Intelligent pipeline CCTV detection and repair inspection robot and use method thereof

Abstract

The invention relates to the technical field of pipeline detection, in particular to an intelligent pipeline CCTV detection and repair inspection robot and a use method thereof.The robot comprises a crawler, and the two sides of the upper end of the crawler are rotationally connected with a first rotating support and a second rotating support in a sleeving mode correspondingly; the using method comprises the following steps of moving and fixing in the pipeline, detecting in the pipeline, adjusting parts and spraying and repairing. According to the equipment, the visualization technology is integrated to the pipeline repairing robot, internal repairing can be achieved in an auxiliary mode under the condition that a pipeline is not excavated, the repairing position can be flexibly adjusted, and the repairing efficiency is improved; and the success rate and convenience of pipeline repair are greatly improved, and meanwhile, positive practical significance is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and in particular to an intelligent pipeline CCTV detection, repair and inspection robot and a use method thereof. Background Art

[0002] In the existing technology, in order to ensure normal water supply and repair the water supply pipeline in the face of leakage, a repair agent is usually applied to the surface leakage area. This repair effect is often not good, and the leaking pipeline needs to be dug out, which has a great impact on transportation, the environment and the socio-economic situation. The construction process is complicated and costly.

[0003] When traditional CCTV troubleshooting devices are used for troubleshooting in water network pipes, the adjustment range of their detection components is limited and they can only capture the situation in front. There is no mechanism that allows the camera to rotate and lift 360°, which results in the above-mentioned fixed angle observation of the pipes. It is impossible to observe the pipes more comprehensively, resulting in incomplete detection, so improvements are needed.

[0004] Moreover, the existing spraying equipment has a single structure, and it is not convenient to adjust the position of the equipment when limiting the equipment, and it is impossible to achieve multi-angle spraying. Therefore, after the pipeline repair work is completed, it takes a lot of time to adjust the device to adapt to the subsequent pipeline to be repaired, which affects the applicability of the spraying equipment. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose an intelligent pipeline CCTV detection and repair inspection robot and a method of using the same.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] An intelligent pipeline CCTV detection and repair inspection robot comprises a crawler, wherein both sides of the upper end of the crawler are respectively rotatably sleeved with a first rotating support and a second rotating support;

[0008] A first rotating shaft is rotatably mounted on the upper end of the first rotating support, a swing arm is fixed to one end of the first rotating shaft, a second rotating shaft is rotatably mounted on the upper end of the swing arm, a front arm is fixed to one end of the second rotating shaft, a movable sleeve is mounted at the front end of the front arm, a paint storage box is arranged in the movable sleeve, a plurality of nozzles are evenly spaced on a side wall of the movable sleeve, and the plurality of nozzles are connected to the paint storage box;

[0009] The upper end of the second rotating support is rotatably connected to a rotating rod, and the front end of the rotating rod is rotatably connected to a monitoring camera.

[0010] Compared with the existing technology, this application uses visualization technology: introducing 360-degree high-definition CCTV cameras and real-time image processing technology, the robot can monitor the situation inside the pipeline in an all-round and real-time manner, and can accurately locate and identify the repair area without excavating the pipeline; intelligent control and automation functions: equipped with advanced automatic positioning and navigation systems, the robot can independently plan and execute repair paths, and through intelligent limit and position adjustment systems, it can adapt to complex pipeline environments and operate efficiently; multi-functional integrated design: the robot integrates CCTV detection, real-time data analysis, multi-angle spraying and repair tools, enabling it to complete multiple tasks in a single operation, significantly improving work efficiency and repair quality.

[0011] Preferably, two roller assemblies are installed in the crawler, a power motor assembly is installed in the crawler, a transmission assembly is installed between the power motor assembly and one of the roller assemblies, and a positioning mechanism is installed on one of the roller assemblies.

