copper columns on the same circumference, the support plate and the second servo fixing plate are evenly spaced and connected by third copper columns on the same circumference, and the second servo fixing plate and the external unit plate are evenly spaced and connected by fourth copper columns on the same circumference. Second drive baffles are evenly spaced between the outer circumferences of the support plate and the second servo fixing plate.

[0013] The telescopic mechanism includes a six-rail mounting frame, a telescopic turntable, a telescopic servo, and a servo fixing plate. The six-rail mounting frame is a disc-shaped frame with a stepped hole in the center. Six rails are arranged on the six-rail mounting frame in a spoke-like distribution at equal intervals around the circumference. A sliding groove is provided in the rail, and the top of the sliding groove is grooved to form a guiding groove. The telescopic turntable is a disc with a central hole. Six radial arc grooves are evenly spaced around the central hole on the telescopic turntable, and peripheral chordal arc grooves are evenly spaced on the outer circumference of the telescopic turntable. The telescopic turntable is connected to the six-rail mounting frame through a rolling bearing. The servo fixing plate is fixed on the telescopic turntable, the telescopic servo is connected to the servo fixing plate, and the output shaft of the telescopic servo is connected to the telescopic turntable.

[0014] The adaptive drive wheel assembly includes a rubber wheel, a rubber wheel mounting frame, a first fixing plate, and a telescopic rod. The first fixing plate is parallel to the bottom plate of the rubber wheel mounting frame. The first fixing plate and the bottom plate of the rubber wheel mounting frame are connected by a spring guide rod, and a damping spring is provided on the spring guide rod. The front end of the telescopic rod is connected to the first fixing plate, and a sliding boss is provided at the rear end of the telescopic rod.

[0015] The adaptive support wheel assembly has the same structure as the adaptive drive wheel assembly.

[0016] The telescopic rod of the adaptive drive wheel assembly is in sliding fit with the rail of the telescopic mechanism in the drive unit to form a sliding pair, and the sliding boss on the telescopic rod extends out of the guiding groove and is in sliding fit with the radial arc groove on the telescopic turntable.

[0017] The telescopic rod of the adaptive support wheel assembly is in sliding fit with the guide rail of the telescopic mechanism in the support unit to form a sliding pair. The sliding boss on the telescopic rod extends out of the guide groove and is in sliding fit with the radial arc groove on the telescopic turntable.

[0018] Preferably, the six guide rails of the six-guide rail mounting frame are symmetrically distributed in a scattered manner at an angle of 60 degrees. Each guide rail has a sliding groove to form a sliding pair with the telescopic rod. The sliding boss at the top of the telescopic rod slides smoothly in the guide groove of the sliding groove. The six-guide rail mounting frame and the telescopic rod are configured in a ratio of 1:6.

[0019] Preferably, the sliding boss of the telescopic rod passes through the guide groove of the six-guide rail mounting frame and is restricted in the arc groove of the telescopic turntable. By rotating the telescopic turntable, the sliding boss of the telescopic rod moves in the radial arc groove, realizing the sliding of the telescopic rod relative to the six-guide rail mounting frame.

[0020] Preferably, there are six radially arc grooves evenly distributed on the circumference of the telescopic turntable, so that when the six telescopic rods rotate with the turntable, they have the same displacement.

[0021] Preferably, the first copper column passes through the circumferential arc groove on the periphery of the telescopic turntable of the drive unit, and both ends are fitted with six groups of round holes on the support servo fixing plate and the drive support plate, and are fixed with thin nuts.

[0022] Preferably, each guide rail of the six-guide rail support of the drive unit is equipped with an adaptive drive wheel assembly, and the axis of the rubber wheel on the adaptive drive wheel assembly forms the same acute angle with the axis of the telescopic turntable.

[0023] Preferably, each guide rail of the six-guide rail support of the support unit is equipped with an adaptive support wheel assembly, and the axis of the rubber wheel on the adaptive support wheel assembly forms a 90-degree angle with the axis of the telescopic turntable.

