A serpentine pipeline inspection robot

Abstract

The present invention discloses a serpentine pipeline inspection robot. The inspection module is sequentially connected to a spiral propulsion module and a cleaning module. The spiral propulsion modules are sequentially connected to form a spiral propulsion module. The spiral propulsion modules are connected via the spiral propulsion module to form a master propulsion module. A spiral propulsion module is connected between every two spiral propulsion modules. The master propulsion module is connected between two cleaning modules. Another cleaning module is further connected to a spiral propulsion module, which serves as the inspection robot's tail. The robot can accommodate multiple diameter variations in the pipeline to be inspected. Its modular design allows for easy installation, strong turning capabilities, and adaptability to operations within highly inclined pipelines.

Description

Technical Field

[0001] The invention relates to a detection robot, in particular to a serpentine pipeline detection robot. Background Art

[0002] Over the course of long-term use, pipelines may develop defects on their inner walls. Regular inspections by pipeline inspection robots ensure reliable operation. However, current pipeline inspection robots struggle to simultaneously meet the requirements for adaptability at joints with varying pipe diameters, the ability to accommodate multiple pipe diameters, the ability to change direction, and the ability to navigate at large angles, hindering successful inspection tasks. Summary of the Invention

[0003] In order to solve the problems existing in the background technology, the present invention provides a serpentine pipeline inspection robot that can meet the needs of multi-scale pipe diameter changes, has a modular design and is easy to install, has strong turning ability, and can adapt to operations inside large-angle inclined pipelines.

[0004] The technical solution adopted in the present invention is:

[0005] The serpentine pipeline inspection robot of the present invention includes a detection module, several spiral propulsion modules, two cleaning modules and several spiral propulsion modules. The detection module serves as the head of the inspection robot. The detection module is connected to a spiral propulsion module and a cleaning module in sequence. Several spiral propulsion modules are connected in sequence to form a spiral propulsion module. Several spiral propulsion modules are connected through several spiral propulsion modules to form a total propulsion module. A spiral propulsion module is connected between every two spiral propulsion modules. The total propulsion module is connected between two cleaning modules, that is, the two cleaning modules are respectively connected to the first spiral propulsion module and the last spiral propulsion module in the total propulsion module. The other cleaning module is connected to a spiral propulsion module serving as the tail of the inspection robot.

[0006] The detection module is used to obtain the working condition of the inner wall of the pipeline in real time; the spiral propulsion module is used to provide forward power during all-terrain crawling; the cleaning module is used to remove stains and debris from the inner wall of the pipeline; the spiral propulsion module and other modules are hinged through gear racks to spiral into a spiral shape with variable diameter, which can adapt to various scenes of turning, diameter change and uneven change of pipe diameter. The spiral drive module rotates to drive the whole forward, thereby realizing the purpose of the maintenance module to detect the inner wall of the pipeline from multiple angles.

[0007] The detection module includes a steering gear I, a detection module body, a camera, a camera turntable, a camera turntable motor, a detection module rack and four detection module wheels. The four detection module wheels are respectively installed at the four corners below the bottom of the detection module body. A vertically arranged first mounting plate is provided at the front of the detection module body, and a steering gear I is installed on the first mounting plate. The central axis of the steering gear I is vertically movably connected to the first mounting plate; a detection module rack is horizontally installed on the rear end face of the detection module body, and the tooth surface of the detection module rack faces the rear of the detection module; the body of the camera turntable motor is installed on the top surface of the detection module body, and the output shaft of the camera turntable motor is vertically upward and synchronously connected to the bottom surface of the horizontally arranged camera turntable. The camera is installed on the top surface of the camera turntable, and the camera faces the horizontal direction; the rear part of the detection module body is hinged to the front part of the spiral propulsion module, and the detection module rack is engaged with the front part of the spiral propulsion module.

[0008] When the inspection module is connected to a propulsion module, cleaning module, or spiral propulsion module, the inspection module's steering gear I meshes perpendicularly with the rack of the module in front of it. The inspection module's main body is hinged to the rear of the main body of the module in front of it. This allows the camera to detect defects on the pipeline's inner wall from multiple angles and in real time.

[0009] The spiral propulsion module includes a spiral rubber sleeve, a driving gear I, a spiral drive motor, an internal gear cylinder I, a spiral propulsion module body, a spiral propulsion module rack, a driven gear I and a steering gear III. The spiral rubber sleeve is coaxially sleeved on the outer circumference of the internal gear cylinder I. The outer circumference of the spiral rubber sleeve is threaded, and the inner circumference of the internal gear cylinder I is toothed; the spiral propulsion module body is installed in the internal gear cylinder I, and a vertically arranged second mounting plate is provided at the front of the spiral propulsion module body. The steering gear III is installed on the second mounting plate, and the central axis of the steering gear III is vertically movably connected to the second mounting plate; the driving gear I and the driven gear I are respectively installed on the opposite sides of the rear of the spiral propulsion module body, and one of the rear of the spiral propulsion module body is Two first gear mounting plates are arranged vertically on the side, and the two first gear mounting plates are perpendicular to the central axis of the internal gear cylinder I. The driven gear I is installed between the two first gear mounting plates, and the central axis of the driven gear I is vertically movably connected to the two first gear mounting plates, and the driven gear I is meshed with the inner circumference of the internal gear cylinder I; the body of the spiral drive motor is installed on the other side of the rear of the spiral propulsion module body, and the output shaft of the spiral drive motor is parallel to the central axis of the internal gear cylinder I and synchronously connected to the center of the driven gear I, and the driven gear I is meshed with the inner circumference of the internal gear cylinder I; the rear end face of the spiral propulsion module body is horizontally installed with a spiral propulsion module rack, and the tooth surface of the spiral propulsion module rack faces the rear of the spiral propulsion module.

