Pipeline inspection robot

Abstract

A pipeline inspection robot disclosed by the present invention comprises a mobile chassis, a lifting frame and a detector, the detector is installed at the upper end of the mobile chassis through the lifting frame, the lifting frame is used for vertically adjusting the height of the detector, and the mobile chassis is provided with a controller and an aviation plug. The movable chassis, the lifting frame, the detector and the aviation plug are all electrically connected with the controller, the aviation plug is used for being detachably connected with a cable, the detector is installed at the upper end of the movable chassis through the lifting frame, and the detector, the lifting frame and the movable chassis are all electrically connected with the controller on the movable chassis. In this way, the operation states of the movable chassis, the lifting frame and the detector are all controlled by the controller, the aviation plug connector is electrically connected with external power supply equipment and a control terminal through cables, and therefore the pipeline inspection robot is powered and controlled by the outside world.

Description

Technical Field

[0001] The present invention belongs to the field of pipeline robots, and in particular relates to a pipeline inspection robot. Background Art

[0002] There are many types of pipeline robots at present. Some pipeline robots are equipped with a height adjustment frame to adjust the height of the detector. However, this type of height adjustment frame usually causes a certain displacement of the detector in the front and rear directions when adjusting the height of the detector. This will cause coupling errors when the final detection data is coupled with the mileage, ultimately resulting in low detection data accuracy. Summary of the invention

[0003] In order to solve the above technical problems, an object of the present invention is to provide a pipeline inspection robot which has a simple structure and can flexibly adjust the horizontal height of the detector vertically as needed during inspection in the pipeline.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a pipeline inspection robot, comprising a mobile chassis, a lifting frame and a detector, the detector is installed on the upper end of the mobile chassis through the lifting frame, the lifting frame is used to vertically adjust the height of the detector, and a controller and an aviation plug connector are provided on the mobile chassis, the mobile chassis, the lifting frame, the detector and the aviation plug connector are all electrically connected to the controller, and the aviation plug connector is used to be detachably connected to a cable.

[0005] The beneficial effect of the above technical solution is that the detector is installed on the upper end of the mobile chassis by the lifting frame, and the detector, lifting frame and mobile chassis are electrically connected to the controller on the mobile chassis, so that the operating status of the mobile chassis, lifting frame and detector are all controlled by the controller, and the aviation plug connector is electrically connected to the external power supply equipment and the control terminal through a cable, so that the pipeline inspection robot can be powered and controlled by the outside world.

[0006] In the above technical solution, the two sides of the mobile chassis are also respectively provided with mutually aligned hooking rods, and the ends of the two hooking rods away from each other are both provided with expanded parts for limiting. The hooking rods are used to hook with the slings to be lowered into the pipeline.

[0007] The beneficial effect of the above technical solution is that the pipeline inspection robot can pass under the two suspension cables to the pipeline well.

[0008] In the above technical solution, the aviation plug connector is vertically swingably installed in the middle of the rear end of the mobile chassis.

[0009] The beneficial effect of the above technical solution is that when the aviation plug connector is pulling the cable, it can prevent the corresponding end of the cable from cracking due to the influence of deflection.

[0010] The lifting frame in the above technical scheme includes a base, a driving member, a top plate and two support arm assemblies, the base and the top plate are both horizontally arranged along the front-to-back direction, and the top plate is located above the base, the base is installed at the upper end of the mobile chassis, the driving member is installed at the rear end of the base, the two support arm assemblies are arranged on both sides between the base and the top plate along the front-to-back direction, the support arm assembly has a first rod body and a second rod body, and the middle part of the first rod body is rotatably connected to the middle part of the corresponding second rod body to form an "X" shape, the rear ends of the two first rod bodies are transmission connected to the driving member, the front ends of the two first rod bodies are slidingly connected to the front end of the top plate along the front-to-back direction, the rear ends of the two second rod bodies are rotatably connected to the rear end of the top plate, the front ends of the two second rod bodies are slidingly connected to the front end of the base along the front-to-back direction, and the driving member rotates to drive the two support arm assemblies to drive the top plate to move vertically up and down.

[0011] The beneficial effects of the above technical solution are: its structure is simple, and when the driving member drives the two support arm assemblies to swing, it can drive the top plate to move up and down in a vertical state, that is, the top plate will not produce backward and forward displacement when rising and falling, which is conducive to improving the detection accuracy of the detector.

