A micro-pipeline robot

Abstract

The present application relates to the field of pipeline robots, and more particularly to a miniature pipeline robot, comprising a set of camera lighting modules, a set of direction control mechanisms, a set of steering power mechanisms, a set of power modules, and three sets of flexible connecting modules connecting the above modules. Through modular design, the module size is reduced, and the robot structure is simple and easy to control through flexible module connection. Through different combinations of the steering module and the power module, the robot can be controlled to move in a certain direction, real-time return observation pictures can be achieved, accurate control can be achieved, and the exploration of small-diameter, long-distance and complex structure pipelines can be realized, thereby greatly improving the work efficiency.

Description

Technical Field

[0001] This invention relates to the field of pipeline robot technology, and more particularly to a miniature pipeline robot. Background Technology

[0002] Various types of pipelines are widely used in chemical, water conservancy and hydropower, construction, nuclear industry, urban pipe network and other fields. They can be used to transport water, oil, gas or other special media. They are the main arteries connecting operating equipment. Daily maintenance and inspection of pipelines are essential. Internal damage, corrosion, leakage, blockage and other situations need to be detected and resolved in a timely manner.

[0003] For pipelines with a diameter greater than 50cm, inspection can be carried out using pipeline inspection robots or manually. For pipelines with a diameter between 10cm and 50cm, various types of endoscopes and endoscopic tubes can be used for inspection. However, when the diameter is less than 10cm, inspection methods are limited, and the inspection effect is significantly reduced. Especially when there are bends and misalignments in the pipeline, simply using an endoscope and relying on manual pushing at the orifice to navigate bends and obstacles is very difficult and has a low success rate. In particular, when there is more than one bend in the pipeline, the endoscope's connecting wires and the pipeline's inner wall generate great friction at the bend, preventing the manual pushing force from being transmitted to the end to move the endoscope forward. Therefore, the inspection depth of endoscopes or endoscopic tubes in small-diameter pipelines is limited, and they cannot perform deep and long-distance inspections.

[0004] Pipeline robots offer a good solution to the aforementioned problems. Currently, pipeline robots are mainly categorized into wheeled, peristaltic, tracked, and legged types. For small-diameter pipe applications, peristaltic and wheeled robots are primarily used, often employing biomimetic snake or earthworm-like designs.

[0005] Application number CN201310315745.2 discloses a multi-joint pneumatic snake robot. It consists of multiple identical snake-body joints connected in series, each joint including a connecting plate and three identical actuator components. Each joint of this invention has three degrees of freedom, enabling deflection, pitch, and extension movements, allowing for flexible motion; it can perform the swaying, twisting, lateral, and peristaltic movements of typical robotic snakes, as well as actions that are difficult for other robots to achieve.

[0006] The invention disclosed in application number CN202210771130.X is a pipeline peristaltic robot based on composite cam coordination. It consists of multiple sets of cam universal joint body sections connected end-to-end. Each cam universal joint body section comprises a universal joint and a cam connecting rod. By designing curved grooves in the cam connecting rods of each set, the rapid return and synchronization stages within the curved grooves allow the connecting rods to regularly adhere to and release from the pipe wall, achieving peristaltic forward movement. The complex movements of the peristaltic robot within the pipeline are achieved through a minimalist electrical control design. The maximum outer diameter of this robot in the fully retracted state of the connecting rods is approximately 120 mm, meeting the working size requirements of most pipeline systems.

[0007] The invention with application number CN201810819564.6 provides a pipe peristaltic robot, which consists of a control device and several peristaltic modules connected end to end. This pipe peristaltic robot accurately imitates the movement of earthworms, realizes curvilinear and linear movement, and has strong adaptability.

[0008] The aforementioned technical solutions mimic the movement of snakes and earthworms, enabling them to move forward and turn effectively within pipelines. However, due to limitations in structural design and the size of drive components, these robots are only suitable for pipelines with a diameter greater than 10cm. They are ineffective or perform poorly on smaller diameter pipelines, necessitating structural optimization.

