Driving device for electromagnetic detection robot in pipeline

Abstract

The utility model relates to the technical field of pipeline detection, in particular to an in-pipeline electromagnetic detection robot driving device which comprises a first side plate, a second side plate, a first connecting rod, a first moving mechanism and a first driving device. The first moving mechanism comprises a first transverse moving support, a first moving roller, a first moving roller fixing rod, a first lifting rod and a first power component, one end of the first lifting rod is hinged to the end of the first supporting foot, the other end of the first lifting rod is hinged to the first moving roller fixing rod, and one end of the first moving roller fixing rod is hinged to the second side plate. A first moving roller is installed at the other end of the first moving roller fixing rod, the power output end of the first power component is connected with the first moving roller, and the first driving device is arranged between the first side plate and the second side plate. The variable-diameter pipeline can adapt to the change of the pipe diameter, and the phenomena of clamping stagnation and slipping easily occurring in the variable-diameter pipeline are effectively prevented.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline detection, and particularly relates to a driving device of an electromagnetic detection robot in a pipeline. BACKGROUND

[0002] With the rapid development of the fields of petroleum and chemical industry, urban pipe network and energy transportation, the demand for safety detection of industrial pipeline systems is increasing. Traditional pipeline detection mostly adopts manual inspection or fixed sensor monitoring, which has problems of low efficiency, many blind areas, poor adaptability to high-risk environments and the like. The electromagnetic detection technology has become an important means for detecting defects such as pipeline corrosion and cracks due to its non-contact and high sensitivity, and the pipeline robot carrying electromagnetic flaw detection is the core carrier for realizing long-distance automatic detection. The driving device of the existing pipeline robot mostly adopts a wheel type or a track type, which has insufficient adaptability to changes in the pipe diameter in actual application, and is prone to jamming and slipping in variable-diameter pipelines, thereby affecting the continuity of detection. SUMMARY

[0003] The present application aims to at least solve one of the above technical problems in the prior art to some extent. To this end, the present application provides a driving device of an electromagnetic detection robot in a pipeline, which can adapt to changes in the pipe diameter and effectively prevent the phenomenon of jamming and slipping in variable-diameter pipelines.

[0004] The utility model provides a pipeline electromagnetic detection robot drive arrangement, including first side plate, second side plate, first connecting rod, first moving mechanism and first drive arrangement, first side plate and second side plate are opposite interval arrangement, one end of first connecting rod connects the edge of first side plate, the other end connects the edge of second side plate, first connecting rod is provided at least three, and each first connecting rod is distributed in the ring direction interval between first side plate and second side plate, first moving mechanism includes first horizontal moving support, first moving roller, first moving roller fixed link, first lifting rod and first power component, first horizontal moving support is close to first side plate and is arranged, first horizontal moving support has at least three first support, and first support is provided with first through -hole, and one first connecting rod is arranged in each first through -hole, first horizontal moving support can slide along first connecting rod, one end of first lifting rod is hinged with the end of first support, and the other end is hinged with the middle part of first moving roller fixed link, one end of first moving roller fixed link is hinged with second side plate, and the other end of first moving roller fixed link installs first moving roller, and first power component is arranged in the side of first moving roller fixed link, and the power output end of first power component is connected with first moving roller, first drive arrangement is arranged between first side plate and second side plate, and first drive arrangement is used to drive first horizontal moving support moves along first connecting rod.

[0005] In optional or preferred embodiments, the first moving mechanism further comprises a first connecting seat fixed to the second side plate, the first connecting seat being sleeved on the first connecting rod, and one end of the first moving roller fixed link being hinged to the first connecting seat.

[0006] In an optional or preferred embodiment, a second moving mechanism is arranged between two adjacent first moving mechanisms, a second connecting rod for mounting the second moving mechanism is arranged between the two adjacent first moving mechanisms, the second connecting rod is parallel to the first connecting rod, two ends of the second connecting rod are connected to the first side plate and the second side plate respectively, the second moving mechanism comprises a second horizontal moving bracket, a second moving roller, a second moving roller fixing rod, a second lifting rod and a second power component, the second horizontal moving bracket is arranged close to the second side plate, the second horizontal moving bracket has at least three second feet, a second through hole is arranged on each second foot, one second connecting rod is arranged in each second through hole, the second horizontal moving bracket can slide along the second connecting rod, one end of the second lifting rod is hingedly connected to an end of the second foot, the other end of the second lifting rod is hingedly connected to a middle part of the second moving roller fixing rod, one end of the second moving roller fixing rod is hingedly connected to the first side plate, the other end of the second moving roller fixing rod is mounted with the second moving roller, the second power component is arranged on a side of the second moving roller fixing rod, a power output end of the second power component is connected to the second moving roller, a second driving device is arranged between the first side plate and the second side plate, the second driving device is used to drive the second horizontal moving bracket to move along the second connecting rod.

