A multi-joint pipeline maintenance robot

Abstract

The present invention discloses a multi-joint pipeline inspection robot, which relates to the field of robots, including a vehicle body, a first camera is fixedly arranged at the middle part of the lower side of the vehicle body, two groups of first fixed plates are also fixedly arranged at the lower side of the vehicle body, the two groups of first fixed plates are symmetrically distributed, a first rotating shaft is rotatably arranged between each group of two first fixed plates through a first bearing, a driving wheel is fixedly plugged on the first rotating shaft, lifting plates are slidably arranged on both the front and rear sides of the vehicle body, and lifting mechanisms are arranged on both the front and rear sides of the vehicle body and connected with the two lifting plates through two groups of lifting mechanisms, a group of openings are opened on the lower side of the two lifting plates, each group of two openings are symmetrically distributed, and a vertically arranged arc plate is rotatably arranged in each opening. The present invention facilitates people to conduct a comprehensive inspection of the surface of the pipeline, does not require manual walking in the manhole, avoids people from being hurt, and improves the inspection efficiency and inspection quality, and is convenient for people to use.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a multi-joint pipeline maintenance robot. Background Art

[0002] With the development and construction of society, various kinds of pipes will be used, and with different usage scenarios of the pipes, the functions of the pipes are also different. Some are used for drainage pipes in high-rise buildings, some are used for indoor fire protection, and some are used to protect cables in manholes. As the use time of the pipes increases, some damage is prone to occur on the pipes, which need to be repaired in time to avoid affecting their use, especially the pipes that carry cables in the manholes. Damage to the pipes can easily cause corrosion damage to the cables inside, so they need to be inspected and repaired in time.

[0003] At present, when inspecting the pipes in the manhole, it is necessary to check the surface of the pipe first. In the prior art, when inspecting the pipes in the manhole, the pipes are generally inspected by going down the manhole manually. When using this method, due to the damp and dim environment in the manhole, people are inconvenient to move in the manhole, move slowly, and are easily injured. At the same time, during the inspection, only one side of the pipe can be seen, and it is difficult to inspect the entire circumference of the pipe, which affects the inspection quality. Therefore, a multi-joint pipe inspection robot is proposed. Summary of the invention

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a multi-joint pipeline inspection robot, which effectively solves the problem that when inspecting pipelines in manholes, the pipelines are generally inspected manually by going down the manhole. When this method is used, due to the humid and dim environment in the manhole, people are inconvenient to move in the manhole, move slowly, and are easily injured. At the same time, during inspection, only one side of the pipeline can be seen, and it is difficult to inspect the entire circumferential surface of the pipeline, which affects the inspection quality.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a multi-joint pipeline maintenance robot comprises a vehicle body, a first camera is fixedly arranged at the middle part of the lower side of the vehicle body, two groups of first fixing plates are also fixedly arranged at the lower side of the vehicle body, the two groups of first fixing plates are symmetrically distributed on the left and right, a first rotating shaft is rotatably arranged between the two first fixing plates in each group through a first bearing, a driving wheel is fixedly plugged on the first rotating shaft, lifting plates are slidably arranged on the front and rear sides of the vehicle body, and lifting mechanisms are arranged on the front and rear sides of the vehicle body and connected to the two lifting plates through two groups of lifting mechanisms, a group of openings are opened on the lower sides of the two lifting plates, and each group of two openings are on the left and right sides. Symmetrically distributed, a vertically arranged arc plate is rotatably arranged in each of the openings, a driving mechanism that can drive a group of arc plates on the same side to rotate is arranged in each of the lifting plates, two second fixed plates are fixedly arranged on the inner side of each of the arc plates away from the vehicle body, a second rotating shaft is rotatably arranged between the two second fixed plates through a second bearing, an auxiliary wheel is fixedly sleeved on the second rotating shaft, a cross plate is fixedly arranged between each group of two arc plates, the cross plate is aligned with the two second auxiliary wheels, second cameras are fixedly arranged in the middle of the opposite sides of the two cross plates, a mounting plate is fixedly arranged on the lower side of the right end of the vehicle body, and a cleaning mechanism is arranged on the lower side of the mounting plate.