[0024] The detection unit can be replaced by a cleaning and repair device, and is dragged by the drive unit to perform operations such as cleaning and repairing the pipeline.

[0025] The advantages of the present utility model are: simple structure, can actively adjust the cross-sectional diameter of the fuselage, adapt to pipelines of different diameters, walk flexibly and reliably in pipelines of different diameters, and realize operations such as full-coverage scanning, detection and flaw detection of the pipeline interior. Brief Description of the Drawings

[0026] Figure 1 It is the assembly drawing of the intelligent adaptive pipeline robot described in the present utility model;

[0027] Figure 2 It is the front view of the intelligent adaptive pipeline robot described in the present utility model;

[0028] Figure 3 It is the structural diagram of the telescopic mechanism;

[0029] Figure 4 Sectional view of the telescopic mechanism;

[0030] Figure 5 Structural diagram of the drive unit;

[0031] Figure 6 Structural diagram of the support unit;

[0032] Figure 7 Structural diagram of the adaptive drive wheel assembly;

[0033] Figure 8 Structural diagram of the adaptive support wheel assembly;

[0034] Figure 9 Structural diagram of the six-guide rail mounting bracket;

[0035] Figure 10 Structural diagram of the telescopic turntable.

[0036] The meanings of the marks in the figure are as follows:

[0037] 1 - drive unit, 2 - support unit, 3 - telescopic mechanism, 4 - detection unit, 5 - adaptive drive wheel assembly, 6 - adaptive support wheel assembly, 7 - universal shaft; 101 - transmission coupling, 102 - first copper column, 103 - drive baffle, 104 - drive support plate, 105 - compensation sleeve; 201 - motor coupling, 202 - rotating motor, 203 - motor mounting plate, 204 - second copper column, 205 - battery, 206 - battery box, 207 - third copper column, 208 - support baffle 2, 209 - external unit board, 210 - support plate, 211 - second servo fixing plate, 212 - fourth copper column; 301 - six-guide rail mounting bracket, 3011 - sliding groove, 3012 - guiding groove, 302 - telescopic rod, 3021 - sliding boss, 303 - telescopic turntable, 3031 - radial arc groove, 3032 - peripheral chordal arc groove, 304 - telescopic turntable coupling, 305 - servo flange, 306 - telescopic servo, 307 - first servo fixing plate, 308 - rolling bearing; 401 - high-definition camera, 402 - ultrasonic (damage) sensor, 403 - functional chamber housing; 501 - rubber wheel, 502 - bearing, 503 - positioning bolt, 504 - first rubber wheel mounting bracket, 505 - first fixing plate, 506 - spring guide rod, 507 - damping spring, 508 - limit nut; 601 - second fixing plate, 602 - second rubber wheel mounting bracket. Detailed implementation mode

[0038] The present utility model will be described in detail below with reference to the accompanying drawings:

[0039] As Figures 1-10As shown in the figure, the present utility model provides a preferred embodiment of an intelligent adaptive pipeline robot, which includes a detection unit 4, a driving unit 1, and a supporting unit 2.

[0040] The driving unit 1 is a centrosymmetric bracket, and a telescopic walking mechanism is arranged in the middle of the bracket. The telescopic walking mechanism includes a telescopic mechanism 3 and an adaptive driving wheel assembly 6 that is slidably connected to the telescopic mechanism and arranged in a spoke shape at equal intervals in a circumference. The bracket of the driving unit includes a first servo motor fixing plate 307 and a driving support plate 104 arranged parallel to the first servo motor fixing plate. Six round holes and six rectangular holes that are evenly distributed on the same circumference are respectively arranged around the center on the first servo motor fixing plate 307 and the driving support plate 104. The round holes are used for connecting with the first copper column 102; the rectangular holes are used for connecting with the driving baffle 103. A transmission coupling 101 is arranged at the center of the driving support plate 104.

