A pipe detection robot suitable for small pipe diameter

Abstract

The application provides a pipeline detection robot suitable for small pipe diameters, and relates to the field of pipeline detection. The pipeline detection robot suitable for small pipe diameters comprises a robot main body, a lens lifting component and a front-view lens component, the lens lifting component is connected with the robot main body; the front-view lens component is connected with the lens lifting component, and the lens lifting component is used for driving the front-view lens component to move up and down, so as to increase the movement range of the front-view lens component. The lens lifting component is arranged between the robot main body and the front-view lens component, the front-view lens component is driven to move up and down by the lens lifting component, the movement range of the front-view lens component is increased, the flexibility of the front-view lens component is enhanced, the camera is ensured not to be blocked by a water environment in a pipeline, and the application range of the pipeline detection robot is increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of pipeline detection, and in particular to a pipeline detection robot suitable for small pipe diameters. BACKGROUND

[0002] As the community ages year by year, the community pipeline, the household pipeline is blocked, damaged and other problems are urgent year by year. At present, the minimum adaptive pipe diameter of most CCTV detection robots is greater than DN200, but the household branch is mostly less than DN200, and the current main detection means is mainly push rod type pipeline endoscope. The push rod type pipeline endoscope is manually pushed by hand without power, which is difficult to operate and has low detection accuracy, and is not suitable for all detection environments. The camera of the existing detection robot is not reasonably arranged, which causes the camera to be blocked by the water environment in the pipeline, affects the detection range of the camera, and cannot adapt to different pipe diameters. SUMMARY

[0003] The present application provides a pipeline detection robot suitable for small pipe diameters, which solves the problem that the camera is blocked by the water environment in the pipeline in the prior art, and cannot adapt to different pipe diameters.

[0004] The present application provides a pipeline detection robot suitable for small pipe diameters, which solves the problem that the camera is blocked by the water environment in the pipeline in the prior art, and cannot adapt to different pipe diameters.

[0005] A robot body is provided.

[0006] A lens lifting component is connected with the robot body.

[0007] A front-view lens component is connected with the lens lifting component, and the lens lifting component is used 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.

[0008] According to the pipeline detection robot suitable for small pipe diameters provided by the present application, the lens lifting component comprises 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 with the robot body, one end of the first connecting arm is hinged with the robot body through the first rotating shaft, the other end of the first connecting arm is movably connected with the front-view lens component, the first connecting arm is provided with a strip-shaped hole, and the first driving assembly is movably connected with the strip-shaped hole through a connecting pin shaft; the first guide rod is vertically arranged on the robot body, the first connecting piece is connected with the front-view lens component and is in sliding fit with the first guide rod; and the first driving assembly is used to drive the first connecting arm to rotate around the first rotating shaft, so as to drive the front-view lens component to move up and down.

[0009] The application provides a pipeline detection robot suitable for small pipe diameters, and the first driving assembly comprises:

[0010] A threaded sleeve is vertically arranged, and both ends of the threaded sleeve are rotationally matched with the robot body;

[0011] A fixing sleeve is arranged in the interior of the threaded sleeve and is fixedly connected with the robot body;

[0012] A first driving motor is arranged in the interior of the fixing sleeve, the rotating shaft of the first driving motor is connected with the threaded sleeve, and the first driving motor is used for driving the threaded sleeve to rotate;

[0013] A lifting sliding block is sleeved on the outer periphery of the threaded sleeve and is threadedly matched with the outer peripheral surface of the threaded sleeve;

[0014] A second guide rod is vertically arranged on one side of the threaded sleeve, the second guide rod is fixedly connected with the robot body and is slidingly matched with the lifting sliding block;

[0015] A supporting rod is connected with the lifting sliding block at one end and is movably connected with the strip-shaped hole through a connecting pin at the other end.

