Pipeline detection robot suitable for small pipe diameter

Abstract

The invention provides a pipeline detection robot suitable for a small pipe diameter, and relates to the field of pipeline detection. The pipeline detection robot suitable for the small pipe diameter comprises a robot main body, a lens lifting part and a foresight lens part, wherein the lens lifting part is connected with the robot main body; the foresight lens component is connected with the lens lifting component, and the lens lifting component is used for driving the foresight lens component to move up and down so as to enlarge the movement range of the foresight lens component. The lens lifting component is arranged between the robot body and the front-view lens component, and the front-view lens component is driven by the lens lifting component to move up and down, so that the movement range of the front-view lens component is enlarged, and the flexibility of the front-view lens component is enhanced; it is ensured that the camera is not blocked by the water environment in the pipeline, and the application range of the pipeline detection robot is widened.

Description

Technical Field

[0001] The invention relates to the field of pipeline detection, and in particular to a pipeline detection robot suitable for small-diameter pipes. Background Art

[0002] As the community ages year by year, problems such as blockage and damage of community pipes and household pipes are becoming more and more urgent year by year. At present, the minimum adaptable pipe diameter of most CCTV inspection robots is greater than DN200, but most household branch pipes are smaller than DN200. The current main inspection method is mainly push-rod pipe endoscopes. Push-rod pipe endoscopes are unpowered and rely on manual push, which makes them difficult to operate and have low inspection accuracy. They are not suitable for all inspection environments. The camera of the existing inspection robot is blocked by the water environment in the pipeline due to unreasonable settings, which affects the detection range of the camera and cannot adapt to different pipe diameters. Summary of the invention

[0003] The present invention provides a pipeline inspection robot suitable for small-diameter pipes, which is used to solve the problem in the prior art that a camera is blocked by the water environment in the pipeline and cannot be adapted to pipes of different diameters.

[0004] The present invention provides a pipeline inspection robot suitable for small-diameter pipelines, comprising: Robot body; A lens lifting component, wherein the lens lifting component is connected to the robot body; A front-view lens component is connected to the lens lifting component, and the lens lifting component is used to drive the front-view lens component to move up and down to increase the movement range of the front-view lens component.

[0005] According to a pipeline inspection robot suitable for small diameter pipes provided by the present invention, the lens lifting component includes a first driving assembly, a first rotating shaft, a first connecting arm, a first guide rod and a first connecting piece, the first driving assembly is connected to the robot body, one end of the first connecting arm is hinged to the robot body through the first rotating shaft, the other end of the first connecting arm is movably connected to the front view lens component, the first connecting arm is provided with a strip hole, and the first driving assembly is movably connected to the strip hole through a connecting pin; the first guide rod is vertically arranged on the robot body, the first connecting piece is connected to the front view lens component and slidably cooperates with the first guide rod; the first driving assembly is used to drive the first connecting arm to rotate around the first rotating shaft to drive the front view lens component to move up and down.

[0006] According to a pipeline inspection robot suitable for small-diameter pipes provided by the present invention, the first driving component includes: A threaded sleeve, wherein the threaded sleeve is vertically arranged, and both ends of the threaded sleeve are rotatably matched with the robot body; A fixed sleeve, which is inserted into the threaded sleeve and fixedly connected to the robot body; a first drive motor, wherein the first drive motor is disposed inside the fixed sleeve, a rotating shaft of the first drive motor is connected to the threaded sleeve, and the first drive motor is used to drive the threaded sleeve to rotate; A lifting slider, which is sleeved on the outer circumference of the threaded sleeve and is threadably matched with the outer circumferential surface of the threaded sleeve; A second guide rod, the second guide rod is vertically arranged on one side of the threaded sleeve, the second guide rod is fixedly connected to the robot body and slidably cooperates with the lifting slider; A support rod, one end of which is connected to the lifting slider, and the other end of which is movably connected to the strip hole via a connecting pin.