[0010] The front part of the spiral propulsion module body of the spiral propulsion module located at the front of the detection robot is hinged to the rear part of the detection module body of the detection module, the rear part of the spiral propulsion module body is hinged to the front part of the cleaning module located behind itself, and the steering gear III of the spiral propulsion module vertically meshes with the detection module rack of the detection module; the front part of the spiral propulsion module body of the spiral propulsion module located at the rear of the detection robot is hinged to the rear part of a cleaning module located in front of itself, and the steering gear III of the spiral propulsion module meshes with the rear part of the cleaning module located in front of itself; the front part of the spiral propulsion module body of each spiral propulsion module located in the middle of the detection robot is hinged to the rear part of a spiral propulsion module located in front of itself, the rear part of the spiral propulsion module body is hinged to the front part of a spiral propulsion module located behind itself, and the steering gear III of the spiral propulsion module meshes with the rear part of a spiral propulsion module located in front of itself, and the spiral propulsion module rack of the spiral propulsion module meshes with the front part of a spiral propulsion module located behind itself; the hinge realizes horizontal freedom of rotation.

[0011] The cleaning module includes a steering gear II, a steering motor, a cleaning module body, a cleaning module rack, four cleaning module wheels and a cleaning device. The four cleaning module wheels are respectively installed at the four corners below the bottom of the cleaning module body. A vertically arranged third mounting plate is provided at the front of the cleaning module body. A steering gear II is installed on one side of the third mounting plate. The central axis of the steering gear II is vertically movably connected to the third mounting plate. The body of the steering motor is installed on the other side of the third mounting plate. The output shaft of the steering motor vertically passes through the third mounting plate and is synchronously connected to the central axis of the steering gear II. A cleaning module rack is horizontally installed on the rear end face of the cleaning module body, and the tooth surface of the cleaning module rack faces the rear of the cleaning module. The cleaning device is installed on the top surface of the cleaning module body.

[0012] The front part of the cleaning module body of a cleaning module located at the front of the detection robot is hinged to the rear part of the spiral propulsion module body of a spiral propulsion module located in front of itself, the rear part of the cleaning module body is hinged to the front part of a spiral propulsion module located behind itself, and the steering gear II of the cleaning module is vertically meshed with the spiral propulsion module rack of a spiral propulsion module located in front of itself, and the cleaning module rack of the cleaning module is meshed with the front part of a spiral propulsion module located behind itself; the front part of the cleaning module body of a cleaning module located at the rear of the detection robot is hinged to the rear part of the spiral propulsion module body of a spiral propulsion module located behind itself, the rear part of the cleaning module body is hinged to the front part of the spiral propulsion module body of a spiral propulsion module located behind itself, and the steering gear II of the cleaning module is meshed with the rear part of the spiral propulsion module, and the cleaning module rack of the cleaning module is vertically meshed with the driving gear I of the spiral propulsion module.

[0013] The cleaning device includes a cleaning module turntable, a cleaning arm motor, a cleaning module turntable motor, a cleaning arm, a cleaning module cleaning roller motor and a cleaning roller. The body of the cleaning module turntable motor is installed on the top surface of the cleaning module body, and the output shaft of the cleaning module turntable motor is vertically upward and synchronously connected to the bottom surface of the cleaning module turntable. The top surface of the cleaning module turntable is provided with a mounting bracket, and the body of the cleaning arm motor is installed on the mounting bracket. The output shaft of the cleaning arm motor is horizontal and parallel to the forward direction of the cleaning module, and the output shaft of the cleaning arm motor is synchronously connected to the root end of the cleaning arm. The cleaning module cleaning roller motor and the cleaning roller are respectively installed on opposite sides of the end of the cleaning arm. The body of the cleaning module cleaning roller motor is installed on one side of the end of the cleaning arm, and the output shaft of the cleaning module cleaning roller motor is parallel to the output shaft of the cleaning arm motor and is synchronously connected to the central axis of the cleaning roller. The outer peripheral surface of the cleaning roller is provided with a number of rubber protrusion structures, and each rubber protrusion structure is in close contact with the inner wall of the pipe to be inspected.

[0014] The spiral propulsion module includes a rubber protrusion sleeve, an internal gear cylinder II, a driven gear II, a spiral propulsion module body, a spiral propulsion rack, a spiral drive motor, a driving gear II and a steering gear IV. The rubber protrusion sleeve is coaxially sleeved on the outer peripheral surface of the internal gear cylinder II. The outer peripheral surface of the rubber protrusion sleeve is a plurality of rows of protrusion structures evenly spaced. The row length direction of each row of protrusion structures is parallel to the central axis of the internal gear cylinder II. The inner peripheral surface of the internal gear cylinder II is toothed; the spiral propulsion module body is installed in the internal gear cylinder II. A fourth mounting plate arranged vertically is provided at the front of the spiral propulsion module body. The steering gear IV is mounted on the fourth mounting plate. The central axis of the steering gear IV is vertically movably connected to the fourth mounting plate. The driven gear II and Driving gear II, one side of the rear part of the detection module rack is provided with two vertically arranged second gear mounting plates, the two second gear mounting plates are perpendicular to the central axis of the internal gear cylinder II, and the driven gear II is installed between the two second gear mounting plates, and the central axis of the driven gear II is vertically movably connected to the two second gear mounting plates, and the driven gear II is meshed with the inner circumference of the internal gear cylinder II; the body of the rotation drive motor is installed on the other side of the rear part of the rotation propulsion module body, and the output shaft of the rotation drive motor is parallel to the central axis of the internal gear cylinder II and is synchronously connected to the center of the driven gear II, and the driven gear II is meshed with the inner circumference of the internal gear cylinder II; a rotation propulsion rack is horizontally installed on the rear end face of the rotation propulsion module body, and the tooth surface of the rotation propulsion rack faces the rear of the rotation propulsion module.