[0041] The telescopic mechanism includes a six-rail mounting frame 301, a telescopic turntable 303, a telescopic servo motor 306, and a servo motor fixing plate. The six-rail mounting frame 301 is a disc-shaped frame with a stepped hole in the center. Six rails that are evenly distributed at equal intervals in a circumference and are distributed in a spoke shape at an angle of 60 degrees are arranged on the six-rail mounting frame. Each rail is provided with a sliding groove 3011, and the top of the sliding groove is grooved to form a guiding groove 3012; the bottom end of the sliding groove is a plane, and a cylindrical countersunk through hole that cooperates with a bolt is arranged at the outer end, and it can be connected to the round hole of the driving support plate 104 through a compensation sleeve 105 and a nut. The telescopic turntable 303 is a disc with a central hole. Six radial arc grooves 3031 are evenly arranged around the central hole on the telescopic turntable, and six peripheral chordal arc grooves 3032 are evenly arranged on the outer periphery of the telescopic turntable. The telescopic turntable 303 is installed by cooperating with a rolling bearing 308 through a shaft step, and the outer ring of the rolling bearing 308 is sleeved with the central hole of the six-rail mounting frame 301; a telescopic turntable coupling 304 is fixed at the center of the telescopic turntable 303 through the cylindrical countersunk through hole of the disc by bolts and nuts. The middle section of the telescopic servo motor 306 has two round holes on both sides of the boss. The servo motor fixing plate 307 is fixed on the upper end of the boss of the telescopic servo motor 306 by using bolts and nuts to pass through the round holes. The output shaft of the telescopic servo motor 306 is provided with gear teeth that are engaged and linked with the internal teeth of the inner hole of the servo flange 305; the end face of the servo flange 305 is provided with through holes and is installed on the upper end of the telescopic turntable coupling 304 through bolts and nuts, so as to realize the telescopic servo motor 306 driving the telescopic turntable 303 to rotate.

[0042] The adaptive driving wheel assembly includes a rubber wheel 501, a first rubber wheel mounting frame 504, a first fixing plate 505, and a telescopic rod 302. The first fixing plate is parallel to the bottom plate of the rubber wheel mounting frame, and the first fixing plate and the bottom plate of the rubber wheel mounting frame are connected by a spring guide rod 506. A damping spring 507 is arranged on the spring guide rod. The front end of the telescopic rod is connected to the first fixing plate, and a sliding boss 3021 is arranged at the rear end of the telescopic rod.

[0043] The rubber wheel 501 is in the shape of a waist drum, axially provided with symmetric stepped through holes, connected to bearings 502 on both sides, installed on the first rubber wheel mounting bracket 504 by positioning bolts 503, and fixed by torque nuts. The rubber wheel 501 has elasticity and a good friction coefficient, can provide a large frictional force, and drive the movement of the machine body.

[0044] The damping spring 507 is sleeved on the spring guide rod 506, installed between the bottom plate of the first rubber wheel mounting bracket 504 and the first fixing plate 505, and the deformation displacement of the damping spring 507 is restricted by a limit nut 508. The damping spring 507 enables the robot to adapt to the change in the pipe diameter during the working process, and still keeps the rubber wheel 501 closely attached to the inner wall of the pipe in case of pipe deformation.

[0045] Each guide rail of the six-guide rail mounting bracket 301 of the drive unit 1 is slidably connected to an adaptive drive wheel assembly. The cross-section and length of the sliding groove of the guide rail are matched with the shape and length of the telescopic rod 302 of the adaptive drive wheel assembly, ensuring that the telescopic rod 302 can slide smoothly in the sliding groove, so that the telescopic rod 302 and the guide rail of the telescopic mechanism in the drive unit form a sliding pair. The width of the guide groove 3012 is the diameter of the sliding boss 3021 on the telescopic rod 302, and can enable the sliding boss to move in the guide groove. The sliding boss 3021 on the telescopic rod extends out of the guide groove 3012 and slidably cooperates with the radial arc groove 3031 on the telescopic turntable. The sliding boss of the telescopic rod 302 is restricted in the radial arc groove of the telescopic turntable 303 through the guide groove of the six-guide rail mounting bracket 301. By rotating the telescopic turntable 303, the sliding boss of the telescopic rod 302 moves in the arc groove, realizing the sliding of the telescopic rod 302 relative to the six-guide rail mounting bracket 301, changing the working diameter of the pipeline robot, so as to adapt to pipelines of different diameters; the six-guide rail mounting bracket 301 and the telescopic turntable 303 cooperate to realize the variable diameter function, and at the same time, the overall length of the machine can be greatly shortened.