[0007] According to a pipeline inspection robot suitable for small-diameter pipes provided by the present invention, the lens lifting component comprises a first driving assembly, a first rotating shaft, an upper lifting swing arm and a lower lifting swing arm, the first rotating shaft is rotatably connected to the robot body, the first driving assembly is connected to the robot body and the first rotating shaft, one end of the upper lifting swing arm is connected to the first rotating shaft, and one end of the lower lifting swing arm is hinged to the robot body; The other end of the upper lifting swing arm and the other end of the lower lifting swing arm are both hinged to the front-view lens component; the first driving assembly is used to drive the first rotating shaft to rotate, so that the upper lifting swing arm swings around the first rotating shaft, thereby driving the front-view lens component to move up and down.

[0008] According to a pipeline inspection robot suitable for small-diameter pipes provided by the present invention, the first driving component includes: A first driving motor is arranged inside the robot body; A lifting screw rod is vertically and rotatably arranged inside the robot body, and one end of the lifting screw rod is connected to the rotating shaft of the first driving motor through a first gear set; A lifting slider, which is threadedly matched with the lifting screw rod; A lifting connecting rod, one end of which is provided with a strip connecting hole, the lifting slider is slidably matched with the strip connecting hole through a pin shaft, and the other end of the lifting connecting rod is connected to the first rotating shaft; the first driving motor is used to drive the lifting screw rod to rotate, so that the lifting slider moves up and down, and then drives the first rotating shaft to rotate through the lifting connecting rod.

[0009] According to a pipeline inspection robot suitable for small diameter pipes provided by the present invention, the first driving component includes two lifting links, the two lifting links are arranged at intervals along the length direction of the first rotating shaft, the lifting slider is provided with a connecting part, the connecting part is slidably matched with the bar-shaped connecting holes of the two lifting links through a pin shaft, and the other ends of the two lifting links are connected to the first rotating shaft.

[0010] According to a pipeline inspection robot suitable for small-diameter pipes provided by the present invention, the first driving component further includes: The guide rod is vertically arranged and connected to the housing of the first driving motor. The lifting slider is provided with a guide hole. The lifting slider can be slidably mounted on the outer periphery of the guide rod through the guide hole.

[0011] According to a pipeline inspection robot suitable for small-diameter pipes provided by the present invention, the first driving assembly includes two guide rods, and the two guide rods are symmetrically arranged on both sides of the lifting screw.

[0012] According to a pipeline inspection robot suitable for small-diameter pipes provided by the present invention, the front-view lens component comprises: A lens connecting seat, the other end of the upper lifting swing arm and the other end of the lower lifting swing arm are both hinged to the lens connecting seat; The front-view lens is axially rotatably arranged on the lens connecting seat.

[0013] According to a pipeline inspection robot suitable for small-diameter pipes provided by the present invention, the robot body comprises: A shell having a cavity therein; The roller assembly comprises two groups of rollers, wherein the two groups of rollers are rotatably arranged on two sides of the housing; The second driving component is arranged in the cavity, the second driving component is connected to the two groups of rollers, and the second driving component is used to drive the rollers to rotate.

[0014] The pipeline inspection robot suitable for small-diameter pipes provided by the present invention has a lens lifting component arranged between a robot body and a front-view lens component, and uses the lens lifting component to drive the front-view lens component to move up and down, so as to increase the movement range of the front-view lens component, enhance the flexibility of the front-view lens component, ensure that the camera is not blocked by the water environment in the pipeline, and increase the application range of the pipeline inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of a pipeline inspection robot suitable for small-diameter pipes provided by the present invention.

[0017] Figure 2 This is one of the cross-sectional structural schematic diagrams of the pipeline inspection robot suitable for small-diameter pipes provided by the present invention.

[0018] Figure 3 This is the second schematic cross-sectional structure diagram of the pipeline inspection robot suitable for small-diameter pipes provided by the present invention.

[0019] Figure 4 This is one of the cross-sectional structural schematic diagrams of the pipeline inspection robot suitable for small-diameter pipes provided by the present invention.

[0020] Figure 5 This is the second schematic cross-sectional structure diagram of the pipeline inspection robot suitable for small-diameter pipes provided by the present invention.