[0006] Preferably, the lifting mechanism includes two cylinders, which are respectively vertically arranged on the front and rear sides of the vehicle body and are respectively located on the upper sides of the two lifting plates, the lower ends of the two cylinders are respectively fixedly connected to the middle parts of the upper sides of the two lifting plates, and a support plate is fixedly arranged on the upper end of each cylinder, and the two support plates are respectively fixedly connected to the front and rear sides of the vehicle body.

[0007] Preferably, the driving mechanism includes a servo motor, a worm wheel, a worm and a rotating rod, a cavity is opened in the middle part of the inner part of the lifting plate, the rotating rod is transversely arranged in the cavity, the worm wheel is fixedly sleeved with the middle part of the rod wall of the rotating rod, the left and right ends of the rotating rod are rotatably connected with the left and right sides of the cavity respectively through a third bearing, and the two ends of the rotating rod extend into two openings respectively and are fixedly connected with the two arc plates, the servo motor is fixedly arranged in the middle part of the side of the lifting plate away from the vehicle body, the worm is longitudinally arranged in the cavity and meshes with the worm wheel, and the front and rear ends of the worm are rotatably connected with the front and rear sides of the cavity respectively through a fourth bearing, and the end of the worm away from the vehicle body extends to the outside of the lifting plate and is fixedly connected to the output end of the servo motor.

[0008] Preferably, a group of guide slots are provided on both the front and rear sides of the vehicle body, guide slide blocks are slidably arranged in the two groups of guide slots, and the two groups of guide slide blocks are fixedly connected to the two lifting plates respectively.

[0009] Preferably, the number of each group of guide slide blocks and guide slots is set to two, and the end surface of each guide slot and guide slide block is set in a T shape.

[0010] Preferably, the cleaning mechanism includes two third fixed plates and a cleaning wheel, the two third fixed plates are fixedly arranged on the lower side of the mounting plate and are symmetrically distributed front to back, a third rotating shaft is rotatably arranged between the two third fixed plates via a fourth bearing, the cleaning wheel is fixedly sleeved on the third rotating shaft, and a plurality of evenly distributed bristles are fixedly arranged on the wheel wall of the cleaning wheel, the transmission assembly is arranged between the third rotating shaft and the first rotating shaft on the right side, and the first rotating shaft can drive the third rotating shaft to rotate through the transmission assembly.

[0011] Preferably, the transmission assembly includes two sprockets, a chain, a first spur gear and a second spur gear. The front ends of the first rotating shaft and the third rotating shaft on the right side extend forward. A rotating shaft is rotatably arranged on the front side of the front third fixed plate. The first spur gear is fixedly sleeved on the shaft wall of the rotating shaft. The front end of the third rotating shaft is fixedly connected to the second spur gear. The first spur gear is meshed with the second spur gear. The two sprockets are respectively fixedly connected to the first rotating shaft on the right side and the front end of the rotating shaft. The two sprockets are mutually transmitted through chains.

[0012] Preferably, a scraper is fixedly provided on the lower side of the mounting plate, and a plurality of combing grooves for transmission of bristles are provided on the lower side of the scraper.

[0013] Preferably, the shooting angles of the first camera and the two second cameras are both 120°.

[0014] Technical effects and advantages of the present invention:

[0015] 1. When in use, place the vehicle body above the pipeline, and make the two driving wheels closely contact the upper side wall of the pipeline, then adjust the height of the two lifting plates through two cylinders, the two lifting plates respectively drive the two sets of arc plates to move vertically, the two sets of arc plates drive the two sets of auxiliary wheels to move vertically, and then drive the two worms to rotate through two servo motors in turn, the two worms respectively drive the two worm wheels to rotate, the two worm wheels respectively drive the two rotating rods to rotate, each rotating rod respectively drives the two arc plates of the same group to rotate, so that the lower ends of the two arc plates are retracted, until the two sets of auxiliary wheels are closely fitted to the outer circular side wall of the pipeline, and the two sets of auxiliary wheels and the driving wheels are distributed in an equilateral triangle, so that the vehicle body can be stably placed on the pipeline, and then through the inside of the vehicle body The power device drives the driving wheel to rotate, and then the vehicle body can crawl in the pipeline, and in the crawling process, the surface of the pipeline can be photographed by the first camera and the two second cameras, and the photographed images are directly sent to the terminal through the network. People directly observe the surface of the pipeline through the terminal, and then complete the inspection of the pipeline surface. Through the triangular distribution of the first camera and the two second cameras, the outer cylindrical wall of the pipeline can be fully photographed, which is convenient for people to conduct a comprehensive inspection of the outer cylindrical wall of the pipeline to avoid omissions. Through the above device, it is convenient for people to conduct a comprehensive inspection of the surface of the pipeline, without the need for manual walking in the manhole, avoiding people from being injured, and improving the inspection efficiency and inspection quality, which is convenient for people to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0017] Figure 1 It is a front structural schematic diagram of the present invention;

