Pipeline inspection robot

Abstract

The invention belongs to the technical field of pipeline inspection, and particularly relates to a pipeline inspection robot which comprises a first inspection main body and a second inspection main body, the first inspection main body and the second inspection main body are in a universal connection state, and cameras are installed at the opposite ends of the first inspection main body and the second inspection main body. Guide sliding seats are mounted at the bottoms of the inspection main body I and the inspection main body II, and scissor type upgrade tables are mounted on the guide sliding seats in a sliding manner. According to the pipeline inspection robot, the posture can be automatically adjusted in a pipeline through the inspection robot, the hub motor can avoid obstacles such as sludge and garbage, it is ensured that inspection work is not hindered, comprehensive inspection is smoothly and completely conducted on the interior of the pipeline, the obstacle avoidance capacity is high, and the inspection efficiency is high; and meanwhile, through the spring pre-tightening mechanism and the adjustable opening rod set, the robot can adapt to pipeline environments with different pipe diameters, and the application range is wide.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline inspection, and particularly to a pipeline inspection robot. Background Art

[0002] With the acceleration of the urbanization process, the urban pipeline network, as an important part of urban infrastructure, is increasing in scale and complexity. The underground rain and sewage pipelines undertake the key tasks of urban drainage and sewage treatment, and are of great significance for maintaining the health of the urban water environment and ensuring the quality of residents' lives. However, these pipelines are often located deep underground, with narrow spaces and complex environments, posing great challenges to the inspection work.

[0003] The traditional manual inspection method is not only inefficient but also has potential safety hazards. Due to the harsh internal environment of the pipeline, workers need to work in the dark, humid, and even toxic and harmful environments for a long time, which not only poses a threat to the physical health of the workers but also makes it difficult to ensure the comprehensiveness and accuracy of the inspection.

[0004] There are already some pipeline inspection robot products on the market, but they often show great limitations when facing the problems of silt accumulation and debris blockage in the actual pipeline environment. Especially in the middle and lower regions of the pipeline, due to the action of gravity, silt and debris are more likely to accumulate here, posing great obstacles to the progress of the robot. When the robot encounters complex terrains and obstacles, it often lacks effective coping strategies, resulting in low inspection efficiency and even being unable to complete the scheduled tasks. Summary of the Invention

[0005] In order to overcome the defects of the prior art pointed out above, the inventor of the present invention has conducted in-depth research and completed the present invention after a large amount of creative labor.

[0006] Specifically, the technical problem to be solved by the present invention is: to provide a pipeline inspection robot to solve the technical problem that current robots often lack effective coping strategies when encountering complex terrains and obstacles, resulting in low inspection efficiency and even being unable to complete the scheduled tasks.

[0007] To solve the above technical problem, the present invention provides the following technical solution:

[0008] A pipeline inspection robot includes a first inspection main body and a second inspection main body, and the first inspection main body and the second inspection main body are in a universal connection state. Cameras are installed at the opposite ends of the first inspection main body and the second inspection main body. Guide sliders are installed at the bottoms of the first inspection main body and the second inspection main body, and scissor-type lifting platforms are slidably installed on the guide sliders.

[0009] The inspection main body 1 and the inspection main body 2 have the same structure and size. The inspection main body 1 includes a trapezoidal bin. End covers are fixed at both ends of the trapezoidal bin. A bin cover is installed at the top of the trapezoidal bin. A driving source is installed inside the trapezoidal bin. Three movable ends of the driving source are each provided with a balance platform. An angle conversion component is installed in the middle of the balance platform. A self-propelled hub motor is rotatably installed on the movable end of the angle conversion component.

[0010] As an improved technical solution, a communication hole is opened in the middle of the top of the balance platform. The angle conversion component includes a motor protection shell fixed to the bottom of the balance platform. A wire passing hole is opened at the bottom of the motor protection shell. A spring pre-tightening mechanism is installed inside the motor protection shell. One end of the spring pre-tightening mechanism close to the hub motor is provided with a corner motor for driving the hub motor to rotate. The driving end of the corner motor is fixedly connected to an L-shaped plate, and the hub motor is fixed on the vertical end of the L-shaped plate.

[0011] As an improved technical solution, a thin-film pressure sensor is fixed inside the motor protection shell, and the spring pre-tightening mechanism is installed on one end of the thin-film pressure sensor close to the hub motor.

[0012] As an improved technical solution, the spring pre-tightening mechanism includes a mounting ring plate 1 installed on the thin-film pressure sensor and a mounting ring plate 2 for mounting the corner motor. Springs are installed on the opposite surfaces of the corner motor and the mounting ring plate 2.

