A pipeline inspection robot

Abstract

The application discloses a pipeline detection robot, and relates to the technical field of robots.The pipeline detection robot comprises a main body section, a detection section fixedly connected with the main body section through a connecting piece, and a direction control piece arranged between the detection section and the main body section.The direction control piece is provided with a containing cavity, and an inlet and an outlet are arranged in a staggered mode; the inlet and the outlet are located on both sides of the center line of the detection section; a first driving piece is arranged in the containing cavity; and a second driving piece coupled with the direction control piece is arranged in the pipeline detection robot.The pipeline detection robot provided by the application is used for sucking liquid into the containing cavity from the inlet and spraying the liquid out of the outlet through the first driving piece.When the pipeline detection robot passes through a bending position of a pipeline, the second driving piece drives the direction control piece to rotate, so that the positions of the inlet and the outlet are changed, the moving direction of the pipeline detection robot is changed, the direction control is realized, and the detection efficiency of the pipeline detection robot is improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a pipeline inspection robot. Background Technology

[0002] A pipeline inspection robot is a special type of robot capable of moving within pressure pipelines and performing inspection tasks. In existing technologies, pipeline inspection robots utilize the flow of liquid within the pressure pipeline to propel a powered umbrella, which in turn moves the inspection robot. However, directional control is not possible, and it cannot navigate around small turning radii. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a pipeline inspection robot, which aims to solve the technical problem that pipeline inspection robots in the prior art cannot perform directional control.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0005] This application provides a pipeline inspection robot, including: an inspection section, a main body section, and a direction control component rotatably disposed between the inspection section and the main body section, wherein the inspection section is fixedly connected to the main body section via a connector;

[0006] The directional control component defines a receiving cavity and has an inlet and an outlet communicating with the receiving cavity. The inlet and outlet are offset and located on opposite sides of the centerline of the detection section. A first driving component is provided inside the receiving cavity. The first driving component is used to draw liquid into the receiving cavity from the inlet and spray liquid out from the outlet. The pipeline inspection robot is provided with a second driving component coupled to the directional control component. The second driving component is used to drive the directional control component to rotate, thereby changing the movement direction of the pipeline inspection robot.

[0007] In one embodiment, the main body section includes an elastic tube and a rear cabin shell. One end of the elastic tube is provided with a connecting seat that is rotatably connected to the directional control member, and the other end is connected to the rear cabin shell. The connecting member and the first driving member are both fixed on the connecting seat.

[0008] In one embodiment, the connector is a sleeve, which is fitted around the circumference of the direction control member. A plurality of through holes are provided along the circumference of the sleeve, and the plurality of through holes are at least partially connected to the liquid inlet and the liquid outlet.

[0009] In one embodiment, the pipeline inspection robot further includes a powered umbrella, which is fixedly fitted around the circumference of the main body section, with the open end of the powered umbrella facing away from the inspection section.

[0010] In one embodiment, the detection section includes a front cabin and a detection component. The front cabin has a first opening and a second opening. The connector is fixed to the second opening. The detection component and the second drive component are both located inside the front cabin. The detection component is located near the first opening of the front cabin, and the second drive component is located near the second opening of the front cabin.

[0011] In one embodiment, the second driving member is a servo motor, the output shaft of the servo motor is provided with a first magnetic element, and the direction control member is provided with a second magnetic element that is magnetically attracted to the first magnetic element and facing the servo motor;

[0012] The servo motor can drive the first magnetic component to rotate, so as to drive the direction control component to rotate via the second magnetic component.

[0013] In one embodiment, the first magnetic component includes a fixed disk and driving magnets, the fixed disk being fixed to the output shaft of the servo motor, and a plurality of driving magnets being distributed in a ring on the side of the fixed disk away from the servo motor;

[0014] The second magnetic component consists of a plurality of driven magnets arranged in a ring on the direction control component.

[0015] In one embodiment, the detection component includes a camera component and a ring light panel. A light outlet is provided on the front housing. The lens of the camera component is positioned facing the first opening of the front housing. A light-transmitting element is sealed and connected to the first opening of the front housing. The light-emitting side of the ring light panel is positioned facing the light outlet, and the ring light panel is positioned circumferentially along the lens of the camera component.

[0016] In one embodiment, the detection component further includes an annular light guide plate connected to the light-emitting side of the annular lamp plate.

[0017] In one embodiment, the first drive unit includes a rotary motor and a propeller, the rotary motor being fixed to the main body section, and the propeller being fixed to the output shaft of the rotary motor and located between the liquid inlet and the liquid outlet.