[0046] The axis of the rubber wheel on the adaptive drive wheel assembly forms the same acute angle with the axis of the telescopic turntable. By changing the included angle between the axis of the rubber wheel 501 and the axis of the telescopic turntable 303, different feeding speeds of the drive unit 1 at the same rotational speed are realized.

[0047] There is a keyway at the lower part of the central stepped hole of the six-guide rail mounting bracket 301 in the drive unit 1, and a transmission coupling 101 is connected by a flat key.

[0048] The central hole of the driving support plate is fitted with the transmission coupling 101, and the shaft shoulder of the transmission coupling 101 is fixed between the driving support plate 104 and the six-rail mounting bracket 301. The first copper column 102 passes through the circumferential arc-shaped grooves on the periphery of the telescopic turntable 303, and the two ends are respectively fitted with six groups of round holes on the first servo motor fixing plate 307 and the driving support plate 104, and are connected to the external threads at both ends with thin nuts. The two ends of the driving baffle 103 are respectively connected to six long rectangular holes on the first servo motor fixing plate 307 and the driving support plate 104, and the six driving baffles 103 are evenly distributed to enclose the telescopic mechanism 3 inside.

[0049] When the telescopic servo 306 in the driving unit 1 rotates forward, the rubber wheel 501 of the robot is pressed tightly against the inside of the pipeline, and the body is supported at the position of the pipeline axis; when it rotates backward, the telescopic rod contracts, reducing the diameter of the body to the minimum and returning to the initial state, which is convenient for storage and transportation.

[0050] The support unit 2 is a centrally symmetric bracket, and a telescopic support mechanism is provided in the middle of the bracket. The telescopic support mechanism includes a telescopic mechanism and an adaptive support wheel assembly 6 that is slidably connected to the telescopic mechanism and arranged at equal intervals in a circumferential spoke-like manner. A rotating motor 202 is fixed at the center of the front end of the bracket;

[0051] The bracket of the support unit includes a motor mounting plate 203, a support plate 210, a second servo motor fixing plate 211, and an external connection unit plate 209 that are arranged in parallel. The second copper columns 204 are evenly spaced and connected on the same circumference between the motor mounting plate and the support plate. The third copper columns 207 are evenly spaced and connected on the same circumference between the support plate and the second servo motor fixing plate. The fourth copper columns 212 are evenly spaced and connected on the same circumference between the second servo motor fixing plate and the external connection unit plate. Support baffles 208 are evenly spaced between the outer circumferences of the support plate and the second servo motor fixing plate; the telescopic support mechanism is installed between the support plate 210 and the second servo motor fixing plate 211, and the adaptive support wheel assembly protrudes from between the two support baffles.

[0052] The adaptive support wheel assembly has the same structure as the adaptive driving wheel assembly;

[0053] The telescopic rod of the adaptive support wheel assembly is slidably fitted with the guide rail of the telescopic mechanism in the support unit to form a sliding pair, and the sliding boss on the telescopic rod protrudes from the guide groove and is slidably fitted with the radial arc-shaped groove on the telescopic turntable;

[0054] Each guide rail of the six-rail bracket of the support unit is equipped with an adaptive support wheel assembly, and the axis of the rubber wheel on the adaptive support wheel assembly forms a 90-degree angle with the axis of the telescopic turntable.

[0055] The rotary motor 202 is installed at the center of the motor mounting plate 203. A battery box 206 and a circuit board are installed in the cavity formed between the support plate 210 and the second servo fixing plate 211. A battery 205 is installed in the battery box 206 to supply power to the rotary motor 202, the telescopic servo of the telescopic mechanism in the support unit, and the circuit board.

