Pipeline inspection robot adapted to multiple pipe diameters

Abstract

The present invention provides a pipeline inspection robot that is adaptable to multiple pipe diameters, which belongs to the field of inspection equipment and includes a body assembly, wherein the front end of the body assembly is provided with a front-view camera assembly, the rear end is provided with a rear-view camera assembly, and the two sides of the body assembly are symmetrically provided with a driving assembly, an adjustable crawler walking assembly and crawlers, wherein the driving assembly is provided on the body assembly and drives the adjustable crawler walking assembly to move forward or backward relative to the ground through the crawlers; the front-view camera assembly is used to monitor the pipeline conditions at the front end of the body assembly in the pipeline; and the rear-view camera assembly is used to detect the pipeline conditions at the rear end of the body assembly in the pipeline. The present invention can realize that the same pipeline robot can smoothly perform inspection work in pipelines of different sizes and in complex environments.

Description

Technical Field

[0001] The invention belongs to the field of detection equipment, relates to the detection of underground pipelines, and in particular to a pipeline detection robot adaptable to multiple pipe diameters. Background Art

[0002] In recent years, with the development of oil, natural gas and municipal pipelines, it is particularly important to regularly inspect and maintain these pipelines. Due to the complex environment inside the pipeline and the variety of pipeline sizes, the pipeline robot unit is required to have a simple structure, be able to adapt to pipelines of different diameters, and have the ability to adapt to the complex environment inside the pipeline. At present, pipeline robots are mainly divided into various forms such as peristaltic, foot-type, wheel-type, crawler-type, spiral drive, and passive motion. The main problems are complex structure, slow movement speed, poor obstacle crossing ability, and poor adaptability to pipelines of different sizes, which leads to low pipeline detection efficiency and high operation and maintenance costs. Summary of the invention

[0003] The problem to be solved by the present invention is to provide a pipeline inspection robot that is adaptable to multiple pipe diameters, so that the same pipeline robot can smoothly perform inspection work in pipelines of different sizes and in complex environments.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a pipeline inspection robot adapted to multiple pipe diameters, comprising a body assembly, a front view camera assembly is provided at the front end of the body assembly, a rear view camera assembly is provided at the rear end, a driving wheel assembly, an adjustable crawler walking assembly and crawlers are symmetrically provided on both sides of the body assembly, the driving wheel assembly is provided on the body assembly and drives the adjustable crawler walking assembly to move forward or backward relative to the ground through the crawlers;

[0005] The forward-looking camera assembly is used to monitor the pipeline conditions in the pipeline and at the front end of the vehicle body assembly;

[0006] The rear-view camera assembly is used to detect the pipeline conditions at the rear end of the vehicle body assembly in the pipeline.

[0007] Furthermore, it also includes a control center, which is connected to the front view camera assembly, the rear view camera assembly and the driving wheel assembly by signal, and is used to receive signals and control the start and stop of all electrical components.

[0008] Furthermore, the driving wheel assembly includes a traveling motor, a reducer and a power wheel, the traveling motor and the reducer are arranged inside the vehicle body assembly, the traveling motor drives the power wheel to rotate through the reducer, the power wheel drives the track to rotate, and drives the adjustable track walking assembly to move forward or backward.

[0009] Furthermore, the forward-looking camera assembly includes a forward-looking high-definition camera, a forward-looking camera rotating chassis and a forward-looking camera assembly controller. The forward-looking camera assembly controller is arranged inside the vehicle body assembly. The forward-looking camera assembly controller controls the forward-looking camera rotating chassis to drive the forward-looking high-definition camera to rotate 360 ​​degrees. The forward-looking high-definition camera includes a forward-looking LED lighting lamp and a forward-looking high-definition camera. Four forward-looking LED lighting lamps are distributed around the forward-looking high-definition camera.

[0010] Furthermore, the rearview camera assembly includes a rearview high-definition camera, a rearview LED light and a rearview camera assembly controller embedded in the vehicle body assembly, the rearview LED light and the rearview high-definition camera are arranged in parallel up and down, and a avoidance hole is provided at a corresponding position of the vehicle body assembly, and the rearview camera assembly controller is connected to the control center signal.

