Industrial pipeline internal detection robot capable of self-adapting to pipe diameter

Abstract

The invention relates to the technical field of detection robots, in particular to a pipe diameter self-adaptive industrial pipeline internal detection robot which comprises a supporting component, a self-adaptive positioning device is fixedly mounted at the top of the rear end of the supporting component, and a camera is fixedly mounted at the front end of the top of the supporting component. The self-adaptive positioning device comprises a hydraulic air cylinder, a supporting base frame, sleeves, first springs, a displacement base frame and positioning wheels, the supporting base frame is fixedly installed at the top end of the hydraulic air cylinder, the sleeves are fixedly installed at the top ends of the two sides of the supporting base frame, and the first springs are fixedly installed at the ends, close to the interior of the supporting base frame, of the sleeves; the displacement base frame slidably penetrates through the end, away from the supporting base frame, of the sleeve to be connected with the first spring, the positioning wheel is rotationally installed in the end, away from the first spring, of the displacement base frame, and the supporting component comprises a pushing device, a transmission device and wheels. Through the arrangement of the self-adaptive positioning device and the supporting part, the purposes of impurity treatment and pipeline diameter self-adaption during use of the pipeline detection robot are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of detection robots, in particular to an industrial pipeline detection robot with adaptive pipe diameter. Background Art

[0002] The pipeline inspection robot, also known as the pipeline CCTV inspection robot, is an automated device that integrates mechanical, electrical and instrumentation technologies. It can automatically enter and exit the pipeline and carry one or more sensors or operating machinery to perform a series of pipeline inspection operations under the remote control of the staff or the automatic control of the computer.

[0003] By using pipeline robots to replace manual labor to move inside narrow pipelines, the conditions inside the pipeline can be displayed through cameras. In addition, the pipeline inspection robot can operate on local areas, making it easier for personnel to inspect or repair components inside the pipeline.

[0004] At present, when pipeline inspection robots on the market are used, they are moved by wheel drive, and other debris will accumulate at the bottom of the pipeline, which will cause the body of the robot to tilt when the wheels crush other debris. In addition, the existing pipeline inspection robots lack auxiliary positioning components, which makes the pipeline inspection robots unable to adapt to pipelines of different diameters. As a result, the existing pipeline inspection robots are unable to handle debris and adapt to pipeline diameters when in use. Therefore, a device is needed to improve the above problems. Summary of the invention

[0005] In view of the problems in the prior art, the present invention provides an industrial pipeline in-pipe inspection robot with adaptive pipe diameter.

[0006] The technical solution adopted by the present invention to solve its technical problems is: an industrial pipeline inspection robot with adaptive pipe diameter, including a supporting component, an adaptive positioning device is fixedly installed on the top of the rear end of the supporting component, a camera is fixedly installed on the top front end of the supporting component, the adaptive positioning device includes a hydraulic cylinder, a supporting frame, a sleeve, a first spring, a displacement frame and a positioning wheel, the supporting frame is fixedly installed on the top of the hydraulic cylinder, the sleeve is fixedly installed on the top of both sides of the supporting frame, the first spring is fixedly installed on the inner end of the sleeve close to the supporting frame, the displacement frame slides through the end of the sleeve away from the supporting frame and is connected to the first spring, the positioning wheel is rotatably installed inside the end of the displacement frame away from the first spring, the supporting component includes a pushing device, a transmission device and wheels, the wheels are symmetrically arranged on both sides of the transmission device, and the pushing device is slidably inserted at the front end of the transmission device.

[0007] Specifically, the pushing device includes a front pushing plate, a sliding rod, a sleeve rod, a movable insertion rod, a supporting front frame, a rack, a second spring, a wing plate and a third spring. The sliding rod is slidably inserted inside the top end of the supporting front frame, the front pushing plate is fixedly installed at the front end of the sliding rod, the sleeve rod is fixedly installed at the top ends of both sides of the supporting front frame, the third spring is fixedly installed at the inner front end of the sleeve rod, the movable insertion rod slides through the rear end of the sleeve rod and is connected to the rear end of the third spring, the rack is fixedly installed at the rear end of the movable insertion rod, the second spring is fixedly installed at the bottom rear end of the sleeve rod, and the wing plate is fixedly installed at the rear end of the second spring.