[0015] The front part of the spiral propulsion module body of the spiral propulsion module at the front of a spiral propulsion module located at the front of the detection robot is hinged to the rear part of the cleaning module body of a cleaning module located in front of itself, and the rear part of the spiral propulsion module body is hinged to the front part of the spiral propulsion module body of a spiral propulsion module located behind itself, and the steering gear IV of the spiral propulsion module is vertically meshed with the cleaning module rack of the cleaning module located in front of itself, and the spiral propulsion rack of the spiral propulsion module is vertically meshed with the steering gear IV of the spiral propulsion module; located at each spiral The front part of the spiral propulsion module body of a spiral propulsion module in the middle of the propulsion module is hinged to the rear part of the spiral propulsion module body of a spiral propulsion module in front of itself, the rear part of the spiral propulsion module body is hinged to the front part of the spiral propulsion module body of a spiral propulsion module behind itself, and the steering gear IV of the spiral propulsion module is vertically meshed with the spiral propulsion rack of the spiral propulsion module in front of itself, and the spiral propulsion rack of the spiral propulsion module is vertically meshed with the steering gear IV of the spiral propulsion module behind itself; located in front of the detection robot The front part of the spiral propulsion module body of a spiral propulsion module at the rear of each spiral propulsion module in the upper and middle parts is hinged to the rear part of the spiral propulsion module body of a spiral propulsion module in front of itself, the rear part of the spiral propulsion module body is hinged to the front part of the spiral propulsion module body of a spiral propulsion module behind itself, and the steering gear IV of the spiral propulsion module is vertically meshed with the spiral propulsion rack of the spiral propulsion module in front of itself, and the spiral propulsion rack of the spiral propulsion module is vertically meshed with the steering gear III of the spiral propulsion module behind itself; The front part of the spiral propulsion module body of a spiral propulsion module at the rear of a spiral propulsion module located at the rear of the detection robot is hinged to the rear part of the spiral propulsion module body of a spiral propulsion module located in front of itself, the rear part of the spiral propulsion module body is hinged to the front part of the cleaning module body of a cleaning module located behind itself, and the steering gear IV of the spiral propulsion module is vertically engaged with the spiral propulsion rack of the spiral propulsion module located in front of itself, and the spiral propulsion rack of the spiral propulsion module is vertically engaged with the steering gear II of the cleaning module located behind itself.

[0016] The beneficial effects of the present invention are:

[0017] 1) The device of the present invention can meet the operational requirements of different pipe diameters by increasing or decreasing the number of spiral propulsion modules according to the requirements of different pipe diameter changes, thereby realizing personalized operational needs, and the modular design is easy to install.

[0018] 2) The present invention can realize working conditions under different turning angles by setting up a single-module gear rack vertically cross-connected, thereby achieving efficient adaptive turning.

[0019] 3) The present invention can spirally ascend on the inner wall of the pipe by articulating multiple modular gear racks, achieving efficient fitting and adapting to the working environment of pipes with large angle inclinations.

[0020] 4) The present invention is capable of implementing fast walking on all terrains and rapid spiral driving in detection operations by providing a spiral propulsion module and a spiral propulsion module. Multiple drive modes are suitable for detection operations and all-terrain spiral propulsion. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is an overall schematic diagram of the present invention;

[0022] Figure 2 Schematic diagram of the detection module structure of the present invention

[0023] Figure 3 This is a schematic structural diagram of the spiral propulsion module of the present invention;

[0024] Figure 4 This is a schematic diagram of the internal gear cylinder structure of the present invention;

[0025] Figure 5 This is a schematic structural diagram of the rubber spiral sleeve of the present invention;

[0026] Figure 6 This is a schematic diagram of the main structure of the spiral propulsion module of the present invention;

[0027] Figure 7 This is a schematic diagram of the spiral propulsion structure of the present invention;

[0028] Figure 8 This is a schematic diagram of the structure of the rubber raised sleeve of the present invention;

[0029] Figure 9 This is a schematic structural diagram of the cleaning module of the present invention;

[0030] Figure 10 This is a schematic diagram of the cleaning roller structure of the present invention;

[0031] In the figure: 100, detection module, 200, spiral propulsion module, 300, spiral propulsion module, 400, cleaning module, 101, steering gear I, 102, detection module body, 103, camera, 104, camera turntable, 105, camera turntable motor, 106, detection module rack, 107, detection module wheel, 201, spiral rubber sleeve, 202, driving gear I, 203, spiral drive motor, 204, internal gear cylinder I, 205, spiral propulsion module body, 206, spiral propulsion module rack, 207, driven gear I , 301, rubber protrusion sleeve, 302, internal gear cylinder II, 303, driven gear II, 304, spiral propulsion module body, 305, spiral propulsion rack, 306, spiral drive motor, 307, driving gear II, 401, steering gear II, 402, steering motor, 403, cleaning module body, 404, cleaning module turntable, 405, cleaning arm motor, 406, cleaning module turntable motor, 407, cleaning module rack, 408, cleaning arm, 409, cleaning module wheel, 410, cleaning module cleaning roller motor, 411, cleaning roller. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] It should be understood that the specific embodiments described herein are intended merely to illustrate the present invention and are not intended to limit the present invention. Rather, the present invention encompasses any alternatives, modifications, equivalents, and solutions that are within the spirit and scope of the present invention as defined by the claims. Furthermore, to facilitate a better understanding of the present invention, certain specific details are described in detail in the following detailed description of the present invention. Those skilled in the art will be able to fully understand the present invention without these details.

[0034] like Figure 1As shown, the serpentine pipeline inspection robot of the present invention includes a detection module 100, several spiral propulsion modules 200, two cleaning modules 400 and several spiral propulsion modules 300. The detection module 100 serves as the head of the inspection robot. The detection module 100 is sequentially connected to a spiral propulsion module 200 and a cleaning module 400. Several spiral propulsion modules 300 are sequentially connected to form a spiral propulsion module. Several spiral propulsion modules are connected through several spiral propulsion modules 200 to form a total propulsion module. A spiral propulsion module 200 is connected between every two spiral propulsion modules. The total propulsion module is connected between two cleaning modules 400, that is, two cleaning modules 400 are respectively connected to the first spiral propulsion module 300 and the last spiral propulsion module 300 in the total propulsion module. Another cleaning module 400 is further connected to a spiral propulsion module 200 serving as the tail of the inspection robot. Specifically, three spiral propulsion modules 200 can be used, namely, the front, middle and rear, and two groups of spiral propulsion modules, each with three spiral propulsion modules 300.