[0011] Furthermore, the adjustable track traveling assembly includes a track chassis, a traveling driven wheel and a track tensioning driven wheel. The number of the traveling driven wheels is multiple and they are arranged in parallel. The axial direction of the traveling driven wheel is perpendicular to the traveling direction of the adjustable track traveling assembly. The track tensioning driven wheels are arranged at the front and rear ends of the forward direction of the track chassis. The axis of the track tensioning driven wheel is arranged parallel to the axis of the traveling driven wheel. The track is guided by the traveling driven wheel and the track tensioning driven wheel in sequence and then cooperates with the driving wheel assembly.

[0012] Furthermore, the number of each row of walking driven wheels is two and they are dispersedly arranged in the width direction of the track chassis, the two walking driven wheels are connected by a walking wheel shaft and rotate synchronously, the number of each row of track tensioning driven wheels is three and they are connected by a tensioning wheel shaft and rotate synchronously, a track tensioning telescopic rod is provided between the tensioning wheel shaft and the track chassis, the number of the track tensioning telescopic rods is two and they are arranged between adjacent track tensioning driven wheels, a rod support seat is provided at a position on the track chassis corresponding to the track tensioning telescopic rod, one end of the track tensioning telescopic rod is provided in the rod support seat and is telescopically arranged relative to the track chassis.

[0013] Furthermore, a vehicle body lifting pillar is provided between the track chassis and the vehicle body assembly, the number of the vehicle body lifting pillars is two and they are provided at the front and rear ends of the track chassis in the forward direction, the lower end of the vehicle body lifting pillar is hinged to a slider, the slider is provided on the track chassis and the two are connected by sliding forward and backward along the direction of travel, the upper end of the slider is provided with a chassis cover plate for positioning it, the two ends of the chassis cover plate are fixedly connected to the track chassis, the upper end of the lifting pillar is provided with a rotating shaft, the rotating shaft is fixedly connected to the output shaft of the lifting motor, and the lifting motor is provided inside the vehicle body assembly.

[0014] Furthermore, two guide protrusions are provided at the lower end of the slider, and a guide groove is correspondingly provided at the upper end of the crawler chassis. The guide protrusions are arranged in the guide grooves and the two are slidably connected. A lifting motor simultaneously drives two symmetrically arranged rotating shafts to rotate through a dual-axis output reducer.

[0015] Furthermore, the vehicle body assembly includes a front panel, a rear panel, a roof panel, a side panel and a bottom panel that form a box structure, the outer side of the front panel is provided with a positioning circular protrusion for fixing the front-view camera assembly, the positioning circular protrusion is provided with a navigation socket, the side panel is provided with a circular base, and the travel motor in the driving wheel assembly is connected to the external power wheel through the circular base.

[0016] Compared with the prior art, the present invention has the following advantages and positive effects.

[0017] 1. The present invention adopts a modular design to make the pipeline inspection robot simple in structure and more convenient to maintain. It adopts an adjustable crawler walking mode, so that the pipeline robot can adapt to pipelines of different sizes and complex internal environments, and has strong obstacle crossing ability. It can be realized that the same pipeline robot can smoothly perform inspection work in pipelines of different sizes and in complex environments;

[0018] 2. In the present invention, one driving wheel assembly is equipped with an adjustable crawler walking assembly and a crawler. The speeds of the traveling motors in the two driving wheel assemblies can be the same or different. When the speeds are the same, the entire structure can move forward and backward. When the speeds are different, the differential principle is used to enable the pipeline inspection robot to walk along any curve and rotate in place.

[0019] 3. In this application, the crawler drive structure has a low center of gravity and a large adhesion coefficient, and has good stability on slopes to resist tipping and sliding. It also has maneuverability with a small turning radius and strong climbing ability, is suitable for pipes of different diameters, and effectively prevents slipping, and is suitable for use in various situations of pipelines in this application;

[0020] 4. The structural height of the present application is adjustable and is suitable for a variety of pipelines. When the lifting motor rotates, it drives the upper end of the vehicle body lifting pillar to rotate. Since the lower end of the vehicle body lifting pillar is hinged to the slider, the slider at the lower end is driven to slide on the crawler chassis during the rotation of the upper end. At the same time, the upper end of the vehicle body lifting pillar rises, driving the vehicle body assembly to rise, thereby realizing the change in height of the front view camera assembly and the rear view camera assembly fixed on the vehicle body assembly to meet the detection requirements of larger diameter pipelines. The travel motor rotates in the opposite direction to realize the descent of the vehicle body assembly. The lowest position is the horizontal state of the vehicle body lifting pillar, thereby realizing the detection of smaller diameter pipelines. The entire structure has a compact layout, occupies a small space, is convenient and quick to adjust, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0022] Figure 1 It is a schematic structural diagram of a pipeline inspection robot adapted to multiple pipe diameters according to the present invention when viewed from the side at an intermediate height;

