Robot and inspection method applicable to synchronized inspection of long branch pipes and main pipes

Abstract

A robot and a patrol inspection method applicable to synchronized patrol inspection of a long branch pipe and a main pipe, the robot comprising a traveling device (1200) and an inspection device (300) located on the top of the traveling device (1200) for patrol inspection of the main pipe in association with the traveling device (1200), and further comprising a subsidiary traveling device (400) located at the front end of the traveling device (1200), the front wheel obstacle climbing device (230) of the traveling device (1200) being capable of climbing over obstacles in the main pipe and also capable of regulating the position of the subsidiary traveling device (400), when encountering a branch pipe, the front wheel obstacle climbing device (230) is raised to a certain height, the exit port of the subsidiary traveling device (400) is released, and the subsidiary traveling device (400) is separated from the traveling device (1200) to independently patrol inspect the branch pipe.

Description

[Technical Field]

[0001] This application claims priority from a Chinese patent application bearing application number 202310988202.0, filed with the China Patent Office on August 8, 2023, the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the technical field of patrol inspection of piping, and relates to a robot and patrol inspection method that are applicable to, for example, synchronous patrol inspection of a long branch piping and a main piping. [Background technology]

[0003] In the oil spill pipeline network of an extra-high-voltage converter station, there are sections where branch and main pipes are arranged horizontally, and the diameters of the main and branch pipes are small, typically 600 mm and 500 mm, respectively. Conventional inspection robots can only inspect the interior of the main pipe and the area near where the branch and main pipes connect in a single pass. For long branch pipes, the robot's travel mechanism cannot directly rotate into the branch pipe, making the inspection impossible. Furthermore, in real-world environments, there are several large and tall obstacles inside the main pipe. Conventional crawler-type travel mechanisms, which are large and heavy and are only suitable for inspecting large-diameter pipes, are not suitable for patrol inspection of the oil spill pipeline network of an extra-high-voltage converter station. Conventional multi-legged travel mechanisms, however, have issues such as insufficient traction, a short operating stroke, and complex motion control, making them unsuitable for patrol inspection of the oil spill pipeline network of an extra-high-voltage converter station. On the other hand, the wheeled traveling mechanism has a compact structure, is easy to control, has strong mobility and operates stably, and meets the requirements for patrol inspection of pipes.

[0004] In the related art, in the invention patent with publication number CN110576953A, a parent-child type underwater inspection robot system for a large-diameter, long-length water conveyance tunnel is disclosed, which includes a land-based maneuvering container, a vehicle-mounted winch system, a crawling parent inspection robot, and a mobile sub-inspection robot. The vehicle-mounted winch system is used to pay out and retrieve an electric cable, one end of which is connected to the crawling parent inspection robot, and the other end of which is connected to the maneuvering container, and the mobile sub-inspection robot is attached to the crawling parent inspection robot. The working mode of the crawling parent inspection robot and the mobile sub-inspection robot is suitable for omnidirectional, multi-level inspection in the complex environment of a tunnel. However, the crawling parent inspection robot accompanies the sub-inspection robot into the pipe under inspection, and the parent inspection robot is crawler-type, allowing the sub-inspection robot to float within the water pipe, which is not suitable for this application scenario. Summary of the Invention

[0005] The technical problem that the present application aims to solve is a problem in which a conventional inspection robot can only inspect the main pipe and branch pipes that are installed horizontally, but cannot inspect the entire branch pipes that are long, and a problem in which the robot cannot travel over obstacles while traveling on the main pipe.

[0006] The present application provides a robot that is applicable to synchronized patrol inspection of a long branch pipe and a main pipe, the robot comprising: a traveling device (1200); and an inspection device (300) that is located on the top of the traveling device (1200) and that patrols and inspects a main pipe in association with the traveling device (1200); the robot further comprises a subsidiary traveling device (400) that is located at the front end of the traveling device (1200), the front wheel obstacle climbing device (230) of the traveling device (1200) is capable of climbing over obstacles in the main pipe and can also restrict the position of the subsidiary traveling device (400), and when the robot encounters a branch pipe, the front wheel obstacle climbing device (230) is raised to a certain height, the exit port of the subsidiary traveling device (400) is released, and the subsidiary traveling device (400) is separated from the traveling device (1200) and independently patrols and inspects the branch pipe.