[0012] The detector in the above technical solution includes a front detector and a rear detector. The front detector is installed at the rear end of the base, and the rear detector is installed at the front end of the top plate. The lifting frame is used to adjust the horizontal height of the rear detector.

[0013] The beneficial effect of the above technical solution is that the horizontal height of the rear detection device can be adjusted vertically, while the horizontal height of the front detection device is fixed, which can improve the flexibility of detection. The front detection device mainly detects the situation in the area before the pipeline inspection robot passes, while the rear detection device mainly detects the situation inside the pipeline in the backward direction of the pipeline inspection robot.

[0014] In the above technical solution, the front end of the base is recessed with a first receiving groove, the rear detection device is arranged at the front lower end of the top plate, and the first receiving groove is used for the rear detection device to extend into when the lifting frame is in the storage state.

[0015] The beneficial effect of the above technical solution is that it makes the structure of the entire pipeline robot more compact when stored and can protect the rear detection device.

[0016] The driving member in the above technical solution is a double-output shaft reduction brake motor, the rear ends of the two first rod bodies are respectively connected to the two driving shafts of the driving member, the front detection member is installed at the upper end of the driving member, and the rear end of the top plate is recessed with a second accommodating groove, and the second accommodating groove is used for the front detection member to extend into when the lifting frame is in the storage state.

[0017] The beneficial effect of the above technical solution is that it can further make the structure of the entire pipeline robot more compact when stored, and can protect the rear detection device.

[0018] The front detection device in the above technical solution includes a camera and a fill light, and the rear detection device is a panoramic laser lens.

[0019] The beneficial effects of the above technical solution are: its structure is simple and the detection effect is good.

[0020] The lifting frame in the above technical solution also includes two first sliding bars and two second sliding bars. The two first sliding bars are horizontally arranged on both sides of the front upper end of the base along the front-to-back direction, and the front end of each second rod body is slidably connected to the first sliding bar on the corresponding side; the two second sliding bars are horizontally arranged on both sides of the front lower end of the top plate along the front-to-back direction, and the front end of each first rod body is slidably connected to the second sliding bar on the corresponding side.

[0021] The beneficial effect of the above technical solution is that the sliding connection between the front ends of the two first rods and the two second rods and the top plate and the base is better.

[0022] The above technical solution also includes three gas spring rods, which are vertically inclined in the front-to-back direction between the two support arm assemblies, and the three gas spring rods are spaced apart in the left-to-right direction. The lower end of the gas spring rod is swingably connected to the base, and the other end is connected to the top plate. The two gas spring rods on both sides are parallel to each other, and the gas spring rod in the middle is cross-distributed.

[0023] The beneficial effect of the above technical solution is that the entire lifting frame is more stable when adjusting the height and is not prone to shaking.

[0024] The above technical solution also includes a coaxiality measuring device arranged on the lifting frame, which is electrically connected to the controller. The coaxiality measuring device is used to measure the coaxiality of the front detection device relative to the pipeline in the pipeline, and the controller controls the mobile chassis and the lifting frame to operate in coordination to correct the coaxiality of the front detection device relative to the pipeline.

[0025] The beneficial effect of the above technical solution is that: when the movable chassis moves in the pipeline, it can automatically calibrate and correct the coaxiality of the front detection device relative to the pipeline.

[0026] The coaxiality measuring device in the above technical solution includes three ranging probes which are arranged at annular intervals and distributed in the same circle and are all electrically connected to the controller, and the axis of the circle where the three ranging probes are located is coaxially distributed with the front detection device, the detection part of one of the ranging probes is arranged vertically upward, and the remaining two ranging probes are arranged horizontally, and their detection parts are away from each other.

[0027] The beneficial effect of the above technical solution is that: when the distances measured by the three distance measuring probes to the inner wall of the pipeline are consistent and equal to the inner diameter of the pipeline, it can be assumed that the front detection device and the pipeline are coaxially distributed. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a vertical view of the pipeline inspection robot in an unfolded state according to an embodiment of the present invention;

[0029] Figure 2 This is a vertical view of the pipeline inspection robot in the storage state according to an embodiment of the present invention;

[0030] Figure 3 It is a rear view of the lifting frame and the detector in the storage state according to the embodiment of the present invention;

[0031] Figure 4 It is a front view of the lifting frame and the detector in the storage state according to the embodiment of the present invention;

[0032] Figure 5 It is a vertical view of the lifting frame in the embodiment of the present invention in the unfolded state;

[0033] Figure 6 A distribution diagram of three gas spring rods in an embodiment of the present invention;

[0034] Figure 7 Schematic diagram of electrical connection of the controller in an embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram of the distribution of two hooking rods on both sides of the mobile chassis in an embodiment of the present invention;

[0036] Fig. 9 Schematic diagram of the cooperation between the coaxiality measuring component and the pipeline in an embodiment of the present invention.

