CN217864426U

CN217864426U - Gas pipeline leakage detection robot of crawling

Info

Publication number: CN217864426U
Application number: CN202221137642.2U
Authority: CN
Inventors: 李越彪; 张华杰; 赵良杰; 张卓
Original assignee: Yantai Jinzheng Eco Technology Co ltd
Current assignee: Yantai Jinzheng Eco Technology Co ltd
Priority date: 2022-05-11
Filing date: 2022-05-11
Publication date: 2022-11-22
Anticipated expiration: 2032-05-11

Abstract

A gas pipeline leakage detection crawling robot is characterized in that a front foot module is fixed in front of a machine body module, and a rear foot module is fixed behind the machine body module; through holes which are communicated with each other and are used for accommodating the maintenance pipeline are formed in the centers of the front foot module, the machine body module and the rear foot module; the front foot module comprises a front foot air bag, the friction force between the front foot air bag and the maintenance pipeline is increased through inflation, and the friction force between the front foot air bag and the maintenance pipeline is reduced through deflation; the rear foot module comprises a rear foot air bag, the friction force between the rear foot air bag and the maintenance pipeline is increased through inflation, and the friction force between the rear foot air bag and the maintenance pipeline is reduced through deflation; the fuselage module includes pneumatic software driver, and pneumatic software driver includes the cylinder, and the outer wall winding of cylinder has expanding spring, and the cylinder carries out the extension through aerifing, and the cylinder stops to aerify the back and stretches out and draws back through expanding spring and resets. The utility model is convenient to assemble, maintain and replace, and has simple structure; the pipeline leakage detection can be carried out in air and water, and the cost is low.

Description

Gas pipeline leakage detection robot of crawling

Technical Field

The utility model relates to a gas pipeline leak testing robot of crawling belongs to gas pipeline leak testing technical field.

Background

In recent years, with the implementation of the strategy plan of 'double carbon', the import amount of natural gas in China is gradually increased, and the natural gas can gradually replace fuels such as wood, coal and the like. However, the extensive laying of gas pipelines also brings about a large pressure for the gas pipeline leakage detection work.

In the prior art, a gas pipeline leakage detection robot driven by a motor and the like needs to be additionally provided with an expensive explosion-proof device, and particularly needs to be subjected to waterproof treatment when an underwater gas pipeline is detected, so that the gas pipeline leakage detection robot is expensive, and the gas conveying cost is high. When the rigid gas pipeline leakage detection robot driven by the motor and the like is used for detecting the gas pipeline leakage, sparks are easy to generate, and great potential safety hazards exist. How to design a technical scheme more suitable for gas pipeline leakage detection operation is a technical problem to be solved urgently.

SUMMERY OF THE UTILITY MODEL

The utility model discloses not enough to prior art exists provides a gas pipeline leak testing robot of crawling, can detect gas pipeline in air and aquatic, solves the problem that traditional detection scheme exists with high costs and have great potential safety hazard.

The utility model provides an above-mentioned technical problem's technical scheme as follows: a crawling robot for detecting leakage of a gas pipeline comprises a front foot module, a machine body module and a rear foot module; the front foot module is fixed in front of the machine body module, and the rear foot module is fixed behind the machine body module; through holes which are communicated with each other and are used for accommodating maintenance pipelines are formed in the centers of the front foot module, the machine body module and the rear foot module;

the front foot module comprises a front foot air bag, the friction force between the front foot air bag and the maintenance pipeline is increased through inflation, and the friction force between the front foot air bag and the maintenance pipeline is reduced through deflation;

the rear foot module comprises a rear foot air bag, the friction force between the rear foot air bag and the maintenance pipeline is increased through inflation, and the friction force between the rear foot air bag and the maintenance pipeline is reduced through deflation;

the fuselage module includes pneumatic software driver, pneumatic software driver includes the cylinder, the outer wall winding of cylinder has expanding spring, the cylinder extends through aerifing, the cylinder stops to aerify the back through expanding spring carries out flexible the reseing.

As a preferable scheme of the gas pipeline leakage detection crawling robot, the front foot module further comprises a front foot shell and a front foot baffle, and the front foot air bag is fixed in an annular space which is enclosed by the front foot shell and the front foot baffle and is sealed on the front side, the rear side and the upper side;

the forefoot air bag and the forefoot shell are provided with forefoot air holes which are communicated with each other.