[0018] Figure 2 It is a schematic diagram of the side cross-sectional structure of the present invention;

[0019] Figure 3 It is a schematic diagram of a top cross-sectional structure of the present invention;

[0020] Figure 4 It is a schematic diagram of the inner side structure of two curved plates of the present invention;

[0021] Figure 5 It is an enlarged structural schematic diagram of the cleaning wheel part of the present invention;

[0022] Figure 6 It is a schematic diagram of the side structure of the cleaning wheel of the present invention.

[0023] In the figure: 1. body; 2. first camera; 3. first fixed plate; 4. driving wheel; 5. lifting plate; 6. arc plate; 7. second fixed plate; 8. auxiliary wheel; 9. horizontal plate; 10. second camera; 11. mounting plate; 12. cylinder; 13. support plate; 14. servo motor; 15. worm gear; 16. worm; 17. rotating rod; 18. guide slider; 19. third fixed plate; 20. cleaning wheel; 21. sprocket; 22. chain; 23. first spur gear; 24. second spur gear; 25. scraper. DETAILED DESCRIPTION

[0024] The present invention provides Figure 1-6 A multi-joint pipeline maintenance robot shown in the figure comprises a vehicle body 1, a first camera 2 is fixedly arranged at the middle part of the lower side of the vehicle body 1, two groups of first fixed plates 3 are also fixedly arranged at the lower side of the vehicle body 1, the two groups of first fixed plates 3 are symmetrically distributed, a first rotating shaft is rotatably arranged between the two first fixed plates 3 in each group through a first bearing, a driving wheel 4 is fixedly plugged on the first rotating shaft, lifting plates 5 are slidably arranged on the front and rear sides of the vehicle body 1, and lifting mechanisms are arranged on the front and rear sides of the vehicle body 1 and connected to the two lifting plates 5 through two groups of lifting mechanisms, a group of openings are opened on the lower sides of the two lifting plates 5, each group of two openings are symmetrically distributed, a vertically arranged arc plate 6 is rotatably arranged in each opening, and each The lifting plates 5 are each provided with a driving mechanism that can drive a group of arc-shaped plates 6 on the same side to rotate. Two second fixed plates 7 are fixedly provided on the inner side of each arc-shaped plate 6 away from the vehicle body 1. A second rotating shaft is rotatably provided between the two second fixed plates 7 via a second bearing. An auxiliary wheel 8 is fixedly sleeved on the second rotating shaft. A transverse plate 9 is fixedly provided between each group of two arc-shaped plates 6. The transverse plate 9 is aligned with the two second auxiliary wheels 8. Second cameras 10 are fixedly provided in the middle of the opposite sides of the two transverse plates 9. A mounting plate 11 is fixedly provided on the lower side of the right end of the vehicle body 1. A cleaning mechanism is provided on the lower side of the mounting plate 11. A power device is provided inside the vehicle body 1, which can drive the two driving wheels 4 to rotate.

[0025] like Figure 1 and Figure 2 As shown, the lifting mechanism includes two cylinders 12, which are respectively vertically arranged on the front and rear sides of the vehicle body 1 and are respectively located on the upper sides of the two lifting plates 5, and the lower ends of the two cylinders 12 are respectively fixedly connected to the middle parts of the upper sides of the two lifting plates 5, and a support plate 13 is fixedly arranged on the upper end of each cylinder 12. The two support plates 13 are respectively fixedly connected to the front and rear sides of the vehicle body 1, and can drive the lifting plate 5 to move vertically, thereby driving the two groups of arc plates 6 and the two groups of auxiliary wheels 8 to move vertically, and can be suitable for pipelines of different diameters.