[0018] Compared to existing technologies, the beneficial effects of this application are:

[0019] This application provides a pipeline inspection robot, comprising: a main body segment, an inspection segment fixedly connected to the main body segment via a connector, and a direction control component disposed between the inspection segment and the main body segment. The direction control component has a receiving cavity and an inlet and an outlet that communicate with and are offset from the receiving cavity. The inlet and outlet are located on opposite sides of the centerline of the inspection segment. A first driving component is disposed within the receiving cavity, and a second driving component coupled to the direction control component is disposed within the pipeline inspection robot.

[0020] When using the pipeline inspection robot provided in this application, the first drive unit draws liquid into the receiving cavity from the inlet and sprays the liquid out from the outlet, generating power that enables the pipeline inspection robot to move inside the pipeline. When the pipeline inspection robot passes through a bend in the pipeline, the second drive unit drives the directional control unit to rotate around the centerline of the inspection section, changing the positions of the inlet and outlet, thereby altering the direction of movement of the pipeline inspection robot, achieving directional control, and improving the inspection efficiency of the pipeline inspection robot. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 The diagram shows a first-view structural schematic of the pipeline inspection robot in some embodiments of this application;

[0023] Figure 2 This application shows a second-view structural schematic diagram of the pipeline inspection robot in some embodiments;

[0024] Figure 3 The diagram shows a third-view structural schematic of the pipeline inspection robot in some embodiments of this application;

[0025] Figure 4 It shows Figure 3 A schematic diagram of the cross-sectional structure at position AA;

[0026] Figure 5 This application shows a schematic diagram of the first exploded structure of a pipeline inspection robot in some embodiments;

[0027] Figure 6 A second exploded structure schematic diagram of the pipeline inspection robot in some embodiments of this application is shown;

[0028] Figure 7This invention provides a schematic diagram of the third exploded structure of a pipeline inspection robot in some embodiments of this application.

[0029] Figure 8 It shows Figure 7 A partially enlarged structural diagram of section B;

[0030] Figure 9 A fourth exploded structural diagram of a pipeline inspection robot in some embodiments of this application is shown.

[0031] Explanation of key component symbols:

[0032] 100 - Pipeline inspection robot; 110 - Inspection section; 111 - Front cabin; 1111 - First opening; 1112 - Second opening; 1113 - Light outlet; 112 - Inspection component; 1121 - Camera component; 11211 - Lens; 11212 - Fixing ring; 11213 - Lens mount; 11214 - Network module; 11215 - Heat conductor; 1122 - Annular light panel; 1123 - Annular light guide plate; 11231 - Light guide ring; 11232 - Light guide protrusion; 113 - Light-transmitting component; 120 - Main body section; 121 - Elastic tube; 122 - Rear cabin; 123 - Connecting seat; 1231 - 1232-Second annular groove; 1233-Wire threading channel; 1234-Sealing ring; 130-Direction control component; 131-Receiving cavity; 132-Liquid inlet; 133-Liquid outlet; 140-Connector; 141-Through hole; 150-First driving component; 151-Rotating motor; 152-Propeller; 160-Second driving component; 170-Powered umbrella; 171-Umbrella body; 1711-Open end; 172-Traction rope; 173-Fixed bushing; 181-First magnetic component; 1811-Fixed disc; 1812-Drive magnet; 182-Second magnetic component; 183-Mounting rod; 184-Wire harness. Detailed Implementation

[0033] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0034] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0036] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0037] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0038] A pipeline inspection robot is a special type of robot that can move inside pressure pipelines and perform inspection tasks.

[0039] In the prior art, the main body of the pipeline inspection robot is made of a rigid structure, and by setting a power umbrella on the pipeline inspection robot, the pipeline inspection robot can use the liquid flow to drive the inspection robot to move in the pipeline. However, this kind of pipeline inspection robot cannot be directional controlled, and it cannot pass through when the turning radius is small.

[0040] like Figure 1 and Figure 2 As shown, in order to solve the above-mentioned technical problems, the embodiments of this application provide a pipeline inspection robot 100, which belongs to the field of robot technology and is mainly used in pipeline structures for inspecting the interior of pipelines.

[0041] like Figures 3 to 6 As shown, the pipeline inspection robot 100 includes: a main body section 120, an inspection section 110 fixedly connected to the main body section 120 via a connector 140, and a direction control component 130 rotatably disposed between the inspection section 110 and the main body section 120.