As a preferred scheme of the gas pipeline leakage detection crawling robot, the rear foot module further comprises a rear foot shell and a rear foot baffle, and the rear foot bladder is fixed in an annular space which is enclosed by the rear foot shell and the rear foot baffle and is sealed on the front side, the rear side and the upper side;

the rear foot air bag and the rear foot shell are provided with rear foot air holes which are communicated with each other.

As the preferable scheme of the gas pipeline leakage detection crawling robot, the front foot baffle is uniformly fixed with front foot magnetic steel along the circumference; the back foot baffle is evenly fixed with back foot magnet steel along the circumference.

As a preferred scheme of the gas pipeline leakage detection crawling robot, the machine body module further comprises a front machine body baffle and a rear machine body baffle;

the front fuselage baffle is uniformly distributed with front fuselage magnetic steels along the circumference, and the rear fuselage baffle is uniformly distributed with rear fuselage magnetic steels along the circumference;

the front machine body baffle is sucked with the front foot magnetic steel of the front foot baffle through the front machine body magnetic steel;

the rear machine body baffle is attracted by the rear machine body magnetic steel and the rear foot magnetic steel of the rear foot baffle;

the pneumatic soft driver is arranged between the front machine body baffle and the rear machine body baffle.

As the preferred scheme of the gas pipeline leakage detection crawling robot, a plurality of gas detection sensors are uniformly fixed on the rear side of the front body baffle along the circumference.

As the preferred scheme of the gas pipeline leakage detection crawling robot, a plurality of satellite positioning sensors are uniformly fixed on the front side of the rear body baffle along the circumference.

As a preferred scheme of the gas pipeline leakage detection crawling robot, the cylinder is made of silica gel, the front end of the cylinder is connected with a front flange, and the rear end of the cylinder is connected with a rear flange;

the cylinder and the rear flange are provided with mutually communicated machine body air holes.

The utility model is provided with a front foot module, a machine body module and a rear foot module; the front foot module is fixed in front of the machine body module, and the rear foot module is fixed behind the machine body module; through holes which are communicated with each other and are used for accommodating the maintenance pipeline are formed in the centers of the front foot module, the machine body module and the rear foot module; the front foot module comprises a front foot air bag, the friction force between the front foot air bag and the maintenance pipeline is increased through inflation, and the friction force between the front foot air bag and the maintenance pipeline is reduced through deflation; the rear foot module comprises a rear foot air bag, the friction force between the rear foot air bag and the maintenance pipeline is increased through inflation, and the friction force between the rear foot air bag and the maintenance pipeline is reduced through deflation; the fuselage module includes pneumatic software driver, and pneumatic software driver includes the cylinder, and the outer wall winding of cylinder has expanding spring, and the cylinder extends through aerifing, and the cylinder stops to aerify the back and stretches out and draws back through expanding spring and resets. The utility model adopts the modular design, can independently manufacture, assemble, maintain and replace the foot module, the machine body module and the rear foot module, and has simple structure, stability and reliability; the gas pipeline leakage detection device is driven by a pneumatic soft driver, has inherent explosion-proof and waterproof performances, can detect the leakage of the gas pipeline in air and water, and reduces the explosion-proof and waterproof costs of the robot; in addition, the manufacturing cost of the pneumatic soft driver is low, and the pneumatic soft driver has important significance for reducing the conveying cost of fuel gas.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary and that other implementation drawings may be derived from the drawings provided to one of ordinary skill in the art without inventive effort.

The structure, proportion, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and the modification of any structure, the change of proportion relation or the adjustment of size all fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the purpose which can be achieved by the present invention.

