Wheeled-movement pipeline robot
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The invention discloses a wheeled-movement pipeline robot comprising a crawler, wherein the crawler comprises a closed box (17), a driving gear train and a wheel set (10, 19 and 16); a lifting cradle head (2) can be fixedly mounted on the crawler according to various requirements for the inner diameter of pipeline; a double-DOF (degree of freedom) probe (1) can be directly plugged on the lifting cradle head or the crawler according to the requirements, thus achieving the omnidirectional detection of the pipeline and improving the operating efficiency; the wheel set comprises a small wheel set and a large wheel set, one of single-side small wheels in the small wheel set (10, 19) is a driving wheel, and the large wheel set comprises a lateral bridge plate, a rapid-connection structure and a large wheel (16); and a motor connected with the driving gear train is arranged in the closed box. The large wheel set and the lifting cradle head can be rapidly and conveniently assembled and disassembled in a screw-free manner so as to adjust the radial detection dimensions of the crawler, so that the pipeline robot is operable in pipelines with various inner diameters; the small wheel set is not required to be disassembled when the large wheel set is used, thus improving the obstacle negotiation capacity of the crawler; and based on the modular design, the invention can achieve the rapid installation of the lifting cradle head and the large wheel set according to the requirements.