[0012] Furthermore, through the cooperation of the power motor assembly and the transmission assembly, the roller assembly can be driven to rotate, and by controlling the rotation direction of the power motor assembly, the forward and backward movement of the crawler can be effectively controlled.

[0013] Preferably, the positioning mechanism includes a brake disc fixed on one of the roller assemblies, a pushing assembly is installed on the side wall at one end of the crawler, a linkage assembly is installed on the pushing assembly, a reverse positioning assembly is installed on the linkage assembly, and the reverse positioning assembly is arranged on both sides of the crawler.

[0014] Furthermore, the pushing component can cause the brake disc and the contact disc to come into contact with each other, making one of the roller components unable to rotate. At the same time, the linkage component can drive the reverse positioning component to move in the opposite direction, making it easier for the reverse positioning component to come into contact with the inner wall of the pipe for effective positioning.

[0015] Preferably, two first drive motors are installed in the crawler, the lower ends of the first rotating support and the second rotating support both extend into the crawler, and the output shaft ends of the two first drive motors are respectively fixedly connected to one end of the first rotating support and the second rotating support extending into the crawler.

[0016] Furthermore, by controlling the rotation direction of the first drive motor, the rotation of the first rotating support and the second rotating support can be achieved, and the angles of the components on the first rotating support and the second rotating support can be easily adjusted to achieve comprehensive monitoring and precise repair operations inside the pipeline.

[0017] Preferably, a second drive motor is provided at both the upper and lower ends of the swing arm. The second drive motor at the lower end is fixedly installed on one side of the first rotating support. The output shaft of the second drive motor at the lower end is fixedly connected to the first rotating shaft. The second drive motor at the upper end is fixedly connected to the swing arm. The output shaft of the second drive motor at the upper end is fixedly connected to the second rotating shaft.

[0018] Furthermore, the swing arm and the front arm can be controlled to swing by the rotation of the second driving motor, and the position of the movable sleeve can be fully controlled so that the nozzle can be aligned with the position to be repaired.

[0019] Preferably, a third drive motor is fixed to one side of the front arm, and a synchronous belt assembly is installed on the movable sleeve and the output shaft of the third drive motor.

[0020] Furthermore, the movable sleeve and the nozzle can be rotated so as to repair the inner wall of the pipeline.

[0021] Preferably, a storage chamber is provided in the movable sleeve, one end of the nozzle extends into the storage chamber, a pump body is installed on one side of the paint storage box, a connecting pipe is connected to the pump body, a supply pipe is connected to the connecting pipe, and one end of the supply pipe extends into the storage chamber.

[0022] Furthermore, a pressurized operation can be achieved, so that the repair paint liquid can be fully coated on the inner wall of the pipeline.

[0023] Preferably, a first ring is slidably mounted on the second rotating support, a second ring is rotatably sleeved on the lower end of the first ring, an electric telescopic rod is fixed between the second ring and the crawler, and an inclined rod is rotatably connected between the rotating rod and the first ring.

[0024] Furthermore, the positional relationship and the angular relationship between the oblique rod and the rotating rod can be adjusted through the electric telescopic rod, and the angle of the rotating rod can be well controlled to achieve accurate shooting of the inside of the pipeline.

[0025] The present invention also proposes a method for using an intelligent pipeline CCTV detection, repair and inspection robot, which is applicable to the above-mentioned intelligent pipeline CCTV detection, repair and inspection robot, and comprises the following steps:

[0026] S1. Moving and fixing in the pipeline: The robot enters the pipeline through the crawler, and the power motor assembly and the transmission assembly cooperate to drive the roller assembly to rotate, control the rotation direction of the power motor assembly, and control the forward and backward movement of the crawler; the pushing assembly causes the brake disc and the contact disc to contact, so that one of the roller assemblies cannot rotate, and at the same time the linkage assembly can drive the reverse positioning assembly to move in the reverse direction, so that the reverse positioning assembly contacts the inner wall of the pipeline, and effectively positions;

