CN209495071U - A magnetically adsorbed traveling soft robot for maintenance of submarine oil pipelines - Google Patents

Abstract

The utility model discloses a soft robot for maintenance of a magnetic adsorption traveling type submarine oil pipeline, relates to the technical field of robots, in particular to a soft robot for maintenance of a magnetic adsorption traveling type subsea oil pipeline, which includes a shell, a flaw detector and a turntable. It is that: a main servo motor is arranged inside the housing, and racks are installed on the upper and lower sides of the main servo motor, and a main adjustment gear is installed on the end of the rack away from the main servo motor, and the upper and lower sides of the main adjustment gear are Both sides are equipped with auxiliary adjustment gears. This magnetically adsorbed traveling soft robot for submarine oil pipeline maintenance can effectively change the direction of the infrared camera through the turntable, effectively increase the recording space of the infrared camera, and clearly record mines. The situation inside the hole can not only effectively improve the detection efficiency of the pipeline, but also reduce the damage to the robot caused by dangerous obstacles, and can also provide reliable information support for maintenance personnel.

Description

A magnetically adsorbed traveling soft robot for maintenance of submarine oil pipelines

technical field

The invention relates to the technical field of robots, in particular to a soft robot for maintenance of a magnetically adsorbed traveling type submarine oil pipeline.

Background technique

Robots have been widely used in military, industrial, scientific detection and many other fields. Traditional robots are generally composed of rigid modules connected by kinematic pairs. Each kinematic pair provides a translational degree of freedom or a rotational degree of freedom. The kinematic combination of all kinematic pairs forms The working space of the end effector of the robot. This robot has the advantage of precise movement, but its rigid structure makes it less adaptable to the environment. Its movement is limited in a narrow space, and it cannot pass the scale smaller than the robot scale or complex shape. These shortcomings restrict the application of rigid robots in specific fields. Now there is a soft robot on the market, which is made of flexible materials and can change its shape and size arbitrarily in a wide range.

An in-pipe robot disclosed in CN2719507Y, the Chinese Invention Patent Application Publication, although the in-pipe robot can weld inside the pipeline, the in-pipe robot has a large volume, and the size of the robot cannot well adapt to the complexity of the inside of the pipeline. The channel cannot magnetically adsorb the robot and the inner wall of the pipeline well, providing stable support between the robot and the pipeline, cannot detect the welding condition inside the pipeline well, and cannot provide two kinds of Different forms of support cannot improve the buffering and shock-absorbing ability of the robot well, change the moving direction of the robot well, avoid collisions between the robot and obstacles, and monitor the internal conditions of the pipeline well. Record.

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention provides a soft robot for maintenance of a magnetically adsorbed traveling type submarine oil pipeline, which solves the problem that the in-pipe robot proposed in the above-mentioned background technology has a large volume and the size of the robot cannot be well adapted to the inside of the pipeline. The complex channel of the pipeline cannot be well magnetically adsorbed between the robot and the inner wall of the pipeline, providing stable support between the robot and the pipeline, cannot detect the welding condition inside the pipeline well, and cannot provide a good solution for the robot. The two different types of support cannot improve the buffering and shock absorption ability of the robot well, change the moving direction of the robot well, avoid the collision between the robot and obstacles, and can't well control the vibration inside the pipeline. The problem of recording the situation.

In order to achieve the above objectives, the present invention is achieved through the following technical solutions: a soft robot for maintenance of a magnetically adsorbed traveling type submarine oil pipeline, including a casing, a flaw detector and a turntable, and is characterized in that: the inside of the casing is provided with a main servo motor , and the upper and lower sides of the main servo motor are equipped with racks, the end of the rack far away from the main servo motor is equipped with a main adjustment gear, and the upper and lower sides of the main adjustment gear are equipped with auxiliary adjustment gears, the auxiliary adjustment An adjustment rod is installed on the end of the gear away from the rack, an air bag is installed on the front end of the main servo motor, an infrared camera is installed on the front end of the turntable, and the turntable is located at the front end of the shell, and the left and right sides of the flaw detector are installed with The base, and the flaw detector is located at the rear end of the shell, the inside of the base is provided with an inner toothed plate, and the rear end of the inner toothed plate is equipped with a protective shell, the inside of the protective shell is provided with a main adjustment motor, and the main adjustment motor The rear end of the main helical gear is equipped with a main helical gear, and an auxiliary helical gear is installed at one end of the main helical gear away from the center of the main regulating motor, and a soft wheel is installed at the end of the auxiliary helical gear away from the main helical gear.