[0013] As an improved technical solution, a partition chamber plate is installed inside the trapezoidal bin. The driving source includes a main shaft motor installed on one side of the partition chamber plate. The driving end of the main shaft motor is fixedly connected to a lead screw. A nut is threadedly installed on the threaded end of the lead screw. Three struts are equally spaced and hinged on the peripheral surface of the nut. Communication channels for the struts to pass through are opened at the top of the bin cover and on both sides of the trapezoidal bin. Two rotating rods are hinged and installed on one side of the top of the bin cover away from the communication channels, and the balance platform is hinged between the two rotating rods. The rotating rod close to the communication channel side is hinged to the strut.

[0014] As an improved technical solution, the driving end of the main shaft motor and one end of the lead screw close to the main shaft motor are connected by a coupling. A support frame is fixed inside the trapezoidal bin between the coupling and the lead screw, and the support frame is connected to the shaft end of the lead screw through a bearing installed thereon.

[0015] As an improved technical solution, hinge cavities are provided at both ends of the rotating rod, and shaft blocks are installed on the top of the compartment cover and opposite to the ends of the two rotating rods away from the balancing platform, and the shaft blocks are hingedly connected to the ends of the rotating rods away from the balancing platform, and mounting rods are welded on both sides of the bottom of the balancing platform, and the mounting rods are hingedly connected to the ends of the rotating rods away from the shaft blocks.

[0016] As an improved technical solution, a connecting cavity is provided at the middle end of the rotating rod, both ends of the support rod are arranged in a flat shape, three U-shaped frames are welded at equal intervals on the peripheral surface of the nut, one end of the support rod close to the nut is hingedly mounted inside the U-shaped frame, and the end of the support rod away from the nut is hingedly mounted inside the connecting cavity on the rotating rod close to the side of the connecting channel.

[0017] After adopting the above technical solution, the beneficial effects of the present invention are:

[0018] 1. The inspection robot of the present invention can automatically adjust its posture inside the pipeline, so that the wheel hub motor avoids obstacles such as silt and garbage, ensures that the inspection work is not hindered, and smoothly and completely inspects the inside of the pipeline. It has strong obstacle avoidance ability and high inspection efficiency. In addition, it adopts the three-claw centering principle and the double crank mechanism to ensure that the wheel hub motor is always in close contact with the inner wall of the pipeline. At the same time, through the spring preload mechanism and the adjustable expansion rod group, the robot can adapt to the pipeline environment of different diameters, has a wide range of applications, and further improves the inspection efficiency.

[0019] 2. The present invention can actively adjust the position of the hub motor through the driving source, so that the inspection robot can adapt to pipes of different diameters. At the same time, the support rod and the rotating rod can be replaced for pipes of different diameters, further ensuring that the inspection robot can stably pass through various pipes, flexibly adapt to different pipe environments, and ensure the high efficiency of the inspection and strong adaptability.

[0020] 3. The driving source of the present invention is advantageously utilized by the three-claw automatic centering principle and the double crank mechanism of an ordinary lathe, ensuring that the hub motor on the inspection robot is always in vertical contact with the inner wall of the pipeline, maximizing the contact area and improving the inspection efficiency.

[0021] 4. In the present invention, the corner motor drives the L-shaped plate to rotate 90° clockwise or counterclockwise, that is, to adjust the direction of the hub motor, so as to change the direction of the hub motor and stagger the hub motor and the obstacle. When the hub motor collides with the inner wall of the pipeline, the spring will be compressed, so that the inspection robot adopts the spring preload mechanism for passive adjustment to cope with the change of the inner diameter of the pipeline (the change range is from a few millimeters to a few centimeters).

[0022] 5. In the present invention, when the sheet-type pressure sensor detects the preset pressure of the inner wall of the pipeline, the spindle motor is automatically locked, and the sheet-type pressure sensor is combined with the spindle motor to form a negative feedback control system to ensure the precise control of the expansion rod group. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0024] Figure 1 It is a schematic diagram of the overall structure of the pipeline inspection robot of the present invention.

[0025] Figure 2 It is a structural schematic diagram of the inspection body 1 of the pipeline inspection robot of the present invention.

[0026] Figure 3 It is a schematic cross-sectional structural diagram of the inspection body 1 of the pipeline inspection robot of the present invention.

[0027] Figure 4 It is a structural schematic diagram of the angle conversion component of the pipeline inspection robot of the present invention.

[0028] Figure 5 The figure is a schematic diagram of the structure of the obstacle avoidance process of the pipeline inspection robot of the present invention.

[0029] Description of reference numerals:

[0030] 1. Inspection body 1; 11. Trapezoidal bin; 12. End cover; 13. Bin cover; 14. Connecting channel; 15. Partition plate; 2. Inspection body 2; 3. Camera; 4. Guide slide; 5. Scissor-type upgrade table; 6. Drive source; 61. Spindle motor; 62. Coupling; 63. Support frame; 64. Screw rod; 65. U-shaped frame; 66. Nut; 67. Support rod; 68. Mounting rod; 69. Connecting cavity; 610. Rotating rod; 611. Shaft block; 7. Balancing table; 71. Connecting hole; 8. Angle conversion assembly; 81. Motor protection shell; 82. Threading hole; 83. Thin-film pressure sensor; 84. Mounting ring plate 1; 85. Spring; 86. Mounting ring plate 2; 87. Corner motor; 88. L-shaped plate; 9. Hub motor. DETAILED DESCRIPTION

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, the directional indications will also change accordingly.