[0027] S2. Inspection inside the pipeline: The second rotating support at the lower end of the rotating rod and a first driving motor fixed thereto can effectively drive the monitoring camera to rotate, so that the monitoring camera can conduct a comprehensive inspection inside the pipeline, understand the situation inside the pipeline, and accurately find the leakage point in the pipeline;

[0028] S3, component adjustment: another first drive motor drives the first rotating support to rotate, and at the same time, the two second drive motors operate and control their rotation directions, so that the swing arm and the front arm can swing, and the movable sleeve at the front end of the front arm can be controlled to correspond to the inner wall of the pipe;

[0029] S4. Spray repair: The pump body can extract the paint liquid in the paint storage box so that the paint liquid enters the connecting pipe and enters the storage cavity through the supply pipe, and is sprayed out through the nozzle to repair the inner wall of the pipeline.

[0030] The beneficial effects of the present invention are:

[0031] 1. Multifunctional integrated system: The robot integrates CCTV detection, repair and inspection functions, and can complete multiple tasks in one operation, improving work efficiency;

[0032] 2. All-round vision: Equipped with 360° high-definition CCTV cameras, it can monitor the internal conditions of the pipeline in real time and provide detailed images and video data without blind spots;

[0033] 3. Multi-angle spraying capability: The robot has multi-angle spraying function, which can spray and repair the pipeline at different angles, improving the repair quality;

[0034] 4. Intelligent limit and position adjustment: The robot is designed with an intelligent limit and position adjustment system, which can quickly and conveniently adjust its position in the pipeline to adapt to the size and shape of different pipelines;

[0035] 5. High-definition CCTV detection system: The robot is equipped with a high-definition CCTV camera, which can detect the internal condition of the pipeline in real time, provide clear images and videos, and provide reliable data support for repair work;

[0036] 6. Remote control and monitoring: Through the remote control system, the operator can remotely monitor the working status of the robot and perform real-time operations and adjustments to ensure the accuracy and safety of the repair work;

[0037] 7. Data recording and analysis: The robot is equipped with a data recording and analysis system, which can record and analyze the data during the detection and repair process to provide reference for subsequent maintenance;

[0038] Compared with the existing technology, this equipment integrates visualization technology into the pipeline repair robot, which can assist in internal repair without excavating the pipeline, realize flexible adjustment of the repair position and improve the repair efficiency; it not only greatly improves the success rate and convenience of pipeline repair, but also has positive practical significance. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a connection structure diagram of an intelligent pipeline CCTV detection, repair and inspection robot proposed by the present invention;

[0040] Figure 2 This is a diagram showing the internal structure of a crawler of an intelligent pipeline CCTV detection and repair inspection robot proposed by the present invention;

[0041] Figure 3 This is a structural diagram of the installation of the second drive motor of an intelligent pipeline CCTV detection, repair and inspection robot proposed by the present invention;

[0042] Figure 4 This is a cross-sectional view of a moving sleeve of an intelligent pipeline CCTV detection, repair and inspection robot proposed by the present invention;

[0043] Figure 5 A diagram showing the installation mechanism of the first and second rings of an intelligent pipeline CCTV detection, repair and inspection robot proposed by the present invention;

[0044] Figure 6 A step diagram of a method for using an intelligent pipeline CCTV detection and repair inspection robot proposed by the present invention;