[0009] In summary, existing technologies offer diverse solutions for inspecting large-diameter pipelines. However, for small-diameter pipelines, the in-depth inspection of this type of pipeline remains a pressing problem due to limitations such as pipe diameter, length, joints, and misalignment. Summary of the Invention

[0010] This invention primarily solves the technical problem of the inability to conduct long-distance exploration of small-diameter pipelines, especially those with a diameter of less than 10cm and containing bends, staggers, etc. The robot's built-in steering structure and power system enable it to navigate bends and obstacles effectively within the pipeline. The independently designed power unit supports multi-unit combination, thus resolving the issue of insufficient power during long-distance pipeline exploration.

[0011] To achieve the above objectives, the present invention adopts the following technical solution:

[0012] The present invention provides a miniature pipeline robot, which includes a camera and lighting module, a direction control mechanism, a steering power mechanism, a power module, and a flexible connection module and a bundled cable that are sequentially connected to the above modules.

[0013] Generally, a robot's front-end guidance structure consists of a set of camera and lighting modules, a set of direction control mechanisms, and a set of steering power mechanisms connected by flexible connection modules. One or more power modules constitute the robot's rear-end power structure. The first set of power modules is connected to the front-end guidance structure via flexible connection modules, while other power modules can be connected to each other via flexible connection modules or tension ropes.

[0014] The signal lines, power lines, etc. of each module and mechanism are routed from the side of the robot and bundled around the force rope at the end, and led out to the pipe opening.

[0015] Through the above technical solution, the various functions of the micro pipeline robot are modularized and can be freely combined as needed, making the robot scalable to adapt to different environments and working conditions.

[0016] The camera lighting module includes a miniature camera module, LED beads, a module body, and a bearing housing.

[0017] The front center of the main body of the module is a miniature camera module, and underwater LED beads are evenly distributed around the camera module. The rear end of the camera lighting module is a bearing seat, on which the steering bearing of the direction control mechanism is installed.

[0018] Through the above technical solution, the micro-pipeline robot has camera and lighting functions.

[0019] The steering control mechanism includes a steering bearing, a micro motor with a reduction gearbox, a steering arm, an upper baffle, a lower baffle, and a support rod.

[0020] The outer ring of the steering bearing has two lifting lugs, which are installed on the bearing seat; the upper baffle, the lower baffle, and the four support rods form a frame that fixes the micro motor with the gearbox inside; the steering arm is connected to the output shaft of the gearbox, and there are round holes at both ends of the steering arm.

[0021] The steering power mechanism includes a disc groove, a micro motor with a reduction gearbox, an upper baffle, a lower baffle, and a support rod.

[0022] The gearbox and the micro motor are connected and fixed between a frame consisting of an upper baffle, a lower baffle, and four support rods. The disc groove has two grooves with a hole in the middle that connects to the output shaft of the gearbox. The upper baffle has two annular lugs on its radially outer side, with the center height of the lugs aligned with the two disc grooves.

[0023] Two fine fibers or steel wires are fixed at one end to the lugs of the steering bearing, pass through the round holes at both ends of the steering arm, pass through the ring lugs on the upper baffle of the steering power mechanism, and are wound around the corresponding disc grooves in opposite directions, one clockwise and one counterclockwise.

[0024] By adjusting the rotation of the circular reel, the two thin lines are tightened and loosened alternately, thereby controlling the bending angle of the camera lighting module; by adjusting the angle of the steering arm, the bending direction of the camera lighting module is controlled.

[0025] The above technical solution enables the control of the forward direction of the micro-pipeline robot.

[0026] The power module includes an upper baffle, a lower baffle, a fixed plate, an external gear, an internal gear, a worm gear, and a micro motor, which are used to provide power for the pipeline robot to move forward and backward.