[0021] Figure 6 It is a schematic diagram of the three-dimensional structure of a pipeline inspection robot suitable for small diameter pipes provided by another embodiment of the present invention.

[0022] Figure 7 It is a schematic cross-sectional structure diagram of a pipeline inspection robot suitable for small diameter pipes provided by another embodiment of the present invention.

[0023] Reference numerals: 110, housing; 111, cable connector; 120, roller assembly; 121, first roller; 122, second roller; 123, third roller; 124, wheel sleeve; 130, second drive assembly; 131, second drive motor; 132, second driving gear; 133, third transmission gear; 134, fourth transmission gear; 135, first gear; 136, second gear; 137, third gear; 138, first transmission gear; 210, first driving assembly; 220, first rotating shaft; 230, upper lifting swing arm; 240, lower lifting swing arm; 250, first driving motor; 251, mounting seat; 252, lifting screw rod; 253, lifting slider; 254, lifting connecting rod; 255, strip connecting hole; 256, guide rod; 260, first connecting arm; 261, first guide rod; 262, first connecting member; 263, threaded sleeve; 265, second guide rod; 266, supporting rod; 310. Lens connector; 320. Front view lens. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0026] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0027] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0028] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0029] Combine the following Figure 1-Figure 5 The specific structure and use method of the pipeline inspection robot suitable for small diameter pipes of the present invention are described.

[0030] like Figure 1 and Figure 2 As shown, a pipeline inspection robot suitable for small diameter pipes includes a robot body, a lens lifting component and a front view lens component, wherein the lens lifting component is connected to the robot body; the front view lens component is connected to the lens lifting component, and the lens lifting component is used to drive the front view lens component to move up and down to increase the movement range of the front view lens component.

[0031] The pipeline inspection robot suitable for small-diameter pipes provided by the present invention has a lens lifting component arranged between a robot body and a front-view lens component, and uses the lens lifting component to drive the front-view lens component to move up and down, so as to increase the movement range of the front-view lens component, enhance the flexibility of the front-view lens component, ensure that the camera is not blocked by the water environment in the pipeline, and increase the application range of the pipeline inspection robot.

[0032] In one embodiment of the present invention, Figure 6 and Figure 7 As shown, the lens lifting component includes a first driving assembly 210, a first rotating shaft 220, a first connecting arm 260, a first guide rod 261 and a first connecting member 262. The first driving assembly 210 is connected to the robot body. One end of the first connecting arm 260 is hinged to the robot body through the first rotating shaft 220. Specifically, one end of the first connecting arm 260 is hinged to the housing 110 of the robot body through the first rotating shaft 220. The other end of the first connecting arm 260 is movably connected to the front view lens component. Specifically, two first connecting arms 260 are provided. The two first connecting arms 260 are respectively distributed on both sides of the lens connecting seat 310. The lens connecting seat 310 of the front view lens component is provided with a strip hole. The other end of the first connecting arm 260 is movably connected to the strip hole through a pin shaft.

[0033] The first connecting arm 260 is provided with a strip hole, which is located in the middle of the first connecting arm 260. The first driving assembly 210 is movably connected to the strip hole through a connecting pin; the first guide rod 261 is vertically arranged on the robot body, the first connecting member 262 is connected to the front view lens component, and slides with the first guide rod 261; the first driving assembly 210 is used to drive the first connecting arm 260 to rotate around the first rotating shaft 220 to drive the front view lens component to move up and down.

[0034] In one embodiment of the present invention, Figure 6 and Figure 7 As shown, the first driving assembly 210 includes a threaded sleeve 263, a fixed sleeve (not shown), a first driving motor 250, a lifting slider 253, a second guide rod 265 and a support rod 266. The outer peripheral surface of the threaded sleeve 263 is provided with threads, and the threaded sleeve 263 is vertically arranged. The two ends of the threaded sleeve 263 are rotatably matched with the robot body. Specifically, two mounting seats 251 are arranged in the housing 110, and the two mounting seats 251 are arranged at intervals along the up and down directions. Both mounting seats 251 are connected to the housing 110, and the mounting seats 251 are provided with mounting through holes. The upper and lower ends of the threaded sleeve 263 are respectively penetrated in the two mounting through holes, and the threaded sleeve 263 can rotate relative to the mounting seat 251.