Fig. 1 is a schematic view of a three-dimensional structure of a gas pipeline leakage detection crawling robot provided in an embodiment of the present invention;

fig. 2 is a schematic view of an exploded structure of the crawling robot for detecting leakage of the gas pipeline provided in the embodiment of the present invention;

fig. 3 is a schematic partial structural view of a front foot module of a gas pipeline leakage detection crawling robot provided in an embodiment of the present invention;

fig. 4 is a schematic view of a first view structure of a body module of the crawling robot for detecting leakage of a gas pipeline provided in an embodiment of the present invention;

fig. 5 is a schematic view of a second view structure of a body module of the crawling robot for detecting leakage of a gas pipeline provided in an embodiment of the present invention;

fig. 6 is a schematic view of a partial structure of a pneumatic soft driver of a gas pipeline leakage detection crawling robot provided in an embodiment of the present invention;

fig. 7 is a schematic view of a partial structure of a rear foot module of the gas pipeline leakage detection crawling robot provided in the embodiment of the present invention;

fig. 8 is a schematic diagram comparing the extension states of the pneumatic soft driver of the gas pipeline leakage detection crawling robot provided in the embodiment of the present invention;

fig. 9 is a schematic view of a linear advancing process of the gas pipeline leakage detection crawling robot provided in the embodiment of the present invention;

fig. 10 is a schematic view of the downward turning process of the gas pipeline leakage detection crawling robot provided in the embodiment of the present invention.

In the figures, 1, a forefoot module; 2. a fuselage module; 3. a back foot module; 4. a through hole; 5. a forefoot bladder; 6. the bag for treating beriberi; 7. a pneumatic soft-body driver; 8. a cylinder; 9. a tension spring; 10. a forefoot shell; 11. a forefoot baffle; 12. forefoot vents; 13. a rear foot housing; 14. a back foot baffle plate; 15. beriberi treating holes; 16. front leg magnetic steel; 17. rear leg magnetic steel; 18. a front fuselage baffle; 19. a rear fuselage fender; 20. front body magnetic steel; 21. a rear body magnetic steel; 22. a gas detection sensor; 23. a satellite positioning sensor; 24. a front flange; 25. a rear flange; 26. the fuselage blowhole.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1, 2, 3, 4, 5, 6 and 7, an embodiment of the present invention provides a gas pipeline leakage detection crawling robot, including a front foot module 1, a body module 2 and a rear foot module 3; the front foot module 1 is fixed in front of the machine body module 2, and the rear foot module 3 is fixed behind the machine body module 2; the centers of the front foot module 1, the machine body module 2 and the rear foot module 3 are provided with through holes 4 which are mutually communicated and are used for accommodating an overhaul pipeline;

the front foot module 1 comprises a front foot air bag 5, the friction force between the front foot air bag 5 and the maintenance pipeline is increased through inflation, and the friction force between the front foot air bag 5 and the maintenance pipeline is reduced through deflation;

the rear foot module 3 comprises a rear foot bag 6, the rear foot bag 6 increases the friction force with the maintenance pipeline through inflation, and the rear foot bag 6 reduces the friction force with the maintenance pipeline through deflation;

fuselage module 2 includes pneumatic software driver 7, and pneumatic software driver 7 includes cylinder 8, and the outer wall winding of cylinder 8 has expanding spring 9, and cylinder 8 extends through aerifing, and cylinder 8 stops to aerify the back and stretches out and draws back through expanding spring 9 and reset.

Referring to fig. 3, in the present embodiment, the forefoot module 1 further includes a forefoot housing 10 and a forefoot baffle 11, and the forefoot airbag 5 is fixed in an annular space enclosed by the forefoot housing 10 and the forefoot baffle 11, where the front, rear, and upper sides are sealed; the forefoot airbag 5 and the forefoot casing 10 are provided with forefoot vents 12 that communicate with each other. Specifically, the front foot air bag 5 is of a soft annular thin-wall shell structure made of silicon rubber, the front foot air bag 5 is inflated through the front foot air holes 12, and due to the fact that the front, the back and the upper face of the front foot air bag 5 are limited, only one face, contacting with the maintenance pipeline, of the front foot air bag 5 expands inwards to extrude with the gas pipeline, and the front foot air bag 5 can increase friction force between the front foot air bag and the gas pipeline for maintenance under the driving of compressed air.