[0037] In the figure: 1 mobile chassis; 11 hanging rod; 12 expansion part; 2 lifting frame; 21 base; 211 first receiving groove; 212 raised platform; 22 driving member; 221 driving shaft; 23 top plate; 231 second receiving groove; 24 support arm assembly; 241 first rod body; 242 second rod body; 25 first slide bar; 26 second slide bar; 27 gas spring rod; 3 detector; 3a front detection device; 31 camera; 32 fill light; 3b rear detection device; 4 controller; 5 aviation plug connector; 51 swing seat; 6 coaxiality measuring member; 61 distance measuring probe. DETAILED DESCRIPTION

[0038] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention. The present invention is described in more detail by way of example with reference to the accompanying drawings in the following paragraphs. According to the following description and claims, the advantages and features of the present invention will be more clearly described. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to facilitate and clearly assist in explaining the purpose of the embodiments of the present invention.

[0039] like Figure 1-Figure 8 As shown, the present embodiment provides a pipeline inspection robot, including a mobile chassis 1, a lifting frame 2 and a detector 3, wherein the detector 3 is installed on the upper end of the mobile chassis 1 through the lifting frame 2, and the lifting frame 2 is used to vertically adjust the height of the detector 3. The mobile chassis 1 is provided with a controller 4 and an aviation plug connector 5, and the mobile chassis 1, the lifting frame 2, the detector 3 and the aviation plug connector 5 are all electrically connected to the controller 4, and the aviation plug connector 5 is used to be detachably connected to a cable. By installing the detector on the upper end of the mobile chassis through the lifting frame, and the detector, the lifting frame and the mobile chassis are all electrically connected to the controller on the mobile chassis, so that the operating states of the mobile chassis, the lifting frame and the detector are all controlled by the controller, and the aviation plug connector is electrically connected to the external power supply device and the control terminal through a cable, so that the pipeline inspection robot is powered and controlled by the outside world (the controller and the control terminal in this embodiment are connected by cable communication, and the communication connection between the two can be based on the VDS l 2 communication module for communication connection, VDS l 2 The communication module has the advantages of long communication distance and smooth communication signal).

[0040] The mobile chassis described in this embodiment is an electric wheeled chassis or an electric crawler chassis, both of which are existing mature products and are not described in detail here. The controller described in this embodiment can be integrated inside the mobile chassis.

[0041] like Figure 1 , Figure 2 and Figure 8As shown, the two sides of the mobile chassis 1 in the above technical solution are also respectively provided with mutually aligned hanging rods 11, and the ends of the two hanging rods 11 away from each other are provided with expanded parts 12 for limiting, and the hanging rods 11 are used to hook with the slings to be lowered into the pipeline, so that the pipeline inspection robot can pass through the two slings to the pipeline well (for example, two ropes can be folded in half and the two hanging rods can be hung from the two sides of the pipeline inspection robot respectively, and then the pipeline inspection robot can be lowered into the pipeline well. After touching the bottom, one end of the two ropes can be loosened and the ropes can be pulled out, or the pipeline inspection robot can be directly lowered into the pipeline well using two rods with hooks at the ends).

[0042] The aviation plug connector 5 in the above technical solution is vertically swingably installed in the middle of the rear end of the mobile chassis 1, so that when the aviation plug connector is pulling the cable, it can prevent the corresponding end of the cable from cracking due to the influence of deflection.

[0043] In this embodiment, the aviation plug connector is installed at the rear end of the mobile chassis through a swing seat 51, and the swing angle range of the aviation plug connector is 90°, the lower limit of its swing is to the horizontal state, and the upper limit of its swing is to the vertical state.