[0023] Figure 2 It is a schematic diagram of the structure of the pipeline inspection robot adapted to multiple pipe diameters of the present invention when viewed from above at an intermediate height;

[0024] Figure 3 is a schematic structural diagram of a forward-looking camera assembly of the present invention;

[0025] Figure 4 is a schematic structural diagram of a rearview camera assembly of the present invention;

[0026] Figure 5 1. It is a schematic diagram of the structure of the adjustable crawler walking assembly of the present invention when viewed from above;

[0027] Figure 6 It is a schematic diagram of the structure of the adjustable crawler walking assembly of the present invention from a side view;

[0028] Figure 7 is a schematic structural diagram of a vehicle body assembly of the present invention from a side view;

[0029] Figure 8 It is a schematic diagram of the structure of the vehicle body assembly of the present invention from a top view;

[0030] Fig. 9 It is a schematic diagram of the structure inside the vehicle body assembly of the present invention;

[0031] Fig.10 It is a schematic diagram of the structure of the pipeline inspection robot adapted to multiple pipe diameters at the lowest height of the present invention;

[0032] Fig.11 The present invention Fig.10 Detailed drawing of Part A;

[0033] Fig.12 The present invention Fig.10 Detail of Part B;

[0034] Fig.13 It is a schematic structural diagram of the pipeline inspection robot adapted to multiple pipe diameters without the body assembly of the present invention;

[0035] Fig.14 It is a schematic diagram of the structure of the pipeline inspection robot adapted to multiple pipe diameters at the highest height of the present invention;

[0036] . Fig.15 It is a structural schematic diagram of a slider of the present invention.

[0037] Reference numerals:

[0038] 1. Front camera assembly; 2. Rear camera assembly; 3. Adjustable crawler walking assembly; 4. Vehicle body assembly; 5. Crawler assembly; 6. Driving wheel assembly; 11. Front HD camera; 12. Front camera rotating chassis; 13. Front camera assembly controller; 111. Front LED lighting lamp; 112. Front HD camera; 21. Rear HD camera; 22. Rear LED lighting lamp; 23. Rear camera assembly controller; 31. Vehicle body lifting pillar; 32. Slider; 33. Crawler chassis; 34. Chassis cover; 35. Travel driven wheel; 36. Track tensioning driven wheel; 37. Track tensioning telescopic rod; 311. Connecting hole; 312, rotating shaft; 321, guide protrusion; 322, connecting pin; 331, sliding platform; 332, guide groove; 333, walking wheel axle; 334, tensioning wheel axle; 335, rod support seat; 41, front plate; 42, rear plate; 43, roof plate; 44, side plate; 45, bottom plate; 411, navigation socket; 412, positioning circular protrusion; 413, front support frame; 421, mounting hole; 422, rear support frame; 441, circular base; 442, support base; 443, fixing protrusion; 444, support seat; 451, positioning protrusion; 46, lifting motor; 61, travel motor; 62, reducer; 63, power wheel. DETAILED DESCRIPTION

[0039] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0040] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0042] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0043] like Figure 1 to Figure 15 As shown, a pipeline inspection robot adapted to multiple pipe diameters includes a body assembly 4, a front view camera assembly 1 is provided at the front end of the body assembly 4, a rear view camera assembly 2 is provided at the rear end, and a driving wheel assembly, an adjustable crawler walking assembly 3 and crawlers are symmetrically provided on both sides of the body assembly 4, the driving wheel assembly is arranged on the body assembly 4 and drives the adjustable crawler walking assembly 3 to move forward or backward relative to the ground through the crawlers;

[0044] The front camera assembly 1 is used to monitor the pipeline conditions in the pipeline and at the front end of the vehicle body assembly 4;

[0045] The rear view camera assembly 2 is used to detect the pipeline condition at the rear end of the vehicle body assembly 4 in the pipeline.

[0046] Preferably, it also includes a control center, which is connected to the front camera assembly 1, the rear camera assembly 2 and the driving wheel assembly 6 for receiving signals and controlling the start and stop of all electrical components.