Referring to fig. 7, in the present embodiment, the rear foot module 3 further includes a rear foot housing 13 and a rear foot baffle 14, and the rear foot bladder 6 is fixed in an annular space enclosed by the rear foot housing 13 and the rear foot baffle 14, the annular space being sealed on the front, rear, and upper sides; the beriberi treating bag 6 and the outer shell 13 of the hind foot are provided with holes 15 for beriberi treatment which are communicated with each other. Specifically, the rear beriberi capsule 6 is a soft annular thin-wall shell structure made of silicon rubber, the rear beriberi capsule 6 is inflated through a rear foot air hole 15, only one surface of the rear beriberi capsule 6, which is in contact with the maintenance pipeline, is expanded inwards to extrude with the gas pipeline due to the limitation on the front surface, the rear surface and the upper surface of the rear beriberi capsule 6, and the rear beriberi capsule 6 can increase the friction force between the rear beriberi capsule 6 and the maintenance gas pipeline under the driving of compressed air.

Referring to fig. 4 and 5, in the present embodiment, the front foot baffle 11 is uniformly fixed with front foot magnetic steels 16 along the circumference; the rear foot baffle 14 is uniformly fixed with rear foot magnetic steel 17 along the circumference. Fuselage module 2 further comprises a front fuselage baffle 18 and a rear fuselage baffle 19; the front body baffle 18 is uniformly distributed with front body magnetic steels 20 along the circumference, and the rear body baffle 19 is uniformly distributed with rear body magnetic steels 21 along the circumference; the front frame baffle 18 is attracted with the front foot magnetic steel 16 of the front foot baffle 11 through the front frame magnetic steel 20; the rear body baffle 19 is attracted by the rear body magnetic steel 21 and the rear leg magnetic steel 17 of the rear leg baffle 14; the pneumatic soft driver 7 is arranged between the front body baffle 18 and the rear body baffle 19.

Specifically, preceding foot magnet steel 16 is the same with preceding fuselage magnet steel 20 quantity, and the position one-to-one, through preceding foot magnet steel 16 and preceding fuselage magnet steel 20's actuation, preceding foot baffle 11 and the laminating of preceding fuselage baffle 18, and then realize preceding foot module 1 and fuselage module 2's montage. The rear foot magnetic steel 17 and the rear machine body magnetic steel 21 are the same in quantity and are in one-to-one correspondence in position, and the rear foot baffle 14 is attached to the rear machine body baffle 19 through attraction of the rear foot magnetic steel 17 and the rear machine body magnetic steel 21, so that the assembly of the rear foot module 3 and the machine body module 2 is realized.

In this embodiment, a plurality of gas detection sensors 22 are uniformly fixed to the rear side of the front body baffle 18 along the circumference. A plurality of satellite positioning sensors 23 are uniformly fixed on the front side of the rear body baffle 19 along the circumference. Whether the gas pipeline leaks or not can be detected through the gas detection sensor 22, and the position information of the gas pipeline leakage detection crawling robot can be acquired through the satellite positioning sensor 23.

Referring to fig. 8, in the present embodiment, the cylinder 8 is made of silica gel, the front end of the cylinder 8 is connected to a front flange 24, and the rear end of the cylinder 8 is connected to a rear flange 25; the cylinder 8 and the rear flange 25 are provided with body air holes 26 communicated with each other. Specifically, the front flange 24 and the rear flange 25 realize the fixation of the cylinder 8, the cylinder 8 of the pneumatic soft actuator 7 is a soft cylindrical structure made of silicon rubber, and when the cylinder is inflated through the body air hole 26, the telescopic spring 9 limits the radial expansion of the concentric silica gel cylinder 8, so that the cylinder 8 only extends along the axial direction.

Referring to fig. 9, the advancing principle of the present invention is as follows:

the utility model advances on the gas pipeline along a straight line; first, in the initial state, none of the forefoot airbag 5, the rearfoot airbag 6, and the pneumatic software driver 7 is driven, as shown by A1 in fig. 9; then, the posterior foot bag 6 is driven by the compressed air, and since the front and rear end surfaces and the outer side surface of the posterior foot bag 6 are attached by the posterior foot shell 13 and the posterior foot baffle 14, only the inner side wall of the posterior foot bag 6 expands inwards to extrude the gas pipeline, so as to increase the friction force between the posterior foot bag 6 and the gas pipeline, as shown in B1 in fig. 9; secondly, the pneumatic soft driver 7 extends under the driving of compressed air, and as the friction between the rear beriberi capsule 6 and the gas pipeline is increased and the friction between the front foot air bag 5 and the gas pipeline is unchanged, the pneumatic soft driver 7 drives the front foot module 1 to move forwards, as shown by C1 in fig. 9; thirdly, the front foot air bag 5 is driven by compressed air to increase the friction force with the gas pipeline, and the rear foot air bag 6 is restored to the initial state, as shown by D1 in FIG. 9; finally, the pneumatic soft driver 7 is stopped from being driven to be restored to the initial state under the restoring force of the extension spring 9 and the restoring force of the silicon rubber cylinder 8, the pneumatic soft driver 7 drives the rear foot module 3 to move forwards, and then the front foot air bag 5 is restored to the initial state, as shown in E1 in fig. 9. At this moment, the utility model discloses accomplish the action of crawling forward of a cycle to get back to initial condition again, this driving sequence of constantly repeated can be followed sharp continuous crawling on the gas pipeline. In addition, if the driving is performed according to the driving order opposite to that shown in fig. 9, the reverse crawling of the present invention can be realized. The utility model discloses the in-process of crawling, if one of four gas detection sensor 22 of fixing on foot baffle 11 before detects the gas leakage, the position is leaked in the record of satellite positioning sensor 23, further can tell the staff and in time restore.

The utility model discloses except crawling along the straight line on the gas pipeline, still can follow four directions of controlling from top to bottom on the gas pipeline and turn. Since the driving sequence of the front foot air bag 5, the rear foot air bag 6 and the pneumatic soft driver 7 is the same when turning in four directions, the turning-down process of the present invention will be described as an example.

As shown in fig. 10, the utility model turns downwards in the gas pipeline; first, in the initial state, none of the forefoot airbag 5, the rearfoot airbag 6, and the pneumatic software driver 7 is driven, as shown by A2 in fig. 10; then, the beriberi treating capsule 6 is driven by the compressed air to increase the friction force between the beriberi treating capsule and the gas pipeline, as shown in B2 in fig. 10; secondly, only the pneumatic soft driver 7 located at the upper side is driven, and since the remaining three pneumatic soft drivers 7 are not driven, the pneumatic soft driver 7 at the upper side drives the remaining three pneumatic soft drivers 7 to bend downward and drives the front foot module 1 to bend synchronously, as shown by C2 in fig. 10; thirdly, the front foot air bag 5 is driven by the compressed air to increase the friction force with the gas pipeline, and the rear foot air bag 6 is restored to the initial state, as shown in D in FIG. 10; finally, the pneumatic soft driver 7 on the upper side is stopped from being driven to return to the initial state, the rear foot module 3 is driven to move forwards, and then the front foot airbag 5 returns to the initial state, as shown in E in fig. 10. At this moment, the utility model discloses accomplish the downward turn motion of a cycle to get back to initial condition again, constantly repeated this driving sequence, can be on the gas pipeline turn downwards in succession. If the utility model is turned upwards, leftwards and rightwards, only the pneumatic soft driver 7 at the lower side, the right side and the left side needs to be driven in the C of figure 10. Similarly, the utility model discloses in the turn in-process, if one of four gas detection sensor 22 of fixing on preceding foot baffle 11 detects the gas leakage, satellite positioning sensor 23 record leakage position to further inform the staff and in time restore.

To sum up, the utility model is provided with a front foot module 1, a machine body module 2 and a rear foot module 3; the front foot module 1 is fixed in front of the machine body module 2, and the rear foot module 3 is fixed behind the machine body module 2; the centers of the front foot module 1, the machine body module 2 and the rear foot module 3 are provided with through holes 4 which are mutually communicated and used for accommodating maintenance pipelines; the front foot module 1 comprises a front foot air bag 5, the front foot air bag 5 increases the friction force with the maintenance pipeline through inflation, and the front foot air bag 5 reduces the friction force with the maintenance pipeline through deflation; the rear foot module 3 comprises a rear foot bag 6, the rear foot bag 6 increases the friction force with the maintenance pipeline through inflation, and the rear foot bag 6 reduces the friction force with the maintenance pipeline through deflation; fuselage module 2 includes pneumatic software driver 7, and pneumatic software driver 7 includes cylinder 8, and the outer wall winding of cylinder 8 has expanding spring 9, and cylinder 8 extends through aerifing, and cylinder 8 stops to aerify the back and stretches out and draws back through expanding spring 9 and reset. The utility model adopts the modular design, can independently manufacture, assemble, maintain and replace the foot module, the machine body module 2 and the rear foot module 3, and has simple structure, stability and reliability; the pneumatic soft driver 7 is used for driving, has inherent explosion-proof and waterproof performances, can detect the leakage of a gas pipeline in air and water, and reduces the explosion-proof and waterproof costs of the robot; in addition, the manufacturing cost of the pneumatic soft driver 7 is low, and the pneumatic soft driver has important significance for reducing the conveying cost of fuel gas.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The crawling robot for detecting the leakage of the gas pipeline is characterized by comprising a front foot module (1), a machine body module (2) and a rear foot module (3); the front foot module (1) is fixed in front of the machine body module (2), and the rear foot module (3) is fixed behind the machine body module (2); the centers of the front foot module (1), the machine body module (2) and the rear foot module (3) are provided with through holes (4) which are mutually communicated and used for accommodating maintenance pipelines;