[0044] like Figure 3-Figure 5 As shown, the lifting frame 2 in the above technical solution includes a base 21, a driving member 22, a top plate 23 and two support arm assemblies 24, the base 21 and the top plate 23 are both horizontally arranged in the front-to-back direction, and the top plate 23 is located above the base 21, the base 21 is installed at the upper end of the mobile chassis 1, the driving member 22 is installed at the rear end of the base 21, and the two support arm assemblies 24 are arranged on both sides between the base 21 and the top plate 23 in the front-to-back direction, the support arm assembly 24 has a first rod body 241 and a second rod body 242, and the middle part of the first rod body 241 is rotatably connected to the middle part of the corresponding second rod body 242 to form an "X" shape, and the two first rods are connected to the second rod body 242. The rear end of the rod body 241 is transmission connected to the driving member 22, the front ends of the two first rod bodies 241 are slidingly connected to the front end of the top plate 23 along the front-to-back direction, the rear ends of the two second rod bodies 242 are rotationally connected to the rear end of the top plate 23, and the front ends of the two second rod bodies 242 are slidingly connected to the front end of the base 21 along the front-to-back direction. The driving member 22 rotates to drive the two support arm assemblies 24 to drive the top plate 23 to move vertically up and down. Its structure is simple, and when the driving member drives the two support arm assemblies to swing, it can drive the top plate to move up and down in a vertical state, that is, the top plate will not produce rear-to-forward displacement when rising and falling, which is beneficial to improving the detection accuracy of the detector.

[0045] The detector 3 in the above technical solution includes a front detector device 3a and a rear detector device 3b, the front detector device 3a is installed at the rear end of the base 21, and the rear detector device 3b is installed at the front end of the top plate 23, and the lifting frame 2 is used to adjust the horizontal height of the rear detector device 3b, so that the horizontal height of the rear detector device can be adjusted vertically, while the horizontal height of the front detector device is fixed, which can improve the flexibility of detection, and the front detector device is mainly used to detect the situation of the area before the pipeline inspection robot passes, while the rear detector device is mainly used to detect the situation inside the pipeline in the backward direction of the pipeline inspection robot.

[0046] In the above technical solution, the front end of the base 21 is recessed with a first accommodating groove 211, and the rear detection device 3b is arranged at the front lower end of the top plate 23. The first accommodating groove 211 is used for the rear detection device 3b to extend into when the lifting frame 2 is in the storage state, so that the structure of the entire pipeline robot is more compact when stored, and the rear detection device can be protected.

[0047] The driving member 22 in the above technical solution is a double-output shaft reduction brake motor (so that the driving member can slowly drive the top plate to rise and fall, and can also brake the top plate at any height within its lifting range), the rear ends of the two first rod bodies 241 are respectively connected to the two driving shafts 221 of the driving member 22, the front detection device 3a is installed at the upper end of the driving member 22, and the rear end of the top plate 23 is recessed with a second accommodating groove 231, the second accommodating groove 231 is used for the front detection device 3a to extend into when the lifting frame 2 is in the storage state, so that the structure of the entire pipeline robot can be further made more compact when stored, and the rear detection device can be protected.

[0048] The front detection device 3a in the above technical solution includes a camera 31 (the camera can be a fisheye lens) and a fill light 32, and the rear detection device 3b is a panoramic laser lens (of course it can also be a laser radar or sonar probe), which has a simple structure and good detection effect.

[0049] The lifting frame 2 in the above technical scheme also includes two first sliding bars 25 and two second sliding bars 26. The two first sliding bars 25 are horizontally arranged on both sides of the front upper end of the base 21 along the front-to-back direction, and the front end of each second rod body 242 is slidably connected to the first sliding bar 25 on the corresponding side; the two second sliding bars 26 are horizontally arranged on both sides of the front lower end of the top plate 23 along the front-to-back direction, and the front end of each first rod body 241 is slidably connected to the second sliding bar 26 on the corresponding side, so that the sliding connection effect of the front ends of the two first rod bodies and the two second rod bodies with the top plate and the base is better.

[0050] In this embodiment, the first sliding rod and the second sliding rod have the same length and both ends are aligned.

