A drainage pipeline detection device

Abstract

The present invention relates to a drainage pipeline detection device, which includes a casing with a driving motor disposed inside. The rear end of the casing is provided with a rear transmission shaft that can float back and forth through a rear spring, and rear variable pitch blades are arranged on the rear transmission shaft. The front end of the casing is provided with a front transmission shaft that can float back and forth through a front spring, and front variable pitch blades are arranged on the front transmission shaft. A motor position adjustment mechanism for moving the driving motor back and forth is arranged inside the casing. During the forward movement of the driving motor, there is a forward travel working position in which the rear transmission end is in transmission connection with the rear transmission shaft and the front transmission end is spaced from the front transmission shaft when moving backward. During the forward movement of the driving motor, there is a backward travel working position in which the front transmission end is in transmission connection with the front transmission shaft and the rear transmission end is spaced from the rear transmission shaft when moving forward. The present invention provides a drainage pipeline detection device that can travel bidirectionally forward and backward.

Description

Technical Field

[0001] The present invention relates to the technical field of drainage pipeline detection, and in particular to a drainage pipeline detection device. Background Art

[0002] In urban life, domestic water and rainwater need to be discharged underground through drainage pipelines. Drainage pipelines are usually buried deep underground, so their pipeline detection is a major problem. Usually, corresponding pipeline detection equipment is needed to detect deformations, blockages, etc. inside the pipelines.

[0003] Existing drainage pipeline detection equipment, such as the "Drainage Pipeline Detection Device and Detection Method" disclosed in Chinese Patent CN113669550A, includes a machine body. A driving motor is arranged inside the machine body. The driving motor has a motor shaft with an axis extending in the front-back direction. A camera is arranged at the front end of the machine body. A driving component connected to the rear end of the motor shaft is arranged at the rear end of the machine body. The driving component includes three blades arranged sequentially in the circumferential direction. A cutting piece capable of moving back and forth is arranged at the front end of the machine body. A plurality of telescopic columns are arranged on the outer periphery of the machine body. A traveling wheel for rolling contact with the inner wall of the pipeline to be detected is arranged at the end of the telescopic column far from the machine body.

[0004] During use, the machine body is sent into the pipeline to be detected. The driving motor drives the driving component to rotate. The blades of the driving component rotate to provide power for the forward movement of the machine body. The camera takes pictures of the conditions inside the pipeline to be detected to achieve pipeline detection. When there is an obstacle in front of the machine body, the obstacle presses the cutting piece. The cutting shaft of the cutting piece contacts and drives the front end of the motor shaft, and the cutting piece rotates to complete the cleaning of the obstacle.

[0005] The problems existing in the existing such drainage pipeline detection equipment are as follows: The machine body can only move forward unidirectionally from back to front. Therefore, in the use of urban pipelines, it can only enter the drainage pipeline from one wellhead and then come out from another wellhead. This limits the use of the detection equipment. On the one hand, it needs to be equipped with its own power supply battery, and the setting of the power supply battery will increase the self-weight of the product; in addition, if the overall length of the entire pipeline is relatively long, while the length of the pipeline section to be detected is not very long, the detection equipment still needs to travel through the entire pipeline, which will cause certain detection waste and also reduce the detection efficiency of other pipelines. Summary of the Invention

[0006] The purpose of the present invention is to provide a drainage pipeline detection device capable of moving forward and backward bidirectionally.

[0007] To solve the above technical problems, the technical solution of a drainage pipeline detection device in the present invention is as follows:

[0008] A drainage pipeline detection device includes a housing with a driving motor disposed inside. At least three legs are provided on the outer periphery of the housing. At the end of each leg away from the housing, there is a traveling wheel for rolling contact and cooperation with the inner wall of the pipeline to be detected. The driving motor has a motor shaft with an axis extending in the front-rear direction. The front end of the motor shaft is the front-side transmission end, and the rear end of the motor shaft is the rear-side transmission end. The rear end of the housing is provided with a rear-side transmission shaft that can float back and forth through a rear-side spring. At least three rear-side variable pitch blades are provided on the rear-side transmission shaft, and the rear-side variable pitch blades are driven by a rear-side variable pitch motor; the front end of the housing is provided with a front-side transmission shaft that can float back and forth through a front-side spring. At least three front-side variable pitch blades are provided on the front-side transmission shaft, and the front-side variable pitch blades are driven by a front-side variable pitch motor. A motor position adjustment mechanism for moving the driving motor back and forth is provided inside the housing. During the forward movement of the driving motor, there is a forward travel position where the rear-side transmission end is in transmission connection with the rear-side transmission shaft and the front-side transmission end is spaced from the front-side transmission shaft; during the backward movement of the driving motor, there is a backward travel position where the front-side transmission end is in transmission connection with the front-side transmission shaft and the rear-side transmission end is spaced from the rear-side transmission shaft.