[0008] Specifically, the transmission device includes a vertical frame, a displacement cross plate, a scraper, a positioning seat, a support shell, a positioning sleeve, an axle, a winding wheel, a first gear, a second gear, a connecting rope, a guide wheel and an extension bracket, the axle is symmetrically rotatably mounted on both sides of the support shell, the first gear is fixedly mounted on the axle, the positioning sleeve is symmetrically fixedly mounted on the front ends of both sides of the support shell, the positioning seat is fixedly mounted on the top front end of the support shell, the vertical frame is symmetrically fixedly mounted on the top front end of the positioning seat, the extension bracket is symmetrically fixedly mounted on the top of the vertical frame, the guide wheel is symmetrically rotatably mounted on the side ends of the extension bracket close to the axle, the winding wheel is rotatably mounted on the rear ends of both sides of the support shell, the second gear is fixedly mounted on the side ends of the winding wheel away from the support shell, the connecting rope is fixedly mounted on the winding wheel, the displacement cross plate is fixedly mounted on the end of the connecting rope away from the winding wheel, and the scraper is fixedly mounted between the two displacement cross plates.

[0009] Specifically, the hydraulic cylinder is symmetrically fixedly installed at the top rear end of the supporting shell, the sleeve rod is slidably inserted in the interior of the positioning sleeve, and the second gear is meshed with the rack.

[0010] Specifically, the right side of the wing plate is connected to both sides of the supporting shell, the camera is fixedly installed on the top of the positioning seat, and the wheel is connected to an end of the shaft rod away from the supporting shell.

[0011] Specifically, the interior of the sleeve is set in a hollow state, the displacement base is fixedly installed with a square rod near one end of the sleeve, and the square rod slides through the sleeve and is connected to the first spring, and a pulley is symmetrically rotated on the bottom end of the front push plate.

[0012] Specifically, a drive motor is installed inside the support shell and connected to the shaft rod. The tooth distribution angle on the first gear is 180°. The rear end of the scraper strip is flush with the front end surface of the camera. The displacement cross plate is slidably sleeved on the vertical frame.

[0013] Specifically, a stainless steel plate is fixedly mounted on the front end of the front push plate, the interior of the sleeve rod is arranged in a hollow state, and a movable hole adapted to the movable insertion rod is opened at the rear end of the sleeve rod.

[0014] Specifically, the displacement base also includes a third gear, a transmission toothed belt, a nylon brush, an extended front frame and a fourth gear. The extended front frame is fixedly mounted on the front end of the displacement base, the nylon brush is rotatably mounted on the left front end of the extended front frame, the fourth gear is fixedly mounted on the top of the nylon brush, the transmission toothed belt is meshed on the outer ring of the fourth gear, and the third gear is meshed on the inner end of the transmission toothed belt away from the fourth gear.

[0015] Specifically, the bottom end of the third gear is connected to the positioning wheel, and the rotation radius of the nylon brush is greater than the rotation radius of the positioning wheel.

[0016] Beneficial effects of the present invention:

[0017] First, the first gear of the present invention can intermittently contact the second gear when rotating, so that the second gear can drive the rack to move toward the front end, so that the front push plate can move toward the front end at the bottom end of the external pipe, so that the impurities inside the pipe can be pushed to the front end, and the front push plate is horizontally aligned with the two wheels to prevent the impurities from being crushed by the wheels, thereby improving the passability of the wheels and completing the work of handling the debris at the front end of the wheels.