[0035] The fixed sleeve is inserted into the threaded sleeve 263 and fixedly connected to the robot body. Specifically, the outer diameter of the fixed sleeve is smaller than the inner diameter of the threaded sleeve 263, the threaded sleeve 263 can rotate relative to the fixed sleeve, and the upper end of the fixed sleeve is fixedly connected to the upper mounting seat 251.

[0036] The first drive motor 250 is disposed inside the fixed sleeve, and the rotating shaft of the first drive motor 250 is connected to the threaded sleeve 263, and the first drive motor 250 is used to drive the threaded sleeve 263 to rotate. Specifically, the fixed sleeve is sleeve-connected with the outer shell of the first drive motor 250, and the rotating shaft of the first drive motor 250 is connected to the lower end of the threaded sleeve 263 through a connecting block.

[0037] The lifting slider 253 is sleeved on the outer circumference of the threaded sleeve 263 and is threadedly matched with the outer circumferential surface of the threaded sleeve 263. The second guide rod 265 is vertically arranged on one side of the threaded sleeve 263, and the second guide rod 265 is fixedly connected to the robot body and is slidably matched with the lifting slider 253. Specifically, two second guide rods 265 are provided, and the two second guide rods 265 are arranged in parallel and at intervals. The lifting slider 253 is provided with two through holes, and the two second guide rods 265 are correspondingly penetrated in the two through holes to achieve the sliding match between the lifting slider 253 and the second guide rod 265. One end of the support rod 266 is connected to the lifting slider 253, and the other end of the support rod 266 is movably connected to the bar hole through a connecting pin.

[0038] When the first driving motor 250 drives the threaded sleeve 263 to rotate, under the action of the thread, the lifting slider 253 moves in the up and down directions, and slides with the second guide rod 265. The support rod 266 drives the first connecting arm 260 to rotate around the first rotating shaft 220, so that the first connecting member 262 slides up and down along the first guide rod 261, thereby driving the front view lens component to move up and down.

[0039] In one embodiment of the present invention, the lens lifting component includes a first driving assembly 210, a first rotating shaft 220, an upper lifting swing arm 230 and a lower lifting swing arm 240. The first rotating shaft 220 is rotationally connected to the robot body. Specifically, the first rotating shaft 220 is rotationally matched with the shell 11.

[0040] The first driving assembly 210 is connected to the robot body and the first rotating shaft 220, one end of the upper lifting swing arm 230 is connected to the first rotating shaft 220, and one end of the lower lifting swing arm 240 is hinged to the robot body. The other ends of the upper lifting swing arm 230 and the other ends of the lower lifting swing arm 240 are both hinged to the front view lens component; the first driving assembly 210 is used to drive the first rotating shaft 220 to rotate, so that the upper lifting swing arm 230 swings around the first rotating shaft 220, thereby driving the front view lens component to move up and down.

[0041] In one embodiment of the present invention, Figure 4 As shown, the upper lifting swing arm 230 includes two upper swing arms and a first connecting rod. The two upper swing arms are symmetrically arranged and parallel to each other. The first connecting rod is located between the two upper swing arms, and the two ends of the first connecting rod are connected to the two upper swing arms one by one. One end of the two upper swing arms is connected to the two ends of the first rotating shaft 220 one by one, and the other ends of the two upper swing arms are hinged to the lens connecting seat 310.

[0042] In one embodiment of the present invention, Figure 4 As shown, the lower lifting arm 240 includes two lower arms and a second connecting rod, the two lower arms are symmetrically arranged, and the two lower arms are parallel to each other. The second connecting rod is located between the two lower arms, and the two ends of the second connecting rod are connected to the two lower arms in a one-to-one correspondence. One end of the two lower arms is hinged to the robot body, that is, one end of the two lower arms is hinged to the housing 110, and the other ends of the two lower arms are both hinged to the lens connecting seat 310.