[0045] In the figure: 1 crawler, 101 power motor assembly, 102 transmission assembly, 103 roller assembly, 104 brake disc, 105 contact disc, 106 pushing assembly, 107 linkage assembly, 108 reverse positioning assembly, 2 first rotating support, 3 rotating rod, 4 monitoring camera, 5 swing arm, 6 first rotating shaft, 7 front arm, 8 movable sleeve, 801 storage chamber, 9 nozzle, 10 paint storage box, 1001 supply pipe, 1002 connecting pipe fitting, 1003 pump body, 11 second rotating support, 12 second rotating shaft, 13 first drive motor, 14 second drive motor, 15 third drive motor, 16 synchronous belt assembly, 17 first ring, 18 second ring, 19 electric telescopic rod, 20 inclined rod. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0047] Reference Figure 1-5, an intelligent pipeline CCTV detection and repair inspection robot, comprising a crawler 1, wherein both sides of the upper end of the crawler 1 are respectively rotatably sleeved with a first rotating support 2 and a second rotating support 11;

[0048] A first rotating shaft 6 is rotatably mounted on the upper end of the first rotating support 2, a swing arm 5 is fixed to one end of the first rotating shaft 6, a second rotating shaft 12 is rotatably mounted on the upper end of the swing arm 5, a front arm 7 is fixed to one end of the second rotating shaft 12, a movable sleeve 8 is mounted on the front end of the front arm 7, a paint storage box 10 is arranged in the movable sleeve 8, a plurality of nozzles 9 are evenly spaced on a side wall of the movable sleeve 8, and the plurality of nozzles 9 are connected to the paint storage box 10;

[0049] The upper end of the second rotating support 11 is rotatably connected to a rotating rod 3, and the front end of the rotating rod 3 is rotatably connected to a monitoring camera 4;

[0050] Crawler 1: A structure used for the movement and positioning of the robotic arm, providing a stable foundation support and precise positioning capability for the robotic arm;

[0051] Two swivel mounts: capable of rotating in the horizontal direction, significantly enhancing the maneuverability and range of the robot arm and camera;

[0052] Rotating rod 3: a rigid structure connecting the rotating support and the CCTV detection camera, transmitting the rotational motion to adjust the direction and viewing angle of the camera, ensuring stability and reliability during operation;

[0053] Monitoring camera 4: a camera device specially designed for visual inspection and monitoring, installed at the end of the rotating rod 3; through high-resolution image capture and transmission, it provides accurate visual information support for the robot arm, supports 360-degree field of view coverage and multi-angle observation, and improves the accuracy and efficiency of operation;

[0054] Swing arm 5: The main structural component used to support and move the robot arm, allowing the robot arm to flexibly adjust its position in multiple directions to achieve precise operation;

[0055] Two rotating shafts: a rotating device connecting the support, the swing arm 5, and the front arm 7, so that the robot arm can rotate in the horizontal and vertical directions, increasing the operating range and flexibility;

[0056] Front arm 7: an extension part of the robot arm, responsible for further extending the operating range and cooperating with the spraying device to perform precise repair operations;

[0057] Moving sleeve 8: responsible for adjusting the position and angle of the nozzle 9 in the spraying assembly to ensure that the spraying material can evenly cover the target area;

[0058] Nozzle 9: a part of the spraying assembly, through which the repair material is evenly sprayed onto the defective area of ​​the inner wall of the pipeline to achieve effective repair;

[0059] Paint storage box 10: a container for storing spray repair materials to ensure sufficient supply of repair materials and support long-term repair operations.

[0060] Reference Figure 1-2 Two roller assemblies 103 are installed in the crawler 1, a power motor assembly 101 is installed in the crawler 1, a transmission assembly 102 is installed between the power motor assembly 101 and one of the roller assemblies 103, a positioning mechanism is installed on one of the roller assemblies 103, the positioning mechanism includes a brake disc 104 fixed on one of the roller assemblies 103, a pushing assembly 106 is installed on one end side wall of the crawler 1, a linkage assembly 107 is installed on the pushing assembly 106, a reverse positioning assembly 108 is installed on the linkage assembly 107, and the reverse positioning assembly 108 is installed on the reverse positioning assembly 108. 08 is set on both sides of the crawler 1. Through the cooperation of the power motor assembly 101 and the transmission assembly 102, it can drive the roller assembly 103 to rotate. At the same time, by controlling the rotation direction of the power motor assembly 101, the forward and backward movement of the crawler 1 can be effectively controlled; through the action of the pushing assembly 106, the brake disc 104 and the contact disc 105 can be made to contact with each other, so that one of the roller assemblies 103 cannot rotate. At the same time, the linkage assembly 107 can drive the reverse positioning assembly 108 to move in the reverse direction, so that the reverse positioning assembly 108 can contact with the inner wall of the pipeline and effectively position it.