[0016] The application provides a pipeline detection robot suitable for small pipe diameters, and 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 rotationally connected with the robot body, the first driving assembly is connected with the robot body and the first rotating shaft, one end of the upper lifting swing arm is connected with the first rotating shaft, and one end of the lower lifting swing arm is hingedly connected with the robot body;

[0017] The other end of the upper lifting swing arm and the other end of the lower lifting swing arm are both hingedly connected with the front-view lens component; the first driving assembly is used for driving the first rotating shaft to rotate, so that the upper lifting swing arm swings around the first rotating shaft, and the front-view lens component is driven to move up and down.

[0018] The application provides a pipeline detection robot suitable for small pipe diameters, and the first driving assembly comprises:

[0019] A first driving motor is arranged in the interior of the robot body;

[0020] A lifting screw rod is vertically and rotationally arranged in the interior of the robot body, one end of the lifting screw rod is connected with the rotating shaft of the first driving motor through a first gear set;

[0021] The lifting slider is threadedly connected with the lifting screw rod;

[0022] The lifting link is provided with a strip-shaped connecting hole at one end, and the lifting slider is slidably connected with the strip-shaped connecting hole through a pin shaft. The other end of the lifting link is connected with 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 link.

[0023] According to the pipe detection robot suitable for small pipe diameters provided by the application, the first driving assembly comprises two lifting links which are arranged at intervals along the length direction of the first rotating shaft. The lifting slider is provided with a connecting part which is slidably connected with the strip-shaped connecting holes of the two lifting links through a pin shaft. The other ends of the two lifting links are both connected with the first rotating shaft.

[0024] According to the pipe detection robot suitable for small pipe diameters provided by the application, the first driving assembly further comprises:

[0025] The guide rod is vertically arranged, and the guide rod is connected with the shell of the first driving motor. The lifting slider is provided with a guide hole, and the lifting slider is slidably sleeved on the outer periphery of the guide rod through the guide hole.

[0026] According to the pipe detection robot suitable for small pipe diameters provided by the application, the first driving assembly comprises two guide rods which are symmetrically arranged on both sides of the lifting screw rod.

[0027] According to the pipe detection robot suitable for small pipe diameters provided by the application, the front-view lens component comprises:

[0028] The other end of the upper lifting swing arm and the other end of the lower lifting swing arm are both hingedly connected with the lens connecting seat.

[0029] The front-view lens is axially rotatably arranged in the lens connecting seat.

[0030] According to the pipe detection robot suitable for small pipe diameters provided by the application, the robot body comprises:

[0031] The shell has an internal cavity;

[0032] The roller assembly comprises two groups of rollers, and the two groups of rollers are rotatably arranged on both sides of the shell.

[0033] The second driving assembly is arranged in the cavity, and the second driving assembly is connected with the two groups of rollers. The second driving assembly is used to drive the rollers to rotate.

[0034] The pipe detection robot suitable for small pipe diameter provided by the application increases the movement range of the front-view camera lens component by setting a lens lifting component between the robot body and the front-view camera lens component and driving the front-view camera lens component to move up and down by the lens lifting component, enhances the flexibility of the front-view camera lens component, ensures that the camera is not blocked by the water environment in the pipeline, and increases the application range of the pipe detection robot. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0036] Figure 1 is a perspective structural schematic view of the pipe detection robot suitable for small pipe diameter provided by the application.

[0037] Figure 2 is one of the cross-sectional structural schematic views of the pipe detection robot suitable for small pipe diameter provided by the application.

[0038] Figure 3 is the other of the cross-sectional structural schematic views of the pipe detection robot suitable for small pipe diameter provided by the application.

[0039] Figure 4 is one of the cross-sectional structural schematic views of the pipe detection robot suitable for small pipe diameter provided by the application.

[0040] Figure 5 is the other of the cross-sectional structural schematic views of the pipe detection robot suitable for small pipe diameter provided by the application.

[0041] Figure 6 is a perspective structural schematic view of the pipe detection robot suitable for small pipe diameter provided by another embodiment of the application.

[0042] Figure 7 is a cross-sectional structural schematic view of the pipe detection robot suitable for small pipe diameter provided by another embodiment of the application.