[0043] In one embodiment of the present invention, Figure 4 and Figure 5 As shown, the first drive assembly 210 includes a first drive motor 250, a lifting screw 252, a lifting slider 253 and a lifting connecting rod 254. The first drive motor 250 is arranged inside the robot body. Preferably, the first drive motor 250 is arranged vertically. Figure 5 As shown, two mounting seats 251 are provided in the shell 110, and the two mounting seats 251 are spaced apart in the up and down directions. Both mounting seats 251 are connected to the shell 110, and the mounting seats 251 are provided with mounting through holes. The first drive motor 250 is passed through the two mounting through holes to achieve fixation.

[0044] The lifting screw 252 is vertically and rotatably arranged inside the robot body, and the lifting screw 252 is arranged parallel to the rotating shaft of the first driving motor 250. One end of the lifting screw 252 is connected to the rotating shaft of the first driving motor 250 through the first gear set. Figure 5 As shown, the lifting screw 252 is located between the two mounting seats 251, the upper end of the lifting screw 252 is rotationally matched with the upper mounting seat 251, and the lower end of the lifting screw 252 is rotationally matched with the lower mounting seat 251. The first gear set includes a first driving gear and a first driven gear, the first driving gear is connected to the rotating shaft of the first driving motor 250, the first driven gear is connected to the upper end of the lifting screw 252, and the first driving gear is meshed with the first driven gear.

[0045] The lifting slider 253 is located between the two mounting seats 251. The lifting slider 253 is a block-shaped structure. The lifting slider 253 is threadedly matched with the lifting screw 252. One end of the lifting connecting rod 254 is provided with a strip-shaped connecting hole 255, and the strip-shaped connecting hole 255 extends along the length direction of the lifting connecting rod 254. The lifting slider 253 is slidably matched with the strip-shaped connecting hole 255 through a pin shaft, and the other end of the lifting connecting rod 254 is connected to the first rotating shaft 220; the first driving motor 250 is used to drive the lifting screw 252 to rotate, so that the lifting slider 253 moves up and down, and then drives the first rotating shaft 220 to rotate through the lifting connecting rod 254.

[0046] In one embodiment of the present invention, Figure 5 As shown, the first driving assembly 210 includes two lifting connecting rods 254, which are arranged at intervals along the length direction of the first rotating shaft 220, and the two lifting connecting rods 254 are arranged in parallel. The lifting slider 253 is provided with a connecting portion, which is located between the two lifting connecting rods 254. The connecting portion is slidably matched with the bar-shaped connecting holes 255 of the two lifting connecting rods 254 through a pin shaft, and the other ends of the two lifting connecting rods 254 are connected to the first rotating shaft 220. By providing two lifting connecting rods 254, the forces on both sides of the lifting slider 253 can be balanced, reducing the wear of the lifting slider 253 during the movement process.

[0047] In one embodiment of the present invention, Figure 4 and Figure 5As shown, the first driving assembly 210 further includes a guide rod 256, which is vertically arranged, and the upper end of the guide rod 256 is connected to the upper mounting seat 251, and the lower end of the guide rod 256 is connected to the lower mounting seat 251. The upper end of the guide rod 256 is connected to the housing 110 of the first driving motor 250 through the upper mounting seat 251, and the lifting slider 253 is provided with a guide hole, and the lifting slider 253 is slidably sleeved on the outer periphery of the guide rod 256 through the guide hole. The guide rod 256 is used to guide the lifting slider 253 to prevent the lifting slider 253 from rotating, so that the lifting slider 253 can only move up and down along the guide rod 256.

[0048] In one embodiment of the present invention, the first driving assembly 210 includes two guide rods 256, which are arranged in parallel and spaced apart, and are symmetrically disposed on both sides of the lifting screw rod 252. Of course, the number of guide rods 256 is not limited thereto, and only one guide rod 256 may be provided.

[0049] When the first driving motor 250 rotates, the first driving motor 250 drives the first driven gear to rotate through the first driving gear. The rotating first driven gear drives the lifting screw 252 to rotate, and the lifting slider 253 reciprocates in the up and down directions under the action of the thread of the lifting screw 252. During the movement of the lifting slider 253, the first rotating shaft 220 is driven to reciprocate within a certain angle range through the lifting connecting rod 254. During the rotation of the first rotating shaft 220, the upper lifting swing arm 230 is driven to swing around the first rotating shaft 220. The swinging upper lifting swing arm 230 drives the lower lifting swing arm 240 to swing, and finally drives the front view lens component to move up and down.