[0026] like Figure 1-Figure 3The driving mechanism includes a servo motor 14, a worm wheel 15, a worm 16 and a rotating rod 17. A cavity is provided in the middle of the inner part of the lifting plate 5. The rotating rod 17 is transversely arranged in the cavity. The worm wheel 15 is fixedly sleeved with the middle part of the rod wall of the rotating rod 17. The left and right ends of the rotating rod 17 are respectively rotatably connected with the left and right sides of the cavity through a third bearing, and the two ends of the rotating rod 17 extend into the two openings and are fixedly connected with the two arc-shaped plates 6. The servo motor 14 is fixedly arranged in the middle part of the side of the lifting plate 5 away from the vehicle body 1. The worm 16 is longitudinally arranged in the cavity and meshes with the worm wheel 15. The front and rear ends of the worm 16 are respectively connected to the left and right sides of the cavity. The ends are rotatably connected to the front and rear sides of the cavity respectively through the fourth bearing, the end of the worm 16 away from the vehicle body 1 extends to the outside of the lifting plate 5 and is fixedly connected to the output end of the servo motor 14, and the two worms 16 are driven to rotate by the two servo motors 14 in turn, the two worms 16 respectively drive the two worm wheels 15 to rotate, the two worm wheels 15 respectively drive the two rotating rods 17 to rotate, each rotating rod 17 respectively drives the two arc plates 6 of the same group to rotate, so that the lower ends of the two arc plates 6 are retracted until the two sets of auxiliary wheels 8 are tightly fitted with the outer cylindrical side wall of the pipeline, so that the vehicle body 1 is stably installed on the pipeline.

[0027] like Figure 3 As shown, a group of guide slots are provided on both the front and rear sides of the vehicle body 1, and guide sliders 18 are slidably arranged in the two groups of guide slots. The two groups of guide sliders 18 are respectively fixedly connected to the two lifting plates 5, and can guide the vertical movement of the two lifting plates 5, so that the vertical movement of the lifting plates 5 is more stable.

[0028] At the same time, the number of each group of guide sliders 18 and guide slots is set to two, and the end faces of each guide slot and guide slider 18 are set in a T shape, which further improves the stability of the lifting plate 5 during vertical movement.

[0029] like Figure 1 , Figure 5 and Figure 6 As shown, the cleaning mechanism includes two third fixed plates 19 and a cleaning wheel 20, the two third fixed plates 19 are fixedly arranged on the lower side of the mounting plate 11 and are symmetrically distributed front and back, a third rotating shaft is rotatably arranged between the two third fixed plates 19 through a fourth bearing, the cleaning wheel 20 is fixedly sleeved on the third rotating shaft, and a plurality of evenly distributed bristles are fixedly arranged on the wheel wall of the cleaning wheel 20, the transmission assembly is arranged between the third rotating shaft and the first rotating shaft on the right side, and the first rotating shaft can drive the third rotating shaft to rotate through the transmission assembly.

[0030] At the same time, the transmission assembly includes two sprockets 21, a chain 22, a first spur gear 23 and a second spur gear 24. The front ends of the first rotating shaft and the third rotating shaft on the right side extend forward. The front side of the front third fixed plate 19 is rotatably provided with a rotating shaft. The first spur gear 23 is fixedly sleeved on the shaft wall of the rotating shaft. The front end of the third rotating shaft is fixedly connected to the second spur gear 24. The first spur gear 23 is meshed with the second spur gear 24. The two sprockets 21 are respectively fixedly connected to the first rotating shaft on the right side and the front end of the rotating shaft. The two sprockets 21 are mutually transmitted through the chain 22. The diameter of the sprocket 21 connected to the first rotating shaft is larger than that of the other sprocket 21.

[0031] When the two driving wheels 4 rotate to make the vehicle body 1 crawl on the surface of the pipe, the first rotating shaft on the right side can drive the driving shaft to rotate through the two sprockets 21 and the chain 22, and the driving shaft drives the third rotating shaft to rotate through the first spur gear 23 and the second spur gear 24, thereby driving the cleaning wheel 20 and the bristles to rotate, so as to clean the upper side wall of the pipe and prevent dust and stains on the upper side of the pipe from affecting the first camera 2's shooting and inspection of the upper side of the pipe.