[0007] In an optional or preferred embodiment, the second moving mechanism further comprises a second connecting seat, the second connecting seat is fixed to the first side plate, the second connecting seat is sleeved on the second connecting rod, one end of the second moving roller fixing rod is hingedly connected to the second connecting seat.

[0008] In an optional or preferred embodiment, the first driving device comprises a first lead screw, a first nut and a third power component, the third power component is mounted on the second side plate, one end of the first lead screw is connected to a power output end of the third power component, the other end of the first lead screw is rotatably connected to the first side plate, the first lead screw is parallel to the first connecting rod, the first nut is fixed to the first horizontal moving bracket, the first lead screw and the first nut are matched with each other, the second driving device comprises a second lead screw, a second nut and a fourth power component, the fourth power component is mounted on the first side plate, one end of the second lead screw is connected to a power output end of the fourth power component, the other end of the second lead screw is rotatably connected to the second side plate, the second lead screw is parallel to the second connecting rod, the second nut is fixed to the second horizontal moving bracket, the second lead screw and the second nut are matched with each other.

[0009] In an optional or preferred embodiment, the first power component is connected with the first moving roller through a first transmission mechanism, the first transmission mechanism comprises a first bevel gear and a second bevel gear, the first bevel gear is connected on a power output shaft of the first power component, the second bevel gear is installed on the first moving roller fixed rod and coaxially connected with the first moving roller, the second power component is connected with the second moving roller through a second transmission mechanism, the second transmission mechanism comprises a third bevel gear and a fourth bevel gear, the third bevel gear is connected on a power output shaft of the second power component, the fourth bevel gear is installed on the second moving roller fixed rod and coaxially connected with the second moving roller.

[0010] In an optional or preferred embodiment, a camera is installed on the first side plate.

[0011] In an optional or preferred embodiment, a first battery compartment is installed on the inner side of the first side plate, and a second battery compartment is installed on the inner side of the second side plate.

[0012] In an optional or preferred embodiment, an avoiding hole for avoiding the fourth power component is formed on the first moving support.

[0013] In an optional or preferred embodiment, three first moving mechanisms and three second moving mechanisms are provided.

[0014] Based on the above technical solutions, the application has at least the following beneficial effects: during the movement, the first driving device drives the first moving support to move along the first connecting rod, so that the first moving support drives the first moving roller fixed rod to rotate through the first lifting rod, the first moving roller on the first moving roller fixed frame is pressed against the inner wall of the pipeline, the first power component drives the first moving roller to rotate, so as to move in the pipeline, when the pipe diameter changes, the first driving device drives the first moving support to move along the first connecting rod to adapt the first moving roller to the pipe diameter, therefore, the pipeline electromagnetic detection robot driving device of the application can adapt to the change of the pipe diameter, effectively preventing the phenomenon of jamming and slipping in the variable diameter pipeline. BRIEF DESCRIPTION OF DRAWINGS

[0015] The application will be further described below in combination with the drawings and embodiments;

[0016] Figure 1 is a structural schematic diagram of a pipeline electromagnetic detection robot driving device provided by the application;

[0017] Figure 2 is Figure 1 is a structural schematic diagram of a first moving mechanism of the pipeline electromagnetic detection robot driving device in the embodiment shown in the figure;

[0018] Figure 3 is Figure 1 is a structural schematic view of a second moving mechanism on the driving device of the in-pipe electromagnetic detection robot according to the embodiment shown in

[0019] Figure 4 is Figure 3 is a structural schematic view of another perspective view of the driving device. DETAILED DESCRIPTION

[0020] In order to enable persons skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative work should fall within the protection scope of the present application.