[0035] The detection module 100 is used to obtain the working conditions of the inner wall of the pipeline in real time at 360 degrees; the spiral propulsion module 200 is used to provide forward power during all-terrain crawling; the cleaning module 400 is used to remove stains and debris from the inner wall of the pipeline; the spiral propulsion module 300 and other modules are hinged through gear racks and spiraled into a spiral shape with variable diameter, adapting to various turning, diameter changes and uneven changes in pipe diameter. The spiral drive module 300 rotates to drive the whole forward, thereby achieving the purpose of the maintenance module 100 to detect the inner wall of the pipeline from multiple angles.

[0036] like Figure 2 As shown, the detection module 100 includes a steering gear I 101, a detection module body 102, a camera 103, a camera turntable 104, a camera turntable motor 105, a detection module rack 106 and four detection module wheels 107. The four detection module wheels 107 are respectively installed at the four corners below the bottom of the detection module body 102. A vertically arranged first mounting plate is provided at the front of the detection module body 102, and a steering gear I 101 is installed on the first mounting plate. The central axis of the steering gear I 101 is vertically movably connected to the first mounting plate; the rear end of the detection module body 102 is provided with a first mounting plate arranged vertically. The detection module rack 106 is horizontally installed on the surface, and the tooth surface of the detection module rack 106 faces the rear of the detection module 100; the body of the camera turntable motor 105 is installed on the top surface of the detection module main body 102, and the output shaft of the camera turntable motor 105 is vertically upward and synchronously connected to the bottom surface of the horizontally arranged camera turntable 104, and the camera 103 is installed on the top surface of the camera turntable 104, and the camera 103 faces the horizontal direction; the rear part of the detection module main body 102 is hinged to the front part of the spiral propulsion module 200, and the detection module rack 106 is engaged with the front part of the spiral propulsion module 200.

[0037] When the propulsion module 200, cleaning module 400, or hovering propulsion module 300 is connected to the front of the inspection module 100, the steering gear I 101 of the inspection module 100 meshes perpendicularly with the rack of the module connected in front. The inspection module body 102 of the inspection module 100 is hinged to the rear of the main body of the module connected in front. The camera 103 can detect defects on the inner wall of the pipeline in real time from multiple angles and in all directions.

[0038] like Figure 3-6 As shown, the spiral propulsion module 200 includes a spiral rubber sleeve 201, a driving gear I 202, a spiral drive motor 203, an internal gear cylinder I 204, a spiral propulsion module body 205, a spiral propulsion module rack 206, a driven gear I 207 and a steering gear III. The spiral rubber sleeve 201 is coaxially sleeved on the outer circumference of the internal gear cylinder I 204. The outer circumference of the spiral rubber sleeve 201 is threaded, and the inner circumference of the internal gear cylinder I 204 is toothed; the spiral propulsion module body 205 is installed in the internal gear cylinder I 204, and a vertically arranged second mounting plate is provided at the front of the spiral propulsion module body 205. The steering gear III is mounted on the second mounting plate, and the central axis of the steering gear III is vertically movably connected to the second mounting plate; the driving gear I 202 and the driven gear I 207 are mounted on opposite sides of the rear of the spiral propulsion module body 205, and the rear of the spiral propulsion module body 205 is provided with a second mounting plate arranged vertically. One side of the spiral propulsion module body is provided with two vertically arranged first gear mounting plates, and the two first gear mounting plates are perpendicular to the central axis of the internal gear cylinder body Ⅰ204. The driven gear Ⅰ207 is installed between the two first gear mounting plates, and the central axis of the driven gear Ⅰ207 is vertically movably connected to the two first gear mounting plates, and the driven gear Ⅰ207 is meshed with the inner circumferential surface of the internal gear cylinder body Ⅰ204; the body of the spiral drive motor 203 is installed on the other side of the rear of the spiral propulsion module body 205, and the output shaft of the spiral drive motor 203 is parallel to the central axis of the internal gear cylinder body Ⅰ204 and synchronously connected to the center of the driven gear Ⅰ207, and the driven gear Ⅰ207 is meshed with the inner circumferential surface of the internal gear cylinder body Ⅰ204; the rear end face of the spiral propulsion module body 205 is horizontally installed with a spiral propulsion module rack 206, and the tooth surface of the spiral propulsion module rack 206 faces the rear of the spiral propulsion module 200.

[0039] The front part of the spiral propulsion module body 205 of a spiral propulsion module 200 located at the front of the detection robot is hinged to the rear part of the detection module body 102 of the detection module 100, and the rear part of the spiral propulsion module body 205 is hinged to the front part of the cleaning module 400 located behind itself, and the steering gear III of the spiral propulsion module 200 is vertically meshed with the detection module rack 106 of the detection module 100; the front part of the spiral propulsion module body 205 of a spiral propulsion module 200 located at the rear of the detection robot is hinged to the rear part of the cleaning module 400 located in front of itself, and the steering gear III of the spiral propulsion module 200 is meshed with the detection module rack 106 located in front of itself. The front part of the spiral propulsion module body 205 of each spiral propulsion module 200 located in the middle of the detection robot is hinged to the rear part of a spiral propulsion module 300 located in front of itself, and the rear part of the spiral propulsion module body 205 is hinged to the front part of a spiral propulsion module 300 located behind itself, and the steering gear III of the spiral propulsion module 200 is engaged with the rear part of a spiral propulsion module 300 located in front of itself, and the spiral propulsion module rack 206 of the spiral propulsion module 200 is engaged with the front part of a spiral propulsion module 300 located behind itself; the hinge realizes rotation with horizontal degrees of freedom.

