CN111963821A

CN111963821A - Abdominal wall type pipeline robot

Info

Publication number: CN111963821A
Application number: CN202011002239.4A
Authority: CN
Inventors: 梁钰滔; 蔡凯武; 林锦眉; 林治; 伍仕勤; 符钧泰; 马清清; 林家豪; 梁颂文; 梁恒滔; 朱颖
Original assignee: Huali College Guangdong University Of Technology
Current assignee: Huali College Guangdong University Of Technology
Priority date: 2020-09-22
Filing date: 2020-09-22
Publication date: 2020-11-20

Abstract

The invention discloses an abdominal wall type pipeline robot, which comprises: a body; three running mechanisms configured to cling to the inner wall of the pipeline; the three traveling mechanisms comprise a first traveling mechanism and two second traveling mechanisms; the self-adaptive reducing mechanism is connected with the three travelling mechanisms; the self-adaptive reducing mechanism comprises a driving motor, a lead screw connected with the driving motor, a nut in threaded connection with the lead screw and a moving block connected with the nut; the triangular mechanism is connected with the machine body, the moving block and the first traveling mechanism; the two parallelogram mechanisms are respectively arranged corresponding to the two second travelling mechanisms, and each parallelogram mechanism is connected with the machine body, the moving block and one second travelling mechanism; the nut drives the moving block to move back and forth, so that the first traveling mechanism and the second traveling mechanism can realize synchronous diameter changing under the driving of the triangular mechanism and the parallelogram mechanism respectively. The invention can realize the diameter change of the travelling mechanism, thereby being suitable for pipelines with different pipe diameters.

Description

Abdominal wall type pipeline robot

Technical Field

The invention relates to a pipeline robot, in particular to an abdominal wall type pipeline robot.

Background

In modern life, along with the development of social productivity and the demand of people, the development of industrialization and the need of national construction, various pipelines in the society are generated, such as municipal sewage pipelines, tap water pipes, fire fighting pipelines, oil and gas pipelines, central air-conditioning pipelines, household common pipelines and the like. The appearance and popularity of these pipes provide great convenience to our production and life, and also bring about a lot of problems, such as pipe blockage, damage and pipe aging.

These problems have a serious impact on us. If municipal drainage pipelines are blocked, drainage is not smooth when flood occurs; the leakage of the oil and gas pipeline causes the pollution of local environment; the long-term dust accumulation of the central air conditioner causes the spread of bacteria and viruses; the long-term residual oil stain in the fume exhaust pipe can hide the fire hazard; corrosion of natural gas pipelines leads to leaks and the like. These problems bring about not only resource loss but also possible casualties.

In order to solve the problems, the pipeline robot is produced. The pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk along the inside or outside of a tiny pipeline, carry one or more sensors and an operating machine and carry out a series of pipeline operations under the remote control operation of a worker or the automatic control of a computer. The pipeline robot can complete pipeline operation work such as flaw detection, dredging, detection, repair and the like of related complex environments through the internal advancing operation of the pipeline.

At present, although some special pipeline robots for handling different pipeline structures are developed in China, no general pipeline robot exists, mainly because the adaptability of a walking mechanism is insufficient. For pipelines of different pipe diameters, the existing pipeline robot cannot adapt well generally. Even some pipeline robots can realize the reducing of running gear, however, its structure is too complicated, and manufacturing cost is high.

In addition, when the pipeline robot passes through a curve or an irregular pipeline, the driving force caused by internal consumption is insufficient, and the robot deviates from the correct posture in the pipeline and even turns over and is stuck due to the deformation of the wall surface and the error of the robot. In the prior art, the problems of the pipeline robot passing curves and irregular pipelines are generally solved by adopting a differential mechanism, a flexible coupling and the like, but the structure is more complicated, and the cost is increased.

Disclosure of Invention

The invention aims to solve at least one problem in the prior art, and provides an abdominal wall type pipeline robot which is provided with a self-adaptive reducing mechanism connected with a travelling mechanism, has a simple structure, can realize reducing of the travelling mechanism, and is suitable for pipelines with different pipe diameters.