[0051] like Figure 5 and Figure 6 As shown, the above technical solution also includes three gas spring rods 27, and the three gas spring rods 27 are vertically inclined along the front-to-back direction between the two support arm assemblies 24, and the three gas spring rods 27 are spaced apart along the left-to-right direction. The lower end of the gas spring rod 27 is swingably connected to the base 21, and the other end is connected to the top plate 23. The two gas spring rods 27 on both sides are parallel to each other, and the gas spring rod 27 in the middle is cross-distributed, so that the entire lifting frame is more stable when adjusting the height and is not easy to shake.

[0052] like Figure 5 As shown, in this embodiment, a raised platform 212 can also be set in the middle of the upper end of the base 21 along the front-to-back direction, the lower end of the gas spring rod is swingably connected to the upper end of the raised platform 212, and the connection between the lower end of the support arm assembly 24 and the base is located on the side of the raised platform 212, so that the entire lifting frame is more compact and stable when stored.

[0053] The above technical solution also includes a coaxiality measuring device 6 arranged on the lifting frame 2, and the coaxiality measuring device 6 is electrically connected to the controller 4. The coaxiality measuring device 6 is used to measure the coaxiality of the front detection device 3a relative to the pipeline in the pipeline, and the controller 4 controls the mobile chassis 1 and the lifting frame 2 to operate in coordination to correct the coaxiality of the front detection device 3a relative to the pipeline, so that the mobile chassis can automatically calibrate and correct the coaxiality of the front detection device relative to the pipeline when moving in the pipeline.

[0054] The coaxiality measuring device 6 in the above technical solution includes three distance measuring probes 61 which are arranged at an interval in the annular direction, distributed in the same circle and electrically connected to the controller 4, and the axis of the circle where the three distance measuring probes 61 are located is coaxially distributed with the front detection device 3a, the detection part of one of the distance measuring probes 61 is arranged vertically upward, and the remaining two distance measuring probes 61 are arranged horizontally, and their detection parts are away from each other. At this time, when the distances measured by the three distance measuring probes to the inner wall of the pipeline are consistent and are equivalent to the inner diameter of the pipeline, it can be assumed that the front detection device and the pipeline are coaxially distributed.

[0055] in, Fig. 9The dotted circle in the middle indicates the inner wall of the pipeline, and the three dotted arrows indicate the distances between the three ranging probes and the inner wall of the pipeline. When detecting the pipeline, the inner diameter of the pipeline needs to be input in advance through the control assembly, so that when the mobile chassis moves in the pipeline, the ranging probe can measure the distance from the inner wall of the pipeline in real time, and calculate the coaxiality deviation between the front detection device and the inner wall of the pipeline in real time. When the deviation exceeds the threshold (the threshold can also be set in advance by the control assembly), the lifting frame and the mobile chassis can cooperate to correct the coaxiality of the front detection device relative to the pipeline (where the lifting frame mainly performs vertical correction, and the mobile chassis mainly performs lateral correction). The ranging probe described in this embodiment can use an ultrasonic ranging radar, which has a strong anti-interference ability.

[0056] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A pipeline inspection robot, characterized in that: The invention comprises a mobile chassis (1), a lifting frame (2) and a detector (3); the detector (3) is mounted on the upper end of the mobile chassis (1) via the lifting frame (2); the lifting frame (2) is used to vertically adjust the height of the detector (3); a controller (4) and an aviation plug connector (5) are provided on the mobile chassis (1); the mobile chassis (1), the lifting frame (2), the detector (3) and the aviation plug connector (5) are all electrically connected to the controller (4); and the aviation plug connector (5) is used to be detachably connected to a cable.

2. The pipeline inspection robot according to claim 1, characterized in that: The two sides of the mobile chassis (1) are also respectively provided with mutually aligned hooking rods (11), and the ends of the two hooking rods (11) that are away from each other are both provided with enlarged parts (12) for limiting the position. The hooking rods (11) are used to be hooked with the slings to be lowered into the pipeline.

3. The pipeline inspection robot according to claim 1, characterized in that: The aviation plug connector (5) is installed in a vertical swingable manner at the middle part of the rear end of the mobile chassis (1).