[0040] like Figure 9-10 As shown, the cleaning module 400 includes a steering gear II 401, a steering motor 402, a cleaning module body 403, a cleaning module rack 407, four cleaning module wheels 409 and a cleaning device. The four cleaning module wheels 409 are respectively installed at the four corners below the bottom of the cleaning module body 403. A vertically arranged third mounting plate is provided at the front of the cleaning module body 403. A steering gear II 401 is installed on one side of the third mounting plate. The central axis of the steering gear II 401 is vertically movably connected to the third mounting plate. The body of the steering motor 402 is installed on the other side of the third mounting plate. The output shaft of the steering motor 402 passes vertically through the third mounting plate and is synchronously connected to the central axis of the steering gear II 401; a cleaning module rack 407 is horizontally installed on the rear end face of the cleaning module body 403, and the tooth surface of the cleaning module rack 407 faces the rear of the cleaning module 400; the cleaning device is installed on the top surface of the cleaning module body 403.

[0041] The front part of the cleaning module body 403 of a cleaning module 400 located at the front of the detection robot is hinged to the rear part of the spiral propulsion module body 205 of a spiral propulsion module 200 located in front of itself, and the rear part of the cleaning module body 403 is hinged to the front part of a spiral propulsion module 300 located behind itself, and the steering gear II 401 of the cleaning module 400 is vertically meshed with the spiral propulsion module rack 206 of the spiral propulsion module 200 located in front of itself, and the cleaning module rack 407 of the cleaning module 400 is vertically meshed with the spiral propulsion module rack 206 of the spiral propulsion module 200 located behind itself. The front of the cleaning module body 403 of a cleaning module 400 located at the rear of the detection robot is hinged to the rear of a spiral propulsion module 300 located behind itself, and the rear of the cleaning module body 403 is hinged to the front of the spiral propulsion module body 205 of a spiral propulsion module 200 located behind itself, and the steering gear II 401 of the cleaning module 400 is engaged with the rear of the spiral propulsion module 300, and the cleaning module rack 407 of the cleaning module 400 is vertically engaged with the driving gear I 202 of the spiral propulsion module 200.

[0042] The cleaning device includes a cleaning module turntable 404, a cleaning arm motor 405, a cleaning module turntable motor 406, a cleaning arm 408, a cleaning module cleaning roller motor 410 and a cleaning roller 411. The body of the cleaning module turntable motor 406 is installed on the top surface of the cleaning module body 403. The output shaft of the cleaning module turntable motor 406 is vertically upward and synchronously connected to the bottom surface of the cleaning module turntable 404. The top surface of the cleaning module turntable 404 is provided with a mounting frame. The body of the cleaning arm motor 405 is installed on the mounting frame. The output shaft of the cleaning arm motor 405 is horizontal and parallel to the cleaning module 4 00's forward direction, the output shaft of the cleaning arm motor 405 is synchronously connected to the root end of the cleaning arm 408, and the cleaning module cleaning roller motor 410 and the cleaning roller 411 are respectively installed on the opposite sides of the end of the cleaning arm 408. The body of the cleaning module cleaning roller motor 410 is installed on one side of the end of the cleaning arm 408, and the output shaft of the cleaning module cleaning roller motor 410 is parallel to the output shaft of the cleaning arm motor 405 and is synchronously connected to the central axis of the cleaning roller 411. The outer peripheral surface of the cleaning roller 411 is provided with a number of rubber protrusion structures, and each rubber protrusion structure is close to the inner wall of the pipe to be inspected.

[0043] like Figure 7-8As shown, the spiral propulsion module 300 includes a rubber protrusion sleeve 301, an internal gear cylinder II 302, a driven gear II 303, a spiral propulsion module body 304, a spiral propulsion rack 305, a spiral drive motor 306, a driving gear II 307 and a steering gear IV. The rubber protrusion sleeve 301 is coaxially sleeved on the outer peripheral surface of the internal gear cylinder II 302. The outer peripheral surface of the rubber protrusion sleeve 301 is a plurality of rows of protrusion structures evenly spaced. The row length direction of each row of protrusion structures is parallel to the central axis of the internal gear cylinder II 302. The inner peripheral surface of the internal gear cylinder II 302 is toothed; the spiral propulsion module body 304 is installed in the internal gear cylinder II 302. The front part of the spiral propulsion module body 304 is provided with a vertically arranged fourth mounting plate, on which the steering gear IV is mounted. The central axis of the steering gear IV is vertically movably connected to the fourth mounting plate; the driven gear II 303 and Driving gear II 307, one side of the rear part of the detection module rack 106 is provided with two vertically arranged second gear mounting plates, the two second gear mounting plates are perpendicular to the central axis of the internal gear cylinder II 302, and the driven gear II 303 is installed between the two second gear mounting plates, and the central axis of the driven gear II 303 is vertically movably connected to the two second gear mounting plates, and the driven gear II 303 is meshed with the inner circumferential surface of the internal gear cylinder II 302; the fuselage of the rotation drive motor 306 is installed on the other side of the rear part of the rotation propulsion module body 304, and the output shaft of the rotation drive motor 306 is parallel to the central axis of the internal gear cylinder II 302 and synchronously connected to the center of the driven gear II 303, and the driven gear II 303 is meshed with the inner circumferential surface of the internal gear cylinder II 302; the rear end face of the rotation propulsion module body 304 is horizontally installed with a rotation propulsion rack 305, and the tooth surface of the rotation propulsion rack 305 faces the rear of the rotation propulsion module 300.