[0007] In one embodiment of the present application, the traveling device (1200) further comprises a traveling body (210) and traveling mechanisms (220) located on both sides of the traveling body (210) and arranged symmetrically, and the front wheel obstacle-crossing device (230) is coaxially connected to the traveling mechanism (220). When encountering a large obstacle, the obstacle-crossing wheel (237) of the front wheel obstacle-crossing device (230) can be lifted by a certain angle, and the traveling mechanism (220) drives the obstacle-crossing wheel (237) to cross the obstacle.

[0008] In one embodiment of the present application, the front wheel obstacle overcoming device (230) comprises a swing motor (231) located within the running body (210), a swing arm gear (232), a rack (233), a concentric shaft (234) coaxially connected to the swing arm gear (232) and passing through the side of the running body (210), an inner shaft sleeve (235) located outside the running body (210) and fixedly connected coaxially to the concentric shaft (234), a swing arm housing (236) fixedly connected to the inner shaft sleeve (235), and an obstacle overcoming wheel (237) fixedly connected to the swing arm housing (236).

[0009] In one embodiment of the present application, the swing motor (231) transmits power to the swing arm gear (232) and the rack (233) via a screw rod (2311) and a screw nut (2312), so that the swing arm gear (232) and the rack (233) mesh with each other, causing the concentric shaft (234) to rotate, and the inner shaft sleeve (235) and the swing arm housing (236) to rotate together, thereby realizing the arm swing of the swing arm housing (236) up or down, and moving the obstacle-overcoming wheel (237) to move in the same direction.

[0010] In one embodiment of the present application, the traveling mechanism (220) includes a traveling drive motor (221), a concentric outer shaft (222) coaxially connected to the concentric shaft (234), a first synchronizer (223) and a main driving wheel (224) fixedly positioned on the concentric outer shaft (222), and a driven wheel (225) connected to the main driving wheel (224) via the first synchronizer (223) by a belt transmission. The traveling drive motor (221) has a drive motor at an output end. The transmission bevel gear (2221) located on the outer concentric shaft (222) is driven via a bevel gear (2211), and the transmission bevel gear (2221) rotates the outer concentric shaft (222), and the outer concentric shaft (222) rotates the first synchronizer (223) in synchronization with the first synchronizer (223), and the synchronous belt of the first synchronizer (223) rotates the main wheel (224) and the driven wheel (225) in synchronization with the first synchronizer (223).

[0011] In one embodiment of the present application, the traveling mechanism (220) further includes a bearing fixing plate (226), a cross roller bearing (227), an outer shaft sleeve (228), and a second synchronizer (229). The bearing fixing plate (226) is located outside the traveling body (210) and connected to the concentric outer shaft (222). The outer shaft sleeve (228) and the outer ring of the cross roller bearing (227) are sequentially fixed to the bearing fixing plate (226). The inner shaft sleeve (235) is , is fixed to the inner ring of the cross roller bearing (227), the second synchronizer (229) is located in the outer shaft sleeve (228) and is located within the swing arm housing (236), the synchronous belt of the second synchronizer (229) is belt-transmitted to the obstacle-crossing wheel (237), and when the concentric outer shaft (222) rotates, it moves the obstacle-crossing wheel (237) to rotate in synchronization with the main driving wheel (224) and the driven wheel (225).

[0012] In one embodiment of the present application, the child running device (400) comprises a child machine holder (4130) located at the front end of the running body (210) and between the pair of front wheel obstacle overcoming devices (230), and a child machine (440) located within the child machine holder (4130), and the obstacle overcoming wheels (237) position the two-way exit of the child machine (440) in the child machine holder (4130).

[0013] In one embodiment of the present application, the sub-machine holder (4130) comprises a sub-machine holder seat (410) that can rotate around the running body (210) to adjust the angle of release of the sub-machine (440), a sub-machine sliding plate (420) that is located inside the sub-machine holder seat (410) and can slide translationally within the sub-machine holder seat (410), and a sub-machine clamping member (430) that clamps or loosens the sub-machine (440) within the sub-machine sliding plate (420) in a direction perpendicular to the sub-machine sliding plate (420).