[0033] At the same time, the meaning of "and / or" or "and / or" appearing throughout the text is that it includes three scenarios. Taking "A and / or B" as an example, it includes scenario A, or scenario B, or the scenario where both A and B are satisfied simultaneously.

[0034] In addition, the descriptions such as "first" and "second" in the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0035] As Figures 1 to 5 Collectively shown, this embodiment provides a pipeline inspection robot. This pipeline inspection robot includes inspection main body 1 and inspection main body 2, and inspection main body 1 and inspection main body 2 are in a universal connection state. The robot adopts a front-back symmetric design and has a structure that supports each other. Cameras 3 are installed at the opposite ends of inspection main body 1 and inspection main body 2, and guiding sliding seats 4 are installed at the bottoms of inspection main body 1 and inspection main body 2. A scissor-type lifting platform 5 is slidably installed on the guiding sliding seat 4, and an I-shaped slider that slides in the sliding cavity of the guiding sliding seat 4 is installed at the top of the scissor-type lifting platform 5;

[0036] The inspection body 1 and the inspection body 2 are of the same structure and size. The inspection body 1 includes a trapezoidal bin 11, both ends of the trapezoidal bin 11 are fixed with end covers 12, the top of the trapezoidal bin 11 is installed with a bin cover 13, the interior of the trapezoidal bin 11 is installed with a driving source 6, and the three movable ends of the driving source 6 are all located outside the trapezoidal bin 11. The driving source 6 is conducive to utilizing the three-claw automatic centering principle and the double crank mechanism of an ordinary lathe to ensure that the hub motor 9 on the inspection robot is always in vertical contact with the inner wall of the pipeline, maximize the contact area, and improve the inspection efficiency. The three movable ends of the driving source 6 are all provided with a balancing platform 7, and an angle conversion component 8 is installed in the middle of the balancing platform 7. The movable end of the angle conversion component 8 is rotatably installed with a self-propelled hub motor 9.

[0037] The inspection robot can automatically adjust its posture inside the pipeline, so that the hub motor 9 avoids obstacles such as silt and garbage, ensuring that the inspection work is not hindered and that a comprehensive inspection of the inside of the pipeline can be carried out smoothly and completely. It has strong obstacle avoidance ability and high inspection efficiency. In addition, the three-claw centering principle and the double crank mechanism are adopted to ensure that the hub motor 9 is always in close contact with the inner wall of the pipeline. At the same time, through the spring preload mechanism and the adjustable expansion rod group, the robot can adapt to the pipeline environment of different diameters, has a wide range of applications, and further improves the inspection efficiency.

[0038] like Figures 1 to 4 As shown together, in the present embodiment, a connecting hole 71 is provided in the middle of the top of the balancing platform 7, the angle conversion assembly 8 includes a motor protection shell 81 fixed to the bottom of the balancing platform 7, and the motor protection shell 81 and the connecting hole 71 are coaxially arranged, a threading hole 82 is provided at the bottom of the motor protection shell 81, a spring pre-tensioning mechanism is installed inside the motor protection shell 81, and an angle motor 87 for driving the hub motor 9 to rotate is installed at one end of the spring pre-tensioning mechanism close to the hub motor 9, the driving end of the angle motor 87 is fixedly connected to an L-shaped plate 88, and the hub motor 9 is fixed to the vertical end of the L-shaped plate 88.

[0039] The process of the angle conversion component 8 driving the hub motor 9 to rotate is as follows:

[0040] The corner motor 87 drives the L-shaped plate 88 to rotate 90° clockwise or counterclockwise, that is, to adjust the path of the hub motor 9, so as to change the direction of the hub motor 9 and stagger the hub motor 9 with the obstacle.

[0041] like Figure 4As shown, in this embodiment, a thin-film pressure sensor 83 is fixed inside the motor protection shell 81, and a spring preload mechanism is installed on one end of the thin-film pressure sensor 83 close to the hub motor 9. When the thin-film pressure sensor 83 detects a preset pressure on the inner wall of the pipe, the spindle motor 61 is automatically locked. The thin-film pressure sensor 83 is combined with the spindle motor 61 to form a negative feedback control system to ensure precise control of the expansion rod group.