[0009] Further, when the driving motor is in the forward travel position, the front-side variable pitch blades are perpendicular to the front-rear direction, and the included angle between the rear-side variable pitch blades and the vertical plane of the front-rear direction is 10° - 70°; when the driving motor is in the backward travel position, the rear-side variable pitch blades are perpendicular to the front-rear direction, and the included angle between the front-side variable pitch blades and the vertical plane of the front-rear direction is 10° - 70°.

[0010] Further, a front-side friction disk of the motor shaft is provided at the front-side transmission end, and a rear-side friction disk of the transmission shaft for contact transmission with the front-side friction disk of the motor shaft is provided at the rear end of the front-side transmission shaft; a rear-side friction disk of the motor shaft is provided at the rear-side transmission end, and a front-side friction disk of the transmission shaft for contact transmission with the rear-side friction disk of the motor shaft is provided at the front end of the rear-side transmission shaft.

[0011] Further, a rear-side transmission shaft spring seat is fixed on the rear-side transmission shaft, and the rear-side spring is a compression spring provided between the rear end of the housing and the rear-side transmission shaft spring seat; a front-side transmission shaft spring seat is fixed on the front-side transmission shaft, and the front-side spring is a compression spring provided between the front end of the housing and the front-side transmission shaft spring seat.

[0012] Further, the motor position adjustment mechanism includes a driving lead screw with an axis extending in the front-rear direction and a lead screw motor in transmission connection with the driving lead screw. A lead screw limit mechanism for restricting the axial movement of the driving lead screw is provided inside the housing. At least two guide rods with axes extending in the front-rear direction are provided between the front and rear ends of the housing. A guide ring that is in guiding movement cooperation with the guide rods is fixed on the outer periphery of the driving motor, and an external thread that is in threaded connection with the driving lead screw is provided on the outer periphery of the guide ring.

[0013] Further, a leg adjustment disk is rotationally assembled on the outer periphery of the casing, and the number of leg adjustment disks is the same as the number of legs. The axis of the leg adjustment disk is perpendicular to the front-back direction. Each leg is fixedly arranged on the corresponding leg adjustment disk. The angle between the leg and the front-back direction is 45° to 70°. An adjustment disk bevel gear is fixed on each leg adjustment disk, and a lead screw nut bevel gear meshing and driving with each adjustment disk bevel gear is arranged on the outer periphery of the driving lead screw nut.

[0014] Further, during the process that the driving motor moves from the forward traveling station to the backward traveling station, each leg rotates 180° around the axis of the corresponding leg adjustment disk.

[0015] Further, an adjustment disk gear is fixed on one of the leg adjustment disks, and the lead screw motor drives the driving lead screw to rotate by being in transmission connection with the adjustment disk gear.

[0016] The beneficial effects of the present invention are as follows: In the present invention, both the front pitch blade and the rear pitch blade are pitch blades with adjustable rotation angles. When forward movement is required, the motor position adjustment mechanism drives the driving motor to move backward to the forward traveling station. At this time, the rear transmission end of the motor shaft is in transmission connection with the rear transmission shaft, and the front transmission end of the motor shaft is arranged at an interval from the front transmission shaft. The angle of the rear pitch blade is adjusted so that a forward thrust can be generated during the rotation of the rear pitch blade. The angle of the front pitch blade is adjusted so that the front pitch blade is perpendicular to the front-back direction. In this way, no thrust in the front-back direction will be generated when the front pitch blade rotates, and it can be used simply as a cutting blade. When an obstacle is encountered in the front, the front transmission shaft moves backward to contact and drive with the front transmission end, and the front pitch blade can cut the obstacle. Similarly, when backward movement is required, the motor position adjustment mechanism drives the driving motor to move forward to the backward traveling station. At this time, the front transmission end of the motor shaft is in transmission connection with the front transmission shaft, and the rear transmission end of the motor shaft is arranged at an interval from the rear transmission shaft. The angle of the front pitch blade is adjusted so that a backward thrust can be generated during the rotation of the front pitch blade. The angle of the rear pitch blade is adjusted so that the rear pitch blade is perpendicular to the front-back direction. In this way, no thrust in the front-back direction will be generated when the rear pitch blade rotates, and it can be used simply as a cutting blade. Description of the Drawings