Optionally, the main servo motor, the main distance sensor, the magnetic wheel, the auxiliary adjustment gear, the auxiliary servo motor and the auxiliary distance sensor are symmetrically distributed about the vertical center line of the casing, and the outer part of the magnetic wheel is toothed. Tooth structure.

Optionally, the adjustment rod forms a tensile structure through the cooperation between the guide rod and the spring and the magnetic wheel, and the outer width of the guide rod is smaller than the inner width of the adjustment rod.

Optionally, the adjustment rod forms a meshing transmission with the drive motor through the cooperation between the main adjustment gear, the auxiliary adjustment gear and the rack, and the guide rod runs through the edge of the adjustment rod.

Optionally, the main servo motor forms a meshing transmission with the base through the cooperation between the inner toothed plate and the driving gear, and the bases are symmetrically distributed with respect to the vertical center line of the flaw detector, and the soft wheels are about the level of the base. The center line is symmetrically distributed.

Optionally, the guide rod runs through the inside of the oil ring and the oil-soaked sponge, and the guide rod forms an elastic structure through the spring and the adjustment rod.

Optionally, the airbags form a communication structure through the cooperation between the air tube and the air pump, and the outside of the airbags and the inside of the casing are partially tightly fitted.

Optionally, the soft wheel forms an integral structure through a suction cup, and the inner surface of the suction cup and the outer surface of the magnet are partially tightly fitted, and the interior of the suction cup has a bell-mouth structure.

Optionally, the infrared camera forms a rotating structure through the micro motor and the turntable, and the central axis of the turntable is perpendicular to the casing.

The invention provides a soft robot for maintenance of a magnetically adsorbed traveling type submarine oil pipeline, which has the following beneficial effects:

1. The soft robot for magnetically adsorbed traveling type submarine oil pipeline maintenance can effectively magnetically adsorb the robot and the pipeline through the magnet, providing a stable support structure for the robot, and the bell mouth structure of the suction cup can effectively increase the size of the robot and The adsorption force between the pipes prevents the robot from falling and improves the stability of the connection between the robot and the pipes. Through the cooperation between the air pipe and the air pump, the air can be effectively introduced into the inside of the airbag, so that the airbag forms a layer outside the robot. The protective layer can effectively slow down the impact between the robot and the obstacles inside the pipeline, reduce the magnetic force required by the robot, reduce the loss of the robot's electrical energy, and reduce the weight of the robot itself.

2. The magnetically adsorbed moving soft robot for maintenance of submarine oil pipelines can effectively improve the power transmission efficiency of the main servo motor through the cooperation between the inner gear plate and the driving gear, and reduce the friction between the working parts when the main servo motor is working. Mechanical wear ensures that the main servo motor can stably and continuously drive the base to rotate through the cooperation between the inner gear plate and the driving gear, so that the robot can effectively control the movement of the robot by adjusting the angle of the base according to the bending state of the pipeline or the angle of the connection direction, to ensure that the robot can move stably along the inside of the pipeline, and at the same time, the flaw detector is used to detect the welds inside the pipeline to ensure the safety of the pipeline and prevent oil leakage, thereby effectively improving the efficiency of pipeline maintenance.