[0014] In one embodiment of the present application, the slave unit (440) comprises a slave unit body (441), an extension device (442) located on the slave unit body (441), and a pan head camera (443) located on the top of the extension device (442); The sub-unit body (441) can move forward or backward within the branch pipe, the pan-tilt camera (443) travels along with the sub-unit body (441) to perform a patrol inspection of the branch pipe, the telescopic device (442) moves the pan-tilt camera (443) up or down, and the pan-tilt camera (443) can rotate in the axial direction, swing in the radial direction, and perform multi-angle inspection using the telescopic device (442).

[0015] This application is The robot is applied to the above-described synchronized patrol inspection of the long branch pipe and the main pipe, The robot is placed inside the main pipe, and the traveling device (1200) moves the sub-traveling device (400) so that the sub-traveling device (400) travels inside the main pipe, and at the same time, the inspection device (300) inspects the main pipe in accordance with the travel of the traveling device (1200); When the radar in the robot determines that the robot has reached the opening of the next branch pipe, the obstacle climbing wheel (237) is raised to a certain height to release the exit opening of the sub-traveling device (400); Rotating the sub-machine seat (410) and adjusting the angle of the sub-machine (440) depending on the position of the branch pipe on the different side of the main pipe; The slave sliding plate (420) is brought out so as to slide in a translational manner from the exit port of the slave storage seat (410), and when the front end of the slave sliding plate (420) in the sliding direction hits the inner wall of the piping, the continuation of the sliding motion stops; the slave clamping member (430) loosens the clamp on the slave (440), and the slave (440) travels from the slave sliding plate (420) toward the branch pipe along the unloading direction to perform a patrol inspection; After the branch piping patrol inspection is completed, the slave unit (440) returns along the same path as it came, and when the slave unit (440) is completely on the slave unit sliding plate (420), the slave unit holder (410) is rotated to return to its original position, and at the same time, the slave unit sliding plate (420) is caused to move the slave unit (440) so as to slide in the reverse direction; After the slave machine (440) returns to the slave machine storage seat (410), the slave machine clamping member (430) clamps the slave machine (440), and at the same time, the obstacle climbing over wheel (237) is lowered to continue regulating the position of the slave traveling device (400) relative to the exit opening; The present invention further provides a robotic patrol inspection method applicable to synchronous patrol inspection of a long branch pipe and a main pipe, which includes causing the robot to travel within the main pipe and continue to perform the patrol inspection until all the branch pipes have been visited. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a schematic diagram of a robot applied to synchronized patrol inspection of a long branch pipe and a main pipe according to an embodiment of the present application. FIG. [Figure 2] 1 is a schematic diagram of a traveling device according to an embodiment of the present invention; [Figure 3] 1 is a schematic diagram of a traveling mechanism and a front wheel obstacle overcoming device according to an embodiment of the present application. [Figure 4] FIG. 3 is a cross-sectional view taken along the line AA in FIG. 2 according to an embodiment of the present application. [Figure 5] 1 is a schematic diagram of a sub-traveling device according to an embodiment of the present application; [Figure 6] FIG. 10 is a schematic diagram of the sub-traveling device of the embodiment of the present application at another angle. [Figure 7] FIG. 1 is a flow diagram of a patrol inspection method according to an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0017] In order to facilitate the understanding of the technical solution of the present application by those skilled in the art, the technical solution of the present application will now be further described with reference to the drawings in the specification.

[0018] The terms "first" and "second" are for descriptive purposes only and cannot be understood as indicating or implying the relative importance or number of the indicated technical features. Thus, a feature qualified as "first" or "second" may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise clearly and specifically limited, "plurality" means two or more than two.

[0019] Referring to FIG. 1 , the present application provides a robot applicable to synchronized patrol inspection of a long branch pipe and a main pipe, the robot comprising a traveling device 1200, an inspection device 300 located on top of the traveling device 1200 and performing a patrol inspection of the main pipe in association with the traveling device 1200, and a subsidiary traveling device 400 located at the front end of the traveling device 1200, the front wheel obstacle climbing device 230 of the traveling device 1200 being capable of climbing over obstacles in the main pipe and also capable of restricting the position of the subsidiary traveling device 400, when encountering a branch pipe, the front wheel obstacle climbing device 230 is raised to a predetermined height, the exit port of the subsidiary traveling device 400 is released, and the subsidiary traveling device 400 is separated from the traveling device 1200 to independently perform a patrol inspection of the branch pipe.