Aiming at the purposes, the invention adopts the following technical scheme:

an abdominal wall type pipeline robot, comprising:

a body;

the three travelling mechanisms are circumferentially arranged on the machine body and are configured to cling to the inner wall of the pipeline; the three travelling mechanisms comprise a first travelling mechanism and two second travelling mechanisms;

the self-adaptive reducing mechanism is connected with the three travelling mechanisms; the self-adaptive reducing mechanism comprises a driving motor, a lead screw connected with the driving motor, a nut in threaded connection with the lead screw and a moving block connected with the nut;

the triangular mechanism is connected with the machine body, the moving block and the first traveling mechanism;

the two parallelogram mechanisms are respectively arranged corresponding to the two second travelling mechanisms, and each parallelogram mechanism is connected with the machine body, the moving block and one second travelling mechanism;

the nut drives the moving block to move back and forth, so that the first traveling mechanism and the second traveling mechanism can realize synchronous diameter changing under the driving of the triangular mechanism and the parallelogram mechanism respectively.

Furthermore, the triangular mechanism comprises a first connecting rod hinged with the machine body and a second connecting rod hinged with the first connecting rod, the tail end of the first connecting rod is connected with the first traveling mechanism, and the second connecting rod is hinged with the moving block.

Further, the parallelogram mechanism comprises a third connecting rod hinged with the machine body, a fourth connecting rod positioned below the third connecting rod and hinged with the machine body, and a fifth connecting rod hinged with the moving block, wherein the third connecting rod, the fourth connecting rod and the fifth connecting rod are hinged with the second walking mechanism, and the third connecting rod is parallel to the fourth connecting rod.

Further, the first travel mechanism includes an omni wheel and a first motor for driving the omni wheel; the second running gear includes the link, connects two action wheels that link and front and back set up, connect the link is located two between the action wheel two follow driving wheels, along two follow the track that the driving wheel set up, be used for the drive the second motor of two action wheels, at least one follow the driving wheel with the action wheel is connected in order to be driven by the action wheel, two the action wheel is mecanum wheel.

Furthermore, the driving wheel is provided with a protruding shaft protruding towards two sides, the protruding shaft is connected with the connecting frame through a pre-tightening shaft, and a first pre-tightening spring is sleeved on the pre-tightening shaft between the protruding shaft and the connecting frame; one end of the pre-tightening shaft is fixedly connected with the protruding shaft, and the other end of the pre-tightening shaft penetrates through the connecting frame; the pre-tightening shaft can axially move relative to the connecting frame and is provided with a limiting part for preventing the pre-tightening shaft from being separated from the connecting frame.

Further, the fuselage is equipped with cleaning device, cleaning device includes that body and circumference are located a plurality of cleaning brushes of body, body circumference is equipped with a plurality of jacks, cleaning brush have with the jack complex insert the post and with insert the brush hair portion that the post is connected, the outside cover of inserting the post is equipped with second pretension spring, cleaning brush is configured and can be followed the jack removes.

Further, the fuselage is equipped with the safety cover of being made by transparent material, the inside camera module that is equipped with of safety cover.

The intelligent control system is characterized by further comprising a control module, a gyroscope module, a pressure sensor module and a display module, wherein the gyroscope module, the pressure sensor module, the camera module and the display module are connected with the control module, and the control module comprises an FPGA and a single chip microcomputer.

Furthermore, an accommodating space is formed in the middle of the moving block, the nut is located in the accommodating space, the moving block is provided with a matching hole, and the nut is provided with a matching column matched with the matching hole.

Furthermore, the machine body is provided with a plurality of guide strips which are circumferentially arranged, an accommodating space is enclosed by the plurality of guide strips, the driving motor, the lead screw and the nut are located in the accommodating space, and the moving block is sleeved on the outer side of the guide strips and guided through the guide strips.

The invention has the beneficial effects that: through setting up self-adaptation reducing mechanism, triangular mechanism and parallelogram mechanism, drive the nut through the motor, and then drive the movable block back-and-forth movement, can make first running gear with second running gear is respectively triangular mechanism with realize synchronous reducing under parallelogram mechanism's the drive to guarantee when the pipeline that faces different pipe diameters, running gear can all hug closely in the inner wall of pipeline, thereby realize the walking of pipeline robot.

Drawings

Fig. 1 is a perspective view of a pipeline robot of the present invention;

FIG. 2 is a perspective view of another angle of the pipe robot of the present invention;

FIG. 3 is a side view of the pipe robot of the present invention;

fig. 4 is a structural framework diagram of the pipeline robot circuit of the present invention.