[0043] Reference signs:

[0044] 110, housing; 111, cable connector; 120, roller assembly; 121, first roller; 122, second roller; 123, third roller; 124, wheel cover; 130, second driving assembly; 131, second driving 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;

[0045] 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; 253, lifting sliding block; 254, lifting connecting rod; 255, strip-shaped connecting hole; 256, guide rod; 260, first connecting arm; 261, first guide rod; 262, first connecting piece; 263, threaded sleeve; 265, second guide rod; 266, supporting rod;

[0046] 310, lens connecting seat; 320, front-view lens. DETAILED DESCRIPTION

[0047] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0048] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0049] In the description of the embodiments of the present application, it should be noted that unless specifically defined and limited otherwise, the terms "connected", "connected to", "connection" should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0050] In the embodiments of the present application, unless specifically defined and limited otherwise, the first feature is "on" or "under" the second feature can be 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 "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0051] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" 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 present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0052] The specific structure and use method of the pipeline detection robot suitable for small pipe diameter of the present application are described below. Figures 1-5 The specific structure and use method of the pipeline detection robot suitable for small pipe diameter of the present application are described below.

[0053] As Figure 1 and Figure 2 As shown in the drawings, the pipeline detection robot suitable for small pipe diameter comprises a robot body, a lens lifting part and a front-view lens part, the lens lifting part is connected with the robot body; the front-view lens part is connected with the lens lifting part, and the lens lifting part is used to drive the front-view lens part to move up and down, so as to increase the movement range of the front-view lens part.

[0054] The present invention provides a pipeline inspection robot suitable for small-diameter pipes. By setting a lens lifting component between the robot body and the front-view lens component, the lens lifting component drives the front-view lens component to move up and down, thereby increasing the range of motion of the front-view lens component, enhancing its flexibility, ensuring that the camera is not obstructed by the water environment in the pipeline, and expanding the applicability of the pipeline inspection robot.

[0055] In one embodiment of the present invention, such as Figure 6 and Figure 7 As shown, the lens lifting component includes a first drive assembly 210, a first rotating shaft 220, a first connecting arm 260, a first guide rod 261, and a first connector 262. The first drive 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. Specifically, one end of the first connecting arm 260 is hinged to the shell 110 of 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. Specifically, there are two first connecting arms 260, which are respectively distributed on both sides of the lens connector 310. The lens connector 310 of the front-view lens component is provided with a strip hole, and the other end of the first connecting arm 260 is movably connected to the strip hole via a pin.

[0056] The first connecting arm 260 is provided with a strip-shaped hole located in the middle of the first connecting arm 260. The first drive assembly 210 is movably connected to the strip-shaped hole through a connecting pin. The first guide rod 261 is vertically arranged on the robot body. The first connector 262 is connected to the front-view lens component and slides with the first guide rod 261. The first drive assembly 210 is used to drive the first connecting arm 260 to rotate around the first rotating shaft 220, so as to drive the front-view lens component to move up and down.

[0057] In one embodiment of the present invention, such as Figure 6 and Figure 7 As shown, the first drive assembly 210 includes a threaded sleeve 263, a fixed sleeve (not shown), a first drive motor 250, a lifting slider 253, a second guide rod 265, and a support rod 266. The outer circumferential surface of the threaded sleeve 263 is threaded, and the threaded sleeve 263 is vertically arranged. The two ends of the threaded sleeve 263 are rotatably engaged with the robot body. Specifically, two mounting seats 251 are provided inside the housing 110. The two mounting seats 251 are spaced apart in the vertical direction, and both mounting seats 251 are connected to the housing 110. The mounting seats 251 are provided with mounting through holes, and the upper and lower ends of the threaded sleeve 263 pass through the two mounting through holes respectively, allowing the threaded sleeve 263 to rotate relative to the mounting seats 251.

[0058] The fixed sleeve is arranged in the interior of the threaded sleeve 263 and is fixedly connected with the robot body. Specifically, the outer diameter of the fixed sleeve is smaller than the inner diameter of the threaded sleeve 263, and the threaded sleeve 263 can rotate relative to the fixed sleeve. The upper end of the fixed sleeve is fixedly connected with the upper mounting seat 251.