[0020] In this embodiment, a parent-child traveling device is used to realize synchronous inspection of a horizontally arranged main pipe and a branch pipe, with the traveling device inspecting the main pipe and the subsidiary traveling device inspecting the branch pipe independently. When encountering a large obstacle, the obstacle-crossing wheel of the front obstacle-crossing device can be lifted to a certain angle, and the traveling mechanism of the traveling device drives the obstacle-crossing wheel to cross the obstacle.

[0021] 1 to 4, in one embodiment of the present application, the traveling device 1200 includes a traveling body 210, traveling mechanisms 220 located symmetrically on both sides of the traveling body 210, and a front wheel obstacle-overcoming device 230 coaxially connected to the traveling mechanism 220. When encountering a large obstacle, the obstacle-overcoming wheels 237 of the front wheel obstacle-overcoming device 230 can be lifted by a certain angle, and the traveling mechanism 220 drives the obstacle-overcoming wheels 237 to overcome the obstacle. The two traveling mechanisms 220 are independently driven and can move forward and backward within the pipeline and turn on the spot. This embodiment will be described in detail using one traveling mechanism as an example.

[0022] 1 to 4, in one embodiment of the present application, the front wheel obstacle overcoming device 230 includes a swing motor 231 located inside the traveling body 210, a swing arm gear 232, a rack 233, and a concentric shaft 234 coaxially connected to the swing arm gear 232 and passing through the side edge of the traveling body 210. The front wheel obstacle overcoming device 230 further includes an inner shaft sleeve 235 located outside the traveling body 210 and coaxially and fixedly connected to the concentric shaft 234, a swing arm housing 236 fixedly connected to the inner shaft sleeve 235, and an obstacle overcoming wheel 237 fixedly connected to the swing arm housing 236. The swing motor 231 transmits power to the swing arm gear 232 and rack 233 via a screw rod 2311 and a screw nut 2312, causing the swing arm gear 232 and rack 233 to mesh together, causing the concentric shaft 234 to rotate, and the inner shaft sleeve 235 and swing arm housing 236 to rotate in conjunction with each other, thereby realizing the swing arm housing 236 to swing up or down, and causing the obstacle-overcoming wheel 237 to move in the same direction.

[0023] 1 to 4 , in one embodiment of the present application, the traveling mechanism 220 includes a traveling drive motor 221, a concentric outer shaft 222 coaxially connected to the concentric shaft 234, a first synchronizer 223 and a main driving wheel 224 fixedly positioned on the concentric outer shaft 222, and a driven wheel 225 that is belt-transmitted to the main driving wheel 224 via the first synchronizer 223. The traveling drive motor 221 drives a transmission bevel gear 2221 positioned on the concentric outer shaft 222 via a drive bevel gear 2211 at the output end, and the transmission bevel gear 2221 rotates the concentric outer shaft 222, and the concentric outer shaft 222 rotates the first synchronizer 223 synchronously, and the synchronous belt of the first synchronizer 223 rotates the main driving wheel 224 and the driven wheel 225 synchronously.

[0024] 1 to 4, in one embodiment of the present application, the traveling mechanism 220 further includes a bearing fixing plate 226, a cross roller bearing 227, an outer shaft sleeve 228, and a second synchronizer 229. The bearing fixing plate 226 is located outside the traveling body 210 and connected to the concentric outer shaft 222. The outer shaft sleeve 228 and the outer ring of the cross roller bearing 227 are sequentially fixed to the bearing fixing plate 226. The inner shaft sleeve 235 is fixed to the inner ring of the cross roller bearing 227. The second synchronizer 229 is located on the outer shaft sleeve 228 and is also located within the swing arm housing 236. The synchronous belt of the second synchronizer 229 is belt-transmitted to the obstacle-crossing wheel 237. When the concentric outer shaft 222 rotates, the second synchronizer 229 rotates, and the synchronous belt of the second synchronizer 229 rotates the obstacle-crossing wheel 237, i.e., the obstacle-crossing wheel 237 rotates synchronously with the driving wheel 224 and the driven wheel 225.