[0042] The directional control component 130 defines a receiving cavity 131 and has an inlet 132 and an outlet 133 communicating with the receiving cavity 131. The inlet 132 and the outlet 133 are staggered and located on both sides of the center line HH of the detection section 110. A first driving component 150 is provided in the receiving cavity 131. The first driving component 150 is used to draw liquid into the receiving cavity 131 from the inlet 132 and spray liquid out from the outlet 133. The pipeline inspection robot 100 is provided with a second driving component 160 coupled to the directional control component 130. The second driving component 160 is used to drive the directional control component 130 to rotate, thereby changing the movement direction of the pipeline inspection robot 100.

[0043] In this embodiment, the detection section 110 is fixedly connected to the main body section 120 via a connector 140, and is used to detect the environment inside the pipeline. The fixed connection method between the connector 140 and the detection section 110 or the main body section 120 can be welding, snap-fit, threaded connection, etc.

[0044] In addition, the pipeline inspection robot 100 is equipped with a second drive unit 160 coupled to the direction control unit 130. The second drive unit 160 can be set in the inspection section 110 or in the main body section 120, and can drive the direction control unit 130 to rotate. Therefore, no specific restrictions are placed on the setting position of the second drive unit 160.

[0045] It should be noted that, since the inlet 132 and outlet 133 of the directional control component 130 are misaligned and located on both sides of the center line HH of the detection section 110, the liquid in the pipeline can be ejected obliquely from the outlet 133, generating oblique propulsion force. This propulsion force has a component along the center line HH of the detection section 110 and a component along the direction perpendicular to the center line of the detection section 110.

[0046] The component along the center line HH of the detection section 110 can drive the pipeline inspection robot 100 to move in a straight line, while the component along the direction perpendicular to the center line HH of the detection section 110 can drive the pipeline inspection robot 100 to turn.

[0047] It is understood that when using the pipeline inspection robot 100 provided in this embodiment, the first drive unit 150 draws liquid from the pipeline into the receiving cavity 131 through the inlet 132 and sprays the liquid out through the outlet 133. The resulting power enables the pipeline inspection robot 100 to move within the pipeline. When the pipeline inspection robot 100 passes through a bend in the pipeline, the second drive unit 160 drives the direction control unit 130 to rotate, causing a change in the positions of the inlet 132 and the outlet 133, thereby changing the direction of movement of the pipeline inspection robot 100, achieving directional control, and thus improving the inspection efficiency of the pipeline inspection robot 100.

[0048] It should be noted that the turning angle of the pipeline inspection robot 100 provided in this embodiment is related to the rotation angle of the direction control component 130 around the center line HH of the inspection section 110, and the rotation angle range of the direction control component 130 around the center line HH of the inspection section 110 is 0° to 360°.

[0049] Therefore, the pipeline inspection robot 100 can turn arbitrarily around the center line HH of the inspection section 110 within a 360° range to adapt to pipelines with different bending directions.

[0050] like Figure 7 As shown, in one embodiment, the main body section 120 includes an elastic tube 121 and a rear cabin shell 122. One end of the elastic tube 121 is provided with a connecting seat 123 that is rotatably connected to the direction control member 130, and the other end is connected to the rear cabin shell 122. The connecting member 140 and the first driving member 150 are both fixed on the connecting seat 123.

[0051] In this embodiment, the elastic tube 121 can be a corrugated pipe or a pipe made of elastic material. By setting the elastic tube 121, the pipeline inspection robot 100 has a certain degree of flexibility. When the pipeline inspection robot 100 turns in the pipeline, it can bend accordingly, thereby facilitating the passage through the bending area of ​​the pipeline, improving the turning smoothness of the pipeline inspection robot 100, and further improving the inspection efficiency of the pipeline inspection robot 100.

[0052] In addition, both the connector 140 and the first drive component 150 are fixed to the connector 123, and the fixing method can be threaded connection, snap-fit, welding, etc.

[0053] like Figure 7 As shown, the elastic tube 121 is further sleeved on the end of the connecting seat 123 away from the detection section 110. A first annular groove 1231 is formed circumferentially along the end of the connecting seat 123 away from the detection section 110. A sealing ring 1234 is provided in the first annular groove 1231. The sealing ring 1234 abuts against the groove wall of the first annular groove 1231 and the inner wall of the elastic tube 121 to play a sealing role. This effectively improves the situation where liquid in the pipeline seeps in from the assembly gap between the connecting seat 123 and the elastic tube 121, and extends the service life of the pipeline inspection robot 100.