4. The pipeline inspection robot according to claim 1, characterized in that: The lifting frame (2) comprises a base (21), a driving member (22), a top plate (23) and two support arm assemblies (24); the base (21) and the top plate (23) are both arranged horizontally in the front-to-back direction, and the top plate (23) is located above the base (21); the base (21) is mounted on the upper end of the mobile chassis (1); the driving member (22) is mounted on the rear end of the base (21); the two support arm assemblies (24) are arranged on both sides between the base (21) and the top plate (23) in the front-to-back direction; the support arm assembly (24) comprises a first rod body (241) and a second rod body (242); and the first rod body (241) and the second rod body (242) are arranged on the upper end of the mobile chassis (1); the driving member (22) and the top plate (23) are arranged on both sides between the base (21) and the top plate (23) in the front-to-back direction; The middle part of the body (241) is rotatably connected to the middle part of the corresponding second rod body (242) to form an "X" shape, the rear ends of the two first rod bodies (241) are transmission-connected to the driving member (22), the front ends of the two first rod bodies (241) are slidingly connected to the front end of the top plate (23) along the front-to-back direction, the rear ends of the two second rod bodies (242) are rotatably connected to the rear end of the top plate (23), the front ends of the two second rod bodies (242) are slidingly connected to the front end of the base (21) along the front-to-back direction, and the driving member (22) rotates to drive the two support arm assemblies (24) to drive the top plate (23) to move vertically up and down.

5. The pipeline inspection robot according to claim 4, characterized in that: The detector (3) comprises a front detection device (3a) and a rear detection device (3b), wherein the front detection device (3a) is mounted at the rear end of the base (21), and the rear detection device (3b) is mounted at the front end of the top plate (23), and the lifting frame (2) is used to adjust the horizontal height of the rear detection device (3b).

6. The pipeline inspection robot according to claim 5, characterized in that: A first receiving groove (211) is recessed at the front end of the base (21), and the rear detection device (3b) is arranged at the front lower end of the top plate (23). The first receiving groove (211) is used for allowing the rear detection device (3b) to extend into when the lifting frame (2) is in a storage state.

7. The pipeline inspection robot according to claim 5, characterized in that: The driving member (22) is a double-axle reduction brake motor, the rear ends of the two first rod bodies (241) are respectively connected in transmission with the two driving shafts (221) of the driving member (22), the front detection member (3a) is mounted on the upper end of the driving member (22), and the rear end of the top plate (23) is recessed with a second accommodating groove (231), the second accommodating groove (231) is used for the front detection member (3a) to extend into when the lifting frame (2) is in a storage state.

8. The pipeline inspection robot according to any one of claims 5 to 7, characterized in that: The front detection device (3a) comprises a camera (31) and a fill light (32), and the rear detection device (3b) is a panoramic laser lens.

9. The pipeline inspection robot according to claim 4, characterized in that: The lifting frame (2) also includes two first sliding bars (25) and two second sliding bars (26), the two first sliding bars (25) are horizontally arranged on both sides of the front upper end of the base (21) along the front-to-back direction, and the front end of each second rod body (242) is slidably connected to the first sliding bar (25) on the corresponding side; the two second sliding bars (26) are horizontally arranged on both sides of the front lower end of the top plate (23) along the front-to-back direction, and the front end of each first rod body (241) is slidably connected to the second sliding bar (26) on the corresponding side.

10. The pipeline inspection robot according to claim 4, characterized in that: It also includes three gas spring rods (27), which are vertically inclined in the front-to-back direction and arranged between the two support arm assemblies (24), and are spaced apart in the left-to-right direction. The lower end of the gas spring rod (27) is swingably connected to the base (21), and the other end is connected to the top plate (23). The two gas spring rods (27) on both sides are parallel to each other, and the gas spring rod (27) in the middle is cross-distributed.

11. The pipeline inspection robot according to claim 5, characterized in that: It also includes a coaxiality measuring device (6) disposed on the lifting frame (2), wherein the coaxiality measuring device (6) is electrically connected to the controller (4), and is used to measure the coaxiality of the front detection device (3a) relative to the pipeline in the pipeline, and the controller (4) controls the movable chassis (1) and the lifting frame (2) to operate in coordination to correct the coaxiality of the front detection device (3a) relative to the pipeline.

12. The pipeline inspection robot according to claim 11, characterized in that: The coaxiality measuring device (6) comprises three distance measuring probes (61) which are arranged at intervals in the annular direction and are distributed in the same circle and are all electrically connected to the controller (4), and the axis of the circle where the three distance measuring probes (61) are located is coaxially distributed with the front detection device (3a), the detection part of one of the distance measuring probes (61) is arranged vertically upward, and the remaining two distance measuring probes (61) are arranged horizontally, and their detection parts are away from each other.

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