[0050] In one embodiment of the present invention, Figure 1 As shown, the front view lens assembly includes a lens connection seat 310 and a front view lens 320, and the other end of the upper lifting swing arm 230 and the other end of the lower lifting swing arm 240 are both hinged to the lens connection seat 310; the front view lens 320 is axially rotatable on the lens connection seat 310. Since the lens itself can be axially rotated, and in conjunction with the first drive assembly 210 to drive the front view lens assembly to move up and down, the flexibility of the front view lens assembly is further enhanced, and the detection range of the front view lens assembly is increased. Preferably, the front view lens 320 adopts a 3x digital zoom lens to solve the problem that small pipes cannot be seen clearly at close range.

[0051] In one embodiment of the present invention, Figure 1As shown, the robot body includes a housing 110, a roller assembly 120 and a second drive assembly 130. The housing 110 has a cavity inside. The housing 110 is a sealed structure to provide a sealed installation space for the second drive assembly 130 and the main control circuit board. The roller assembly 120 includes two groups of rollers, which are rotatably arranged on both sides of the housing 110. The second drive assembly 130 is arranged in the cavity, and the second drive assembly 130 is connected to the two groups of rollers. The second drive assembly 130 is used to drive the rollers to rotate.

[0052] In one embodiment of the present invention, the pipeline inspection robot of the present invention is designed according to a DN90 pipeline and can smoothly enter a DN100 pipeline for inspection.

[0053] In one embodiment of the present invention, Figure 3 As shown, the second drive assembly 130 includes two second drive motors 131 and two second gear sets. The rotating shafts of the two second drive motors 131 are arranged in parallel, the rotating shafts of the two second drive motors 131 are perpendicular to the length direction of the housing 110, and the two second gear sets are arranged on both sides of the two second drive motors 131. The two second gear sets are connected to the two second drive motors 131 in a one-to-one correspondence. One of the two second gear sets is connected to the roller on one side of the housing 110, and the other of the two second gear sets is connected to the roller on the other side of the housing 110. By setting two second drive motors 131 to drive the two groups of rollers to rotate respectively, it can ensure that each group of rollers has sufficient driving force, and the rotation speed of each group of rollers can be independently controlled, thereby realizing the adjustment of the posture of the pipeline inspection robot by utilizing the difference in the rotation speed of the two groups of rollers.

[0054] In one embodiment of the present invention, Figure 1 and Figure 3 As shown, each side of the housing 110 is provided with a first roller 121, a second roller 122 and a third roller 123 along the length direction of the housing 110. Figure 1 As shown, the first roller 121, the second roller 122 and the third roller 123 on the front side of the housing 110 are arranged in sequence from right to left, and the first roller 121, the second roller 122 and the third roller 123 on the rear side of the housing 110 are arranged in sequence from left to right.

[0055] like Figure 3As shown, the second gear set includes a second driving gear 132, a first gear mechanism, a first gear 135, a second gear 136, a third gear 137 and a first transmission gear 138. The second driving gear 132 is connected to the rotating shaft of the corresponding second driving motor 131. The first gear mechanism and the second gear 136 are both meshed with the second driving gear 132, and the first gear 135 is meshed with the first gear mechanism. Specifically, the first gear mechanism includes a third transmission gear 133 and a fourth transmission gear 134. The third transmission gear 133 and the fourth transmission gear 134 are both rotationally matched with the side wall of the housing 110. The third transmission gear 133 is meshed with the second driving gear 132, the fourth transmission gear 134 is meshed with the third transmission gear 133, and the first gear 135 is meshed with the fourth transmission gear 134. The first transmission gear 138 is located between the second gear 136 and the third gear 137, and the first transmission gear 138 is meshed with the second gear 136 and the third gear 137.