3. The magnetically adsorbed moving soft robot for maintenance of submarine oil pipelines can effectively control the moving distance of the magnetic wheel along the central axis of the adjustment rod through the cooperation between the guide rod, the adjustment rod and the spring, so that the robot can move according to the direction of the pipeline. The inner width controls the length between the magnetic wheel, the guide rod and the adjustment rod, and the magnetic wheel connects the robot to the inner wall of the pipeline to provide reliable support for the robot and prevent the robot from falling. The collision with the pipeline will cause damage to the internal components or precision parts of the robot, so that the robot cannot perform maintenance work well, resulting in a decrease in the working efficiency of the robot. The oil-soaked sponge can effectively provide lubrication for the guide rod The effect is to reduce the mechanical wear between the guide rod and the adjustment rod, and can effectively reduce the impact force between the adjustment rod and the guide rod. The oil ring can effectively prevent the leakage of lubricating oil. The connection between the guide rod and the adjustment rod is covered with a layer of lubricating oil, which prevents the connection between the guide rod and the adjustment rod from being worn out or rusted too quickly, and ensures that the guide rod and the adjustment rod can work stably and continuously for a long time.

4. The magnetically adsorbed traveling soft robot for submarine oil pipeline maintenance can effectively change the direction of the infrared camera through the turntable, can effectively increase the recording space of the infrared camera, and can clearly record the situation inside the mine. Improving the detection efficiency of pipelines can reduce the damage to robots caused by dangerous obstacles, and can also provide reliable information support for maintenance personnel.

5. The soft robot for maintenance of the magnetically adsorbed traveling submarine oil pipeline can effectively help the robot detect obstacles on the moving route inside the pipeline through the cooperation between the main distance sensor and the auxiliary distance sensor, and prevent the obstacle from moving the robot The magnetic attraction between the inner wall of the pipeline and the inner wall of the pipeline is weakened, causing the robot to fall from the inner wall of the pipeline, so that the robot cannot move well along the inner wall of the pipeline at a uniform speed, which affects the time of the robot's activities. When the robot changes the moving direction or angle, it can pass through the main The cooperation between the distance sensor and the auxiliary distance sensor can effectively detect the moving surroundings of the pipeline to ensure the stable rotation or direction adjustment of the robot.

Description of drawings

Fig. 1 is a schematic diagram of the main view structure of the present invention;

Fig. 2 is the back-end structure schematic diagram of shell of the present invention;

Fig. 3 is a schematic structural view of the airbag of the present invention;

Fig. 4 is the back-end structure schematic diagram of soft wheel of the present invention;

Fig. 5 is the side view structural representation of soft wheel of the present invention;

Fig. 6 is a schematic diagram of the internal structure of the adjusting rod of the present invention;

Fig. 7 is a schematic diagram of the front end structure of the shell of the present invention;

Fig. 8 is a schematic diagram of the internal structure of the protective case of the present invention.

In the figure: 1. shell; 2. main servo motor; 3. main distance sensor; 4. magnetic wheel; 5. guide rod; 6. adjustment rod; 7. drive motor; 8. main adjustment gear; 9. rack; 10. Auxiliary adjusting gear; 11. Auxiliary servo motor; 12. Auxiliary distance sensor; 13. Base; 14. Inner gear; 15. Driving gear; 16. Flaw detector; 17. Air bag; 18. Trachea; 19. Air pump; 20, soft wheel; 21, suction cup; 22, magnet; 23, protective shell; 24, oil ring; 25, oil-soaked sponge; 26, spring; 27, infrared camera; 28, turntable; 29, micro motor; 30, main Regulating motor; 31, main helical gear; 32, auxiliary helical gear.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them.

In the description of the present invention, unless otherwise stated, the meaning of "plurality" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer" , "front end", "rear end", "head", "tail", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than Indicates or implies that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention, and the terms "first", "second", "third", etc. They are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral It can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations .

Please refer to Fig. 1 to Fig. 8, the present invention provides a technical solution: a soft robot for maintenance of a magnetically adsorbed traveling type subsea oil pipeline, including a casing 1, a flaw detector 16 and a turntable 28, and a main servo motor is arranged inside the casing 1 2, and the upper and lower sides of the main servo motor 2 are equipped with a rack 9, the end of the rack 9 away from the main servo motor 2 is equipped with a main adjustment gear 8, and the upper and lower sides of the main adjustment gear 8 are equipped with auxiliary adjustment gears 10. An adjustment rod 6 is installed on the end of the auxiliary adjustment gear 10 away from the rack 9, and a spring 26 is arranged inside the adjustment rod 6. The adjustment rod 6 is stretched by the cooperation between the guide rod 5 and the spring 26 and the magnetic wheel 4. structure, and the outer width of the guide rod 5 is smaller than the inner width of the adjustment rod 6, the end of the spring 26 away from the adjustment rod 6 is equipped with an oil-soaked sponge 25, and the end of the oil-soaked sponge 25 away from the spring 26 is equipped with an oil ring 24, guide The rod 5 runs through the inside of the oil ring 24 and the inside of the oil-soaked sponge 25, and the guide rod 5 forms an elastic structure through the spring 26 and the adjustment rod 6. 5. The cooperation between the adjustment rod 6 and the spring 26 can effectively control the moving distance of the magnetic wheel 4 along the central axis of the adjustment rod 6, so that the robot can adjust the magnetic wheel 4, the guide rod 5 and the magnetic wheel 4 according to the width of the pipeline. The length between the adjustment rod 6 is controlled, and the magnetic wheel 4 is used to magnetically connect the robot to the inner wall of the pipeline to provide reliable support for the robot and prevent the collision between the robot and the pipeline when the robot falls, causing the robot to fall. The internal components or precision parts are damaged, so that the robot cannot perform maintenance work well, resulting in a decrease in the working efficiency of the robot. The oil-soaked sponge 25 can effectively provide lubrication for the guide rod 5, and reduce the friction between the guide rod 5 and the robot. The mechanical wear between the adjustment rods 6 can effectively reduce the impact force between the adjustment rod 6 and the guide rod 5, and the oil ring 24 can effectively prevent the leakage of lubricating oil. The joint of the joint is covered with a layer of lubricating oil to prevent the joint between the guide rod 5 and the adjustment rod 6 from being worn out or rusted too quickly, and to ensure that the guide rod 5 and the adjustment rod 6 can work stably and continuously for a long time;

A guide rod 5 is installed on the end of the adjustment rod 6 away from the auxiliary adjustment gear 10, and a magnetic wheel 4 is installed on the end of the guide rod 5 away from the adjustment rod 6. The adjustment rod 6 passes through the main adjustment gear 8, the auxiliary adjustment gear 10 and the rack 9 The cooperation between the three and the drive motor 7 form a meshing transmission, and the guide rod 5 runs through the edge of the adjustment rod 6. The left side of the main servo motor 2 is equipped with a main distance sensor 3, and the right side of the main servo motor 2 is equipped with a secondary sensor. Servo motor 11, and auxiliary distance sensor 12 is installed on the right side of auxiliary servo motor 11, main servo motor 2, main distance sensor 3, magnetic wheel 4, auxiliary adjusting gear 10, auxiliary servo motor 11 and auxiliary distance sensor 12 six all They are distributed symmetrically about the vertical center line of the housing 1, and the outside of the magnetic wheel 4 is in a tooth-like structure. The soft robot for magnetically adsorbed traveling type submarine oil pipeline maintenance passes between the main distance sensor 3 and the auxiliary distance sensor 12. The cooperation can effectively help the robot detect obstacles on the moving route inside the pipeline, prevent obstacles from weakening the magnetic attraction between the robot and the inner wall of the pipeline, and cause the robot to fall from the inner wall of the pipeline, making the robot unable to work well Moving at a constant speed along the inner wall of the pipeline affects the time of the robot's movement. When the robot changes the moving direction or angle, it can effectively detect the surroundings of the pipeline through the cooperation between the main distance sensor 3 and the auxiliary distance sensor 12 to ensure the stability of the robot. rotation or adjustment direction;