The reference numbers illustrate: 1. a body; 11. a guide strip; 12. an accommodating space; 13. a third connecting portion; 14. a fourth connecting portion; 141. an upper connection unit; 142. a lower connection unit; 2. a self-adaptive reducing mechanism; 21. a drive motor; 22. a screw rod; 23. a nut; 231. a mating post; 24. a moving block; 241. an accommodating space; 242. a mating hole; 243. a first connection portion; 244. a second connecting portion; 3. a triangular mechanism; 31. a first link; 32. a second link; 4. a parallelogram mechanism; 41. a third link; 42. a fourth link; 43. a fifth link; 5. a first travel mechanism; 51. an omni wheel; 6. a second traveling mechanism; 61. a connecting frame; 62. a driving wheel; 63. a driven wheel; 64. a crawler belt; 65. a protruding shaft; 66. pre-tightening the shaft; 661. a limiting part; 67. a first pre-tightening spring; 7. a protective cover; 8. a camera module; 9. a cleaning device; 91. a body; 911. a jack; 92. a cleaning brush; 921. inserting a column; 922. a brush part; 923. a second pre-tightening spring; 10. a control module; 20. a gyroscope module; 30. a display module; 40. a pressure sensor module.

Detailed Description

For a better understanding of the objects, structure, features, and functions of the invention, reference should be made to the drawings and detailed description that follow. It should be noted that the features illustrated in the drawings are not necessarily drawn to scale. Moreover, the described embodiments are a few embodiments of the invention, rather than all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.

Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", "front", "rear", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

As shown in fig. 1 and 2, an abdominal wall type pipeline robot according to a preferred embodiment of the present invention includes a robot body 1, three traveling mechanisms circumferentially disposed on the robot body 1, a self-adaptive diameter-changing mechanism 2 connected to the three traveling mechanisms, a triangular mechanism 3, and a parallelogram mechanism 4.

The three traveling mechanisms are configured to cling to the inner wall of the pipeline, thereby pushing the robot to advance. As shown in fig. 3, the three running gears are arranged uniformly circumferentially in the fuselage 1, i.e. they are spaced 120 ° apart from one another. The three traveling mechanisms include a first traveling mechanism 5 and two second traveling mechanisms 6.

The first travel mechanism 5 includes an omni wheel 51 and a first motor (not shown) for driving the omni wheel 51. The connection of the motor and the omni wheel 51 is prior art and will not be described in detail herein. When the pipeline robot walks, the omnidirectional wheel 51 is tightly attached to the inner wall of the pipeline, so that pressure can be provided for the pipeline robot to enable the pipeline robot to stably run when the pipeline robot rotates or goes up and down a slope.

The second running gear 6 is parallel to the body 1. The second traveling mechanism 6 includes a connecting frame 61, two driving wheels 62 connected to the connecting frame 61 and disposed in front and rear, two driven wheels 63 connected to the connecting frame 61 and disposed between the two driving wheels 62, a crawler 64 disposed along the two driven wheels 63, and a second motor (not shown) for driving the two driving wheels 62. In each traveling mechanism, two second motors may be provided corresponding to the two driving wheels 62 to respectively and independently drive each driving wheel 62 to rotate. The two drive wheels 62 are mecanum wheels. The connection of the motor and the mecanum wheel is prior art and will not be described in detail here. Through setting up mecanum wheel, under certain angle modulation, can make pipeline robot realize the line of going back and forth, can also rotate around the pipeline in the pipeline. The driven wheel 63 is connected with the driving wheel 62 to be driven by the driving wheel 62, and specifically, a rotating shaft of the driving wheel 62 may be connected with a rotating shaft of the driven wheel 63 through a belt or a chain. By providing the driven wheels 63 and the caterpillar tracks 64, the caterpillar tracks 64 can be supported at the curve when the pipeline robot passes through the curve, preventing the pipeline robot from being stuck when passing through the curve.