[0056] The connecting shaft of the first roller 121 is connected to the first gear 135 , the second roller 122 is connected to the connecting shaft of the second gear 136 , and the connecting shaft of the third roller 123 is connected to the third gear 137 .

[0057] It should be noted here that the number of gears in the second gear set is not limited thereto, and is specifically determined according to the number of rollers.

[0058] When the second driving motor 131 drives the second driving gear 132 to rotate, the second driving gear 132 drives the third transmission gear 133 and the second gear 136 to rotate respectively, and the rotating second gear 136 drives the second roller 122 to rotate; the rotating third transmission gear 133 drives the first gear 135 to rotate through the fourth transmission gear 134, and the rotating first gear 135 drives the first roller 121 to rotate; the rotating second gear 136 also drives the first transmission gear 138 to rotate, and the rotating first transmission gear 138 drives the third gear 137 to rotate, and the rotating third gear 137 drives the third roller 123 to rotate, thereby realizing the movement of the pipeline inspection robot.

[0059] In one embodiment of the present invention, Figure 1 As shown, a cable connector 111 is provided at the rear end of the housing 110, and the cable connector 111 is connected to the cable, and the cable connector 111 is electrically connected to the main control circuit board, and the first drive motor 250, the second drive motor 131 and the front view lens 320 are all electrically connected to the main control circuit board. The cable is used to supply power and transmit signals to the main control circuit board, and the main control circuit board is used to control the operation of the first drive motor 250, the second drive motor 131 and the front view lens 320.

[0060] In one embodiment of the present invention, Figure 1As shown, the pipeline inspection robot suitable for small diameter pipes also includes a plurality of wheel sleeves 124. The wheel sleeves 124 are sleeved on the outer circumferences of the corresponding rollers. The wheel sleeves 124 are detachably connected to the rollers. When the pipeline inspection robot is used for a pipeline with a smaller outer diameter, the wheel sleeves 124 can be removed; when the pipeline inspection robot is used for a pipeline with a larger outer diameter, the wheel sleeves 124 can be sleeved on the outer circumferences of the corresponding rollers.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pipeline inspection robot suitable for small diameter pipes, characterized in that: include: Robot body; A lens lifting component, wherein the lens lifting component is connected to the robot body; A front-view lens component is connected to the lens lifting component, and the lens lifting component is used to drive the front-view lens component to move up and down to increase the movement range of the front-view lens component.

2. The pipeline inspection robot suitable for small diameter pipes according to claim 1, characterized in that: The lens lifting component comprises a first driving assembly (210), a first rotating shaft (220), a first connecting arm (260), a first guiding rod (261) (256) and a first connecting member (262); the first driving assembly (210) is connected to the robot body; one end of the first connecting arm (260) is hinged to the robot body via the first rotating shaft (220); the other end of the first connecting arm (260) is movably connected to the front-view lens component; the first connecting arm (260) is provided with a strip hole; the first driving assembly (210) is movably connected to the strip hole via a connecting pin; the first guiding rod (261) (256) is vertically arranged on the robot body; the first connecting member (262) is connected to the front-view lens component and slidably cooperates with the first guiding rod (261) (256); the first driving assembly (210) is used to drive the first connecting arm (260) to rotate around the first rotating shaft (220) to drive the front-view lens component to move up and down.

3. The pipeline inspection robot suitable for small diameter pipes according to claim 2, characterized in that: The first driving component (210) comprises: A threaded sleeve (263), wherein the threaded sleeve (263) is arranged vertically, and both ends of the threaded sleeve (263) are rotatably matched with the robot body; a fixed sleeve, the fixed sleeve being inserted into the interior of the threaded sleeve (263) and fixedly connected to the robot body; a first drive motor (250), the first drive motor (250) being arranged inside the fixed sleeve, the rotating shaft of the first drive motor (250) being connected to the threaded sleeve (263), and the first drive motor (250) being used to drive the threaded sleeve (263) to rotate; A lifting slider (253), wherein the lifting slider (253) is sleeved on the outer circumference of the threaded sleeve (263) and is threadably matched with the outer circumferential surface of the threaded sleeve (263); a second guide rod (265), the second guide rod (265) being vertically arranged on one side of the threaded sleeve (263), the second guide rod (265) being fixedly connected to the robot body and slidably matched with the lifting slider (253); A support rod (266), one end of the support rod (266) is connected to the lifting slider (253), and the other end of the support rod (266) is movably connected to the strip-shaped hole via a connecting pin.