[0027] The fixing plates are arranged in pairs, spaced a certain distance apart and parallel to each other. Each fixing plate has an arc-shaped keyway for mounting an external gear and a circular hole for mounting an internal gear. A square keyway connected to the arc-shaped keyway is used to mount a spring or elastic cord. One end of the elastic cord or spring is connected to one end of a directional keyway, and the other end is connected to the external gear shaft, ensuring the external gear always maintains an outward orientation. The external gear and internal gear mesh. The two fixing plates, internal gear, and external gear form four groups arranged circumferentially, with adjacent groups at a 90-degree angle. The upper and lower ends of all fixing plates are connected to the upper baffle and lower baffle, respectively, forming an overall frame. The micro motor is fixed within this frame, with one end connected to the lower baffle and the other end's output shaft connected to a worm gear. The worm gear meshes with four internal gears.

[0028] The external gear, under the action of an elastic rope or spring, always points outward and remains in contact with the inner wall of the pipe. A micro motor drives a worm gear to rotate, which in turn drives four internal gears, which in turn drive the corresponding external gears, thus enabling the micropipeline robot to move within the pipe. The robot's direction of movement is controlled by changing the direction of the worm gear's rotation.

[0029] The above technical solutions can enable pipeline robots to move around.

[0030] The flexible connection module includes an upper baffle, a lower baffle, and a spring. The spring is connected at both ends to the upper baffle and the lower baffle, respectively. The cross-sectional shape of the upper baffle is the same as that of the lower baffle of the module it is connected to; the cross-sectional shape of the lower baffle is the same as that of the upper baffle of the module it is connected to.

[0031] The above technical solutions provide flexibility to the robot while also providing the internal stress to maintain the robot's straightness. Combined with the steering and power systems, this enables the robot to achieve flexible steering capabilities.

[0032] The beneficial effects of this invention are as follows:

[0033] 1. This invention reduces module size through modular design and makes the robot structure simple and easy to control through flexible module connection.

[0034] 2. By combining different numbers of steering modules and power modules, the robot's direction can be controlled, and the observation screen can be returned in real time, achieving precise control and enabling the exploration of small-diameter, long-distance, and structurally complex pipelines, greatly improving work efficiency.

[0035] 3. By adding power at regular intervals, the problem of insufficient power and ineffective movement caused by increased resistance due to contact friction between the robot cable and the pipe wall in long pipelines is solved. This is the key to enabling the robot to conduct long-distance exploration.

[0036] 4. The camera feed can detect obstacles such as bends and misalignments in a timely manner, allowing the robot to be controlled to cross and avoid them, greatly improving the success rate of navigating bends and obstacles.

[0037] 5. Through a simple structural design, the steering head can rotate radially from 0 to 180 degrees and axially from 360 degrees. The end power unit is designed independently, and power units can be added as needed.

[0038] 6. The external gear of the robot's power module always keeps in contact with the inner wall of the pipeline, so that the robot can move in horizontal pipelines as well as vertical or steeply inclined pipelines. Attached Figure Description

[0039] Figure 1-1 A schematic diagram (side view) of the micro-pipeline robot structure in Embodiment 1 of the present invention.

[0040] Figure 1-2 A schematic diagram (perspective) of the micro-pipeline robot structure in Embodiment 1 of this invention;

[0041] Figure 2-1 A schematic diagram (side view) of the micro-pipeline robot structure in Embodiment 2 of the present invention.

[0042] Figure 3-1 A schematic diagram (side view) of the micro-pipeline robot structure in Embodiment 3 of the present invention.

[0043] Figure 4-1 Schematic diagram of camera lighting module structure (front perspective);

[0044] Figure 4-2 Schematic diagram of camera lighting module structure (rear perspective);

[0045] Figure 5-1 Schematic diagram of the direction control mechanism (side view);

[0046] Figure 5-2 Schematic diagram of the direction control mechanism (perspective);

[0047] Figure 6-1 Schematic diagram of the steering power mechanism (side view);

[0048] Figure 6-2 Schematic diagram of the steering power mechanism (perspective);

[0049] Figure 7-1 Schematic diagram of the power module structure (side view);

[0050] Figure 7-2 Schematic diagram of the power module structure (perspective);

[0051] Figure 7-3 Schematic diagram of the power module structure (section);

[0052] Figure 8-1 Schematic diagram of the flexible connection module structure (side view).