The adaptive reducing mechanism 2 comprises a driving motor 21, a lead screw 22 connected with the driving motor 21, a nut 23 in threaded connection with the lead screw 22, and a moving block 24 connected with the nut 23. An accommodating space 241 is formed in the middle of the moving block 24, and the nut 23 is located in the accommodating space 241. The moving block 24 has a fitting hole 242, and the nut 23 is provided with a fitting post 231 fitted into the fitting hole 242. The matching hole 242 penetrates along a straight line, and the matching column 231 is in a straight line shape and extends into the matching hole 242, so that the nut 23 and the moving block 24 are connected, and the limiting of the moving block 24 is realized. The driving motor 21 can drive the screw rod 22 to rotate, thereby driving the nut 23 to move back and forth, and driving the moving block 24 to move back and forth. The fuselage 1 has a plurality of gibs 11 that circumference set up, and accommodation space 12 is enclosed into to a plurality of gibs 11, and driving motor 21, lead screw 22 and nut 23 are located accommodation space 12, and the movable block 24 cover is located the outside of gib 11 and is led through gib 11.

The cam mechanism 3 is connected to the body 1, the moving block 24, and the first travel mechanism 5. The two parallelogram mechanisms 4 are respectively arranged corresponding to the two second running mechanisms 6, wherein each parallelogram mechanism 4 is connected with the machine body 1, the moving block 24 and one second running mechanism 6. The nut 23 drives the moving block 24 to move back and forth, so that the first traveling mechanism 5 and the second traveling mechanism 6 can realize synchronous diameter change under the driving of the triangular mechanism 3 and the parallelogram mechanism 4 respectively.

The moving block 24 is provided with one first connecting portion 243 corresponding to the first traveling mechanism 5 and two second connecting portions 244 corresponding to the two second traveling mechanisms 6, respectively, uniformly in the circumferential direction. The body 1 is uniformly provided with a third connecting portion 13 corresponding to the first traveling mechanism 5 and two fourth connecting portions 14 corresponding to the second traveling mechanisms 6, respectively, along the circumferential direction. Wherein, the fourth connection part 14 includes an upper connection unit 141 and a lower connection unit 142 positioned below the upper connection unit 141.

The triangular mechanism 3 includes a first link 31 hinged to the third connecting portion 13 of the body 1 and a second link 32 hinged to the first link 31, the first traveling mechanism 5 is connected to the end of the first link 31, and the second link 32 is hinged to the first connecting portion 243 of the moving block 24.

The parallelogram mechanism 4 comprises a third connecting rod 41 hinged with the fourth connecting part 14 of the machine body 1, a fourth connecting rod 42 positioned below the third connecting rod 41 and hinged with the fourth connecting part 14 of the machine body 1, and a fifth connecting rod 43 hinged with the second connecting part 244 of the moving block 24, wherein the third connecting rod 41, the fourth connecting rod 42 and the fifth connecting rod 43 are hinged with a connecting frame 61 of the second walking mechanism 6. The third link 41 is hinged to a hinge point located at a more front end above the upper connection unit 141, and the fourth link 42 is hinged to a hinge point located at a more rear end below the lower connection unit 142. Correspondingly, the third link 41 is hinged to a hinge point located at the front end above the connecting frame 61, and the fourth link 42 is hinged to a hinge point located at the rear end below the connecting frame 61. The height of the connecting frame 61 and the overall height of the fourth connecting portion 14 are substantially equal, thereby making the third link 41 and the fourth link 42 substantially parallel and horizontal, respectively. By arranging the parallelogram mechanism 4, the second walking mechanism 6 and the machine body 1 can be kept parallel, and the machine body 1 is stable in the pipeline.

As described above, drive motor 21 may move traveling block 24 forward or backward. When moving block 24 moves forward, second link 32 may be driven to rise, and thus first link 31 is driven to rise (i.e. triangular mechanism 3 contracts upward, and first link 31 and second link 32 move toward each other), and thus first traveling mechanism 5 is driven to rise upward, so that omni wheel 51 rises upward; at the same time, the moving block 24 can drive the fifth link 43 to move outwards, so that the second traveling mechanism 6, the third link 41, and the fourth link 42 move outwards (i.e., the parallelogram mechanism 4 contracts outwards, and the fifth link 43 and the third link 41 (the fourth link 42) move towards each other), so that the driving wheel 62 moves outwards. That is, when moving block 24 moves forward, first and second traveling mechanisms 5 and 6 expand outward to realize reducing, so that omni wheel 51 and driving wheel 62 can always cling to the pipe wall, thereby adapting to a pipe with a larger pipe diameter.