[0059] The first driving motor 250 is arranged in the interior of the fixed sleeve, and the rotating shaft of the first driving motor 250 is connected with the threaded sleeve 263. The first driving motor 250 is used to drive the threaded sleeve 263 to rotate. Specifically, the fixed sleeve is sleeved with the shell of the first driving motor 250, and the rotating shaft of the first driving motor 250 is connected with the lower end of the threaded sleeve 263 through a connecting block.

[0060] The lifting slider 253 is sleeved with the outer periphery of the threaded sleeve 263 and is threadedly matched with the outer peripheral surface of the threaded sleeve 263. The second guide rod 265 is vertically arranged on one side of the threaded sleeve 263. The second guide rod 265 is fixedly connected with the robot body and is slidingly matched with the lifting slider 253. Specifically, the second guide rod 265 is provided with two, 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 arranged in the two through holes to realize the sliding matching of the lifting slider 253 and the second guide rod 265. One end of the supporting rod 266 is connected with the lifting slider 253, and the other end of the supporting rod 266 is movably connected with the strip-shaped hole through a connecting pin.

[0061] When the first driving motor 250 drives the threaded sleeve 263 to rotate, the lifting slider 253 moves along the up-down direction under the action of the thread and is slidingly matched with the second guide rod 265. The supporting rod 266 drives the first connecting arm 260 to rotate around the first rotating shaft 220, so that the first connecting piece 262 slides along the first guide rod 261 up and down, and in turn drives the front-view lens component to move up and down.

[0062] In an embodiment of the present application, 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. The first rotating shaft 220 is rotatably connected with the robot body. Specifically, the first rotating shaft 220 is rotatably matched with the shell 11.

[0063] The first driving assembly 210 is connected with the robot body and the first rotating shaft 220. One end of the upper lifting swing arm 230 is connected with the first rotating shaft 220, and one end of the lower lifting swing arm 240 is hingedly connected with 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 hingedly connected with 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, and in turn drives the front-view lens component to move up and down.

[0064] In one embodiment of the present application, as shown in Figure 4 The upper lifting swing arm 230 comprises 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 each of the two upper swing arms is connected to one end of the first rotating shaft 220, and the other end of each of the two upper swing arms is hingedly connected to the lens connecting seat 310.

[0065] In one embodiment of the present application, as shown in Figure 4 The lower lifting swing arm 240 comprises two lower swing arms and a second connecting rod, the two lower swing arms are symmetrically arranged and parallel to each other. The second connecting rod is located between the two lower swing arms, and the two ends of the second connecting rod are connected to the two lower swing arms one by one. One end of each of the two lower swing arms is hingedly connected to the robot body, i.e. one end of each of the two lower swing arms is hingedly connected to the shell 110, and the other end of each of the two lower swing arms is hingedly connected to the lens connecting seat 310.

[0066] In one embodiment of the present application, as shown in Figure 4 and Figure 5 The first driving assembly 210 comprises a first driving motor 250, a lifting lead screw 252, a lifting sliding block 253, and a lifting connecting rod 254. The first driving motor 250 is arranged inside the robot body, and is preferably arranged vertically. Specifically, as shown in Figure 5 The shell 110 is provided with two mounting seats 251, which are arranged in a vertical direction. The two mounting seats 251 are connected to the shell 110, and each mounting seat 251 is provided with a mounting through hole. The first driving motor 250 is arranged in the two mounting through holes to be fixed.

[0067] The lifting lead screw 252 is vertically and rotatably arranged inside the robot body, and is arranged in parallel with the rotating shaft of the first driving motor 250. One end of the lifting lead screw 252 is connected to the rotating shaft of the first driving motor 250 through a first gear set. Specifically, as shown in Figure 5 The lifting lead screw 252 is located between the two mounting seats 251, and the upper end of the lifting lead screw 252 is rotatably connected to the upper mounting seat 251, and the lower end of the lifting lead screw 252 is rotatably connected to the lower mounting seat 251. The first gear set comprises 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 lead screw 252, and the first driving gear is engaged with the first driven gear.