[0017] By reading the following detailed description with reference to the drawings, the above and other objects, features, and advantages of the exemplary embodiments of the present disclosure will become easily understandable. In the drawings, several embodiments of the present disclosure are shown in an exemplary rather than restrictive manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0018] Figure 1 is a schematic structural diagram of an embodiment of a drainage pipeline detection device in the present invention;

[0019] Figure 2 is Figure 1 the enlarged view of part A in

[0020] Figure 3 is Figure 1 the enlarged view of part B in

[0021] Figure 4 is Figure 1 the top view of the front pitch blade in

[0022] Figure 5 is Figure 1 the top view of the rear pitch blade in

[0023] Figure 6 is the schematic diagram of the state when the drive motor is in the backward traveling station in this embodiment;

[0024] 1. Front pitch blade; 2. Front drive shaft; 3. Guide rod; 4. Housing; 5. Adjusting disk bevel gear; 6. Leg adjusting disk; 7. Leg; 8. Traveling wheel; 9. Driving nut; 10. Guide ring; 11. Rear friction disk of the drive shaft; 12. Front friction disk of the motor shaft; 13. Motor shaft; 14. Cable; 15. Rear spring; 16. Rear spring seat of the drive shaft; 17. Rear pitch blade; 18. Rear drive shaft; 19. Front friction disk of the drive shaft; 20. Rear friction disk of the motor shaft; 21. Drive motor; 22. Front spring; 23. Front spring seat of the drive shaft; 24. Rear pitch motor; 25. Pitch blade rotating shaft; 26. Pitch gear pair; 27. Nut bearing seat; 28. Nut motor; 29. Gear transmission pair. Detailed implementation manners

[0025] For the convenience of understanding the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. The preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure content of the present invention more thorough and comprehensive.

[0026] It should be noted that unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not used to limit the present invention.

[0027] An embodiment of a drainage pipe detection device in the present invention is as Figures 1 - 6As shown in the figure, it includes a housing 4 with a driving motor 21 installed inside. There are three legs 7 arranged at intervals along the circumferential direction on the outer periphery of the housing. Each leg 7 is a telescopic leg with a return spring inside. At the end of the leg away from the housing, there is a traveling wheel 8 for rolling contact with the inner wall of the pipeline to be detected. During use, the traveling wheel 8 makes rolling contact with the inner wall of the pipeline to be detected to position the housing at the central position of the pipeline to be detected. Cameras (not shown in the figure) are provided at both the front end and the rear end of the housing.

[0028] The driving motor 21 includes a motor housing and a motor shaft 13 whose axis extends in the front-rear direction. In this embodiment, the motor shaft 13 penetrates through the motor housing in the front-rear direction. The front end of the motor shaft is the front-side transmission end, and the rear end of the motor shaft is the rear-side transmission end. The rear end of the housing is provided with a rear-side transmission shaft 18 that can float back and forth through a rear-side spring. There are three rear-side pitch-changing blades 17 arranged on the rear-side transmission shaft 18. Each rear-side pitch-changing blade is driven by its corresponding rear-side pitch-changing motor 24 to achieve angle adjustment. The front end of the housing is provided with a front-side transmission shaft 2 that can float back and forth through a front-side spring 22. There are three front-side pitch-changing blades 1 arranged on the front-side transmission shaft 2. Each front-side pitch-changing blade is driven by its corresponding front-side pitch-changing motor to achieve angle adjustment. A motor position adjustment mechanism for moving the driving motor back and forth is also provided inside the housing. During the forward movement of the driving motor, there is a forward traveling position where the rear-side transmission end is in transmission connection with the rear-side transmission shaft and the front-side transmission end is spaced from the front-side transmission shaft. During the backward movement of the driving motor, there is a backward traveling position where the front-side transmission end is in transmission connection with the front-side transmission shaft and the rear-side transmission end is spaced from the rear-side transmission shaft.