When the moving block 24 moves backward, the second connecting rod 32 can be driven to descend, so that the first connecting rod 31 is driven to descend (i.e. the triangular mechanism 3 extends downward, and the first connecting rod 31 and the second connecting rod 32 move away from each other), so that the first traveling mechanism 5 is driven to descend downward, so that the omnidirectional wheel 51 descends downward; at the same time, moving block 24 may move fifth link 43 inward, so that second running gear 6, third link 41, and fourth link 42 move inward (i.e., parallelogram mechanism 4 extends inward, and fifth link 43 and third link 41 (fourth link 42) move away from each other), so that driving wheel 62 moves inward. That is, when the moving block 24 moves forward, the first traveling mechanism 5 and the second traveling mechanism 6 move inward to realize diameter reduction, so that the omni wheel 51 and the driving wheel 62 can be always attached to the pipe wall, thereby adapting to a pipe having a smaller pipe diameter.

Therefore, by arranging the self-adaptive reducing mechanism 2, the triangular mechanism 3 and the parallelogram mechanism 4, the reducing of the pipeline robot can be realized so as to adapt to pipelines with different pipe diameters.

The driving wheel 62 is provided with a protruding shaft 65 protruding towards two sides, the protruding shaft 65 is connected with the connecting frame 61 through a pre-tightening shaft 66, and the pre-tightening shaft 66 is sleeved with a first pre-tightening spring 67 between the protruding shaft 65 and the connecting frame 61; one end of the pre-tightening shaft 66 is fixedly connected with the protruding shaft 65, and the other end penetrates through the connecting frame 61; the preload shaft 66 is axially movable relative to the connecting frame 61, and is provided with a stopper 661 that prevents the disengagement from the connecting frame 61. Through setting up first pretension spring 67 at action wheel 62, can realize that second running gear 6 compresses tightly the pipe wall to make there is sufficient normal pressure between second running gear 6 and the pipe wall, pipeline robot can move ahead smoothly. Especially, when the pipeline robot is subjected to diameter change, under the action of the parallelogram mechanism 4, the first pre-tightening spring 67 can apply pre-tightening force to the second travelling mechanism 6, so that positive pressure between the second travelling mechanism 6 and the pipe wall is ensured.

The front end of the body 1 is provided with a protective cover 7 made of transparent material, especially made of material with better optical performance, such as polymethyl methacrylate. The protective cover 7 is provided with a camera module 8 inside. The camera module 8 is used for recording the walking track, and when the underground pipeline engineering drawing is not seen, the camera module can be used for re-drawing the information of the underground pipeline, intelligently identifying the pipeline and recording the information of the pipeline, so that people can conveniently know the pipeline. The protective cover 7 is in a fisheye shape or a bullet head shape, and according to the law of refraction, the protective cover 7 protects the front camera and simultaneously enlarges the visual field of the camera module 8.

The rear end of fuselage 1 is equipped with cleaning device 9, cleaning device 9 includes that body 91 and circumference locate a plurality of cleaning brushes 92 of body 91, body 91 circumference is equipped with a plurality of jacks 911, cleaning brush 92 has the post 921 of inserting with jack 911 complex and with the brush hair portion 922 of inserting the post 921 and being connected, the outside cover of inserting the post 921 is equipped with second pretension spring 923, cleaning brush 92 is disposed and can be followed jack 911 and moved, like this when being applied to the pipeline that has different pipe diameters, cleaning brush 92 can move to the inboard along jack 911 under the effect of pipe wall, or move to the outside along jack 911 under the effect of second pretension spring 923, thereby make cleaning brush 92 can adapt to the pipeline of various pipe diameters, and second pretension spring 923 can provide the pretension force to brush hair portion 922, make brush hair portion 922 can tightly support the pipe wall, thereby work better. Furthermore, a motor (not shown) may be connected to the cleaning device 9 to rotate the cleaning device 9 for better cleaning.

The pipeline robot may also be provided with a maintenance module (not shown). Can transmit pipeline inner wall data and discern pipeline damage department through camera module 8, meet the damage and be in the pipeline below, the maintenance module of pipeline robot removes directly over damage department and repairs and maintain. And when the damaged position is above the pipeline, the pipeline robot can move through the travelling mechanism, so that the maintenance module moves to the position below the damaged position.