[0032] like Figure 5 and Figure 6 As shown, a scraper 25 is fixedly provided on the lower side of the mounting plate 11, and a plurality of combing grooves for the transmission of bristles are provided on the lower side of the scraper 25. When the cleaning wheel 20 drives the bristles to rotate to clean the upper surface of the pipe, the bristles continue to rotate and scrape with the scraper 25, so as to remove the dust and impurities remaining on the bristles, so as to keep the bristles having an effective cleaning effect.

[0033] At the same time, the shooting angles of the first camera 2 and the two second cameras 10 are both 120°, which can fully shoot the outer wall of the pipeline, making it convenient for people to inspect the outer surface of the pipeline.

[0034] Working principle of the present invention: when in use, the vehicle body 1 is placed above the pipeline, and the two driving wheels 4 are in close contact with the upper side wall of the pipeline, and then the height of the two lifting plates 5 is adjusted by two cylinders 12, and the two lifting plates 5 respectively drive the two groups of arc plates 6 to move vertically, and the two groups of arc plates 6 drive the two groups of auxiliary wheels 8 to move vertically, and then the two servo motors 14 are used to drive the two worms 16 to rotate in turn, and the two worms 16 respectively drive the two worm wheels 15 to rotate, and the two worm wheels 15 respectively drive the two rotating rods 17 to rotate, and each rotating rod 17 respectively drives the two arc plates 6 of the same group to rotate, so that the lower ends of the two arc plates 6 are retracted until the two groups of auxiliary wheels 8 are in close contact with the outer circular side wall of the pipeline, and the two groups of auxiliary wheels 8 and the driving wheels 4 are distributed in an equilateral triangle, which can make the vehicle body 1 stable. It is placed on the pipeline, and then the driving wheel 4 is driven to rotate by the power device inside the vehicle body 1, so that the vehicle body 1 can crawl in the pipeline, and in the crawling process, the surface of the pipeline can be photographed by the first camera 2 and the two second cameras 10, and the photographed images are directly sent to the terminal through the network. People directly observe the surface of the pipeline through the terminal, and then complete the inspection of the pipeline surface. Through the triangular distribution of the first camera 2 and the two second cameras 10, the outer cylindrical wall of the pipeline can be fully photographed, which is convenient for people to conduct a comprehensive inspection of the outer cylindrical wall of the pipeline to avoid omissions. Through the above device, it is convenient for people to conduct a comprehensive inspection of the surface of the pipeline, without the need for manual walking in the manhole, avoiding people from being injured, and improving the inspection efficiency and inspection quality, which is convenient for people to use.

[0035] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-joint pipeline maintenance robot, characterized in that: The vehicle comprises a vehicle body (1), wherein a first camera (2) is fixedly arranged at the middle of the lower side of the vehicle body (1), and two groups of first fixing plates (3) are also fixedly arranged at the lower side of the vehicle body (1), the two groups of first fixing plates (3) are symmetrically distributed on the left and right, a first rotating shaft is rotatably arranged between the two first fixing plates (3) in each group through a first bearing, a driving wheel (4) is fixedly plugged on the first rotating shaft, lifting plates (5) are slidably arranged on the front and rear sides of the vehicle body (1), and lifting mechanisms are arranged on the front and rear sides of the vehicle body (1) and connected to the two lifting plates (5) through the two groups of lifting mechanisms, a group of openings are opened on the lower side of the two lifting plates (5), the two openings in each group are symmetrically distributed on the left and right, and a vertically arranged arc is rotatably arranged in each opening. The invention relates to a lifting plate (5), wherein each lifting plate (5) is provided with a driving mechanism capable of driving a group of arc-shaped plates (6) on the same side to rotate, two second fixed plates (7) are fixedly provided on the inner side of each arc-shaped plate (6) away from the vehicle body (1), a second rotating shaft is rotatably provided between the two second fixed plates (7) via a second bearing, an auxiliary wheel (8) is fixedly sleeved on the second rotating shaft, a transverse plate (9) is fixedly provided between each group of two arc-shaped plates (6), the transverse plate (9) is aligned with the two second auxiliary wheels (8), second cameras (10) are fixedly provided at the middle of the two opposite sides of the two transverse plates (9), a mounting plate (11) is fixedly provided on the lower side of the right end of the vehicle body (1), and a cleaning mechanism is provided on the lower side of the mounting plate (11).