[0047] Preferably, the driving wheel assembly includes a traveling motor 61, a reducer 62 and a power wheel 63. The traveling motor and the reducer are arranged inside the vehicle body assembly 4. The traveling motor rotates through the power wheel of the reducer, and the power wheel drives the track to rotate, driving the adjustable track walking assembly 3 forward or backward. The traveling motor can adopt a servo motor, and the control procedure is simpler. It can also be replaced by a rotary electric cylinder or a rotary oil cylinder or other equivalent structures to realize the rotation function. After the reducer is set, the torque can be increased and the stability of the structural power transmission can be improved.

[0048] Preferably, the forward-looking camera assembly 1 comprises a forward-looking high-definition camera 11, a forward-looking camera rotating chassis 12 and a forward-looking camera assembly controller. The forward-looking camera assembly controller is arranged inside the vehicle body assembly 4. The forward-looking camera assembly controller controls the forward-looking camera rotating chassis 12 to drive the forward-looking high-definition camera 11 to rotate 360 ​​degrees. The forward-looking high-definition camera 11 comprises a forward-looking LED lighting lamp 111 and a forward-looking high-definition camera 112. Four forward-looking LED lighting lamps 111 are distributed around the forward-looking high-definition camera 112. The forward-looking camera rotating chassis 12 can be a rotating cylinder or a rotating electric cylinder or other structure to achieve 360-degree rotation. It can also be driven by a gear structure to achieve 360-degree rotation. The existing dividing plate structure on the market is adopted to achieve positioning after rotation at specific angles. The forward-looking high-definition camera 11 also swings up and down. The existing The swing head structure can also be driven by a cylinder or an electric push rod, and the front view high-definition camera 11 is hinged on the front view camera rotating chassis 12. The cylinder or electric push rod used to drive the swing is also fixed on the front view camera rotating chassis 12, and the output shaft of the cylinder or electric push rod is connected to the front view high-definition camera 11 to realize the swing of the structure; more preferably, the rear view camera assembly 2 includes a rear view high-definition camera 21, a rear view LED lighting 22 and a rear view camera assembly controller embedded in the body assembly 4, the rear view LED lighting 22 and the rear view high-definition camera 21 are arranged in parallel up and down, and a avoidance hole is provided at the corresponding position of the body assembly 4. The rear view camera assembly controller is connected to the control center signal, and the front view LED lighting 111 and the rear view LED lighting 22 can ensure good brightness, facilitate shooting and monitoring, and improve the accuracy of detection.

[0049] Preferably, the adjustable crawler walking assembly 3 includes a crawler chassis 33, a walking driven wheel 35 and a track tensioning driven wheel 36. The number of the walking driven wheels 35 is multiple and they are arranged in parallel. The axial direction of the walking driven wheel 35 is perpendicular to the traveling direction of the adjustable crawler walking assembly 3. The track tensioning driven wheel 36 is arranged at the front and rear ends of the crawler chassis 33 in the forward direction. The axis of the track tensioning driven wheel 36 is arranged parallel to the axis of the walking driven wheel 35. The crawler track is guided by the walking driven wheel 35 and the track tensioning driven wheel 36 in turn and then cooperates with the driving wheel assembly. The crawler track transmission structure has a low center of gravity and a large adhesion coefficient, and has good stability on slopes against tipping and sliding. At the same time, it also has maneuverability with a small turning radius and strong climbing ability. It is suitable for pipes of different diameters and can effectively prevent slipping. It is suitable for use in various situations of pipelines in this application. Moreover, the transmission structure of the crawler track has a large traction force and is not easy to cause damage to the inner wall of the pipeline.

[0050] Preferably, the number of each row of walking driven wheels 35 is two and they are dispersedly arranged in the width direction of the crawler chassis 33. The two walking driven wheels 35 are connected by a walking wheel shaft 333 and rotate synchronously. The number of each row of track tensioning driven wheels 36 is three and they are connected by a tensioning wheel shaft 334 and rotate synchronously. A crawler tensioning telescopic rod 37 is provided between the tensioning wheel shaft 334 and the crawler chassis 33. The number of the crawler tensioning telescopic rod 37 is two and they are arranged between adjacent crawler tensioning driven wheels 36. The crawler chassis 33 is aligned with the crawler tensioning telescopic rod 37. A rod support seat 335 is provided at the corresponding position, one end of the track tensioning telescopic rod 37 is provided in the rod support seat 335 and is telescopically arranged relative to the track chassis 33, the rod support seat 335 is provided on the outside of the track tensioning telescopic rod 37 and limits and guides it to ensure the stability of the forward and backward extension of the track tensioning telescopic rod 37, a spring is provided between the track tensioning telescopic rod 37 and the bottom of the rod support seat 444335, both ends of the spring are fixedly connected to the two, ensuring the forward and backward extension of the track tensioning telescopic rod 37 and effectively adjusting the tightness of the track at random.