[0053] In the diagram: 1-Camera illumination module; 2-Direction control mechanism; 3-Steering power mechanism; 4-Power module; 5-Flexible connection module; 6-Buckle cable; 1001-Miniature camera module

[0054] ; 1002-LED lamp bead; 1003-Module body; 1004-Bearing seat; 2001-Bearing; 2002-Fixing ring; 2003-Steering arm; 2004-Gearbox; 2005-Micro motor one; 2006-Support rod one; 2007-Lower baffle one; 2008-Upper baffle one; 3001-Disc wire groove; 3002-Gearbox; 3003-Micro motor two; 3004 - Support rod two; 3005 - Upper baffle two; 3006 - Lower baffle two; 3007, 3008 - Circular lifting lugs; 4001 - Upper baffle three; 4002 - Lower baffle three; 4003 - Fixing plate; 4004 - External gear; 4005 - Internal gear; 4006 - Worm gear; 4007 - Micro motor three; 5001 - Upper baffle four; 5002 - Lower baffle four; 5003 - Spring. Detailed Implementation

[0055] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0056] The camera and lighting module 1, the direction control mechanism 2, and the steering power mechanism 3 are sequentially connected into a whole via a flexible connection module 5, realizing the functions of lighting, imaging, and direction control. As needed, one or more power modules 4 are connected in series at the rear to provide power to the robot. The signal lines, power lines, etc., of each module and mechanism run from the side of the robot and are bundled at the ends around the tension rope to form a bundled cable 6, which is then led out to the conduit. Example

[0057] like Figure 1-1 , 1-2 As shown, a miniature pipeline robot includes a set of camera and lighting modules 1, a set of direction control mechanisms 2, a set of steering power mechanisms 3, a set of power modules 4, and three sets of flexible connection modules 5 connecting the above modules.

[0058] The camera lighting module 1 includes a miniature camera module 1001, LED beads 1002, a module body 1003, and a bearing housing 1004. The miniature camera module 1001 is located at the front center of the module body 1003, with LED beads 1002 evenly distributed around it. The bearing housing 1004 is located at the rear of the module body 1003, for mounting a steering bearing 2001. The camera lighting module 1 is located at the front of the robot, providing illumination and real-time image transmission.

[0059] The steering control mechanism 2 includes a steering bearing 2001, a micro motor 2005 with a reduction gearbox 2004, a steering arm 2003, an upper baffle 2008, a lower baffle 2007, and support rods 2006. The steering bearing 2001 is mounted on a bearing housing 1004, with two opposing fixing rings 2002 on its outer ring side; the reduction gearbox 2004 and the micro motor 2005 are connected and fixed between a frame consisting of an upper baffle 2008, a lower baffle 2007, and four support rods 2006; the steering arm 2003 has holes at both ends with rounded corners, and a hole in the middle that connects to the output shaft of the reduction gearbox 2004; the upper baffle 2008 and the lower baffle 2007 each have two symmetrical arc-shaped keyway through holes with radii consistent with the end holes of the steering arm 2003.

[0060] The steering power mechanism 3 includes a disc groove 3001, a micro motor 3003 with a reduction gearbox 3002, an upper baffle 3005, a lower baffle 3006, and a support rod 3004. The reduction gearbox 3002 and the micro motor 3003 are connected and fixed between a frame consisting of an upper baffle 3005, a lower baffle 3006, and four support rods 3004. The disc groove 3001 has two grooves with a hole in the middle that connects to the output shaft of the reduction gearbox 3002. Two annular lugs 3007 and 3008 are arranged radially outward on the upper baffle 3005. The center height of the annular lug 3007 is flush with the bottom groove of the disc groove 3001, and the center height of the annular lug 3008 is flush with the top groove of the disc groove 3001.