[0054] like Figure 9 As shown, in order to facilitate power supply to the first drive unit 150, a wire channel 1233 is provided on the connector 123, through which the wire harness 184 connected to the first drive unit 150 passes through the wire channel 1233 and the rear hatch 122, and is connected to the power module in the rear hatch 122, so that the power module supplies power to the first drive unit 150 through the wire harness 184.

[0055] like Figure 1 and Figure 5 As shown, in one embodiment, the connector 140 is a sleeve, which is sleeved around the circumference of the direction control member 130. A plurality of through holes 141 are provided along the circumference of the sleeve, and the plurality of through holes 141 are at least partially connected to the liquid inlet 132 and the liquid outlet 133.

[0056] For example, the through hole 141 can be a slotted hole, a round hole, a polygonal hole, etc.

[0057] It should be noted that a sleeve with multiple through holes 141 in the circumferential direction is selected as the connector 140. The multiple through holes 141 can play a filtering role, which can prevent solid substances in the pipeline from entering the receiving cavity 131 through the liquid inlet 132, thus avoiding damage to the first driving component 150 and extending the service life of the pipeline inspection robot 100.

[0058] like Figure 7As shown, further, the end of the sleeve away from the detection section 110 is fitted onto the connecting seat 123 of the main body section 120. A second annular groove 1232 is provided circumferentially along the end of the connecting seat 123 near the detection section 110. A sealing ring 1234 is provided in the second annular groove 1232. The sealing ring 1234 abuts against the groove wall of the second annular groove 1232 and the inner wall of the sleeve to achieve a sealing effect and further extend the service life of the pipeline inspection robot 100.

[0059] like Figure 1 and Figure 2 As shown, in one embodiment, the pipeline inspection robot 100 also includes a powered umbrella 170, which is fixedly sleeved on the circumference of the main body section 120, and the open end 1711 of the powered umbrella 170 is disposed away from the inspection section 110.

[0060] It should be noted that the powered parachute 170 is fixedly sleeved on the circumference of the main body section 120. The fixing method can be threaded connection, snap-fit, etc. In this way, the rotation of the powered parachute 170 relative to the main body section 120 is restricted, so that the powered parachute 170 can remain fixed on the main body section 120.

[0061] It is understandable that when the direction of liquid flow in the pipe is basically consistent with the direction of movement of the pipe inspection robot 100, the liquid in the pipe can propel the pipe inspection robot 100 to move through the power umbrella 170, thereby increasing the movement speed of the pipe inspection robot 100.

[0062] Therefore, by setting the open end 1711 away from the power umbrella 170 set in the detection section 110, not only can the energy loss of the pipeline inspection robot 100 be reduced, but the kinetic energy of the liquid in the pipeline can also be used to increase the moving speed of the pipeline inspection robot 100, thereby improving the inspection efficiency.

[0063] like Figure 6 As shown, to further improve the stability of the powered parachute 170, a mounting rod 183 is provided at the end of the main body section 120 away from the detection section 110. The powered parachute 170 includes a parachute body 171, multiple traction ropes 172 arranged circumferentially along the open end 1711 of the parachute body 171, and a fixed bushing 173 fixedly sleeved on the mounting rod 183. Each traction rope 172 is fixed to the fixed bushing 173.

[0064] In this way, by setting up the traction rope 172, the mounting rod 183 and the fixed bushing 173, the open end 1711 of the powered parachute 170 is always away from the detection section 110, which improves the structural strength of the powered parachute 170 and enhances its stability.

[0065] like Figure 4 , Figure 6 and Figure 8As shown, in any of the above embodiments, optionally, the detection section 110 includes a front hatch 111 and a detection component 112. The front hatch 111 has a first opening 1111 and a second opening 1112. The connector 140 is fixed at the second opening 1112. The detection component 112 and the second drive component 160 are both located inside the front hatch 111. The detection component 112 is disposed near the first opening 1111 of the front hatch 111, and the second drive component 160 is disposed near the second opening 1112 of the front hatch 111.

[0066] Understandably, the detection component 112 is positioned near the first opening 1111 of the front housing 111 for detecting the environment inside the pipe, such as acquiring images or videos of the pipe. The second drive component 160 is positioned near the second opening 1112 to facilitate its power connection with the direction control component 130.