[0018] Secondly, in the present invention, when the supporting shell is displaced to the inside of the pipeline, the positioning wheel can contact the inner wall of the pipeline. By setting the first spring, the positioning wheel can always be squeezed to contact the inner wall of the pipeline, thereby reducing the probability of the supporting shell being offset during displacement. At the same time, by setting the hydraulic cylinder, the positioning wheel can be driven to move up and down, so that the positioning wheel can be driven to move to a specified height, which is convenient for the positioning wheel to contact the center of the inner wall of pipelines of different diameters, thereby completing the work of the device adapting to the pipeline diameter. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the main body of the present invention from the front perspective;

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the main body of the present invention from a rear perspective;

[0022] Figure 3 It is a partial cutaway schematic diagram of the adaptive positioning device in the present invention;

[0023] Figure 4 It is a schematic diagram of the three-dimensional structure of the support component in the present invention from a front perspective;

[0024] Figure 5 It is a partial cutaway schematic diagram of the pushing device in the present invention;

[0025] Figure 6 For the present invention Figure 5 A local enlarged schematic diagram of point A;

[0026] Figure 7 It is a schematic diagram of the three-dimensional structure of the transmission device of the present invention from the front perspective;

[0027] Figure 8 It is a schematic diagram of the three-dimensional structure from the front perspective of the second embodiment of the displacement base frame in the present invention.

[0028] In the figure: 1-adaptive positioning device, 2-support component, 3-camera, 4-hydraulic cylinder, 5-support base, 6-sleeve, 7-first spring, 8-displacement base, 9-positioning wheel, 10-pushing device, 11-transmission device, 12-wheel, 13-front push plate, 14-sliding rod, 15-sleeve rod, 16-movable plug rod, 17-support front frame, 18-rack, 19-second spring, 20-wing plate, 21-third spring, 22-vertical frame, 23-displacement horizontal plate, 24-scraper, 25-positioning seat, 26-support shell, 27-positioning sleeve, 28-shaft rod, 29-winding wheel, 30-first gear, 31-second gear, 32-connecting rope, 33-guide wheel, 34-extension bracket, 35-third gear, 36-transmission toothed belt, 37-nylon brush, 38-extension front frame, 39-fourth gear. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0030] The present invention is further described below in conjunction with the accompanying drawings.

[0031] Example 1

[0032] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, an industrial pipeline inspection robot with adaptive pipe diameter of the present invention comprises a supporting component 2, an adaptive positioning device 1 is fixedly installed on the top of the rear end of the supporting component 2, a camera 3 is fixedly installed on the top front end of the supporting component 2, the adaptive positioning device 1 comprises a hydraulic cylinder 4, a supporting frame 5, a sleeve 6, a first spring 7, a displacement frame 8 and a positioning wheel 9, the supporting frame 5 is fixedly installed on the top of the hydraulic cylinder 4, the sleeve 6 is fixedly installed on the top of both sides of the supporting frame 5, the first spring 7 is fixedly installed on the inner end of the sleeve 6 close to the supporting frame 5, the displacement frame 8 slides through the end of the sleeve 6 away from the supporting frame 5 and is connected to the first spring 7, the positioning wheel 9 is rotatably installed inside the end of the displacement frame 8 away from the first spring 7, the supporting component 2 comprises a pushing device 10, a transmission device 11 and wheels 12, the wheels 12 are symmetrically arranged on both sides of the transmission device 11, and the pushing device 10 is slidably inserted in the front end of the transmission device 11.