[0021] The embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0022] In the description of the embodiments of the present application, it should be noted that the orientations or positional relationships indicated by the terms “center”, “longitudinal”, “transverse”, “upper”, “lower”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer” and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated thereby must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms “first”, “second”, “third” are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0023] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms “connected” and “connected” should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium. For persons skilled in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0024] In the embodiments of the present application, unless specifically defined and limited otherwise, a first feature is "on", "under", "above", or "below" a second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact with an intermediate medium. Moreover, the first feature "over", "above", and "on" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. The first feature "under", "below", and "under" the second feature can mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0025] With the rapid development of petrochemical industry, urban pipeline network and energy transportation, the demand for safety detection of industrial pipeline system is increasing. Traditional pipeline detection mostly adopts manual inspection or fixed sensor monitoring, which has the problems of low efficiency, many blind areas, poor adaptability to high-risk environment, etc. Electromagnetic detection technology has become an important means for detecting defects such as pipeline corrosion and cracks due to its non-contact and high sensitivity characteristics, and the pipeline robot equipped with electromagnetic flaw detection is the core carrier to realize long-distance automatic detection. The existing pipeline robot driving device mostly adopts wheel type or track type, which has insufficient adaptability to diameter change in actual application, especially prone to jamming and slipping in variable diameter pipeline, affecting the continuity of detection.

[0026] Reference Figures 1 to 4The application provides a pipeline electromagnetic detection robot driving device, which comprises a first side plate 11, a second side plate 12, a first connecting rod 13, a first moving mechanism 14 and a first driving device 15, the first side plate 11 is arranged in opposite spacing with the second side plate 12, one end of the first connecting rod 13 is connected to the edge of the first side plate 11, the other end is connected to the edge of the second side plate 12, the first connecting rod 13 is provided with at least three, each first connecting rod 13 is arranged in annular spacing between the first side plate 11 and the second side plate 12, the first moving mechanism 14 comprises a first horizontal moving support 140, a first moving roller 141, a first moving roller fixing rod 142, a first lifting rod 143 and a first power component 144, the first horizontal moving support 140 is arranged close to the first side plate 11, the first horizontal moving support 140 is provided with at least three first feet 1400, a first through hole is arranged on each first foot 1400, one first connecting rod 13 is arranged in each first through hole, the first horizontal moving support 140 can slide along the first connecting rod 13, one end of the first lifting rod 143 is hinged to the end of the first foot 1400, the other end is hinged to the middle part of the first moving roller fixing rod 142, one end of the first moving roller fixing rod 142 is hinged to the second side plate 12, the other end of the first moving roller fixing rod 142 is installed with the first moving roller 141, the first power component 144 is arranged on the side of the first moving roller fixing rod 142, the power output end of the first power component 144 is connected to the first moving roller 141, the first driving device 15 is arranged between the first side plate 11 and the second side plate 12, and the first driving device 15 is used for driving the first horizontal moving support 140 to move along the first connecting rod 13.

[0027] When the pipeline electromagnetic detection robot driving device moves, the first driving device 15 drives the first horizontal moving support 140 to move along the first connecting rod 13, so that the first horizontal moving support 140 drives the first moving roller fixing rod 142 to rotate through the first lifting rod 143, the first moving roller 141 on the first moving roller fixing rod 141 is pressed on the inner wall of the pipeline, the first power component 144 drives the first moving roller 141 to rotate, so that the pipeline electromagnetic detection robot moves in the pipeline, when the pipe diameter changes, the first driving device 15 drives the first horizontal moving support 140 to move along the first connecting rod 13, so that the first moving roller 141 adapts to the pipe diameter, therefore, the pipeline electromagnetic detection robot driving device can adapt to the change of the pipe diameter, and effectively prevents the phenomenon of jamming and slipping in the variable-diameter pipeline.

[0028] In the application, the first side plate 11 and the second side plate 12 are both circular plate structures, and the two ends of each first connecting rod 13 are connected to the edges of the first side plate 11 and the second side plate 12 respectively.

[0029] In other embodiments, the first side plate 11 and the second side plate 12 can also be provided in the form of a hexagonal plate or an octagonal plate, etc.

[0030] In some embodiments, the first moving mechanism 14 further comprises a first connecting seat 145 fixed to the second side plate 12, the first connecting seat 145 is sleeved on the first connecting rod 13, and one end of the first moving roller fixing rod 142 is hinged to the first connecting seat 145. The first connecting seat 145 plays a role of installing the first moving roller fixing rod 142 and limiting the first horizontal moving support 140.