The front end of main servo motor 2 is equipped with air bag 17, and the inside of air bag 17 is provided with air pipe 18, and the middle part of air pipe 18 is equipped with air pump 19, forms the communicating structure by the cooperation between air bag 17 between air pipe 18 and air pump 19, and air bag The outer part of 17 and the inner part of the shell 1 are closely attached to each other. The magnetically adsorbed traveling soft robot for maintenance of submarine oil pipelines can effectively magnetically adsorb the robot and the pipeline through the magnet 22, providing a stable support structure for the robot. , the bell mouth structure of the suction cup 21 can effectively increase the adsorption force between the robot and the pipeline, prevent the robot from falling, and improve the stability of the connection between the robot and the pipeline, and the cooperation between the air pipe 18 and the air pump 19 can Effectively introduce air into the interior of the airbag 17, so that the airbag 17 forms an outer protective layer of the robot, which can effectively slow down the impact between the robot and the obstacles inside the pipeline, reduce the magnetic force required by the robot, and reduce the loss of robot power , to reduce the weight of the robot itself, the front end of the shell 1 is equipped with a turntable 28, and the front end of the turntable 28 is equipped with an infrared camera 27, a micro motor 29 is installed above the infrared camera 27, and the infrared camera 27 passes between the micro motor 29 and the turntable 28 Consists of a rotating structure, and the central axis of the turntable 28 is perpendicular to the casing 1. This magnetic adsorption traveling soft robot for subsea oil pipeline maintenance can effectively change the direction of the infrared camera 27 through the turntable 28, and can effectively increase the size of the infrared camera 27. The space that can be recorded can clearly record the situation inside the mine, which can not only effectively improve the detection efficiency of the pipeline, but also reduce the damage to the robot caused by dangerous obstacles, and can also provide reliable information support for maintenance personnel. The back end of shell 1 A flaw detector 16 is installed, and bases 13 are installed on the left and right sides of the flaw detector 16. The main servo motor 2 forms a meshing transmission with the base 13 through the cooperation between the inner gear plate 14 and the driving gear 15, and the base 13 is about The vertical center line of the flaw detector 16 is distributed symmetrically, and the soft wheels 20 are distributed symmetrically with respect to the horizontal center line of the base 13. The cooperation between them can effectively improve the power transmission efficiency of the main servo motor 2, reduce the mechanical wear between the working parts when the main servo motor 2 is working, and ensure that the main servo motor 2 can pass through the inner gear plate 14 and the driving gear 15 stably and continuously. The cooperation between them drives the base 13 to rotate, which is convenient for the robot to effectively control the moving direction of the robot by adjusting the angle of the base 13 according to the bending state of the pipeline or the angle of connection, so as to ensure that the robot can move stably along the inside of the pipeline, and at the same time pass the flaw detection The instrument 16 detects the welds inside the pipeline to ensure the safety of the pipeline and prevent oil leakage, thereby effectively improving the efficiency of pipeline maintenance. The inside of the base 13 is equipped with an inner gear plate 14, and the inside of the inner gear plate 14 is set Drive gear 15 is arranged, and the rear end of internal chainring 14 is equipped with protective shell 23, and The inside of the protective shell 23 is provided with a main regulating motor 30, the rear end of the main regulating motor 30 is equipped with a main helical gear 31, and the end of the main helical gear 31 away from the center of the main regulating motor 30 is equipped with a secondary helical gear 32, the secondary helical gear 32 A soft wheel 20 is installed at the end away from the main helical gear 31, and a sucker 21 is installed at the end of the soft wheel 20 away from the center, and a magnet 22 is arranged inside the sucker 21, and the soft wheel 20 forms an integrated structure through the sucker 21, and the sucker 21 The inner surface of the magnet 22 is locally in close contact with the outer surface of the magnet 22, and the inside of the suction cup 21 has a trumpet structure.

To sum up, when using the magnetically adsorbed traveling soft robot for maintenance of submarine oil pipelines, firstly, the main regulating motor 30 (JS-3420) is started, and the main regulating motor 30 passes through the cooperation between the main helical gear 31 and the auxiliary helical gear 32. Drive the soft wheel 20 to rotate, improve the bearing capacity of the main regulating motor 30 to the robot, and the magnet 22 can effectively magnetically adsorb the robot and the pipeline to provide a stable support structure for the robot. The bell mouth structure of the suction cup 21 can effectively Increase the adsorption force between the robot and the pipeline, prevent the robot from falling, and improve the stability of the connection between the robot and the pipeline;