[0033] like Figure 5 and Figure 6 The pushing device 10 includes a front push plate 13, a sliding rod 14, a sleeve rod 15, a movable insertion rod 16, a support front frame 17, a rack 18, a second spring 19, a wing plate 20 and a third spring 21. The sliding rod 14 is slidably inserted into the top of the support front frame 17, the front push plate 13 is fixedly installed at the front end of the sliding rod 14, the sleeve rod 15 is fixedly installed at the top of both sides of the support front frame 17, the third spring 21 is fixedly installed at the inner front end of the sleeve rod 15, and the movable insertion rod 16 slides through the rear end of the sleeve rod 15 and the rear end of the third spring 21 The rack 18 is fixedly mounted on the rear end of the movable plug rod 16, the second spring 19 is fixedly mounted on the bottom rear end of the sleeve rod 15, and the wing plate 20 is fixedly mounted on the rear end of the second spring 19. Through the setting of the second spring 19, when the second gear 31 loses the meshing force, the sleeve rod 15 and the front push plate 13 can be driven to reset. Through the setting of the third spring 21, when the first gear 30 is allowed to rotate in the opposite direction, the second gear 31 can be driven to rotate on the rack 18, so as to avoid the second gear 31 from getting stuck, so as to facilitate the support of the shell 26 for reversing.

[0034] like Figure 7The transmission device 11 includes a vertical frame 22, a displacement cross plate 23, a scraper strip 24, a positioning seat 25, a support shell 26, a positioning sleeve 27, a shaft 28, a winding wheel 29, a first gear 30, a second gear 31, a connecting rope 32, a guide wheel 33 and an extension bracket 34. The shaft 28 is symmetrically rotated and mounted on both sides of the support shell 26. The first gear 30 is fixedly mounted on the shaft 28. The positioning sleeve 27 is symmetrically fixedly mounted on the front ends of both sides of the support shell 26. The positioning seat 25 is fixedly mounted on the top front end of the support shell 26. The vertical frame 22 is symmetrically fixedly mounted on the top front end of the positioning seat 25. The extension bracket 34 is symmetrically fixedly mounted At the top of the vertical frame 22, the wire wheel 33 is symmetrically rotatably mounted on the side end of the extension bracket 34 close to the shaft 28, the winding wheel 29 is rotatably mounted on the rear ends of both sides of the support shell 26, the second gear 31 is fixedly mounted on the side end of the winding wheel 29 away from the support shell 26, the connecting rope 32 is fixedly mounted on the winding wheel 29, the displacement cross plate 23 is fixedly mounted on the end of the connecting rope 32 away from the winding wheel 29, the scraper bar 24 is fixedly mounted between the two displacement cross plates 23, and slides inside the positioning sleeve 27 through the sleeve rod 15, so that the front push plate 13 can be supported to move forward and backward along a straight line to prevent the front push plate 13 from falling off during displacement.

[0035] The hydraulic cylinder 4 is symmetrically fixedly installed on the top rear end of the support shell 26, the sleeve rod 15 is slidably inserted into the interior of the positioning sleeve 27, the second gear 31 is meshed with the rack 18, the right side of the wing plate 20 is connected to the two sides of the support shell 26, the camera 3 is fixedly installed on the top of the positioning seat 25, the wheel 12 is connected to the end of the shaft rod 28 away from the support shell 26, the interior of the sleeve 6 is set in a hollow state, the displacement base frame 8 is fixedly installed with a square rod at one end close to the sleeve 6, and the square rod slides through the sleeve 6 and is connected to the first spring 7, the bottom end of the front push plate 13 is symmetrically rotated with a pulley, the inside of the support shell 26 is installed with a drive motor, and the drive motor is connected to the shaft rod 28, the tooth distribution angle on the first gear 30 is 180°, the rear end of the scraper strip 24 is flush with the front end surface of the camera 3, and the displacement cross plate 23 is slidably sleeved on the vertical frame 22. A stainless steel plate is fixedly mounted on the front end of the front push plate 13 , the interior of the sleeve rod 15 is arranged in a hollow state, and a movable hole adapted to the movable plug rod 16 is opened at the rear end of the sleeve rod 15 .