[0051] Preferably, a vehicle body lifting pillar 31 is provided between the crawler chassis 33 and the vehicle body assembly 4. The number of the vehicle body lifting pillars 31 is two and they are arranged at the front and rear ends of the crawler chassis 33 in the forward direction. The lower end of the vehicle body lifting pillar 31 is hinged to the slider 32. The slider 32 is arranged on the crawler chassis 33 and the two are connected by sliding forward and backward along the direction of travel. The upper end of the slider 32 is provided with a chassis cover plate 34 for positioning it. The two ends of the chassis cover plate are fixedly connected to the crawler chassis 33. The upper end of the lifting pillar is provided with a rotating shaft 312. The rotating shaft 312 is fixedly connected to the output shaft of the lifting motor. The lifting motor is arranged inside the vehicle body assembly 4. When the lifting motor 46 rotates, it drives the vehicle body lifting pillar The upper end of the column 31 rotates. Since the lower end of the vehicle body lifting pillar 31 is hinged with the slider 32, during the rotation of the upper end, the slider 32 at the lower end is driven to slide on the track chassis 33. At the same time, the upper end of the vehicle body lifting pillar 31 rises, driving the vehicle body assembly 4 to rise, thereby realizing the change in height of the front view camera assembly 1 and the rear view camera assembly 2 fixed on the vehicle body assembly 4, meeting the detection requirements of larger diameter pipelines. The travel motor rotates in the opposite direction, realizing the descent of the vehicle body assembly 4. The lowest position is the horizontal state of the vehicle body lifting pillar 31, realizing the detection of smaller diameter pipelines. The entire structure has a compact layout, occupies a small space, is convenient and quick to adjust, and has a wide range of applications.

[0052] Preferably, two guide protrusions 321 are provided at the lower end of the slider 32, and a guide groove 332 is correspondingly provided at the upper end of the crawler chassis 33. The guide protrusions 321 are arranged in the guide grooves 332 and the two are slidably connected. The setting of the guide protrusions 321 and the guide grooves 332 improves the movement accuracy of the slider 32. A lifting motor simultaneously drives the two symmetrically arranged rotating shafts 312 to rotate through a dual-axis output reducer, which balances the force and improves stability.

[0053] Preferably, the vehicle body assembly 4 includes a front panel 41, a rear panel 42, a roof panel 43, a side panel 44 and a bottom panel 45 which form a box structure, and are all made of sheet metal with low cost and high strength. A positioning circular protrusion 412 for fixing the front-view camera assembly 1 is provided on the outer side of the front panel 41, and a navigation socket 411 is provided on the positioning circular protrusion 412. A circular base 441 is provided on the side panel 44. The travel motor in the driving wheel assembly is connected to the external power wheel through the circular base 441. The structure is simple and compact, and the structure of the box can protect the parts inside it to prevent external debris from entering the interior.