[0025] 1, 5 and 6, in one embodiment of the present application, the child traveling device 400 includes a child machine holder 4130 and a child machine 440 located in the child machine holder 4130. The child machine holder 4130 is located at the front end of the traveling body 210 and is located between the pair of front wheel obstacle overcoming devices 230, and the obstacle overcoming wheels 237 position the child machine 440 at the two-way exit of the child machine holder 4130.

[0026] 1, 5 and 6, in one embodiment of the present application, the handset storage 4130 includes a handset storage base 410, a handset sliding plate 420, and a handset clamping member 430. The handset storage base 410 is rotatable around the traveling body 210 so as to adjust the storage angle of the handset 440. The handset sliding plate 420 is located inside the handset storage base 410 and is slidable in translation within the handset storage base 410. The handset clamping member 430 clamps and releases the handset 440 within the handset sliding plate 420 in a direction perpendicular to the handset sliding plate 420. A handset hoisting seat drive motor is provided within the traveling body 210, and its output end is fixedly connected to one end surface of the handset hoisting seat 410 after passing the front end of the traveling body 210. The handset hoisting seat drive motor rotates to rotate the handset hoisting seat 410 and adjust the loading and unloading angle of the handset 440. A drive sliding groove 411 is provided on the other end surface of the handset hoisting seat 410, and a sliding motor 412 is provided on each end of the drive sliding groove 411. A drive gear 413 is provided on the output end of the sliding motor 412, and the meshing teeth of the drive gear 413 are located within the drive sliding groove 411. The slave unit sliding plate 420 is located within the slave unit holder 410, and is provided with a sliding rack 421 on one side near the sliding motor 412, and the sliding rack 421 is engaged with the drive sliding groove 411. When the sliding motor 412 rotates, the drive gear 413 moves to engage with the sliding rack 421, thereby causing the slave unit sliding plate 420 to slide translationally within the slave unit holder 410. The slave unit clamping member 430 includes an electric push rod 431 and clamping member holders 432 connected to both ends of the electric push rod 431. The electric push rod 431 is located at the bottom of the slave unit sliding plate 420 and is provided with right-handed and left-handed threads on both ends, respectively. The clamping member holders 432 connected to both ends of the electric push rod 431 can move toward or away from each other when the electric push rod 431 is rotated forward or backward to clamp or loosen the slave unit 440. A plurality of sliding posts 433 are provided on the top of the clamping material holder 432, one end of which is fixed to the clamping material holder 432, and the other end of which abuts against the inner wall of the handset holder 410 after passing through the handset sliding plate 420, connecting the handset sliding plate 420 and the handset clamping material 430 and providing a certain support function.An electric push rod 431 connected to a clamping material holder 432 is provided on each end of the exit opening.

[0027] 1, 5, and 6, in one embodiment of the present application, the slave unit 440 includes a slave unit main body 441, an extension device 442 located on the slave unit main body 441, and a pan-and-tilt camera 443 located on the top of the extension device 442. The slave unit main body 441 moves forward or backward within the branch pipe, the pan-and-tilt camera 443 travels along with the slave unit main body 441 to inspect the branch pipe, and the extension device 442 moves the pan-and-tilt camera 443 up or down. A rotating base 444 is provided on the top of the extension device 442, and the pan-and-tilt camera 443 is located on the rotating base 444, allowing the pan-and-tilt camera 443 to rotate axially, swing radially, and perform multi-angle inspections. In this embodiment, the extension device 442 is a simple scissor-type extension bracket, and the inspection device 300 is a monitoring system.

[0028] Referring to Figures 1 to 6, in one embodiment of the present application, a radar (not shown) is further attached to the traveling body 210, and a cable connector (not shown) is further fixed to the tail of the traveling body 210, and the cable connector is fixed to the tail of the traveling body 210 by a method such as a screw or welding, and the cable connector is fixed to one end of a cable, the other end of which is located on the ground and connected to a control device, and is configured to control the operation of the robot, mainly provide a constant tension for the robot to pull when moving forward or returning within the pipe, and control and transmit signals.