[0036] The working principle of embodiment 1 is as follows: when in use, first connect the external connection line to the camera 3, and then put the entire device into the entrance of the pipeline until the wheel 12 contacts the bottom end of the inner wall of the pipeline, and then, by controlling the driving motor inside the supporting shell 26, the shaft 28 and the wheel 12 can be driven to rotate, so that the entire device can move on the inner wall of the pipeline. At the same time, when the device enters the interior of the pipeline, the positioning wheel 9 will contact the inner wall of the pipeline at the same time, and the elasticity of the first spring 7 will drive the positioning wheel 9 to always contact the inner wall of the pipeline, thereby reducing the probability of the supporting shell 26 being offset during displacement, and by turning on the hydraulic cylinder 4, the positioning wheel 9 can be driven to move up and down, so that the positioning wheel 9 can be driven to move to a specified height, which is convenient for the positioning wheel 9 is in contact with the inner wall of pipes of different diameters, so that the device can adapt to pipes of different diameters. Subsequently, when the support shell 26 moves inside the pipe, the sliding rod 14 can slide inside the support front frame 17, so that the front push plate 13 can contact the bottom end of the inner wall of the pipe, so that when the support shell 26 is displaced, the debris at the bottom end of the pipe can be pushed to the front end. In addition, when the support shell 26 is displaced, the shaft rod 28 can drive the first gear 30 to rotate. When the part of the first gear 30 with the teammate teeth rotates to mesh with the second gear 31, the second gear 31 can be driven to rotate. Through the meshing of the second gear 31 with the rack 18, when the support shell 26 moves toward the front end, the second gear 31 can drive the rack 18 to move toward the front end, so that The movable plug rod 16 can squeeze the sleeve rod 15 and the front push plate 13 to move toward the front end at the same time, so that the front push plate 13 can push the debris to the front end to prevent the debris from being too close to the support shell 26. Subsequently, when the toothed portion of the first gear 30 rotates through the second gear 31, the second gear 31 will lose the meshing force, and the elasticity of the second spring 19 will drive the sleeve rod 15 to reset to the rear end, so that the front push plate 13 can be reset at the same time, which is convenient for the front push plate 13 to push the debris again. In addition, when the front push plate 13 is displaced, pulleys are symmetrically installed at the bottom end of the front push plate 13, so that the displacement smoothness of the front push plate 13 can be improved. At the same time, the front push plate 13 is located in front of the two wheels 12, so that the front push plate 13 can push the debris located in front of the wheels 12 When the reel 29 rotates, the displacement cross plate 23 can be pulled by the connecting rope 32 to drive the scraper 24 to move upward, so that the scraper 24 can pass through the front end surface of the camera 3, so that the impurities attached to the front end surface of the camera 3 can be removed. Subsequently, when the second gear 31 loses the meshing force, the scraper 24 and the displacement cross plate 23 will rotate downward, so that the displacement cross plate 23 can drive the second gear 31 to rotate and reset through the connecting rope 32, so that the second gear 31 can drive the reel 29 to rotate again. At the same time,The displacement horizontal plate 23 is slidably sleeved on the vertical frame 22, so that the scraper strip 24 can be supported to move in a straight line, and the connecting rope 32 is slidably sleeved on the guide wheel 33, so that the supporting connecting rope 32 can pull the displacement horizontal plate 23 upward in a straight line to complete the cleaning work on the surface of the camera 3. When the device is in use, when the supporting shell 26 needs to retreat, the first gear 30 can drive the second gear 31 to rotate in the opposite direction. At this time, the second gear 31 can drive the rack 18 to move to the rear end. The third spring 21 is set inside the sleeve rod 15, so that when the rack 18 moves to the rear end, it can drive the movable plug rod 16 to be pulled from the inside of the sleeve rod 15 to the rear end, thereby preventing the second gear 31 from getting stuck. Moreover, when the supporting shell 26 moves to the front end or the first gear 30 passes through the second gear 31 in the opposite direction, the third spring 21 can drive the movable plug rod 16 and the rack 18 to reset to complete the work.