[0054] In actual use, the front camera assembly 1, the rear camera assembly 2, the adjustable crawler walking assembly 3, the vehicle body assembly 4, the crawler 5 and the driving wheel assembly 6; wherein: the front camera assembly 1 includes a front high-definition camera 11, a front camera rotating chassis 12, and a front camera assembly controller 13 connected in sequence. In this embodiment, the front high-definition camera 11 includes a front high-definition camera 112 and a front LED lighting lamp 111. Four front LED lighting lamps 111 are distributed around the front high-definition camera 112. 1 can be flipped up and down, the front camera rotating chassis 12 can support and drive the front high-definition camera 11 to rotate 360 ​​degrees, and the front camera component controller 13 is connected to the back of the front plate 41 of the body component 4; the rear view camera component 2 includes a rear view high-definition camera 21, a rear view LED lighting lamp 22, and a rear view camera component controller 23, and the rear view high-definition camera 21 and the rear view LED lighting lamp 22 are embedded in the rear plate 42 of the body component 4 and connected to the rear view camera component controller 23 on the back thereof; the adjustable crawler walking component 3 The vehicle body lifting support 31 includes a vehicle body lifting support 31, a slider 32, a crawler chassis 33, a chassis cover 34, a walking driven wheel 35, a crawler tensioning driven wheel 36 and a crawler tensioning telescopic rod 37. The connecting hole 311 at the bottom of the vehicle body lifting support 31 is assembled with the connecting pin 322 on one side of the slider 32. The guide protrusion 321 at the bottom of the slider 32 cooperates with the guide groove 332 on the crawler chassis 33. The chassis cover 34 is assembled with the crawler chassis 33 by bolts, thereby forming a sliding stroke space. In this embodiment, the slider 32 moves along a straight line on the sliding platform 331. In the embodiment, forty-four walking driven wheels 35 are installed on the crawler chassis 33 through the walking wheel shaft 333 at the bottom end of the crawler chassis 33, and six crawler tensioning driven wheels 36 are installed on the chassis through the tensioning wheel shaft 334 at the rear end of the crawler chassis 33, so as to avoid interference between the crawler 5 and the crawler chassis 33 and the chassis cover 34. The crawler tensioning telescopic rod 37 is connected to the support seat 335 at the front end of the crawler chassis 33, and the six crawler tensioning driven wheels are installed on the crawler tensioning telescopic rod 37. The crawler 5 is tightened by the extension and shortening of the crawler tensioning telescopic rod 37.The vehicle body assembly 4 includes a front plate 41, a rear plate 42, a roof plate 43, a side plate 44 and a bottom plate 45. The front camera assembly 1 is mounted on the navigation socket 411 through a positioning circular protrusion 412 on the front of the front plate 41. A support frame 413 for mounting a front camera controller 13 is provided on the back of the front plate 41. A mounting hole 421 for mounting a rear camera assembly 2 is reserved on the rear plate 42. A support frame 422 for mounting a rear camera assembly 2 is provided on the back of the rear plate 42. A circular base 441 for mounting a power wheel is provided on the front of the side plate 44. A support base 442 and a positioning rectangular protrusion 443 for mounting a travel motor and a support seat 444 for mounting a rotating shaft 312 are provided on the back of the side plate 44. The bottom plate 4 5 has a positioning rectangular protrusion 451 for installing a lifting motor on the back; the adjustable crawler walking assembly 3 is connected to the lifting motor inside the body assembly 4 through the rotating shaft 312 at the top of the body lifting pillar 31, and the lifting motor drives the body lifting pillar 31 to swing back and forth, thereby driving the slider 32 to move on the sliding platform 331 to achieve the effect of lifting the body; the driving wheel assembly 6 is connected to the traveling motor inside the body assembly 4 through the circular base 441 of the vehicle side plate 44, and the driving wheel assembly 6 is driven by the crawler 5 to drive the walking driven wheel 35 to rotate, so that the pipeline inspection robot moves forward or backward; the two traveling motors control the driving wheel assemblies 6 on both sides of the body assembly 4 respectively, and make the pipeline inspection robot turn through the differential principle. ;

[0055] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A pipeline inspection robot adapted to multiple pipe diameters, characterized by: It comprises a vehicle body assembly, wherein the front end of the vehicle body assembly is provided with a front view camera assembly, the rear end is provided with a rear view camera assembly, and both sides of the vehicle body assembly are symmetrically provided with a driving wheel assembly, an adjustable crawler walking assembly and crawlers, wherein the driving wheel assembly is arranged on the vehicle body assembly and drives the adjustable crawler walking assembly to move forward or backward relative to the ground through the crawlers; The forward-looking camera assembly is used to monitor the pipeline condition at the front end of the vehicle body assembly in the pipeline; The rear-view camera assembly is used to detect the pipeline condition at the rear end of the vehicle body assembly in the pipeline; The adjustable crawler travel assembly comprises a crawler chassis, a travel driven wheel and a crawler tensioning driven wheel. The number of the travel driven wheels is multiple and they are arranged in parallel. The axial direction of the travel driven wheel is perpendicular to the travel direction of the adjustable crawler travel assembly. The crawler tensioning driven wheel is arranged at the front and rear ends of the crawler chassis. The axis of the crawler tensioning driven wheel is arranged in parallel with the axis of the travel driven wheel. The crawler track is guided by the travel driven wheel and the crawler tensioning driven wheel in sequence and then cooperates with the driving wheel assembly. Each row of the track tensioning driven wheels is connected via a tensioning wheel shaft, a track tensioning telescopic rod is provided between the tensioning wheel shaft and the track chassis, a rod support seat is provided at a position on the track chassis corresponding to the track tensioning telescopic rod, one end of the track tensioning telescopic rod is provided in the rod support seat and is telescopically arranged relative to the track chassis, and a spring is provided between the track tensioning telescopic rod and the bottom of the rod support seat; A vehicle body lifting pillar is provided between the crawler chassis and the vehicle body assembly. The number of the vehicle body lifting pillars is two and they are provided at the front and rear ends of the crawler chassis. The lower end of the vehicle body lifting pillar is hinged to a slider. The slider is provided on the crawler chassis and the two are connected by sliding forward and backward along the direction of travel. A rotating shaft is provided at the upper end of the lifting pillar. The rotating shaft is fixedly connected to the output shaft of the lifting motor. The lifting motor is provided inside the vehicle body assembly.