[0067] In addition, the front housing 111 facilitates the assembly of the detection component 112 and the second drive component 160, improving the assembly efficiency of the pipeline inspection robot 100. The end of the front housing 111 away from the direction control component 130 is an arc surface, which can reduce the friction force experienced by the pipeline inspection robot 100 when moving inside the pipeline, thereby reducing energy loss.

[0068] like Figure 6 and Figure 7 As shown, the second driving member 160 is a servo motor. The output shaft of the servo motor is provided with a first magnetic element 181. The direction control member 130 is provided with a second magnetic element 182 that is magnetically attracted to the first magnetic element 181. The servo motor can drive the first magnetic element 181 to rotate, so as to drive the direction control member 130 to rotate through the second magnetic element 182.

[0069] It should be noted that a servo motor is a position (angle) servo drive, suitable for control systems that require continuous angle changes and the ability to maintain them. In this embodiment, through the magnetic cooperation of the first magnetic element 181 and the second magnetic element 182, contactless power transmission between the servo motor and the direction control element 130 can be achieved.

[0070] In the above embodiments, the second driving member 160 can also be a rotary motor 151 or a drive motor. For example, the output shaft of the rotary motor 151 is directly connected to the end of the direction control member 130 away from the main body section 120, and can also drive the direction control member 130 to rotate.

[0071] like Figure 6As shown, the first magnetic component 181 further includes a fixed disk 1811 and a drive magnet 1812. The fixed disk 1811 is fixed on the output shaft of the servo motor, and a plurality of drive magnets 1812 are distributed in a ring on the side of the fixed disk 1811 away from the servo motor. The second magnetic component 182 consists of a plurality of driven magnets distributed in a ring on the direction control component 130.

[0072] Understandably, the fixed plate 1811 is used to fix the drive magnet 1812. By distributing multiple drive magnets 1812 and multiple driven magnets in a ring, the magnetic connection strength between the servo motor and the direction control component 130 can be improved, thereby enhancing the stability and immediacy of the pipeline inspection robot 100 when turning.

[0073] like Figure 7 and Figure 8 As shown, in the embodiment where the detection section 110 includes a front housing 111 and a detection component 112, the detection component 112 further includes a camera component 1121 and a ring light panel 1122. The front housing 111 has a light outlet 1113. The lens 11211 of the camera component 1121 is disposed facing the first opening 1111 of the front housing 111. A light-transmitting element 113 is sealed and connected at the first opening 1111. The light-emitting side of the ring light panel 1122 is disposed facing the light outlet 1113, and the ring light panel 1122 is disposed around the lens 11211 of the camera component 1121.

[0074] In this embodiment, the camera component 1121 is used to acquire images and videos inside the pipe, and the ring light panel 1122 is arranged around the lens 11211 of the camera component 1121, so that the camera component 1121 can acquire clearer images and videos.

[0075] Optionally, the light-transmitting element 113 can be transparent glass or transparent resin. The light-transmitting element 113 is configured so that the camera assembly 1121 can obtain a clear image inside the pipe through the light-transmitting element 113.

[0076] In the above embodiments, the detection component 112 can also be a detection sensor, such as a photosensitive sensor, an acoustic sensor, a chemical sensor, etc.

[0077] like Figure 8 As shown, specifically, the camera assembly 1121 may include: a lens 11211 disposed adjacent to the first opening 1111, a lens mount 11213, a fixing ring 11212 for fixing the lens 11211 to the lens mount 11213, and a network module 11214 connected to the side of the lens mount 11213 away from the lens 11211. The lens 11211 is used to acquire images inside the pipe and transmit data with monitoring equipment outside the pipe through the network module 11214.

[0078] like Figure 8 As shown, in order to improve the service life of the camera component 1121, a heat conduction component 11215 is provided at the end of the network module 11214 away from the lens 11211 mounting base. The heat conduction component 11215 can conduct the heat generated by the network module 11214, thereby reducing the operating temperature of the network module 11214.

[0079] like Figure 9 As shown, in order to increase the light intensity at the light outlet 1113, the detection component 112 may also include an annular light guide plate 1123, which is connected to the light-emitting side of the annular lamp plate 1122.

[0080] like Figure 8 As shown, the annular light guide plate 1123 further includes: a light guide ring 11231 connected to the light-emitting side of the annular lamp plate 1122, and a plurality of light guide protrusions 11232 annularly protruding on the light guide ring 11231.

[0081] Multiple light guide protrusions 11232 are arranged one-to-one with multiple light outlets 1113, and the light guide protrusions 11232 are blocked at the light outlets 1113. This can concentrate the light emitted by the ring light panel 1122 and make the light shine out from the light outlets 1113, which effectively improves the light intensity at the light outlets 1113, making the image acquired by the camera component 1121 clearer and improving the detection efficiency of the pipeline inspection robot 100.