[0044] The front part of the spiral propulsion module body 304 of a spiral propulsion module 300 at the front of a spiral propulsion module located at the front of the detection robot is hinged to the rear part of the cleaning module body 403 of a cleaning module 400 located in front of itself, and the rear part of the spiral propulsion module body 304 is hinged to the front part of the spiral propulsion module body 304 of a spiral propulsion module 300 located behind itself, and the steering gear IV of the spiral propulsion module 300 is vertically meshed with the cleaning module rack 407 of the cleaning module 400 located in front of itself, and the spiral propulsion rack 305 of the spiral propulsion module 300 is vertically meshed with the steering gear IV of the spiral propulsion module 300; located at each spiral propulsion module The front part of the spiral propulsion module body 304 of a spiral propulsion module 300 in the middle of the group is hinged to the rear part of the spiral propulsion module body 304 of a spiral propulsion module 300 in front of itself, and the rear part of the spiral propulsion module body 304 is hinged to the front part of the spiral propulsion module body 304 of a spiral propulsion module 300 behind itself, and the steering gear IV of the spiral propulsion module 300 is vertically meshed with the spiral propulsion rack 305 of the spiral propulsion module 300 in front of itself, and the spiral propulsion rack 305 of the spiral propulsion module 300 is vertically meshed with the steering gear IV of the spiral propulsion module 300 behind itself; located at the front and middle of the detection robot The front part of the spiral propulsion module body 304 of a spiral propulsion module 300 at the rear of each spiral propulsion module is hinged to the rear part of the spiral propulsion module body 304 of a spiral propulsion module 300 in front of itself, and the rear part of the spiral propulsion module body 304 is hinged to the front part of the spiral propulsion module body 205 of a spiral propulsion module 200 behind itself, and the steering gear IV of the spiral propulsion module 300 is vertically meshed with the spiral propulsion rack 305 of the spiral propulsion module 300 in front of itself, and the spiral propulsion rack 305 of the spiral propulsion module 300 is vertically meshed with the steering gear III of the spiral propulsion module 200 behind itself; The front part of the spiral propulsion module body 304 of a spiral propulsion module 300 at the rear of a spiral propulsion module at the rear of the measuring robot is hinged to the rear part of the spiral propulsion module body 304 of a spiral propulsion module 300 located in front of itself, and the rear part of the spiral propulsion module body 304 is hinged to the front part of the cleaning module body 403 of a cleaning module 400 located behind itself, and the steering gear IV of the spiral propulsion module 300 is vertically engaged with the spiral propulsion rack 305 of the spiral propulsion module 300 located in front of itself, and the spiral propulsion rack 305 of the spiral propulsion module 300 is vertically engaged with the steering gear II 401 of the cleaning module 400 located behind itself.

[0045] The specific implementation process of the present invention is as follows:

[0046] The spiral propulsion module 200 is suitable for sections with particularly small pipe diameters or before entering the pipeline. In this working mode, the spiral propulsion module 300 is driven by the steering motor and does not contact the ground or the inner wall of the pipeline. The spiral drive motor 203 rotates to drive the active gear I 202 to rotate, and the internal gear cylinder I 204 rotates relative to the spiral propulsion module body 205. Since the spiral rubber sleeve 201 has a spiral shape, the whole will move forward due to friction, driving the entire machine forward to achieve the purpose of fast travel.

[0047] After entering the interior of the pipeline, the entire machine can be adjusted to a spiral shape by rotating the gear articulated motors at appropriate angles. At this time, each spiral drive module 300 is in close contact with the inner wall of the pipeline, and the spiral drive motor 306 on the spiral propulsion module body 304 rotates, driving the active gear II 307 to rotate, thereby driving the internal gear cylinder II 302 and the driven gear II 303 to rotate, and the rubber raised sleeve 301 on the internal gear cylinder II 302 rotates accordingly. The protrusions on the rubber raised sleeve 301 generate friction with the inner wall of the pipeline to rotate, driving the entire unit to spiral forward in the direction of the pipe diameter axis. At the same time, the rubber raised sleeve 301 also avoids damage to the pipeline.

[0048] When the detection module 100 captures silt or other stains on the inner wall of the pipe and determines the specific location information, the cleaning module turntable motor 406 and the cleaning arm motor 405 simultaneously adjust the position of the rotary drum so that the end of the cleaning arm 408 reaches the place where the stains are to be removed, and the cleaning module cleaning roller motor 410 drives the cleaning roller 411 to operate at high speed. The cylindrical protrusion on the cleaning roller 411 removes the stains on the inner wall of the pipe, thereby achieving the purpose of rapid positioning and efficient removal of stains.