[0056] The detection unit 4 includes a functional chamber housing 403, which is a conical housing formed by splicing two semi-conical housings and has a cavity inside. A semi-circular through-hole is provided at the top of the semi-conical housing. The two semi-conical housings are connected by bolts and nuts, and a complete circular through-hole is formed at the top for installing the high-definition camera 401. Two horizontally aligned round holes are provided on the side of the functional chamber housing 403 for installing the ultrasonic sensor 402. The functional chamber housing 403 is fixed to the telescopic turntable 303 through the card slot at its bottom. The cavity formed by the functional chamber housing 403 contains a circuit board and a battery, and the battery supplies power to the high-definition camera 401, the ultrasonic sensor 402, and the telescopic servo 306.

[0057] The detection unit is connected to the front part of the driving unit, and the functional chamber housing 403 is fixed to the telescopic turntable 303 of the driving unit through the card slot at its bottom.

[0058] The transmission coupling 101 of the driving unit is connected to the motor coupling 201 at the output shaft end of the rotary motor 202 of the support unit through the universal shaft 7, realizing the connection between the driving unit 1 and the support unit 2.

[0059] The working principle of the above intelligent adaptive pipeline robot is as follows:

[0060] The telescopic servo 306 in the driving unit 1 and the support unit 2 drives the telescopic turntable 303 to rotate through the servo flange 305 and the telescopic turntable coupling 304. Under the combined action of the telescopic turntable 303 and the guide grooves of the six-rail mounting frame 301, the telescopic rods 302 of the six groups of adaptive wheel assemblies move radially as the telescopic turntable 303 rotates. The adaptive wheel assemblies move as the telescopic rods 302 extend, causing the rubber wheels 501 to closely adhere to the inner wall of the pipeline. The rotary motor 202 drives the driving unit 1 through the universal shaft 7, and the rubber wheels 501 on the driving unit 1 rotate around the axis due to the frictional force generated by closely adhering to the inner wall of the pipeline. The movement principle of the driving unit 1 is based on the Mecanum wheel dynamics model. Due to the acute angle between the rotation axis of the rubber wheel 501 and the axis of the telescopic turntable 303, when the driving unit 1 rotates, an axial force along the track and a tangential force on the inner wall of the pipeline will be generated, and the movement trajectory of the contact point between the rubber wheel 501 and the pipeline presents a spiral forward.

[0061] The motion principle of the support unit 2 is based on the omnidirectional wheel dynamics model. The rolling axis of the rubber wheel 501 is perpendicular to the axis of the telescopic turntable 303. Since the rubber wheel 501 is in close contact with the inner wall of the pipeline, a frictional force tangent to the inner wall of the pipeline is generated to balance the tangential force generated by the drive unit 1. Therefore, the support unit 2 moves along the pipeline axis together with the drive unit 1.

[0062] The ultrasonic sensor 402 in the detection unit 4 rotates with the drive unit 1, and can realize operations such as full-coverage scanning, detection and flaw detection inside the pipeline. The detection unit 4 can also be replaced with relevant equipment such as a cleaning and repair device, and the drive unit 1 is used to drag the pipeline for cleaning, repair and other operations.

Claims

1. An intelligent adaptive pipeline robot, comprising: The detection unit, the driving unit, and the supporting unit are characterized in that: the detection unit includes a functional compartment housing, and a high-definition camera and an ultrasonic sensor are installed on the functional compartment housing; The driving unit is a centrally symmetric bracket. An extensible walking mechanism is provided in the middle of the bracket. The extensible walking mechanism includes an extensible mechanism and an adaptive driving wheel assembly that is slidably connected to the extensible mechanism and is arranged at equal intervals in a circumferential spoke shape. A transmission coupling is provided at the center of the tail end of the bracket; The supporting unit is a centrally symmetric bracket. An extensible supporting mechanism is provided in the middle of the bracket. The extensible supporting mechanism includes an extensible mechanism and an adaptive supporting wheel assembly that is slidably connected to the extensible mechanism and is arranged at equal intervals in a circumferential spoke shape. A rotating motor is fixed at the center of the front end of the bracket; The output shaft of the rotating motor is connected to the transmission coupling of the driving unit, and the detection unit is connected to the front part of the driving unit.