[0029] The beneficial effects of the present invention are as follows: Conventional inspection robots can only inspect the interior of a main pipe and the area near where a branch pipe connects to the main pipe in a single entry. For long branch pipes, the robot's travel mechanism cannot directly rotate to enter the branch pipe for inspection, making it impossible to complete the inspection. Compared to a single robot that is sized to fit the branch pipe and inspects both the main pipe and the branch pipe, the reliability of the inspection process is ensured and the timeliness of the inspection are improved. This is because, when a robot sized to fit the branch pipe inspects the main pipe, its small size makes it prone to tripping over large solid debris, such as bricks, cement blocks, or rebar, inside the pipe, making the reliability of the inspection impossible. In contrast, when a single robot inspects both the main pipe and the branch pipe, the inspection distance is short in a single entry, making the progress of the inspection slow and making the timeliness of the inspection impossible.

[0030] Referring to FIG. 7, the present application further provides a robotic patrol inspection method applied to synchronized patrol inspection of a long branch pipe and a main pipe, including the following steps:

[0031] In S1, the robot is placed inside the main pipe, and the traveling device 1200 moves the sub traveling device 400 so that it travels inside the main pipe, and at the same time, the inspection device 300 inspects the main pipe as the traveling device 1200 travels.

[0032] In S2, when the radar in the robot determines that the robot has reached the opening of the next branch pipe, the obstacle climbing wheel 237 is raised a certain height, and the exit opening of the sub-traveling device 400 is released.

[0033] In S3, the child machine holder 410 is rotated to adjust the angle of release of the child machine 440 according to the position of the branch pipe on the different side of the main pipe.

[0034] In S4, the slave machine sliding plate 420 is brought out so as to slide in a translational manner from the exit port of the slave machine storage base 410, and when the front end of the slave machine sliding plate 420 in the sliding direction hits the inner wall of the piping, the sliding movement stops.

[0035] In S5, the slave clamping member 430 loosens the clamp on the slave 440, and the slave 440 travels along the unloading direction from the slave sliding plate 420 toward the branch pipe to perform a patrol inspection.

[0036] In S6, after the patrol inspection of the branch pipe is completed, the slave unit 440 returns along the same path it came from, and when the slave unit 440 is completely on the slave unit sliding plate 420, the slave unit holder 410 is rotated to return to its original position, and at the same time, the slave unit sliding plate 420 is caused to move the slave unit 440 so as to slide in the opposite direction.

[0037] In S7, after the slave machine 440 returns into the slave machine storage 410, the slave machine clamping member 430 clamps the slave machine 440. At the same time, the obstacle climbing over wheel 237 is lowered to continue regulating the position of the slave traveling device 400 relative to the exit opening.

[0038] In S8, the robot continues to travel and inspect the main pipe until it has traveled through all the branch pipes.

Claims

1. The vehicle comprises a traveling device, and an inspection device located on top of the traveling device and accompanying the traveling device for patrolling and inspecting the main pipe, and further comprises a subsidiary traveling device located at the front end of the traveling device, the front wheel obstacle climbing device of the traveling device is capable of climbing over obstacles in the main pipe and can also regulate the position of the subsidiary traveling device, and when it encounters a branch pipe, the front wheel obstacle climbing device is raised to a certain height, the exit port of the subsidiary traveling device is released, and the subsidiary traveling device is separated from the traveling device and independently patrolling and inspecting the branch pipe, The child traveling device includes a child machine storehouse located at the front end of the traveling body of the traveling device and between the pair of front wheel obstacle overcoming devices, and a child machine located in the child machine storehouse, and the obstacle overcoming wheels of the front wheel obstacle overcoming devices positionally restrict two-way exits in the child machine storehouse of the child machine, The child machine hold includes a child machine hold seat that is rotatable around the traveling body so as to adjust the angle at which the child machine is stowed, a child machine sliding plate that is located inside the child machine hold seat and is slidable in translation within the child machine hold seat, and a child machine clamp member that clamps or loosens the child machine within the child machine sliding plate in a direction perpendicular to the child machine sliding plate. This robot is used for synchronized inspection of long branch pipes and main pipes.

2. The traveling device further includes traveling mechanisms located on both sides of the traveling body and provided symmetrically, The front wheel obstacle overcoming device is coaxially connected to the traveling mechanism, When encountering a large obstacle, the obstacle-crossing wheel of the front wheel obstacle-crossing device can be lifted by a certain angle, and the traveling mechanism drives the obstacle-crossing wheel to cross the obstacle. The robot of claim 1 .