[0031] In order to ensure the stability of the electromagnetic detection robot driving device in the pipeline, in some embodiments, a second moving mechanism 16 is arranged between two adjacent first moving mechanisms 14, a second connecting rod 17 for installing the second moving mechanism 16 is arranged between the two adjacent first moving mechanisms 14, the second connecting rod 17 is parallel to the first connecting rod 13, two ends of the second connecting rod 17 are connected to the first side plate 11 and the second side plate 12 respectively, and the second moving mechanism 16 comprises a second horizontal moving support 160, a second moving roller 161, a second moving roller fixing rod 162, a second lifting rod 163 and a second power component 164. The second horizontal moving support 160 is arranged close to the second side plate 12, and the second horizontal moving support 160 has at least three second feet 1600, a second through hole is arranged on each second foot 1600, one second connecting rod 17 is arranged in each second through hole, and the second horizontal moving support 160 can slide along the second connecting rod 17. One end of the second lifting rod 163 is hinged to an end of the second foot 1600, and the other end is hinged to the middle part of the second moving roller fixing rod 162. One end of the second moving roller fixing rod 162 is hinged to the first side plate 11, and the other end of the first moving roller fixing rod 142 is installed with the second moving roller 161. The second power component 164 is arranged on the side of the second moving roller fixing rod 162, the power output end of the second power component 164 is connected to the second moving roller 161, and the second driving device 18 is arranged between the first side plate 11 and the second side plate 12. The second driving device 18 is used to drive the second horizontal moving support 160 to move along the second connecting rod 17.

[0032] The second driving device 18 drives the second horizontal moving support 160 to move along the second connecting rod 17, so that the second lifting rod 163 drives the second moving roller fixing rod 162 to rotate, the second moving roller fixing rod 162 drives the second moving roller 161 to press against the inner wall of the pipeline, so that the second moving mechanism 16 can be adjusted according to the change of the pipe diameter.

[0033] The first moving mechanism 14 supports walking on the front side, and the second moving mechanism 16 supports walking on the back side, so that the whole electromagnetic detection robot driving device is more stable during walking.

[0034] In the present application, three first connecting rods 13 are arranged, three first moving mechanisms 14 are arranged, three second connecting rods 17 are arranged, three second moving mechanisms 16 are arranged, the first horizontal moving support 140 has three first supporting legs 1400 in a bifurcated structure, the second horizontal moving support 160 has three second supporting legs 1600 in a bifurcated structure, the three first moving mechanisms 14 and the three second moving mechanisms 16 are arranged in a cross manner between the first side plate 11 and the second side plate 12, the first moving rollers 141 of the three first moving mechanisms 14 are towards the first side plate 11, and the second moving rollers 161 of the three second moving mechanisms 16 are towards the second side plate 12.

[0035] In other embodiments, the first moving mechanism 14 can also be arranged four or more, the second moving mechanism 16 can also be arranged four or more, and the corresponding first connecting rod 13 and the second connecting rod 17 are arranged four or more.

[0036] In the present application, the first power component 144 and the second power component 164 are both motors.

[0037] In some embodiments, the second moving mechanism 16 further comprises a second connecting seat 165, the second connecting seat 165 is fixed with the first side plate 11, the second connecting seat 165 is sleeved on the second connecting rod 17, and one end of the second moving roller fixing rod 162 is hinged with the second connecting seat 165. The second connecting seat 165 plays a role of installing the second moving roller fixing rod 162 on the one hand, and plays a role of limiting the second horizontal moving support 160 on the other hand.

[0038] In some embodiments, the first driving device 15 comprises a first lead screw 150, a first nut 151 and a third power component 152, the third power component 152 is installed on the second side plate 12, one end of the first lead screw 150 is connected with the power output end of the third power component 152, the other end is rotationally connected with the first side plate 11, the first lead screw 150 is parallel with the first connecting rod 13, the first nut 151 is fixed on the first horizontal moving support 140, and the first lead screw 150 and the first nut 151 cooperate with each other. The second driving device 18 comprises a second lead screw 180, a second nut 181 and a fourth power component 182, the fourth power component 182 is installed on the first side plate 11, one end of the second lead screw 180 is connected with the power output end of the fourth power component 182, the other end is rotationally connected with the second side plate 12, the second lead screw 180 is parallel with the second connecting rod 17, the second nut 181 is fixed on the second horizontal moving support 160, and the second lead screw 180 and the second nut 181 cooperate with each other.