[0061] Two fine fibers or fine steel wires are fixed at one end to the fixed ring 2002 of the steering bearing, pass through the round holes at both ends of the steering arm 2003, pass through the ring lugs 3007 and 3008 on the upper baffle 3005 of the steering power mechanism, and are wound around the corresponding disc groove 3001 in opposite directions, one clockwise and one counterclockwise.

[0062] The power module 4 includes an upper baffle 4001, a lower baffle 4002, a fixing plate 4003, an external gear 4004, an internal gear 4005, a worm gear 4006, and a micro motor 4007. The fixing plates 4003 are arranged in pairs, spaced a certain distance apart and parallel to each other. The fixing plates 4003 have arc-shaped keyways for mounting the external gear 4004 and circular holes for mounting the internal gear 4005. A square keyway connected to the arc-shaped keyway is used to mount a spring or elastic cord. One end of the elastic cord or spring is connected to one end of the directional keyway, and the other end is connected to the shaft of the external gear 4004, ensuring that the external gear 4004 always maintains an outward orientation. The external gear 4004 and the internal gear 4005... 05 meshing; two fixed plates 4003, internal gear 4005, and external gear 4004 are grouped together, arranged in four circumferential groups, with adjacent groups at a 90-degree angle. The upper and lower ends of all fixed plates 4003 are connected to the upper baffle 3 4001 and the lower baffle 3 4002 respectively, forming an overall frame; the micro motor 3 4007 is fixed in the above frame, with one end connected to the lower baffle 3 4002 and the other end's output shaft connected to the worm gear 4006; the worm gear 4006 meshes with the four internal gears 4005 respectively.

[0063] The flexible connection module 5 includes an upper baffle 4 5001, a lower baffle 4 5002, and a spring 5003. The two ends of the spring 5003 are connected to the upper baffle 4 5001 and the lower baffle 4 5002, respectively. The cross-sectional shape of the upper baffle 4 5001 is consistent with the shape of the lower baffle 4 of the module it is connected to; the cross-sectional shape of the upper and lower baffle 4 5002 is consistent with the shape of the upper baffle of the module it is connected to.

[0064] The signal lines and power lines of each module and mechanism are routed from the side of the robot and bundled around the tension rope at the end to form a bundled cable 6, which is then led out to the pipe opening.

[0065] Working principle: When movement is required within the pipeline, the micro motor of power module 4 starts, driving the worm gear 4006 to rotate. Power is transmitted to the external gear 4004 via the internal gear 4005. The external gear 4004, under the action of an elastic rope or spring, remains extended outward, adhering to the pipe wall and moving forward. When reversing is required, the power input to the micro motor is changed, causing the worm gear to rotate in the opposite direction.

[0066] The robot initially moves in a straight line. When a turn is needed, the micro motor 3003 of the steering power mechanism 3 is activated, causing the disc groove 3001 to rotate. One of the two thin fiber ropes or thin steel wire ropes wound on it tightens while the other loosens, causing the camera and lighting module 1 to lift towards the tightened side. Adjusting the rotation angle of the disc groove 3001 controls the robot's turning radius. The micro motor 2005 of the direction control mechanism 2 is activated, causing the steering arm 2003 to rotate. The thin rope rotates accordingly, and the steering bearing 2001 rotates synchronously, thus controlling the robot's steering direction. Example

[0067] like Figure 2-1 As shown, the difference between this example and Embodiment 1 is that two power modules 4 are connected in series at the robot's end effector via a flexible connection module 5, resulting in stronger power. The other structures and working principles are the same as in Embodiment 1. Embodiment 2 uses two power modules 4 connected in series as an example, but the number of modules connected in series is not limited and can be increased or decreased according to actual application needs. Example

[0068] like Figure 3-1 As shown, the difference between this example and Embodiment 2 is that the two power modules 4 connected in series are connected by a bundled cable. The other structures and working principles are the same as in Embodiment 2. Embodiment 3 uses two power modules 4 connected in series as an example, but the number of modules connected in series and the distance between adjacent power modules 4 are not limited; they can be increased or decreased according to actual application needs.