3. The front wheel obstacle overcoming device is A swing motor located in the traveling body, a swing arm gear, a rack, and a coaxial shaft coaxially connected to the swing arm gear and passing through a side edge of the traveling body, The vehicle further includes an inner shaft sleeve located outside the traveling body and fixedly connected coaxially to the concentric shaft, a swing arm housing fixedly connected to the inner shaft sleeve, and an obstacle-overcoming wheel fixedly connected to the swing arm housing. The robot according to claim 2.

4. The swing motor transmits power to the swing arm gear and the rack via a screw rod and a screw nut, and the swing arm gear and the rack mesh with each other, causing the concentric shaft to rotate, and the inner shaft sleeve and the swing arm housing to rotate together, thereby realizing the arm swing up or down of the swing arm housing, and moving the obstacle-overcoming wheel in the same direction. The robot according to claim 3.

5. the traveling mechanism includes a traveling drive motor, a concentric outer shaft coaxially connected to the concentric shaft, a first synchronizer and a main driving wheel fixedly positioned on the concentric outer shaft, and a driven wheel connected to the main driving wheel by a belt via the first synchronizer, The traveling drive motor drives a transmission bevel gear located on the concentric outer shaft via a drive bevel gear at an output end, the transmission bevel gear rotates the concentric outer shaft, the concentric outer shaft rotates the first synchronizer in synchronization with the first synchronizer, and the synchronous belt of the first synchronizer rotates the main driving wheel and the driven wheel in synchronization with the first synchronizer. The robot according to claim 4.

6. the traveling mechanism further includes a bearing fixing plate, a cross roller bearing, an outer shaft sleeve, and a second synchronizer; the bearing fixing plate is located outside the traveling body and connected to the concentric outer shaft, the outer shaft sleeve and the outer ring of the cross roller bearing are sequentially fixed to the bearing fixing plate, the inner shaft sleeve is fixed to the inner ring of the cross roller bearing, the second synchronizing device is located on the outer shaft sleeve and in the swing arm housing, the synchronous belt of the second synchronizing device is belt-transmitted to the obstacle-overcoming wheel, and when the concentric outer shaft rotates, it can move the obstacle-overcoming wheel to rotate synchronously with the main driving wheel and the driven wheel. The robot according to claim 5.

7. The slave unit includes a slave unit body, an extension device located on the slave unit body, and a camera platform located on a top of the extension device, The slave unit body can move forward or backward within the branch pipe, the pan-and-tilt camera travels along with the slave unit body to inspect the branch pipe, the telescopic device moves the pan-and-tilt camera up or down, and the pan-and-tilt camera can rotate in an axial direction, swing in a radial direction, and perform multi-angle inspections using the telescopic device. The robot of claim 1 .

8. The present invention is applied to a robot that is adapted to perform synchronized patrol inspection of a long branch pipe and a main pipe according to any one of claims 1 to 7, The robot is placed inside the main pipe, and the traveling device moves the sub-traveling device so that the sub-traveling device travels inside the main pipe, and at the same time, the inspection device inspects the main pipe in accordance with the traveling device's travel; When it is determined by a radar in the robot that the robot has reached the pipe opening of the next branch pipe, the obstacle climbing wheel is raised to a certain height and the exit opening of the sub traveling device is released; Rotating the sub-machine base to adjust the angle of the sub-machine depending on the position of the branch pipe on the different side of the main pipe; the slave machine sliding plate is brought out so as to slide in a translational manner from the exit port of the slave machine storage seat, and when the front end of the slave machine sliding plate in the sliding direction hits the inner wall of the piping, the continuation of the sliding is stopped; the slave clamp member loosens the clamp on the slave machine, and the slave machine travels from the slave machine sliding plate toward the branch pipe along the unloading direction to perform a patrol inspection; After the patrol inspection of the branch piping is completed, the slave machine returns along the same path as it came, and when the slave machine is completely on the slave machine sliding plate, the slave machine holder is rotated to return to its original position, and at the same time, the slave machine sliding plate is moved to slide the slave machine in the reverse direction; After the slave machine returns to the slave machine storage area, the slave machine clamping member clamps the slave machine, and at the same time, the obstacle-crossing wheel is lowered to continue regulating the position of the slave traveling device relative to the storage opening; and continuing to perform the inspection by traveling within the main pipe until the robot has traveled through all of the branch pipes. A robotic inspection method applied to synchronized inspection of long branch pipes and main pipes.

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