2. The pipeline inspection robot adapted to multiple pipe diameters according to claim 1 is characterized in that: It also includes a control center, which is connected to the front view camera assembly, the rear view camera assembly and the driving wheel assembly by signals, and is used to receive signals and control the start and stop of all electrical components.

3. The pipeline inspection robot adapted to multiple pipe diameters according to claim 1 is characterized in that: The driving wheel assembly includes a travel motor, a reducer and a power wheel. The travel motor and the reducer are arranged inside the vehicle body assembly. The travel motor drives the power wheel to rotate through the reducer, and the power wheel drives the track to rotate, driving the adjustable track walking assembly to move forward or backward.

4. The pipeline inspection robot adapted to multiple pipe diameters according to claim 1, characterized in that: The forward-looking camera assembly includes a forward-looking high-definition camera, a forward-looking camera rotating chassis and a forward-looking camera assembly controller. The forward-looking camera assembly controller is arranged inside the vehicle body assembly. The forward-looking camera assembly controller controls the forward-looking camera rotating chassis to drive the forward-looking high-definition camera to rotate 360 ​​degrees. The forward-looking high-definition camera includes a forward-looking LED lighting lamp and a forward-looking high-definition camera. Four forward-looking LED lighting lamps are distributed around the forward-looking high-definition camera.

5. The pipeline inspection robot adapted to multiple pipe diameters according to claim 1 is characterized in that: The rearview camera assembly includes a rearview high-definition camera, a rearview LED light and a rearview camera assembly controller embedded in the vehicle body assembly. The rearview LED light and the rearview high-definition camera are arranged in parallel up and down. A avoidance hole is provided at a corresponding position of the vehicle body assembly. The rearview camera assembly controller is connected to the control center signal.

6. The pipeline inspection robot adapted to multiple pipe diameters according to claim 1, characterized in that: There are two walking driven wheels in each row and they are dispersedly arranged in the width direction of the track chassis. The two walking driven wheels are connected by a walking wheel shaft and rotate synchronously. There are three track tensioning driven wheels in each row and they are connected by a tensioning wheel shaft and rotate synchronously. There are two track tensioning telescopic rods and they are arranged between adjacent track tensioning driven wheels.

7. The pipeline inspection robot adapted to multiple pipe diameters according to claim 1, characterized in that: The upper end of the sliding block is provided with a chassis cover plate for positioning the sliding block, and both ends of the chassis cover plate are fixedly connected to the crawler chassis.

8. The pipeline inspection robot adapted to multiple pipe diameters according to claim 1, characterized in that: The lower end of the slider is provided with two guide protrusions, and the upper end of the crawler chassis is correspondingly provided with a guide groove. The guide protrusion is arranged in the guide groove and the two are slidably connected. A lifting motor drives two symmetrically arranged rotating shafts to rotate simultaneously through a double-axis output reducer.

9. The pipeline inspection robot adapted to multiple pipe diameters according to claim 3 is characterized in that: The vehicle body assembly includes a front panel, a rear panel, a roof panel, a side panel and a bottom panel which form a box structure. A circular positioning protrusion for fixing a front-view camera assembly is provided on the outer side of the front panel, and a navigation socket is provided on the circular positioning protrusion. A circular base is provided on the side panel, and a travel motor in the driving wheel assembly is connected to an external power wheel via the circular base.

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