[0069] Example 3 offers significant advantages when conducting long-distance, in-depth inspections. By adding a power module 4 at regular intervals, it's equivalent to multiple power modules 4 carrying the bundled cables within the conduit, solving the problem of insufficient power from a single source during long-distance inspections. Simultaneously, each power module 4 can assist nearby cables in navigating bends and obstacles, resolving the issue of excessive frictional resistance and difficulty in movement caused by numerous bends and misalignments.

[0070] This invention reduces module size through modular design and uses flexible module connections to make the robot structure simple and easy to control.

[0071] By combining different numbers of steering and power modules, the robot's direction can be controlled, and the observation screen can be returned in real time, achieving precise control and enabling the exploration of small-diameter, long-distance, and structurally complex pipelines, greatly improving work efficiency.

[0072] By adding power at regular intervals, the problem of insufficient power and ineffective movement caused by increased resistance due to contact friction between the robot's cable and the pipe wall in long pipelines is solved. This is the key to enabling the robot to conduct long-distance exploration.

[0073] The camera feed can detect obstacles such as bends and misalignments in a timely manner, allowing the robot to be controlled to cross and avoid them, greatly improving the success rate of navigating curves and obstacles.

[0074] Through a simple structural design, the steering head can rotate radially from 0 to 180 degrees and axially from 360 degrees. The end power unit is designed independently and can be added as needed.

[0075] The external gear of the robot's power module is always in contact with the inner wall of the pipe, allowing the robot to move in both horizontal and vertical or steeply inclined pipes.

[0076] The present invention also provides a method for pipeline inspection using the above-mentioned microrobot, comprising the following steps:

[0077] S1. Remove the valve from the pipe opening and clear any blockages from the pipe opening;

[0078] S2. Power on the robot and test all its functions to ensure proper operation.

[0079] S3. Insert the robot body into the pipeline a certain distance and loosen the bundled cables at the rear end;

[0080] S4. Turn on the lights, turn on the camera, and start recording. Once ready, activate the power module and move forward slowly.

[0081] S5. When encountering a turn, observe first to determine the direction of the turn, and then operate the robot to slowly move forward and pass through.

[0082] S6. When encountering upward-moving pipes or pipes containing water, extra caution is required, and the speed should not be too fast. If encountering pipes filled with silt, proceed without going further and exit the pipe immediately.

[0083] S7. After inspection, begin exiting the pipeline. Control the robot to retreat, while personnel at the pipeline opening gradually retrieve the cable. If necessary, provide assistance to the robot in straight sections of the pipeline to speed up the exit. When encountering bends, exit slowly.

[0084] S8. After recycling the robot, clean it with water promptly, dry it, and then store it.