[0039] Specifically, the third power component 152 is fixed on the second side plate 12, one end of the first screw rod 150 is connected with the power output end of the third power component 152 through a shaft coupling, the other end of the first screw rod 150 is rotatably connected with the first side plate 11 through a bearing, a circular hole is formed on the first horizontal moving bracket 140, the first nut 151 is fixed on the first horizontal moving bracket 140 corresponding to the circular hole, and the first screw rod 150 passes through the circular hole and cooperates with the first nut 151.

[0040] The fourth power component 182 is fixed on the first side plate 11, one end of the second screw rod 180 is connected with the power output end of the fourth power component 182 through a shaft coupling, the other end of the second screw rod 180 is rotatably connected with the second side plate 12 through a bearing, a circular hole is formed on the second horizontal moving bracket 160, the second nut 181 is fixed on the second horizontal moving bracket 160 corresponding to the circular hole, and the second screw rod 180 passes through the circular hole and cooperates with the second nut 181.

[0041] An avoiding hole is formed on the first horizontal moving bracket 140, and the fourth power component 182 passes through the avoiding hole.

[0042] During the working process, the third power component 152 drives the first screw rod 150 to rotate, so that the first horizontal moving bracket 140 slides along the first connecting rod 13, and the fourth power component 182 drives the second screw rod 180 to rotate, so that the second horizontal moving bracket 160 slides along the second connecting rod 17.

[0043] In the application, the third power component 152 and the fourth power component 182 are both motors.

[0044] In other embodiments, the first driving device 15 can also be a telescopic air cylinder, which drives the first horizontal moving bracket 140 to move along the connecting rod through the telescopic movement of the piston rod thereof, and the second driving device 18 can also be a telescopic air cylinder.

[0045] In some embodiments, the first power component 144 is connected with the first moving roller 141 through a first transmission mechanism 146, the first transmission mechanism 146 comprises a first bevel gear 1460 and a second bevel gear 1461, the first bevel gear 1460 is connected on the power output shaft of the first power component 144, the second bevel gear 1461 is coaxially connected with the first moving roller 141 and is installed on the first moving roller fixing rod 142, the second power component 164 is connected with the second moving roller 161 through a second transmission mechanism 166, the second transmission mechanism 166 comprises a third bevel gear 1660 and a fourth bevel gear 1661, the third bevel gear 1660 is connected on the power output shaft of the second power component 164, and the fourth bevel gear 1661 is coaxially connected with the second moving roller 161 and is installed on the second moving roller fixing rod 162.

[0046] During the movement of the driving device of the electromagnetic detection robot in the pipeline, the first power component 144 drives the first bevel gear 1460 to rotate, the first bevel gear 1460 meshes with the second bevel gear 1461 to rotate, the second bevel gear 1461 drives the first moving roller 141 to move along the inner wall of the pipeline, the second power component 164 drives the third bevel gear 1660 to rotate, the third bevel gear 1660 meshes with the fourth bevel gear 1661 to rotate, and the fourth bevel gear 1661 drives the second moving roller 161 to move along the inner wall of the pipeline.

[0047] In some embodiments, the camera 110 is installed on the first side plate 11. The camera 110 realizes visual detection of the environment in the pipeline.

[0048] The first battery compartment 111 is installed on the inner side of the first side plate 11, and the second battery compartment 120 is installed on the inner side of the second side plate 12. The first battery compartment 111 and the second battery compartment 120 are used to place batteries.

[0049] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0050] The embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the present application.

Claims

1. An in-pipe electromagnetic inspection robot drive apparatus, characterized by: The first side plate and the second side plate are oppositely spaced, one end of the first connecting rod is connected to the edge of the first side plate, and the other end is connected to the edge of the second side plate, and the first connecting rod is provided with at least three, each of the first connecting rods is spaced and distributed in a ring shape between the first side plate and the second side plate, the first moving mechanism comprises a first horizontal moving support, a first moving roller, a first moving roller fixing rod, a first lifting rod and a first power component, the first horizontal moving support is arranged close to the first side plate, the first horizontal moving support is provided with at least three first feet, a first through hole is arranged on the first feet, one of the first connecting rods is arranged in each of the first through holes, the first horizontal moving support can slide along the first connecting rod, one end of the first lifting rod is hinged to the end of the first feet, and the other end is hinged to the middle part of the first moving roller fixing rod, one end of the first moving roller fixing rod is hinged to the second side plate, the other end of the first moving roller fixing rod is provided with the first moving roller, the first power component is arranged on the side of the first moving roller fixing rod, the power output end of the first power component is connected to the first moving roller, the first driving device is arranged between the first side plate and the second side plate, and the first driving device is used for driving the first horizontal moving support to move along the first connecting rod.