[0029] In this embodiment, when the driving motor 21 is in the forward traveling position, the front-side pitch-changing blades are perpendicular to the front-rear direction, and the angle between the rear-side pitch-changing blades and the plane perpendicular to the front-rear direction is 10 - 70°, which is 45° in this embodiment. At this time, when the rear-side pitch-changing blades rotate in water, a forward thrust can be generated, while when the front-side pitch-changing blades rotate, no or a very small axial thrust smaller than that of the rear-side pitch-changing blades is generated. The front-side pitch-changing blades can be completely used as a cutting blade rather than a thrust blade. When the driving motor is in the backward traveling position, the rear-side pitch-changing blades are perpendicular to the front-rear direction, and the angle between the front-side pitch-changing blades and the plane perpendicular to the front-rear direction is 10 - 70°, which is 45° in this embodiment. At this time, when the front-side pitch-changing blades rotate in water, a backward thrust can be generated, while when the rear-side pitch-changing blades rotate, no or a very small axial thrust smaller than that of the front-side pitch-changing blades is generated. The rear-side pitch-changing blades are completely used as a cutting blade rather than a thrust blade. The plane perpendicular to the front-rear direction refers to the plane perpendicular to the front-rear direction.

[0030] To achieve the transmission between the motor shaft and the front or rear drive shafts, a front-side friction disk 12 of the motor shaft is provided at the front-side drive end, and a rear-side friction disk 11 of the drive shaft for contact transmission with the end face of the front-side friction disk of the motor shaft is provided at the rear end of the front-side drive shaft. When the front-side friction disk of the motor shaft contacts the rear-side friction disk of the drive shaft, the torque is transmitted by the end face friction force between the two; a rear-side friction disk 20 of the motor shaft is provided at the rear-side drive end, and a front-side friction disk 19 of the drive shaft for contact transmission with the end face of the rear-side friction disk of the motor shaft is provided at the front end of the rear-side drive shaft. When the front-side friction disk 19 of the drive shaft contacts the rear-side friction disk 20 of the motor shaft, the torque is transmitted by the end face friction force between the two.

[0031] A rear-side drive shaft spring seat 16 located at the rear of the housing is fixed on the rear-side drive shaft 18, and the rear spring 15 is a compression spring provided between the rear end of the housing and the rear-side drive shaft spring seat; a front-side drive shaft spring seat 23 located at the front of the housing is fixed on the front-side drive shaft 2, and the front spring 22 is a compression spring provided between the front end of the housing and the front-side drive shaft spring seat.

[0032] In this embodiment, the motor position adjusting mechanism includes a driving lead screw nut 9 whose axis extends in the front-rear direction and a lead screw motor 28 drivingly connected to the driving lead screw nut. A lead screw limiting mechanism for restricting the axial movement of the driving lead screw nut is provided inside the housing. The lead screw limiting mechanism includes at least three lead screw bearing seats 27 arranged at intervals in the circumferential direction, and thrust bearings for restricting the axial movement of the driving lead screw nut are provided on both the front and rear sides of the driving lead screw nut on each lead screw bearing seat 27.

[0033] Three guide rods 3 whose axes extend in the front-rear direction are provided between the front and rear ends of the housing. The three guide rods 3 are arranged at intervals in the circumferential direction. A guide ring 10 that is in guiding movement cooperation with the guide rods is fixed on the outer periphery of the driving motor. An external thread that is in threaded connection with the driving lead screw nut is provided on the outer periphery of the guide ring 10. That is to say, the driving lead screw nut 9 is in threaded connection with the guide ring 10, and the guide ring and the driving lead screw nut form a lead screw and nut mechanism. When the driving lead screw nut rotates, it can drive the guide ring to linearly move in the front-rear direction.

[0034] A leg adjusting disk 6 that is rotationally assembled on the outer periphery of the housing and has the same number as the legs is provided. The axis of the leg adjusting disk 6 is perpendicular to the front-rear direction. Specifically, the axis of the leg adjusting disk 6 extends along the radial direction of the motor shaft. Each leg 7 is respectively fixed on the corresponding leg adjusting disk 6. The angle between the legs and the front-rear direction is 45 - 70°, and in this embodiment, it is 60°. An adjusting disk bevel gear 5 is fixed on each leg adjusting disk. A lead screw bevel gear that is in meshing transmission with each adjusting disk bevel gear 5 is provided on the outer periphery of the driving lead screw nut. That is to say, when the driving lead screw nut rotates, the driving lead screw nut meshes with the adjusting disk bevel gear for transmission, and it will also drive each leg to rotate around its own rotation axis.