[0085] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A miniature pipeline robot, characterized in that, The micro pipeline robot includes a camera and lighting module (1), a direction control mechanism (2), a steering power mechanism (3), a power module (4), a flexible connection module (5) and a bundled cable (6) connecting the above modules. A set of camera lighting modules (1), a set of direction control mechanisms (2) and a set of steering power mechanisms (3) are connected in sequence through a flexible connection module (5) to form the front-end guidance structure of the robot; The robot’s rear power structure is composed of one or more power modules (4); when there is only one power module (4), the power module (4) is connected to the front guide structure through a flexible connection module (5); when there are multiple power modules (4), the first power module (4) is connected to the front guide structure through a flexible connection module (5), and the other power modules (4) are connected to each other through a flexible connection module (5) or a force rope. The steering control mechanism (2) includes a steering bearing (2001), a micro motor (2005) with a reduction gearbox (2004), a steering arm (2003), an upper baffle (2008), a lower baffle (2007), and a support rod (2006); the steering bearing (2001) is mounted on a bearing seat (1004), and has two opposing fixed hanging rings (2002) on its outer ring side; the reduction gearbox (2004) and the micro motor (2005) are connected and fixed between a frame consisting of an upper baffle (2008), a lower baffle (2007), and four support rods (2006); The steering arm (2003) has holes at both ends with rounded corners, and a hole in the middle that connects to the output shaft of the gearbox (2004); the upper baffle (2008) and the lower baffle (2007) each have two symmetrical arc-shaped keyway through holes with radii consistent with the end holes of the steering arm (2003); The steering power mechanism (3) includes a disc groove (3001), a micro motor (3003) with a reduction gearbox (3002), an upper baffle (3005), a lower baffle (3006), and a support rod (3004); the reduction gearbox (3002) and the micro motor (3003) are connected and fixed between a frame composed of an upper baffle (3005), a lower baffle (3006), and four support rods (3004); the disc groove (3001) has two grooves with a hole in the middle that connects to the output shaft of the reduction gearbox (3002); the upper baffle (3005) has two annular lugs (3007) (3008) arranged radially outward. The center height of one of the circular lugs (3007) is flush with the bottom groove of the disc groove (3001), and the center height of the other circular lug (3008) is flush with the top groove of the disc groove (3001). Two fine fibers or fine steel wires are fixed at one end to the fixed ring (2002) of the steering bearing, pass through the round holes at both ends of the steering arm (2003), pass through the ring lugs (3007) (3008) on the upper baffle (3005) of the steering power mechanism, and are wound around the corresponding disc groove (3001) in opposite directions, one clockwise and one counterclockwise.

2. The micro-pipeline robot according to claim 1, characterized in that, The camera lighting module (1) includes a miniature camera module (1001), LED beads (1002), a module body (1003), and a bearing seat (1004); the miniature camera module (1001) is located at the front center of the module body (1003), and LED beads (1002) are evenly distributed around it; the bearing seat (1004) is located at the rear end of the module body (1003), which is used to install the steering bearing (2001); the camera lighting module (1) is located at the front of the robot and provides lighting and real-time image transmission.

3. A miniature pipeline robot according to claim 1, characterized in that, The power module (4) includes an upper baffle (4001), a lower baffle (4002), a fixing plate (4003), an external gear (4004), an internal gear (4005), a worm gear (4006), and a micro motor (4007). The fixing plates (4003) are arranged in pairs, spaced a certain distance apart, and parallel to each other. The fixing plates (4003) have arc-shaped keyway holes for installing the external gear (4004) and circular holes for installing the internal gear (4005). The square keyway connected to the arc-shaped keyway is used to install a spring or elastic rope. One end of the elastic rope or spring is connected to one end of the directional keyway, and the other end is connected to the shaft of the external gear (4004), so that the external gear (4004) always maintains an outward trend. The external gear (4004) and the internal gear (4005) mesh.

4. A miniature pipeline robot according to claim 3, characterized in that, The two fixed plates (4003), the internal gear (4005), and the external gear (4004) are grouped together in four circumferential arrangements, with adjacent groups at a 90-degree angle. The upper and lower ends of all the fixed plates (4003) are connected to the upper baffle three (4001) and the lower baffle three (4002) respectively, forming an overall frame. The micro motor three (4007) is fixed in the above frame, with one end connected to the lower baffle three (4002) and the other end's output shaft connected to the worm gear (4006). The worm gear (4006) meshes with the four internal gears (4005) respectively.

5. A miniature pipeline robot according to claim 1, characterized in that, The flexible connection module (5) includes an upper baffle four (5001), a lower baffle four (5002), and a spring (5003); the two ends of the spring (5003) are respectively connected to the upper baffle four (5001) and the lower baffle four (5002); the cross-sectional shape of the upper baffle four (5001) is consistent with the shape of the lower baffle of the module connected to it; the cross-sectional shape of the lower baffle four (5002) is consistent with the shape of the upper baffle of the module connected to it.

Images