2. The intelligent adaptive pipeline robot according to claim 1, characterized in that: The bracket of the driving unit includes a first servo motor fixing plate and a driving support plate arranged parallel to the first servo motor fixing plate. The same circumference between the driving support plate and the first servo motor fixing plate is evenly spaced and connected with first copper columns, and first driving baffles are evenly spaced between the outer circumferences of the driving support plate and the first servo motor fixing plate.

3. The intelligent adaptive pipeline robot according to claim 1, characterized in that: The bracket of the supporting unit includes a motor mounting plate, a support plate, a second servo motor fixing plate, and an external unit plate that are arranged parallel to each other. The same circumference between the motor mounting plate and the support plate is evenly spaced and connected with second copper columns, the same circumference between the support plate and the second servo motor fixing plate is evenly spaced and connected with third copper columns, the same circumference between the second servo motor fixing plate and the external unit plate is evenly spaced and connected with fourth copper columns, and second driving baffles are evenly spaced between the outer circumferences of the support plate and the second servo motor fixing plate.

4. The intelligent adaptive pipeline robot according to claim 1, wherein: The extensible mechanism includes a six-rail mounting bracket, an extensible turntable, an extensible servo motor, and a servo motor fixing plate. The six-rail mounting bracket is a disc-shaped bracket with a stepped hole in the center. Six rails are arranged on the six-rail mounting bracket in a circumferential spoke shape at equal intervals. A sliding groove is provided in the rail, and the top of the sliding groove is grooved to form a guiding groove; the extensible turntable is a disc with a central hole. Six radial arc grooves are evenly spaced around the central hole on the extensible turntable, and peripheral chordal arc grooves are evenly spaced on the outer circumference of the extensible turntable. The extensible turntable is connected to the six-rail mounting bracket through a rolling bearing; the servo motor fixing plate is fixed on the extensible turntable, the extensible servo motor is connected to the servo motor fixing plate, and the output shaft of the extensible servo motor is connected to the extensible turntable.

5. The intelligent adaptive pipeline robot according to claim 1, characterized in that: The adaptive driving wheel assembly includes a rubber wheel, a rubber wheel mounting bracket, a first fixing plate, and a telescopic rod. The first fixing plate is parallel to the bottom plate of the rubber wheel mounting bracket. The first fixing plate and the bottom plate of the rubber wheel mounting bracket are connected by a spring guide rod. A damping spring is provided on the spring guide rod. The front end of the telescopic rod is connected to the first fixing plate, and a sliding boss is provided at the rear end of the telescopic rod.

6. The intelligent adaptive pipeline robot according to claim 1, wherein: The adaptive supporting wheel assembly has the same structure as the adaptive driving wheel assembly.

7. The intelligent adaptive pipeline robot according to claim 5, characterized in that: The telescopic rod of the adaptive driving wheel assembly is slidably matched with the rail of the extensible mechanism in the driving unit to form a sliding pair, and the sliding boss on the telescopic rod extends out of the guiding groove and is slidably matched with the radial arc groove on the extensible turntable.

8. The intelligent adaptive pipeline robot according to claim 6, characterized in that: The telescopic rod of the adaptive support wheel assembly is in sliding fit with the guide rail of the telescopic mechanism in the support unit to form a sliding pair, and the sliding boss on the telescopic rod extends out of the guide groove and is in sliding fit with the radial arc groove on the telescopic turntable.

9. The intelligent adaptive pipeline robot according to claim 4, characterized in that: There are six radially arc grooves evenly distributed in a circle on the telescopic turntable, so that when the telescopic turntable rotates, the six telescopic rods have the same displacement.

10. The intelligent adaptive pipeline robot according to claim 4, characterized in that: Each guide rail of the six guide rail brackets of the drive unit is equipped with an adaptive drive wheel assembly, and the axis of the rubber wheel on the adaptive drive wheel assembly forms the same acute angle with the axis of the telescopic turntable.

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