the front foot module (1) comprises a front foot air bag (5), the friction force between the front foot air bag (5) and the maintenance pipeline is increased through inflation, and the friction force between the front foot air bag (5) and the maintenance pipeline is reduced through deflation;

the hind foot module (3) comprises a hind foot bag (6), the friction force between the hind foot bag (6) and the maintenance pipeline is increased through inflation, and the friction force between the hind foot bag (6) and the maintenance pipeline is reduced through deflation;

fuselage module (2) are including pneumatic software driver (7), pneumatic software driver (7) are including cylinder (8), the outer wall winding of cylinder (8) has expanding spring (9), cylinder (8) are through aerifing the extension, cylinder (8) stop aerify the back pass through expanding spring (9) stretch out and draw back.

2. The gas pipeline leakage detection crawling robot according to claim 1, wherein the front foot module (1) further comprises a front foot shell (10) and a front foot baffle (11), and the front foot air bag (5) is fixed in an annular space enclosed by the front foot shell (10) and the front foot baffle (11), wherein the annular space is sealed on the front side, the rear side and the upper side;

the front foot air bag (5) and the front foot shell (10) are provided with front foot air holes (12) which are communicated with each other.

3. The gas pipeline leakage detection crawling robot as claimed in claim 2, wherein the rear foot module (3) further comprises a rear foot shell (13) and a rear foot baffle (14), and the rear foot bladder (6) is fixed in an annular space which is sealed at the front, the rear and the upper sides and is formed by the rear foot shell (13) and the rear foot baffle (14) in a surrounding mode;

the beriberi treating bag (6) and the hind foot shell (13) are provided with hind foot air holes (15) which are communicated with each other.

4. The gas pipeline leakage detection crawling robot as claimed in claim 3, wherein front foot magnetic steel (16) is uniformly fixed on the front foot baffle (11) along the circumference; the rear foot baffle (14) is uniformly fixed with rear foot magnetic steel (17) along the circumference.

5. The gas pipeline leak detection crawling robot according to claim 4, characterized in that said fuselage module (2) further comprises a front fuselage barrier (18) and a rear fuselage barrier (19);

the front body baffle (18) is uniformly distributed with front body magnetic steels (20) along the circumference, and the rear body baffle (19) is uniformly distributed with rear body magnetic steels (21) along the circumference;

the front machine body baffle (18) is attracted with the front foot magnetic steel (16) of the front foot baffle (11) through the front machine body magnetic steel (20);

the rear body baffle (19) is attracted by the rear body magnetic steel (21) and the rear foot magnetic steel (17) of the rear foot baffle (14);

the pneumatic soft driver (7) is arranged between the front body baffle (18) and the rear body baffle (19).

6. The gas pipeline leakage detection crawling robot as claimed in claim 5, wherein a plurality of gas detection sensors (22) are uniformly fixed on the rear side of the front body baffle (18) along the circumference.

7. The gas pipeline leakage detection crawling robot as claimed in claim 6, wherein a plurality of satellite positioning sensors (23) are uniformly fixed on the front side of the rear body baffle (19) along the circumference.

8. The gas pipeline leakage detection crawling robot is characterized in that the cylinder (8) is made of silica gel, a front flange (24) is connected to the front end of the cylinder (8), and a rear flange (25) is connected to the rear end of the cylinder (8);

the cylinder (8) and the rear flange (25) are provided with mutually communicated air holes (26).