Secondly, through the cooperation between the inner gear plate 14 and the driving gear 15, the power transmission efficiency of the main servo motor 2 can be effectively improved, and the main servo motor 2 (PLX) can be started, and the main servo motor 2 can pass through the inner gear plate 14 stably and continuously. The cooperation with the driving gear 15 drives the base 13 to rotate, which is convenient for the robot to effectively control the moving direction of the robot by adjusting the angle of the base 13 according to the bending state of the pipeline or the connection angle, so as to ensure that the robot can move stably along the inside of the pipeline , and at the same time use the flaw detector 16 (BJ20180711F) to detect the weld inside the pipeline to ensure the safety of the pipeline and prevent oil leakage, thereby effectively improving the efficiency of pipeline maintenance. Next, through the guide rod 5, the adjustment rod 6 and The cooperation between the three springs 26 controls the moving distance of the magnetic wheel 4 along the central axis direction of the adjustment rod 6, and the robot performs a measurement on the length between the magnetic wheel 4, the guide rod 5 and the adjustment rod 6 according to the width inside the pipeline. Control, magnetically connect the robot to the inner wall of the pipeline through the magnetic wheel 4, provide reliable support for the robot, and prevent the collision between the robot and the pipeline when the robot falls, causing damage to the internal components or precision parts of the robot , so that the robot cannot perform maintenance work well, resulting in a decrease in the working efficiency of the robot. The oil-soaked sponge 25 can effectively provide lubrication for the guide rod 5, reduce the mechanical wear between the guide rod 5 and the adjustment rod 6, and Can effectively reduce the impact force between the adjustment rod 6 and the guide rod 5, the oil ring 24 can effectively prevent the leakage of lubricating oil, and at the same time cover the joint between the guide rod 5 and the adjustment rod 6 with a layer of lubricating oil to prevent The connection between the guide rod 5 and the adjustment rod 6 wears out too fast or rusts, so as to ensure that the guide rod 5 and the adjustment rod 6 can work stably and continuously for a long time, start to drive the motor 7 (PLX), and drive the motor 7 Through the cooperation between the main adjustment gear 8, the auxiliary adjustment gear 10 and the rack 9, the rotation angle of the adjustment rod 6 is controlled. The cooperation between the gear 10 and the rack 9 can effectively move the robot along the central axis of the pipeline to prevent the robot from falling, and then start the air pump 19 (1151), and the cooperation between the air pipe 18 and the air pump 19 can effectively The air is introduced into the interior of the airbag 17, so that the airbag 17 forms an outer protective layer of the robot, which can effectively slow down the impact between the robot and the obstacles inside the pipeline, reduce the magnetic force required by the robot, and reduce the loss of robot power. Reduce the weight of the robot itself, and at the same time, the direction of the infrared camera 27 (MINI-6) can be effectively changed through the turntable 28, which can effectively increase the recording space of the infrared camera 27, and can clearly record the situation inside the mine. It can not only effectively improve the detection efficiency of pipelines, but also reduce the damage of dangerous obstacles to robots, and can also provide reliable information support for maintenance personnel;

Finally, the cooperation between the main distance sensor 3 (Risym) and the auxiliary distance sensor 12 (Risym) can effectively help the robot to detect obstacles on the moving route inside the pipeline, and prevent obstacles from moving between the robot and the inner wall of the pipeline. The magnetic attraction of the robot is weakened, causing the robot to fall from the inner wall of the pipeline, so that the robot cannot move well along the inner wall of the pipeline at a uniform speed, which affects the time of the robot's activities. When the robot changes the direction or angle of movement, it can pass the main distance sensor 3 and the auxiliary The cooperation between the distance sensors 12 can effectively detect the moving surroundings of the pipeline to ensure the stable rotation or direction adjustment of the robot.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solutions of the present invention and its Any equivalent replacement or change of the inventive concept shall fall within the protection scope of the present invention.