2. A multi-joint pipeline maintenance robot according to claim 1, characterized in that: The lifting mechanism comprises two cylinders (12), the two cylinders (12) being respectively arranged vertically on the front and rear sides of the vehicle body (1) and respectively located on the upper sides of the two lifting plates (5), the lower ends of the two cylinders (12) being respectively fixedly connected to the middle parts of the upper sides of the two lifting plates (5), and a support plate (13) being fixedly arranged on the upper end of each cylinder (12), and the two support plates (13) being respectively fixedly connected to the front and rear sides of the vehicle body (1).

3. A multi-joint pipeline maintenance robot according to claim 2, characterized in that: The driving mechanism comprises a servo motor (14), a worm wheel (15), a worm (16) and a rotating rod (17). A cavity is provided in the middle of the interior of the lifting plate (5). The rotating rod (17) is transversely arranged in the cavity. The worm wheel (15) is fixedly sleeved with the middle of the rod wall of the rotating rod (17). The left and right ends of the rotating rod (17) are respectively rotatably connected to the left and right sides of the cavity through a third bearing, and the two ends of the rotating rod (17) respectively extend into two openings and are fixedly connected to the two arc-shaped plates (6). The servo motor (14) is fixedly arranged in the middle of a side of the lifting plate (5) away from the vehicle body (1). The worm (16) is longitudinally arranged in the cavity and meshes with the worm wheel (15), and the front and rear ends of the worm (16) are respectively rotatably connected to the front and rear sides of the cavity through a fourth bearing. One end of the worm (16) away from the vehicle body (1) extends to the outside of the lifting plate (5) and is fixedly connected to the output end of the servo motor (14).

4. The multi-joint pipeline maintenance robot according to claim 3, characterized in that: A group of guide slide grooves are provided on both the front and rear sides of the vehicle body (1), and guide sliders (18) are slidably arranged in the two groups of guide slide grooves. The two groups of guide sliders (18) are fixedly connected to the two lifting plates (5) respectively.

5. The multi-joint pipeline maintenance robot according to claim 4, characterized in that: The number of each group of guide slide blocks (18) and guide slide grooves is set to two, and the end surface of each guide slide groove and guide slide block (18) is set in a T shape.

6. The multi-joint pipeline maintenance robot according to claim 5, characterized in that: The cleaning mechanism comprises two third fixing plates (19) and a cleaning wheel (20); the two third fixing plates (19) are fixedly arranged on the lower side of the mounting plate (11) and are symmetrically distributed frontward and rearward; a third rotating shaft is rotatably arranged between the two third fixing plates (19) via a fourth bearing; the cleaning wheel (20) is fixedly sleeved on the third rotating shaft; a wheel wall of the cleaning wheel (20) is fixedly arranged with a plurality of evenly distributed bristles; a transmission assembly is arranged between the third rotating shaft and a first rotating shaft on the right side; and the first rotating shaft can drive the third rotating shaft to rotate via the transmission assembly.

7. The multi-joint pipeline maintenance robot according to claim 6, characterized in that: The transmission assembly comprises two sprocket wheels (21), a chain (22), a first spur gear (23) and a second spur gear (24); the front ends of the first rotating shaft and the third rotating shaft on the right side both extend forward; a rotating shaft is rotatably arranged at the front side of the third fixing plate (19) on the front side; the first spur gear (23) is fixedly sleeved on the shaft wall of the rotating shaft; the front end of the third rotating shaft is fixedly connected to the second spur gear (24); the first spur gear (23) is meshed with the second spur gear (24); the two sprocket wheels (21) are respectively fixedly connected to the front ends of the first rotating shaft and the rotating shaft on the right side; the two sprocket wheels (21) are mutually driven by the chain (22).

8. The multi-joint pipeline maintenance robot according to claim 7, characterized in that: A scraper (25) is fixedly arranged on the lower side of the mounting plate (11), and a plurality of combing grooves for brush transmission are provided on the lower side of the scraper (25).

9. The multi-joint pipeline maintenance robot according to claim 8, characterized in that: The shooting angles of the first camera (2) and the two second cameras (10) are both 120°.

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