[0068] The lifting slider 253 is located between the two mounting seats 251, and the lifting slider 253 is in a block structure and is in threaded cooperation with the lifting lead screw 252. One end of the lifting connecting rod 254 is provided with a strip-shaped connecting hole 255 extending along the length direction of the lifting connecting rod 254. The lifting slider 253 is in sliding cooperation with the strip-shaped connecting hole 255 through a pin shaft, and the other end of the lifting connecting rod 254 is connected with the first rotating shaft 220. The first driving motor 250 is used to drive the lifting lead 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.

[0069] In one embodiment of the present application, as shown in Figure 5 The first driving assembly 210 includes two lifting connecting rods 254, which are arranged in parallel and are spaced apart along the length direction of the first rotating shaft 220. The lifting slider 253 is provided with a connecting portion located between the two lifting connecting rods 254, and the connecting portion is in sliding cooperation with the strip-shaped connecting holes 255 of the two lifting connecting rods 254 through a pin shaft. The other ends of the two lifting connecting rods 254 are connected with the first rotating shaft 220. By arranging the two lifting connecting rods 254, the forces on both sides of the lifting slider 253 can be balanced, and the wear of the lifting slider 253 during movement can be reduced.

[0070] In one embodiment of the present application, as shown in Figure 4 and Figure 5 The first driving assembly 210 further includes a guide rod 256, which is arranged vertically. The upper end of the guide rod 256 is connected with the upper mounting seat 251, and the lower end of the guide rod 256 is connected with the lower mounting seat 251. The upper end of the guide rod 256 is connected with the housing 110 of the first driving motor 250 through the upper mounting seat 251. 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, so that the lifting slider 253 can only move up and down along the guide rod 256.

[0071] In one embodiment of the present application, the first driving assembly 210 includes two guide rods 256, which are arranged in parallel and are spaced apart, and are symmetrically arranged on both sides of the lifting lead screw 252. Of course, the number of guide rods 256 is not limited to this, and the guide rod 256 can also be arranged as one.

[0072] 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 lead screw 252 to rotate, and the lifting slider 253 reciprocates along the up-down direction under the action of the screw thread of the lifting lead screw 252, and the lifting slider 253 drives the first rotating shaft 220 to reciprocate within a certain angle range through the lifting connecting rod 254 in the movement process of the lifting slider 253, and the first rotating shaft 220 drives the upper lifting swing arm 230 to swing around the first rotating shaft 220 in the rotating process of the first rotating shaft 220, and 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.

[0073] In an embodiment of the present application, as shown in Figure 1 The front-view lens component includes a lens connecting 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 connecting seat 310; and the front-view lens 320 is arranged in the lens connecting seat 310 in an axially rotatable manner. Since the lens itself can be axially rotated, and the first driving assembly 210 drives the front-view lens component to move up and down, the flexibility of the front-view lens component is further enhanced, and the detection range of the front-view lens component is increased. Preferably, the front-view lens 320 adopts a 3 times digital zoom lens, which solves the problem that a small pipeline cannot be clearly seen at a close distance.

[0074] In an embodiment of the present application, as shown in Figure 1 The robot body includes a shell 110, a roller assembly 120 and a second driving assembly 130, the shell 110 has a cavity inside, and the shell 110 is a sealed structure to provide a sealed mounting space for the second driving assembly 130 and a main control circuit board. The roller assembly 120 includes two groups of rollers, and the two groups of rollers are rotatably arranged on both sides of the shell 110. The second driving assembly 130 is arranged in the cavity, the second driving assembly 130 is connected with the two groups of rollers, and the second driving assembly 130 is used for driving the rollers to rotate.

[0075] In an embodiment of the present application, the pipeline detection robot of the present application is designed according to a DN90 pipeline, and can smoothly enter a DN100 pipeline for detection.