Claims (9)

1. A soft robot for maintenance of a magnetically adsorbed traveling type submarine oil pipeline, comprising a housing (1), a flaw detector (16) and a turntable (28), characterized in that: the housing (1) is provided with a main servo motor inside (2), and the upper and lower sides of the main servo motor (2) are equipped with a rack (9), and the end of the rack (9) away from the main servo motor (2) is equipped with a main adjustment gear (8), and An auxiliary adjustment gear (10) is installed on the upper and lower sides of the main adjustment gear (8), and an adjustment rod (6) is installed on the end of the auxiliary adjustment gear (10) away from the rack (9), and the main servo motor ( 2) is equipped with an air bag (17) at the front end, and an infrared camera (27) is installed at the front end of the turntable (28), and the turntable (28) is located at the front end of the housing (1), and the left and right sides of the flaw detector (16) The base (13) is installed on both sides, and the flaw detector (16) is located at the rear end of the casing (1). The inner toothed plate (14) is arranged inside the base (13), and the rear toothed plate (14) A protective shell (23) is installed at the end of the protective shell (23), and the main adjusting motor (30) is installed inside the protective shell (23), and the rear end of the main adjusting motor (30) is equipped with a main helical gear (31). An auxiliary helical gear (32) is installed on the end of the gear (31) away from the center of the main regulating motor (30), and a soft wheel (20) is installed on the end of the auxiliary helical gear (32) away from the main helical gear (31). 2. A soft robot for magnetically adsorbed traveling type subsea oil pipeline maintenance according to claim 1, characterized in that: the main servo motor (2), the main distance sensor (3), the magnetic wheel (4), the auxiliary The adjustment gear (10), the auxiliary servo motor (11) and the auxiliary distance sensor (12) are symmetrically distributed about the vertical center line of the housing (1), and the outside of the magnetic wheel (4) has a tooth-like structure . 3. A soft robot for magnetically adsorbed traveling type subsea oil pipeline maintenance according to claim 1, characterized in that: the adjustment rod (6) is matched with the guide rod (5) and the spring (26) The magnetic wheel (4) constitutes a tensile structure, and the outer width of the guide rod (5) is smaller than the inner width of the adjustment rod (6). 4. A soft robot for maintenance of magnetically adsorbed traveling type submarine oil pipelines according to claim 1, characterized in that: the adjustment rod (6) passes through the main adjustment gear (8), the auxiliary adjustment gear (10) and the teeth The cooperation between the three strips (9) and the driving motor (7) form a meshing transmission, and the guide rod (5) runs through the edge of the adjustment rod (6). 5. A soft robot for magnetically adsorbed traveling type subsea oil pipeline maintenance according to claim 1, characterized in that: the main servo motor (2) passes between the inner gear plate (14) and the driving gear (15) The cooperation with the base (13) constitutes a meshing transmission, and the bases (13) are symmetrically distributed about the vertical centerline of the flaw detector (16), and the soft wheels (20) are symmetrical about the horizontal centerline of the base (13) distributed. 6. A soft robot for magnetically adsorbed traveling type subsea oil pipeline maintenance according to claim 3, characterized in that: the guide rod (5) runs through the inside of the oil ring (24) and the oil-soaked sponge (25) Inside, and the guide rod (5) forms an elastic structure through the spring (26) and the adjustment rod (6). 7. A soft robot for maintenance of magnetically adsorbed traveling type submarine oil pipelines according to claim 1, characterized in that: said airbags (17) are formed by cooperation between air pipes (18) and air pumps (19) The structure is connected, and the outside of the airbag (17) and the inside of the shell (1) are locally closely fitted. 8. A soft robot for magnetically adsorbed traveling type subsea oil pipeline maintenance according to claim 1, characterized in that: the soft wheel (20) forms an integrated structure through the suction cup (21), and the suction cup (21) The inner surface and the outer surface of the magnet (22) are partially in close contact, and the inside of the suction cup (21) has a trumpet structure. 9. A soft robot for maintenance of magnetically adsorbed traveling type submarine oil pipelines according to claim 1, characterized in that: the infrared camera (27) forms a rotating structure between the micro motor (29) and the turntable (28) , and the central axis of the turntable (28) is perpendicular to the casing (1).