[0082] like Figure 5 As shown, in one embodiment, the first drive unit 150 includes a rotary motor 151 and a propeller 152. The rotary motor 151 is fixed on the main body section 120, and the propeller 152 is fixed on the output shaft of the rotary motor 151 and located between the liquid inlet 132 and the liquid outlet 133.

[0083] Understandably, the rotary motor 151 is used to drive the propeller 152 to rotate. The propeller 152 drives the liquid in the pipe to enter from the inlet 132 and spray out from the outlet 133. Under the reverse force of the liquid in the pipe, the pipe inspection robot 100 is propelled to move in the pipe.

[0084] In another embodiment, the first driving component 150 is a peristaltic pump connected between the inlet 132 and the outlet 133, which can also realize the inlet 132 and the outlet 133, thereby driving the pipeline inspection robot 100 to move inside the pipeline.

[0085] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0086] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A pipeline inspection robot, characterized in that, include: The system includes a detection section, a main body section, and a direction control component rotatably disposed between the detection section and the main body section, wherein the detection section is fixedly connected to the main body section via a connector. The directional control component defines a receiving cavity and has an inlet and an outlet communicating with the receiving cavity. The inlet and outlet are offset and located on opposite sides of the centerline of the detection section. A first driving component is provided inside the receiving cavity. The first driving component is used to draw liquid into the receiving cavity from the inlet and spray liquid out from the outlet. The pipeline inspection robot is provided with a second driving component coupled to the directional control component. The second driving component is used to drive the directional control component to rotate, thereby changing the movement direction of the pipeline inspection robot.

2. The pipeline inspection robot according to claim 1, characterized in that, The main body section includes an elastic tube and a rear cabin. One end of the elastic tube is provided with a connecting seat that is rotatably connected to the directional control component, and the other end is connected to the rear cabin. The connecting component and the first driving component are both fixed on the connecting seat.

3. The pipeline inspection robot according to claim 1, characterized in that, The connector is a sleeve, which is fitted around the circumference of the direction control component. Multiple through holes are provided along the circumference of the sleeve, and at least part of the multiple through holes are connected to the liquid inlet and the liquid outlet.

4. The pipeline inspection robot according to claim 1, characterized in that, The pipeline inspection robot also includes a powered umbrella, which is fixedly fitted around the circumference of the main body section, with the open end of the powered umbrella facing away from the inspection section.

5. The pipeline inspection robot according to any one of claims 1 to 4, characterized in that, The detection section includes a front cabin and a detection component. The front cabin has a first opening and a second opening. The connector is fixed at the second opening. The detection component and the second drive component are both located inside the front cabin. The detection component is located near the first opening of the front cabin, and the second drive component is located near the second opening of the front cabin.

6. The pipeline inspection robot according to claim 5, characterized in that, The second driving component is a servo motor, the output shaft of which is provided with a first magnetic component, and the direction control component is provided with a second magnetic component that is magnetically attracted to the first magnetic component, facing the servo motor; The servo motor can drive the first magnetic component to rotate, so as to drive the direction control component to rotate via the second magnetic component.

7. The pipeline inspection robot according to claim 6, characterized in that, The first magnetic component includes a fixed disk and driving magnets. The fixed disk is fixed to the output shaft of the servo motor, and a plurality of driving magnets are distributed in a ring on the side of the fixed disk away from the servo motor. The second magnetic component consists of a plurality of driven magnets arranged in a ring on the direction control component.

8. The pipeline inspection robot according to claim 5, characterized in that, The detection assembly includes a camera assembly and a ring light panel. A light outlet is provided on the front housing. The lens of the camera assembly is positioned facing the first opening of the front housing. A light-transmitting element is sealed and connected to the first opening of the front housing. The light-emitting side of the ring light panel is positioned facing the light outlet, and the ring light panel is positioned around the circumference of the lens of the camera assembly.

9. The pipeline inspection robot according to claim 8, characterized in that, The detection component also includes an annular light guide plate, which is connected to the light-emitting side of the annular lamp plate.

10. The pipeline inspection robot according to any one of claims 1 to 4, characterized in that, The first driving component includes a rotary motor and a propeller. The rotary motor is fixed to the main body section, and the propeller is fixed to the output shaft of the rotary motor and located between the liquid inlet and the liquid outlet.

Images