[0037] Example 2

[0038] On the basis of Example 1, Figure 8 As shown, the displacement base 8 also includes a third gear 35, a transmission toothed belt 36, a nylon brush 37, an extended front frame 38 and a fourth gear 39. The extended front frame 38 is fixedly mounted at the front end of the displacement base 8, the nylon brush 37 is rotatably mounted at the left front end of the extended front frame 38, the fourth gear 39 is fixedly mounted on the top end of the nylon brush 37, the transmission toothed belt 36 is meshed on the outer ring of the fourth gear 39, the third gear 35 is meshed at the inner end of the transmission toothed belt 36 away from the fourth gear 39, the bottom end of the third gear 35 is connected to the positioning wheel 9, and the rotation radius of the nylon brush 37 is greater than the rotation radius of the positioning wheel 9.

[0039] When implementing this embodiment, the positioning wheel 9 is connected to the third gear 35, so that when the positioning wheel 9 rotates, it can drive the third gear 35 to rotate, and when the third gear 35 rotates, the fourth gear 39 and the nylon brush 37 can be driven to rotate simultaneously through the transmission belt 36. The rotation radius of the nylon brush 37 is greater than the rotation radius of the positioning wheel 9, so that the nylon brush 37 can contact the inner wall of the pipe, so that the nylon brush 37 can remove impurities attached to the inner wall of the pipe. At the same time, the nylon brush 37 is horizontally aligned with the positioning wheel 9, so that the impurities in front of the positioning wheel 9 can be removed, thereby improving the smoothness of the displacement of the positioning wheel 9 and completing the work.

[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An industrial pipeline in-pipe inspection robot with adaptive pipe diameter, comprising a support component (2), an adaptive positioning device (1) is fixedly installed on the top of the rear end of the support component (2), and a camera (3) is fixedly installed on the front end of the top of the support component (2), characterized in that: The adaptive positioning device (1) comprises a hydraulic cylinder (4), a support frame (5), a sleeve (6), a first spring (7), a displacement frame (8) and a positioning wheel (9); the support frame (5) is fixedly mounted on the top of the hydraulic cylinder (4); the sleeve (6) is fixedly mounted on the tops of both sides of the support frame (5); the first spring (7) is fixedly mounted on the inner end of the sleeve (6) close to the support frame (5); the displacement frame (8) slides through the end of the sleeve (6) away from the support frame (5) and is connected to the first spring (7); the positioning wheel (9) is rotatably mounted inside the end of the displacement frame (8) away from the first spring (7); the support component (2) comprises a pushing device (10), a transmission device (11) and a wheel (12); the wheel (12) is symmetrically arranged on both sides of the transmission device (11); and the pushing device (10) is slidably inserted into the front end of the transmission device (11).

2. The industrial pipeline in-pipe inspection robot with adaptive pipe diameter according to claim 1, characterized in that: The pushing device (10) comprises a front push plate (13), a sliding rod (14), a sleeve rod (15), a movable insertion rod (16), a support front frame (17), a rack (18), a second spring (19), a wing plate (20) and a third spring (21); the sliding rod (14) is slidably inserted inside the top end of the support front frame (17); the front push plate (13) is fixedly mounted on the front end of the sliding rod (14); the sleeve rod (15) is fixedly mounted on the top ends of both sides of the support front frame (17); the third spring (21) is fixedly mounted on the inner front end of the sleeve rod (15); the movable insertion rod (16) slides through the rear end of the sleeve rod (15) and is connected to the rear end of the third spring (21); the rack (18) is fixedly mounted on the rear end of the movable insertion rod (16); the second spring (19) is fixedly mounted on the bottom rear end of the sleeve rod (15); and the wing plate (20) is fixedly mounted on the rear end of the second spring (19).