[0049] The modules of the serpentine pipeline inspection robot of the present invention are connected by gear rack type hinges, and the degrees of freedom of adjacent connections are perpendicular to each other, which can present a spiral shape. It has strong turning ability and can adapt to changes in pipe diameter. It can also be applied to large pipe diameter working conditions by increasing the number of modules.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A serpentine pipeline inspection robot, characterized by: The invention comprises a detection module (100), a plurality of spiral propulsion modules (200), two cleaning modules (400) and a plurality of spiral propulsion modules (300), wherein the detection module (100) serves as the head of the detection robot, the detection module (100) is sequentially connected to a spiral propulsion module (200) and a cleaning module (400), the plurality of spiral propulsion modules (300) are sequentially connected to form a spiral propulsion module, the plurality of spiral propulsion modules are connected to form a total propulsion module through the plurality of spiral propulsion modules (200), a spiral propulsion module (200) is connected between every two spiral propulsion modules, the total propulsion module is connected between two cleaning modules (400), that is, the two cleaning modules (400) are respectively connected to the first spiral propulsion module (300) and the last spiral propulsion module (300) in the total propulsion module, and the other cleaning module (400) is further connected to a spiral propulsion module (200) serving as the tail of the detection robot; The spiral propulsion module (200) comprises a spiral rubber sleeve (201), a driving gear I (202), a spiral drive motor (203), an internal gear cylinder I (204), a spiral propulsion module body (205), a spiral propulsion module rack (206), a driven gear I (207) and a steering gear III. The spiral rubber sleeve (201) is coaxially sleeved on the outer peripheral surface of the internal gear cylinder I (204). The outer peripheral surface of the spiral rubber sleeve (201) is threaded, and the inner peripheral surface of the internal gear cylinder I (204) is toothed. The spiral propulsion module body (205) is installed in the internal gear cylinder I (204). A second mounting plate arranged vertically is provided at the front of the spiral propulsion module body (205). The steering gear III is mounted on the second mounting plate. The central axis of the steering gear III is vertically movably connected to the second mounting plate. The driving gear I (202) and the driven gear I (207) are mounted on opposite sides of the rear of the spiral propulsion module body (205). ) One side of the rear part is provided with two first gear mounting plates arranged vertically, the two first gear mounting plates are perpendicular to the central axis of the internal gear cylinder body I (204), the driven gear I (207) is installed between the two first gear mounting plates, the central axis of the driven gear I (207) is vertically movably connected to the two first gear mounting plates, and the driven gear I (207) and the inner peripheral surface of the internal gear cylinder body I (204) are meshed; the body of the spiral driving motor (203) is installed on the other side of the rear part of the spiral propulsion module body (205), the output shaft of the spiral driving motor (203) is parallel to the central axis of the internal gear cylinder body I (204) and is synchronously connected to the center of the driving gear I (202), and the driving gear I (202) and the inner peripheral surface of the internal gear cylinder body I (204) are meshed; the rear end face of the spiral propulsion module body (205) is horizontally installed with a spiral propulsion module rack (206), and the tooth surface of the spiral propulsion module rack (206) faces the rear of the spiral propulsion module (200); The spiral propulsion module (300) comprises a rubber protrusion sleeve (301), an internal gear cylinder II (302), a driven gear II (303), a spiral propulsion module body (304), a spiral propulsion rack (305), a spiral drive motor (306), a driving gear II (307) and a steering gear IV. The rubber protrusion sleeve (301) is coaxially sleeved on the outer peripheral surface of the internal gear cylinder II (302). The outer peripheral surface of the rubber protrusion sleeve (301) is a plurality of rows of protrusion structures evenly spaced apart. The longitudinal direction of the column is parallel to the central axis of the internal gear cylinder II (302), and the inner circumference of the internal gear cylinder II (302) is tooth-shaped; the spiral propulsion module body (304) is installed in the internal gear cylinder II (302), and the front of the spiral propulsion module body (304) is provided with a fourth mounting plate arranged vertically, and the fourth mounting plate is mounted with a steering gear IV, and the central axis of the steering gear IV is vertically movably connected to the fourth mounting plate; the driven gear II (303) and the main gear II (304) are respectively mounted on opposite sides of the rear of the spiral propulsion module body (304). The driven gear II (307) is provided with two second gear mounting plates arranged vertically on one side of the rear part of the spiral propulsion module body (304). The two second gear mounting plates are perpendicular to the central axis of the internal gear cylinder II (302). The driven gear II (303) is installed between the two second gear mounting plates. The central axis of the driven gear II (303) is vertically connected to the two second gear mounting plates. The driven gear II (303) is meshed with the inner circumferential surface of the internal gear cylinder II (302). The spiral drive motor (306) is driven by the rotating gear II (307). The main body (304) of the spiral propulsion module is installed on the other side of the rear part, the output shaft of the spiral drive motor (306) is parallel to the central axis of the internal gear cylinder II (302) and is synchronously connected to the center of the driving gear II (307), and the driving gear II (307) and the inner circumferential surface of the internal gear cylinder II (302) are meshed; the rear end face of the spiral propulsion module main body (304) is horizontally installed with a spiral propulsion rack (305), and the tooth surface of the spiral propulsion rack (305) faces the rear of the spiral propulsion module (300).

2. The serpentine pipeline inspection robot according to claim 1, characterized in that: The detection module (100) comprises a steering gear I (101), a detection module body (102), a camera (103), a camera turntable (104), a camera turntable motor (105), a detection module rack (106) and four detection module wheels (107), wherein the four detection module wheels (107) are respectively mounted at four corners below the bottom of the detection module body (102), a vertically arranged first mounting plate is provided at the front of the detection module body (102), a steering gear I (101) is mounted on the first mounting plate, and a central axis of the steering gear I (101) is vertically movably connected to the first mounting plate; the rear end of the detection module body (102) is provided with a first mounting plate arranged vertically. A detection module rack (106) is horizontally mounted on the surface, and the tooth surface of the detection module rack (106) faces the rear of the detection module (100); the body of the camera turntable motor (105) is mounted on the top surface of the detection module body (102), and the output shaft of the camera turntable motor (105) is vertically upward and synchronously connected to the bottom surface of the horizontally arranged camera turntable (104), and the camera (103) is mounted on the top surface of the camera turntable (104), and the camera (103) faces the horizontal direction; the rear part of the detection module body (102) is hinged to the front part of the spiral propulsion module (200), and the detection module rack (106) is meshed with the front part of the spiral propulsion module (200).

3. The serpentine pipeline inspection robot according to claim 2, characterized in that: The front part of the spiral propulsion module body (205) of a spiral propulsion module (200) located at the front of the detection robot is hinged to the rear part of the detection module body (102) of the detection module (100), the rear part of the spiral propulsion module body (205) is hinged to the front part of the cleaning module (400) located behind itself, and the steering gear III of the spiral propulsion module (200) is vertically meshed with the detection module rack (106) of the detection module (100); the front part of the spiral propulsion module body (205) of a spiral propulsion module (200) located at the rear of the detection robot is hinged to the rear part of the cleaning module (400) located in front of ...). The steering gear III is engaged with the rear part of a cleaning module (400) located in front of the detection robot; the front part of the spiral propulsion module body (205) of each spiral propulsion module (200) located in the middle of the detection robot is hinged to the rear part of a spiral propulsion module (300) located in front of the detection robot, and the rear part of the spiral propulsion module body (205) is hinged to the front part of a spiral propulsion module (300) located behind the detection robot, and the steering gear III of the spiral propulsion module (200) is engaged with the rear part of the spiral propulsion module (300) located in front of the detection robot, and the spiral propulsion module rack (206) of the spiral propulsion module (200) is engaged with the front part of the spiral propulsion module (300) located behind the detection robot.

4. The serpentine pipeline inspection robot according to claim 2, characterized in that: The cleaning module (400) comprises a steering gear II (401), a steering motor (402), a cleaning module body (403), a cleaning module rack (407), four cleaning module wheels (409) and a cleaning device. The four cleaning module wheels (409) are respectively mounted at four corners below the bottom of the cleaning module body (403). A vertically arranged third mounting plate is provided at the front of the cleaning module body (403). A steering gear II (401) is mounted on one side of the third mounting plate. The central axis of the steering gear II (401) is vertically movably connected to the third mounting plate. The body of the steering motor (402) is mounted on the other side of the third mounting plate. The output shaft of the steering motor (402) vertically passes through the third mounting plate and is synchronously connected to the central axis of the steering gear II (401). A cleaning module rack (407) is horizontally mounted on the rear end face of the cleaning module body (403). The tooth surface of the cleaning module rack (407) faces the rear of the cleaning module (400). The cleaning device is mounted on the top surface of the cleaning module body (403).