[0076] In an embodiment of the present application, as shown in Figure 3As shown, the second drive assembly 130 includes two second drive motors 131 and two second gear sets. The shafts of the two second drive motors 131 are arranged in parallel and perpendicular to the length direction of the housing 110. The two second gear sets are arranged on both sides of the two second drive motors 131. Each of the two second gear sets is connected to one of the two second drive motors 131. One of the two gear sets is connected to a roller on one side of the housing 110, and the other gear set is connected to a roller on the other side of the housing 110. By setting the two second drive motors 131 to drive the two sets of rollers respectively, it is possible to ensure that each set of rollers has sufficient driving force and to independently control the rotational speed of each set of rollers, thereby achieving the adjustment of the posture of the pipeline inspection robot by utilizing the different rotational speeds of the two sets of rollers.

[0077] In one embodiment of the present invention, such as 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, as follows: 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 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 from left to right.

[0078] like Figure 3 As 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 shaft of the corresponding second drive motor 131. The first gear mechanism and the second gear 136 both mesh with the second driving gear 132, and the first gear 135 meshes with the first gear mechanism. Specifically, the first gear mechanism includes a third transmission gear 133 and a fourth transmission gear 134. Both the third transmission gear 133 and the fourth transmission gear 134 are rotatably engaged with the side wall of the housing 110. The third transmission gear 133 meshes with the second driving gear 132, the fourth transmission gear 134 meshes with the third transmission gear 133, and the first gear 135 meshes with the fourth transmission gear 134. The first transmission gear 138 is located between the second gear 136 and the third gear 137, and meshes with both the second gear 136 and the third gear 137.

[0079] 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.

[0080] It should be noted that the number of gears of the second gear set is not limited to this, and is determined according to the number of rollers.

[0081] 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, 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, 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, the rotating first transmission gear 138 drives the third gear 137 to rotate, the rotating third gear 137 drives the third roller 123 to rotate, thereby realizing the movement of the pipeline detection robot.

[0082] In an embodiment of the present application, as shown in Figure 1 The rear end of the shell 110 is provided with a cable connector 111, the cable connector 111 is connected with the cable, and the cable connector 111 is electrically connected with the main control circuit board, the first driving motor 250, the second driving motor 131 and the front-view camera 320 are all electrically connected with the main control circuit board. The cable is used for power supply and signal transmission of the main control circuit board, and the main control circuit board is used for controlling the first driving motor 250, the second driving motor 131 and the front-view camera 320 to work.

[0083] In an embodiment of the present application, as shown in Figure 1 The pipeline detection robot suitable for small pipe diameter further comprises a plurality of wheel sleeves 124, the wheel sleeves 124 are sleeved on the outer periphery of the corresponding rollers, and the wheel sleeves 124 are detachably connected with the rollers; when the pipeline detection robot is used for a pipe with small outer diameter, the wheel sleeves 124 can be removed; when the pipeline detection robot is used for a pipe with large outer diameter, the wheel sleeves 124 can be sleeved on the outer periphery of the corresponding rollers.

[0084] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A pipe inspection robot suitable for use in small diameter pipes, characterized in that, The utility model relates to a kind of robot, which includes: Robot body; Lens lifting component, which is connected with the robot body; Front-view lens component, which is connected with the lens lifting component, and the lens lifting component is used 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; 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 piece (262). The first driving assembly (210) is connected with the robot body. One end of the first connecting arm (260) is hinged with the robot body through the first rotating shaft (220). The other end of the first connecting arm (260) is movably connected with the front-view lens component. The first connecting arm (260) is provided with a strip-shaped hole. The first driving assembly (210) is movably connected with the strip-shaped hole through a connecting pin. The first guide rod (261) is vertically arranged on the robot body. The first connecting piece (262) is connected with the front-view lens component and slidably matched 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), so as to drive the front-view lens component to move up and down. The first driving assembly (210) includes: A threaded sleeve (263) is vertically arranged. Both ends of the threaded sleeve (263) are rotatably matched with the robot body. A fixed sleeve is arranged in the threaded sleeve (263) and fixedly connected with the robot body. A first driving motor (250) is arranged in the fixed sleeve. The rotating shaft of the first driving motor (250) is connected with the threaded sleeve (263). The first driving motor (250) is used to drive the threaded sleeve (263) to rotate. A lifting slider (253) is sleeved on the outer periphery of the threaded sleeve (263) and threadedly matched with the outer peripheral surface of the threaded sleeve (263). A second guide rod (265) is vertically arranged on one side of the threaded sleeve (263). The second guide rod (265) is fixedly connected with the robot body and slidably matched with the lifting slider (253). A support rod (266) is connected with the lifting slider (253) at one end and movably connected with the strip-shaped hole through a connecting pin at the other end.