[0061] Reference Figure 1-2 Two first drive motors 13 are installed in the crawler 1, and the lower ends of the first rotating support 2 and the second rotating support 11 extend into the crawler 1. The output shaft ends of the two first drive motors 13 are fixedly connected to one end of the first rotating support 2 and the second rotating support 11 extending into the crawler 1 respectively. By controlling the rotation direction of the first drive motor 13, the rotation of the first rotating support 2 and the second rotating support 11 can be realized, and the angles of the components on the first rotating support 2 and the second rotating support 11 can be easily adjusted to realize comprehensive monitoring and precise repair operations in the pipeline.

[0062] Reference Figure 3 A second drive motor 14 is provided at both the upper and lower ends of the swing arm 5. The second drive motor 14 at the lower end is fixedly installed on one side of the first rotating support 2. The output shaft of the second drive motor 14 at the lower end is fixedly connected to the first rotating shaft 6. The second drive motor 14 at the upper end is fixedly connected to the swing arm 5. The output shaft of the second drive motor 14 at the upper end is fixedly connected to the second rotating shaft 12. By controlling the rotation direction of the second drive motor 14, the swing arm 5 and the front arm 7 can be swung, and the movable sleeve 8 at the front end of the front arm 7 can be controlled to correspond to the inner wall of the pipeline.

[0063] Reference Figure 3A third drive motor 15 is fixed to one side of the front arm 7, and a synchronous belt assembly 16 is installed on the movable sleeve 8 and the output shaft of the third drive motor 15. The third drive motor 15 can drive the synchronous belt assembly 16 to rotate the movable sleeve 8 to avoid gaps.

[0064] Reference Figure 4 A storage chamber 801 is provided in the movable sleeve 8, one end of the nozzle 9 extends into the storage chamber 801, a pump body 1003 is installed on one side of the paint storage box 10, a connecting pipe 1002 is connected to the pump body 1003, a supply pipe 1001 is connected to the connecting pipe 1002, one end of the supply pipe 1001 extends into the storage chamber 801, and the paint liquid in the paint storage box 10 can be drawn through the pump body 1003 so that the paint liquid enters the connecting pipe 1002 and enters the storage chamber 801 through the supply pipe 1001, and is sprayed out through the nozzle 9 to repair the inner wall of the pipeline.

[0065] Reference Figure 1 , 5 A first ring 17 is slidably mounted on the second rotating support 11, and a second ring 18 is rotatably sleeved on the lower end of the first ring 17. An electric telescopic rod 19 is fixed between the second ring 18 and the crawler 1, and an inclined rod 20 is rotatably connected between the rotating rod 3 and the first ring 17. The positional relationship and angle relationship between the inclined rod 20 and the rotating rod 3 can be adjusted by the action of the electric telescopic rod 19, and the angle of the rotating rod 3 can be well controlled to achieve accurate shooting of the inside of the pipeline.