5. The serpentine pipeline inspection robot according to claim 4, characterized in that: The front part of the cleaning module body (403) of a cleaning module (400) located at the front of the detection robot is hinged to the rear part of the spiral propulsion module body (205) of a spiral propulsion module (200) located in front of the cleaning module, the rear part of the cleaning module body (403) is hinged to the front part of a spiral propulsion module (300) located behind the cleaning module, and the steering gear II (401) of the cleaning module (400) is vertically meshed with the spiral propulsion module rack (206) of the spiral propulsion module (200) located in front of the cleaning module, the cleaning module rack (407) of the cleaning module (400) and the spiral propulsion module located behind the cleaning module. (300); the front of a cleaning module body (403) of a cleaning module (400) located at the rear of the detection robot is hinged to the rear of a spiral propulsion module (300) located at the rear of the cleaning module, the rear of the cleaning module body (403) is hinged to the front of a spiral propulsion module body (205) of a spiral propulsion module (200) located at the rear of the cleaning module, and the steering gear II (401) of the cleaning module (400) is meshed with the rear of the spiral propulsion module (300), and the cleaning module rack (407) of the cleaning module (400) is vertically meshed with the driving gear I (202) of the spiral propulsion module (200).

6. The serpentine pipeline inspection robot according to claim 4, characterized in that: The cleaning device comprises a cleaning module turntable (404), a cleaning arm motor (405), a cleaning module turntable motor (406), a cleaning arm (408), a cleaning module cleaning roller motor (410) and a cleaning roller (411), wherein the body of the cleaning module turntable motor (406) is mounted on the top surface of the cleaning module body (403), the output shaft of the cleaning module turntable motor (406) is vertically upward and synchronously connected to the bottom surface of the cleaning module turntable (404), the top surface of the cleaning module turntable (404) is provided with a mounting frame, the body of the cleaning arm motor (405) is mounted on the mounting frame, the output shaft of the cleaning arm motor (405) is horizontal and parallel to the cleaning module body (403), and the output shaft of the cleaning arm motor (405) is horizontal and parallel to the cleaning module body (403). The cleaning module (400) is arranged to move in the forward direction of the cleaning block (400), the output shaft of the cleaning arm motor (405) is synchronously connected to the root end of the cleaning arm (408), and the cleaning module cleaning roller motor (410) and the cleaning roller (411) are respectively installed on opposite sides of the end of the cleaning arm (408). The body of the cleaning module cleaning roller motor (410) is installed on one side of the end of the cleaning arm (408), the output shaft of the cleaning module cleaning roller motor (410) is parallel to the output shaft of the cleaning arm motor (405) and is synchronously connected to the central axis of the cleaning roller (411), and the outer peripheral surface of the cleaning roller (411) is provided with a plurality of rubber protrusion structures, and each rubber protrusion structure is closely attached to the inner wall of the pipe to be inspected.

7. The serpentine pipeline inspection robot according to claim 4, characterized in that: The front part of the spiral propulsion module body (304) of a spiral propulsion module (300) at the front of a spiral propulsion module located at the front of the detection robot is hinged to the rear part of the cleaning module body (403) of a cleaning module (400) located in front of the detection robot, the rear part of the spiral propulsion module body (304) is hinged to the front part of the spiral propulsion module body (304) of a spiral propulsion module (300) located behind the detection robot, and the steering gear IV of the spiral propulsion module (300) is vertically meshed with the steering gear IV of the cleaning module (400) located in front of the detection robot. The cleaning module rack (407) and the spiral propulsion rack (305) of the spiral propulsion module (300) are vertically meshed with the steering gear IV of the spiral propulsion module (300); the front part of the spiral propulsion module body (304) of a spiral propulsion module (300) located in the middle of each spiral propulsion module is hinged to the rear part of the spiral propulsion module body (304) of a spiral propulsion module (300) located in front of itself, and the rear part of the spiral propulsion module body (304) is hinged to the spiral propulsion module body (304) of a spiral propulsion module (300) located behind itself. 304), and the steering gear IV of the spiral propulsion module (300) is vertically meshed with the spiral propulsion rack (305) of a spiral propulsion module (300) located in front of itself, and the spiral propulsion rack (305) of the spiral propulsion module (300) is vertically meshed with the steering gear IV of a spiral propulsion module (300) located behind itself; the front part of the spiral propulsion module body (304) of a spiral propulsion module (300) located at the rear of each spiral propulsion module at the front and middle of the detection robot is hinged to the spiral propulsion module located in front of itself The rear part of the spiral propulsion module body (304) of the (300) is hinged to the front part of the spiral propulsion module body (205) of a spiral propulsion module (200) located behind the spiral propulsion module (300), and the steering gear IV of the spiral propulsion module (300) is vertically meshed with the spiral propulsion rack (305) of the spiral propulsion module (300) located in front of the spiral propulsion module (300), and the spiral propulsion rack (305) of the spiral propulsion module (300) is vertically meshed with the steering gear III of the spiral propulsion module (200) located behind the spiral propulsion module (200);The front part of the spiral propulsion module body (304) of a spiral propulsion module (300) at the rear of a spiral propulsion module at the rear of the detection robot is hinged to the rear part of the spiral propulsion module body (304) of a spiral propulsion module (300) located in front of the detection robot, the rear part of the spiral propulsion module body (304) is hinged to the front part of the cleaning module body (403) of a cleaning module (400) located behind the detection robot, and the steering gear IV of the spiral propulsion module (300) is vertically meshed with the spiral propulsion rack (305) of the spiral propulsion module (300) located in front of the detection robot, and the spiral propulsion rack (305) of the spiral propulsion module (300) is vertically meshed with the steering gear II (401) of the cleaning module (400) located behind the detection robot.

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