2. A pipe inspection robot suitable for use in small diameter pipes, characterized in that, The utility model relates to a kind of robot, which includes: Robot body; Lens lifting component, which is connected with the robot body; Front-view lens component, which is connected with the lens lifting component, and the lens lifting component is used 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; 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), the first rotating shaft (220) is rotationally connected with the robot body, the first driving assembly (210) is connected with the robot body and the first rotating shaft (220), one end of the upper lifting swing arm (230) is connected with the first rotating shaft (220), and one end of the lower lifting swing arm (240) is hingedly connected with 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 hingedly connected with the front-view lens component; the first driving assembly (210) is used for driving the first rotating shaft (220) to rotate, so that the upper lifting swing arm (230) swings around the first rotating shaft (220), and then drives the front-view lens component to move up and down; The first driving assembly (210) comprises: A first driving motor (250) arranged in the interior of the robot body; A lifting screw rod (252) vertically and rotationally arranged in the interior of the robot body, one end of the lifting screw rod (252) being connected with the rotating shaft of the first driving motor (250) through a first gear set; A lifting sliding block (253) threadedly matched with the lifting screw rod (252); A lifting connecting rod (254), one end of the lifting connecting rod (254) being provided with a strip-shaped connecting hole (255), the lifting sliding block (253) being slidably matched with the strip-shaped connecting hole (255) through a pin shaft, and the other end of the lifting connecting rod (254) being connected with the first rotating shaft (220); the first driving motor (250) is used for driving the lifting screw rod (252) to rotate, so that the lifting sliding block (253) moves up and down, and then drives the first rotating shaft (220) to rotate through the lifting connecting rod (254).

3. The small-diameter pipe inspection robot according to claim 2, characterized by The first driving assembly (210) comprises two lifting connecting rods (254), the two lifting connecting rods (254) being arranged along the length direction of the first rotating shaft (220), the lifting sliding block (253) being provided with a connecting portion, the connecting portion being slidably matched with the strip-shaped connecting holes (255) of the two lifting connecting rods (254) through pin shafts, and the other ends of the two lifting connecting rods (254) being both connected with the first rotating shaft (220).

4. The small-bore pipeline inspection robot of claim 2, wherein, The first driving assembly (210) further comprises: A guide rod (256), the guide rod (256) being vertically arranged, the guide rod (256) being connected with the shell (110) of the first driving motor (250), the lifting sliding block (253) being provided with a guide hole, and the lifting sliding block (253) being slidably sleeved on the outer periphery of the guide rod (256) through the guide hole.

5. The small-bore pipeline inspection robot according to claim 4, wherein The first driving assembly (210) comprises two guide rods (256), the two guide rods (256) being symmetrically arranged on the two sides of the lifting screw rod (252).

6. A pipe inspection robot suitable for small diameter pipes according to any one of claims 2 to 5, 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 hinged with the lens connecting seat (310); A front-view lens (320) is axially rotatably arranged in the lens connecting seat (310).

7. A pipe inspection robot suitable for small diameter pipes according to any one of claims 2 to 5, characterized in that, The robot body comprises: A shell (110) with a cavity inside; A roller assembly (120) comprising two groups of rollers, the two groups of rollers are rotatably arranged on both sides of the shell (110); A second driving assembly (130) is arranged in the cavity, the second driving assembly (130) is connected with the two groups of rollers, and the second driving assembly (130) is used for driving the rollers to rotate.

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