[0035] Specifically, during the process of the driving motor moving from the forward traveling station to the backward traveling station, each leg rotates 180° around the axis of the corresponding leg adjusting disk.

[0036] The lead screw motor is connected to one of the leg adjusting disks 6 through a gear transmission pair 29. The gear transmission pair includes an adjusting disk gear fixed on one of the leg adjusting disks. The gear transmission pair also includes a lead screw motor shaft gear fixed on the motor shaft of the lead screw motor. The lead screw motor shaft gear meshes with the adjusting disk gear for transmission. When in use, the lead screw motor drives one of the leg adjusting disks to rotate through the gear transmission pair. The leg adjusting disk drives the driving lead screw to rotate through the adjusting disk bevel gear. While the driving lead screw drives other leg adjusting disks to rotate, the driving lead screw also drives the guide ring and the driving motor to move axially.

[0037] The number of the front side pitch motors corresponds one by one to the front side pitch blades, and the number of the rear side pitch motors corresponds one by one to the rear side pitch blades. Each front side pitch motor drives the corresponding front side pitch blade to rotate through its respective corresponding pitch gear pair 26. Each rear side pitch motor 24 drives the corresponding rear side pitch blade to rotate through its respective corresponding pitch gear pair. The pitch gear pair includes a pitch blade gear fixedly connected to the pitch blade rotating shaft 25 of the corresponding pitch blade. The pitch gear pair also includes a pitch motor shaft gear fixedly connected to the motor shaft of the corresponding pitch motor. The pitch motor shaft gear meshes with the corresponding pitch blade gear for transmission.

[0038] A cable 14 is connected to the rear end of the machine shell. The cable supplies power to the driving motor, the camera, and each pitch motor. When in use, the drainage pipeline detection device is lowered into the pipeline to be detected. When the device needs to move forward, the lead screw motor works, and the guide ring drives the driving motor to move backward. The friction disk on the rear side of the motor shaft contacts the friction disk on the front side of the transmission shaft, and the friction disk on the front side of the motor shaft disengages from the friction disk on the rear side of the transmission shaft. At the same time, each leg rotates to the Figure 1 position, and the angle between the leg and the rear end of the machine shell is an acute angle. The rear side pitch blade is adjusted to the Figure 5 state, and the front side pitch blade is adjusted to the Figure 4 state. At this time, the driving motor can drive the rear side pitch blade to rotate. When the rear side pitch blade rotates, an axial thrust is generated to drive this device forward. When there is an obstacle in front of the device, the front side pitch blade is pushed backward by the obstacle, and the friction disk on the front side of the motor shaft contacts the friction disk on the rear side of the transmission shaft. The front side pitch blade serves as a cutting blade to break the obstacle. When the device needs to move backward, the lead screw motor works in reverse, and the guide ring drives the driving motor to move forward. The friction disk on the rear side of the motor shaft disengages from the friction disk on the front side of the transmission shaft, and the friction disk on the front side of the motor shaft contacts the friction disk on the rear side of the transmission shaft. At the same time, each leg rotates to the Figure 6 position, and the angle between the leg and the front end of the machine shell is an acute angle. The rear side pitch blade and the front side pitch blade are adjusted to the Figure 6The pile body. At this time, the driving motor can drive the front pitch blade to rotate. When the front pitch blade rotates, an axial thrust is generated, driving this device to move backward. When there is an obstacle behind the device, the rear pitch blade is pushed forward by the obstacle, and the friction disc on the rear side of the motor shaft contacts the friction disc on the front side of the transmission shaft. The rear pitch blade serves as a cutting blade to break the obstacle.

[0039] In the above description of this specification, unless otherwise clearly defined and limited, terms such as "fixed", "installed", "connected" or "coupled" should be understood in a broad sense. For example, regarding the term "connected", it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, or it can be the internal connection of two components or the interaction relationship between two components. Therefore, unless otherwise clearly defined in this specification, those skilled in the art can understand the specific meaning of the above terms in the present invention according to specific circumstances.

[0040] According to the above description of this specification, those skilled in the art can also understand the following terms used, such as "upper", "lower", "front", "rear", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", "center", "longitudinal", "transverse", "clockwise" or "counterclockwise", etc. Terms indicating orientation or position relationship are based on the orientation or position relationship shown in the drawings of this specification. It is only for the purpose of facilitating the description of the solution of the present invention and simplifying the description, rather than explicitly or implicitly indicating that the device or component involved must have the specific orientation, be constructed and operated in the specific orientation. Therefore, the above terms of orientation or position relationship cannot be understood or interpreted as a limitation to the solution of the present invention.

