The invention discloses a self-adaptive variable spiral motion modular
robot for inner pipeline operation, which comprises a spiral motion main body, a guide driving wheel module, a
visual inspection module and a magnetic adsorption module, the spiral motion main body is composed of a motion module and a telescopic module, and the motion module and the telescopic module are mutually linked to enable the
robot to transversely extend while bending and spiral. Self-adaptive bending spiral can be carried out on the inner surfaces of pipelines with different inner diameters under the action of magnetic adsorption, then stable spiral movement with different lead angles can be carried out, the movement coverage area can be reduced by adjusting the self structure and the spiral movement lead angle, and diversified operation can be carried out by flexibly replacing and carrying various functional devices. The
robot is small, light, economical,
environmentally friendly, reasonable in structure, easy to control, high in operation efficiency, large and adjustable in operation range, high in
damage detection rate, capable of actively avoiding obstacles, capable of transmitting and
processing the situation of the inner wall of the pipeline in real time, capable of achieving
automation of operation of the inner pipeline and capable of guaranteeing safety of staff and pipeline transportation.