[0066] Reference Figure 6 The present invention also proposes a method for using an intelligent pipeline CCTV detection, repair and inspection robot, which is applicable to the above-mentioned intelligent pipeline CCTV detection, repair and inspection robot, and includes the following steps:

[0067] S1. Moving and fixing in the pipeline: The robot enters the pipeline through the crawler 1, and the power motor assembly 101 and the transmission assembly 102 cooperate to drive the roller assembly 103 to rotate, control the rotation direction of the power motor assembly 101, and control the forward and backward movement of the crawler 1; the pushing assembly 106 causes the brake disc 104 to collide with the contact disc 105, so that one of the roller assemblies 103 cannot rotate, and at the same time the linkage assembly 107 can drive the reverse positioning assembly 108 to move in the reverse direction, so that the reverse positioning assembly 108 conflicts with the inner wall of the pipeline, and effectively positions;

[0068] S2. Inspection inside the pipeline: The second rotating support 11 at the lower end of the rotating rod 3 and a first driving motor 13 fixed thereto can effectively drive the monitoring camera 4 to rotate, so that the monitoring camera 4 can conduct a comprehensive inspection inside the pipeline, understand the situation inside the pipeline, and accurately find the leakage point in the pipeline;

[0069] S3, component adjustment: another first drive motor 13 drives the first rotating support 2 to rotate, and at the same time, the two second drive motors 14 operate and control their rotation directions, so that the swing arm 5 and the front arm 7 can swing, and the movable sleeve 8 at the front end of the front arm 7 can be controlled to correspond to the inner wall of the pipe;

[0070] S4. Spray repair: The pump body 1003 can extract the paint liquid in the paint storage box 10 so that the paint liquid enters the connecting pipe 1002 and enters the storage chamber 801 through the supply pipe 1001, and is sprayed out through the nozzle 9 to repair the inner wall of the pipeline.

[0071] In the present invention, the robot enters the interior of the pipeline through the crawler 1, and uses the CCTV detection component to perform 360-degree comprehensive monitoring of the inner wall of the pipeline; after the detection is completed, the system will automatically analyze the image data and determine the area that needs to be repaired; at this time, the universal rotating robotic arm component will accurately locate the target repair position and adjust the spraying device to the optimal angle; then, the spraying component is started, and the repair material is evenly sprayed through the moving sleeve 8 and the nozzle 9 to complete the repair work of the inner wall of the pipeline; after the repair is completed, the robot will check the repair effect, and exit the pipeline after confirming that it is correct, and generate a detailed repair report for subsequent analysis and recording.

[0072] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent pipeline CCTV detection and repair inspection robot, comprising a crawler (1), characterized in that: A first rotating support (2) and a second rotating support (11) are rotatably sleeved on both sides of the upper end of the crawler (1); A first rotating shaft (6) is rotatably mounted on the upper end of the first rotating support (2), a swing arm (5) is fixed to one end of the first rotating shaft (6), a second rotating shaft (12) is rotatably mounted on the upper end of the swing arm (5), a front arm (7) is fixed to one end of the second rotating shaft (12), a movable sleeve (8) is mounted at the front end of the front arm (7), a paint storage box (10) is arranged inside the movable sleeve (8), a plurality of nozzles (9) are evenly spaced on a peripheral side wall of the movable sleeve (8), and the plurality of nozzles (9) are all connected to the paint storage box (10); The upper end of the second rotating support (11) is rotatably connected to a rotating rod (3), and the front end of the rotating rod (3) is rotatably connected to a monitoring camera (4).

2. The intelligent pipeline CCTV detection, repair and inspection robot according to claim 1 is characterized by: Two roller assemblies (103) are installed in the crawler (1), a power motor assembly (101) is installed in the crawler (1), a transmission assembly (102) is installed between the power motor assembly (101) and one of the roller assemblies (103), and a positioning mechanism is installed on one of the roller assemblies (103).

3. The intelligent pipeline CCTV detection, repair and inspection robot according to claim 1 is characterized by: The positioning mechanism comprises a brake disc (104) fixed on one of the roller assemblies (103); a pushing assembly (106) is installed on a side wall at one end of the crawler (1); a linkage assembly (107) is installed on the pushing assembly (106); a reverse positioning assembly (108) is installed on the linkage assembly (107); and the reverse positioning assembly (108) is arranged on both sides of the crawler (1).