4. The pipeline inspection robot suitable for small diameter pipes according to claim 1, characterized in that: The lens lifting component comprises a first driving assembly (210), a first rotating shaft (220), an upper lifting swing arm (230) and a lower lifting swing arm (240), wherein the first rotating shaft (220) is rotatably connected to the robot body, the first driving assembly (210) is connected to the robot body and the first rotating shaft (220), one end of the upper lifting swing arm (230) is connected to the first rotating shaft (220), and one end of the lower lifting swing arm (240) is hinged to the robot body; The other end of the upper lifting swing arm (230) and the other end of the lower lifting swing arm (240) are both hinged to the front-view lens component; the first driving assembly (210) is used to drive the first rotating shaft (220) to rotate, so that the upper lifting swing arm (230) swings around the first rotating shaft (220), thereby driving the front-view lens component to move up and down.

5. The pipeline inspection robot suitable for small diameter pipes according to claim 4, characterized in that: The first driving component (210) comprises: A first driving motor (250) is arranged inside the robot body; A lifting screw rod (252) is vertically and rotatably arranged inside the robot body, and one end of the lifting screw rod (252) is connected to the rotating shaft of the first driving motor (250) through a first gear set; A lifting slider (253) threadably engaged with the lifting screw rod (252); A lifting connecting rod (254), one end of which is provided with a strip-shaped connecting hole (255), the lifting slider (253) is slidably matched with the strip-shaped connecting hole (255) via a pin shaft, and the other end of the lifting connecting rod (254) is connected to the first rotating shaft (220); the first driving motor (250) is used to drive the lifting screw rod (252) to rotate, so that the lifting slider (253) moves up and down, and then drives the first rotating shaft (220) to rotate through the lifting connecting rod (254).

6. The pipeline inspection robot suitable for small diameter pipes according to claim 5, characterized in that: The first driving assembly (210) comprises two lifting connecting rods (254), and the two lifting connecting rods (254) are arranged at intervals along the length direction of the first rotating shaft (220). The lifting slider (253) is provided with a connecting portion, and the connecting portion is slidably matched with the strip connecting holes (255) of the two lifting connecting rods (254) through a pin shaft, and the other ends of the two lifting connecting rods (254) are connected to the first rotating shaft (220).

7. The pipeline inspection robot suitable for small diameter pipes according to claim 5, characterized in that: The first driving component (210) further comprises: A guide rod (256), wherein the guide rod (256) is vertically arranged, and the guide rod (256) is connected to the housing (110) of the first drive motor (250), and the lifting slider (253) is provided with a guide hole, and the lifting slider (253) can be slidably mounted on the outer periphery of the guide rod (256) through the guide hole.

8. The pipeline inspection robot suitable for small diameter pipes according to claim 7, characterized in that: The first driving assembly (210) comprises two guide rods (256), and the two guide rods (256) are symmetrically arranged on both sides of the lifting screw rod (252).

9. The pipeline inspection robot suitable for small diameter pipes according to any one of claims 5 to 8, characterized in that: The front view lens component comprises: A lens connecting seat (310), the other end of the upper lifting swing arm (230) and the other end of the lower lifting swing arm (240) are both hinged to the lens connecting seat (310); The front-view lens (320) is axially rotatably arranged on the lens connection seat (310).

10. The pipeline inspection robot suitable for small diameter pipes according to any one of claims 1 to 8, characterized in that: The robot body comprises: A housing (110) having a cavity therein; A roller assembly (120) comprising two groups of rollers, wherein the two groups of rollers are rotatably arranged on two sides of the housing (110); The second driving component (130) is arranged in the cavity, the second driving component (130) is connected to the two groups of rollers, and the second driving component (130) is used to drive the rollers to rotate.

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