[0041] In addition, the terms "first" or "second" etc. used in this specification to refer to numbers or ordinals are only for descriptive purposes and cannot be understood as explicitly or implicitly indicating relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this specification, the meaning of "a plurality" is at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A drainage pipe inspection device, comprising a housing with a driving motor disposed therein, at least three legs disposed on the outer periphery of the housing, a walking wheel for contacting and rolling with the inner wall of the inspected pipe disposed at one end of the leg away from the housing, the driving motor having a motor shaft with an axis extending in a front-to-rear direction, characterized in that: The front end of the motor shaft is the front transmission end, and the rear end of the motor shaft is the rear transmission end. The rear end of the casing is provided with a rear transmission shaft capable of floating forward and backward through a rear spring, and at least three rear variable pitch blades are provided on the rear transmission shaft, and the rear variable pitch blades are driven by the rear variable pitch motor; the front end of the casing is provided with a front transmission shaft capable of floating forward and backward through a front spring, and at least three front variable pitch blades are provided on the front transmission shaft, and the front variable pitch blades are driven by the front variable pitch motor, and a motor position adjustment mechanism for moving the driving motor forward and backward is provided in the casing, and during the forward and backward movement of the driving motor, there is a backward movement so that the rear transmission end is transmission-connected to the rear transmission shaft, and a forward travel station is arranged at an interval between the front transmission end and the front transmission shaft; during the forward and backward movement of the driving motor, there is a forward movement so that the front transmission end is transmission-connected to the front transmission shaft, and the rear transmission The rear end is provided with a rearward travel station spaced apart from the rear transmission shaft, the motor position adjustment mechanism comprises a driving nut with an axis extending along the front-to-rear direction and a nut motor connected to the driving nut for transmission, a nut limiting mechanism for limiting the axial movement of the driving nut is provided in the casing, at least two guide rods with axes extending along the front-to-rear direction are provided between the front and rear ends of the casing, a guide ring is fixed to the outer periphery of the driving motor for guiding and moving with the guide rod, an external thread connected to the driving nut thread is provided to the outer periphery of the guide ring, a leg adjustment disk consistent with the number of legs is rotatably mounted on the outer periphery of the casing, the axis of the leg adjustment disk is perpendicular to the front-to-rear direction, each leg is respectively fixed on the corresponding leg adjustment disk, the angle between the leg and the front-to-rear direction is 45~70°, an adjusting disk bevel gear is fixed on each leg adjustment disk, and a nut bevel gear meshing with the bevel gear of each adjusting disk is provided on the outer periphery of the driving nut.

2. The drainage pipe detection device according to claim 1, characterized in that: When the drive motor is in the forward moving position, the front variable pitch blade is perpendicular to the front-to-back direction, and the angle between the rear variable pitch blade and the vertical plane of the front-to-back direction is 10~70°; when the drive motor is in the backward moving position, the rear variable pitch blade is perpendicular to the front-to-back direction, and the angle between the front variable pitch blade and the vertical plane of the front-to-back direction is 10~70°.

3. The drainage pipe detection device according to claim 1, characterized in that: The front transmission end is provided with a front friction disk of the motor shaft, and the rear end of the front transmission shaft is provided with a rear friction disk of the transmission shaft for contacting and transmitting with the front friction disk of the motor shaft; the rear transmission end is provided with a rear friction disk of the motor shaft, and the front end of the rear transmission shaft is provided with a front friction disk of the transmission shaft for contacting and transmitting with the rear friction disk of the motor shaft.

4. The drainage pipe detection device according to claim 1, characterized in that: A rear transmission shaft spring seat is fixed on the rear transmission shaft, and the rear spring is a compression spring arranged between the rear end of the housing and the rear transmission shaft spring seat; A front transmission shaft spring seat is fixed on the front transmission shaft, and the front spring is a compression spring arranged between the front end of the housing and the front transmission shaft spring seat.

5. The drainage pipe detection device according to claim 1, characterized in that: When the driving motor moves from the forward traveling position to the backward traveling position, each supporting leg rotates 180° around the axis of the corresponding supporting leg adjusting disk.

6. The drainage pipe detection device according to claim 1, characterized in that: An adjusting disk gear is fixed on one of the leg adjusting disks, and the nut motor drives the nut to rotate by being connected with the adjusting disk gear.

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