4. The intelligent pipeline CCTV detection, repair and inspection robot according to claim 1 is characterized by: Two first drive motors (13) are installed in the crawler (1); the lower ends of the first rotating support (2) and the second rotating support (11) extend into the crawler (1); and the output shaft ends of the two first drive motors (13) are respectively fixedly connected to one end of the first rotating support (2) and the second rotating support (11) extending into the crawler (1).

5. The intelligent pipeline CCTV detection, repair and inspection robot according to claim 1 is characterized by: The second drive motor (14) is provided at both the upper and lower ends of the swing arm (5); the second drive motor (14) at the lower end is fixedly mounted on one side of the first rotating support (2); the output shaft of the second drive motor (14) at the lower end is fixedly connected to the first rotating shaft (6); the second drive motor (14) at the upper end is fixedly connected to the swing arm (5); and the output shaft of the second drive motor (14) at the upper end is fixedly connected to the second rotating shaft (12).

6. The intelligent pipeline CCTV detection, repair and inspection robot according to claim 1, characterized in that: A third drive motor (15) is fixed to one side of the front arm (7), and a synchronous belt assembly (16) is installed on the output shaft of the movable sleeve (8) and the third drive motor (15).

7. The intelligent pipeline CCTV detection, repair and inspection robot according to claim 1 is characterized by: A storage chamber (801) is provided in the movable sleeve (8), one end of each of the nozzles (9) extends into the storage chamber (801), a pump body (1003) is installed on one side of the paint storage box (10), a connecting pipe (1002) is connected to the pump body (1003), a supply pipe (1001) is connected to the connecting pipe (1002), and one end of the supply pipe (1001) extends into the storage chamber (801).

8. The intelligent pipeline CCTV detection, repair and inspection robot according to claim 1 is characterized by: A first circular ring (17) is slidably mounted on the second rotating support (11); a second circular ring (18) is rotatably sleeved on the lower end of the first circular ring (17); an electric telescopic rod (19) is fixed between the second circular ring (18) and the crawler (1); and an inclined rod (20) is rotatably connected between the rotating rod (3) and the first circular ring (17).

9. A method for using an intelligent pipeline CCTV detection, repair and inspection robot, applicable to the intelligent pipeline CCTV detection, repair and inspection robot of claims 1-8, characterized in that: The following steps are involved: S1. Moving and fixing in the pipeline: the robot enters the pipeline through the crawler (1), and the power motor assembly (101) and the transmission assembly (102) cooperate to drive the roller assembly (103) to rotate, control the rotation direction of the power motor assembly (101), and control the forward and backward movement of the crawler (1); the pushing assembly (106) causes the brake disc (104) and the contact disc (105) to contact each other, so that one of the roller assemblies (103) cannot rotate, and at the same time the linkage assembly (107) can drive the reverse positioning assembly (108) to move in the reverse direction, so that the reverse positioning assembly (108) contacts the inner wall of the pipeline, and effectively positions the robot; S2. Inspection inside the pipeline: The second rotating support (11) at the lower end of the rotating rod (3) and a first driving motor (13) fixed thereto can effectively drive the monitoring camera (4) to rotate, so that the monitoring camera (4) can conduct a comprehensive inspection inside the pipeline, understand the situation inside the pipeline, and accurately find the leakage point in the pipeline; S3, component adjustment: another first drive motor (13) drives the first rotating support (2) to rotate, and at the same time, the two second drive motors (14) operate and control their rotation directions, so that the swing arm (5) and the front arm (7) can swing, and the movable sleeve (8) at the front end of the front arm (7) can be controlled to correspond to the inner wall of the pipeline; S4, spray repair: The paint liquid in the paint storage box (10) can be drawn through the pump body (1003) so that the paint liquid enters the connecting pipe (1002) and enters the storage chamber (801) through the supply pipe (1001), and is sprayed out through the nozzle (9) to repair the inner wall of the pipeline.

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