3. The industrial pipeline in-pipe inspection robot with adaptive pipe diameter according to claim 2, characterized in that: The transmission device (11) comprises a vertical frame (22), a displacement cross plate (23), a scraper (24), a positioning seat (25), a support shell (26), a positioning sleeve (27), a shaft (28), a winding wheel (29), a first gear (30), a second gear (31), a connecting rope (32), a guide wheel (33) and an extension bracket (34), wherein the shaft (28) is symmetrically rotatably mounted on both sides of the support shell (26), the first gear (30) is fixedly mounted on the shaft (28), the positioning sleeve (27) is symmetrically fixedly mounted on the front ends of both sides of the support shell (26), the positioning seat (25) is fixedly mounted on the top front end of the support shell (26), and the vertical frame (22) is fixedly mounted on the front end of the top of the support shell (26). The guide wheel (33) is symmetrically fixedly mounted on the top front end of the positioning seat (25); the extension bracket (34) is symmetrically fixedly mounted on the top of the vertical frame (22); the guide wheel (33) is symmetrically rotatably mounted on the side end of the extension bracket (34) close to the shaft (28); the winding wheel (29) is rotatably mounted on the rear ends of both sides of the support shell (26); the second gear (31) is fixedly mounted on the side end of the winding wheel (29) away from the support shell (26); the connecting rope (32) is fixedly mounted on the winding wheel (29); the displacement cross plate (23) is fixedly mounted on the end of the connecting rope (32) away from the winding wheel (29); and the scraper (24) is fixedly mounted between the two displacement cross plates (23).

4. The industrial pipeline in-pipe inspection robot with adaptive pipe diameter according to claim 3 is characterized by: The hydraulic cylinder (4) is symmetrically fixedly mounted on the top rear end of the supporting shell (26), the sleeve rod (15) is slidably inserted into the interior of the positioning sleeve (27), and the second gear (31) is meshed with the rack (18).

5. The industrial pipeline in-pipe inspection robot with adaptive pipe diameter according to claim 4, characterized in that: The right side of the wing plate (20) is connected to both sides of the supporting shell (26), the camera (3) is fixedly mounted on the top of the positioning seat (25), and the wheel (12) is connected to an end of the shaft rod (28) away from the supporting shell (26).

6. The industrial pipeline in-pipe inspection robot with adaptive pipe diameter according to claim 5, characterized in that: The interior of the sleeve (6) is arranged in a hollow state, a square rod is fixedly installed at one end of the displacement base frame (8) close to the sleeve (6), and the square rod slides through the sleeve (6) and is connected to the first spring (7), and a pulley is symmetrically rotated at the bottom end of the front push plate (13).

7. The industrial pipeline in-pipe inspection robot with adaptive pipe diameter according to claim 6, characterized in that: A driving motor is installed inside the supporting shell (26), and the driving motor is connected to the shaft (28). The tooth distribution angle of the first gear (30) is 180 degrees. The rear end of the scraper (24) is flush with the front end surface of the camera (3). The displacement cross plate (23) is slidably sleeved on the vertical frame (22).

8. The industrial pipeline in-pipe inspection robot with adaptive pipe diameter according to claim 7, characterized in that: A stainless steel plate is fixedly mounted on the front end of the front push plate (13), the interior of the sleeve rod (15) is arranged in a hollow state, and a movable hole adapted to the movable insertion rod (16) is opened at the rear end of the sleeve rod (15).

9. The industrial pipeline in-pipe inspection robot with adaptive pipe diameter according to claim 8, characterized in that: The displacement base frame (8) further comprises a third gear (35), a transmission toothed belt (36), a nylon brush (37), an extension front frame (38) and a fourth gear (39); the extension front frame (38) is fixedly mounted at the front end of the displacement base frame (8); the nylon brush (37) is rotatably mounted at the left front end of the extension front frame (38); the fourth gear (39) is fixedly mounted at the top end of the nylon brush (37); the transmission toothed belt (36) is meshed with the outer ring of the fourth gear (39); and the third gear (35) is meshed with the inner end of the transmission toothed belt (36) away from the fourth gear (39).

10. The industrial pipeline in-pipe inspection robot with adaptive pipe diameter according to claim 9, characterized in that: The bottom end of the third gear (35) is connected to the positioning wheel (9), and the rotation radius of the nylon brush (37) is greater than the rotation radius of the positioning wheel (9).

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