As shown in fig. 4, the pipeline robot may further include a control module 10, a gyroscope module 20, a display module 30, and a pressure sensor module 40, the camera module 8, and the display module 30 are connected to the control module 10, and the control module 10 includes an FPGA and a single chip microcomputer. The control module is the combination of FPGA and singlechip to improve control module's performance, thereby simplified peripheral circuit widely, improved the stability and the reliability of entire system, and control pin can be enough to satisfy the design requirement. The gyroscope module 20 is used for monitoring the pipeline angle in real time, and the type of the gyroscope module 20 can adopt a kyushu gyroscope module GY-9150. When a turning or vertical falling place is met, the angle value analyzed by the gyroscope module 20 and the return value of the pressure sensor can better control and adjust the pipeline robot to stably run in the pipeline. The display module 30 can be used in cooperation with the camera module 8 to display the pipe condition shot by the camera module 8, and the model of the display module 30 can be an LCD 12864.

The above detailed description is only for the purpose of illustrating the preferred embodiments of the present invention, and not for the purpose of limiting the scope of the present invention, therefore, all equivalent technical changes that can be made by applying the present invention are included in the scope of the present invention.

Claims

1. An abdominal wall type pipeline robot, comprising:

a body;

2. The abdominal wall type pipeline robot of claim 1, wherein: the triangular mechanism comprises a first connecting rod hinged with the machine body and a second connecting rod hinged with the first connecting rod, the tail end of the first connecting rod is connected with the first traveling mechanism, and the second connecting rod is hinged with the moving block.

3. The abdominal wall type pipeline robot of claim 1, wherein: the parallelogram mechanism comprises a third connecting rod hinged with the machine body, a fourth connecting rod positioned below the third connecting rod and hinged with the machine body, and a fifth connecting rod hinged with the moving block, wherein the third connecting rod, the fourth connecting rod and the fifth connecting rod are hinged with the second walking mechanism, and the third connecting rod is parallel to the fourth connecting rod.

4. The abdominal wall type pipeline robot of claim 1, wherein: the first traveling mechanism comprises an omnidirectional wheel and a first motor for driving the omnidirectional wheel; the second running gear includes the link, connects two action wheels that link and front and back set up, connect the link is located two between the action wheel two follow driving wheels, along two follow the track that the driving wheel set up, be used for the drive the second motor of two action wheels, at least one follow the driving wheel with the action wheel is connected in order to be driven by the action wheel, two the action wheel is mecanum wheel.

5. The abdominal wall type pipeline robot of claim 4, wherein: the driving wheel is provided with a protruding shaft protruding towards two sides, the protruding shaft is connected with the connecting frame through a pre-tightening shaft, and a first pre-tightening spring is sleeved between the protruding shaft and the connecting frame through the pre-tightening shaft; one end of the pre-tightening shaft is fixedly connected with the protruding shaft, and the other end of the pre-tightening shaft penetrates through the connecting frame; the pre-tightening shaft can axially move relative to the connecting frame and is provided with a limiting part for preventing the pre-tightening shaft from being separated from the connecting frame.

6. The abdominal wall type pipeline robot of claim 1, wherein: the fuselage is equipped with cleaning device, cleaning device includes that body and circumference are located a plurality of cleaning brush of body, body circumference is equipped with a plurality of jacks, cleaning brush have with the jack complex insert the post and with insert the brush hair portion that the post is connected, the outside cover of inserting the post is equipped with second pretension spring, cleaning brush is configured and can be followed the jack removes.

7. The abdominal wall type pipeline robot of claim 1, wherein: the fuselage is equipped with the safety cover of being made by transparent material, the inside camera module that is equipped with of safety cover.

8. The abdominal wall type pipeline robot of claim 7, wherein: the intelligent control system is characterized by further comprising a control module, a gyroscope module, a pressure sensor module and a display module, wherein the gyroscope module, the pressure sensor module, the camera module and the display module are connected with the control module, and the control module comprises an FPGA and a single chip microcomputer.

9. The abdominal wall type pipeline robot of claim 1, wherein: an accommodating space is formed in the middle of the moving block, the nut is located in the accommodating space, the moving block is provided with a matching hole, and the nut is provided with a matching column matched with the matching hole.

10. The abdominal wall type pipeline robot of claim 1, wherein: the machine body is provided with a plurality of guide strips which are circumferentially arranged, a containing space is enclosed by the plurality of guide strips, the driving motor, the lead screw and the nut are located in the containing space, and the moving block is sleeved on the outer side of the guide strips and guides the motor through the guide strips.