2. The in-pipe electromagnetic inspection robot drive apparatus of claim 1, wherein: The first moving mechanism further comprises a first connecting seat, the first connecting seat is fixed with the second side plate, the first connecting seat is sleeved on the first connecting rod, and one end of the first moving roller fixing rod is hinged to the first connecting seat.

3. The in-pipe electromagnetic inspection robot drive apparatus of claim 1, wherein: Second moving mechanism is arranged between two adjacent first moving mechanisms, second connecting rod for mounting the second moving mechanism is arranged between two adjacent first moving mechanisms, the second connecting rod is parallel to the first connecting rod, two ends of the second connecting rod are connected with the first side plate and the second side plate respectively, the second moving mechanism comprises a second transverse moving support, a second moving roller, a second moving roller fixing rod, a second lifting rod and a second power component, the second transverse moving support is arranged close to the second side plate, the second transverse moving support has at least three second feet, a second through hole is arranged on each second foot, one second connecting rod is arranged in each second through hole, the second transverse moving support can slide along the second connecting rod, one end of the second lifting rod is hinged to the end of the second foot, the other end is hinged to the middle part of the second moving roller fixing rod, one end of the second moving roller fixing rod is hinged to the first side plate, the other end of the first moving roller fixing rod is mounted with the second moving roller, the second power component is arranged on the side of the second moving roller fixing rod, the power output end of the second power component is connected with the second moving roller, second driving device is arranged between the first side plate and the second side plate, the second driving device is used for driving the second transverse moving support to move along the second connecting rod.

4. The in-pipe electromagnetic inspection robot drive apparatus of claim 3, wherein: The second moving mechanism further comprises a second connecting seat, the second connecting seat is fixed with the first side plate, the second connecting seat is sleeved on the second connecting rod, one end of the second moving roller fixing rod is hinged to the second connecting seat.

5. The in-pipe electromagnetic inspection robot drive apparatus of claim 3, wherein: The first driving device comprises a first screw rod, a first nut and a third power component, the third power component is mounted on the second side plate, one end of the first screw rod is connected with the power output end of the third power component, the other end is rotationally connected with the first side plate, the first screw rod is parallel to the first connecting rod, the first nut is fixed on the first transverse moving support, the first screw rod and the first nut are matched with each other, the second driving device comprises a second screw rod, a second nut and a fourth power component, the fourth power component is mounted on the first side plate, one end of the second screw rod is connected with the power output end of the fourth power component, the other end is rotationally connected with the second side plate, the second screw rod is parallel to the second connecting rod, the second nut is fixed on the second transverse moving support, the second screw rod and the second nut are matched with each other.

6. The in-pipe electromagnetic detection robot drive apparatus according to claim 3, characterized by: The first power component is connected with the first moving roller through a first transmission mechanism, the first transmission mechanism comprises a first bevel gear and a second bevel gear, the first bevel gear is connected on a power output shaft of the first power component, the second bevel gear is installed on the first moving roller fixing rod and coaxially connected with the first moving roller, the second power component is connected with the second moving roller through a second transmission mechanism, the second transmission mechanism comprises a third bevel gear and a fourth bevel gear, the third bevel gear is connected on a power output shaft of the second power component, the fourth bevel gear is installed on the second moving roller fixing rod and coaxially connected with the second moving roller.

7. The in-pipe electromagnetic inspection robot drive apparatus of claim 1, wherein: A camera is installed on the first side plate.

8. The in-pipe electromagnetic inspection robot drive apparatus of claim 1, wherein: A first battery compartment is installed on the inner side of the first side plate, and a second battery compartment is installed on the inner side of the second side plate.

9. The in-pipe electromagnetic inspection robot drive apparatus of claim 5, wherein: An avoiding hole for avoiding the fourth power component is formed on the first transverse moving support.

10. The in-pipe electromagnetic inspection robot drive apparatus of claim 3, wherein: Both the first moving mechanism and the second moving mechanism are provided with three.

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