[0042] like Figure 4 As shown, in this embodiment, the spring pre-tensioning mechanism includes a mounting ring plate 1 84 mounted on the thin-film pressure sensor 83, and a mounting ring plate 2 86 for mounting the corner motor 87. A spring 85 is installed on the opposite surface of the corner motor 87 and the mounting ring plate 2 86. When the hub motor 9 contacts the inner wall of the pipeline, the spring 85 will be compressed, so that the inspection robot adopts the spring pre-tensioning mechanism for passive adjustment to cope with the change of the inner diameter of the pipeline ranging from a few millimeters to a few centimeters.

[0043] like Figures 1 to 3 As shown together, in this embodiment, a cavity plate 15 is installed inside the trapezoidal bin 11, and the driving source 6 includes a spindle motor 61 installed on one side of the cavity plate 15, and the driving end of the spindle motor 61 is fixedly connected to a screw rod 64, and a circular hole is provided on the cavity plate 15 for the driving end of the spindle motor 61 to pass through, and a nut 66 is threadedly installed on the threaded end of the screw rod 64, and three struts 67 are hinged on the peripheral surface of the nut 66 at equal intervals, and a connecting channel 14 for the struts 67 to pass through is provided on the top of the bin cover 13 and both sides of the trapezoidal bin 11, and two rotating rods 610 are hingedly installed on the top of the bin cover 13 and on the side away from the connecting channel 14, and the balance table 7 is hinged between the two rotating rods 610, and the rotating rod 610 close to the connecting channel 14 is hingedly connected to the strut 67.

[0044] like Figure 3 As shown, in this embodiment, the driving end of the spindle motor 61 is connected to the end of the screw rod 64 close to the spindle motor 61 through a coupling 62, and a support frame 63 is fixed inside the trapezoidal bin 11 and between the coupling 62 and the screw rod 64, and the support frame 63 is connected to the axial end of the screw rod 64 through a bearing installed thereon.

[0045] like Figure 3 As shown, in this embodiment, hinge cavities are provided at both ends of the rotating rod 610, and shaft blocks 611 are installed on the top of the compartment cover 13 and directly opposite the ends of the two rotating rods 610 away from the balancing platform 7, and the shaft blocks 611 are hingedly connected to the ends of the rotating rods 610 away from the balancing platform 7, and mounting rods 68 are welded on both sides of the bottom of the balancing platform 7, and the mounting rods 68 are hingedly connected to the ends of the rotating rods 610 away from the shaft blocks 611.

[0046] like Figure 3As shown in the figure, in this embodiment, a connection cavity 69 is provided at the middle end of the rotating rod 610. Both ends of the support rod 67 are flat. Three U-shaped frames 65 are welded at equal intervals on the peripheral surface of the nut 66. One end of the support rod 67 close to the nut 66 is hinged and installed inside the U-shaped frame 65, and the other end of the support rod 67 away from the nut 66 is hinged and installed inside the connection cavity 69 of the rotating rod 610 on the side close to the communication channel 14. For pipes with different diameters, the support rod 67 and the rotating rod 610 can be replaced to further ensure that the inspection robot can stably pass through various pipes, flexibly adapt to different pipe environments, ensure the high efficiency of inspection, and have strong adaptability.

[0047] The process of the drive source 6 driving the hub motor 9 to move is as follows:

[0048] 51 drives the lead screw 64 to rotate through the coupling 62. Under the transverse thread transmission of the lead screw 64 and the nut 66, the nut 66 moves along the lead screw 64 towards the main shaft motor 61. At this time, the bottom of the support rod 67 moves towards the main shaft motor 61. Under the hinge action of the support rod 67 and the rotating rod 610, and under the hinge action of the two rotating rods 610 and the balance platform 7, the balance platform 7 is driven to drive the hub motor 9 to move towards the inner wall surface of the pipe, and the hub motor 9 contacts the inner wall surface of the pipe. On the contrary, the lead screw 64 rotates in the reverse direction to drive the nut 66 to move towards the camera 3, so that the balance platform 7 moves towards the center of the pipe. The position of the hub motor 9 can be actively adjusted through the drive source 6, so that the inspection robot can adapt to pipes with different diameters, and the adjustment range is from 0.35 meters to 1 meter.

[0049] During use, the I-shaped slider is installed on the sliding cavity of the guiding slide 4, that is, the scissor lift platform 5 is installed at the bottom of the inspection main body 1 and the inspection main body 2. The inspection main body 1 and the inspection main body 2 are driven to lift as a whole through the telescopic action of the scissor lift platform 5, so that the inspection main body 1 and the inspection main body 2 approach the center of the pipe;

[0050] At this time, stop driving the inspection main body 1 and the inspection main body 2 to move through the scissor lift platform 5, and the drive sources 6 on the inspection main body 1 and the inspection main body 2 are started simultaneously to drive the hub motor 9 to contact the inner wall surface of the pipe, so that the hub motor 9 abuts against the inner wall surface of the pipe, and the inspection main body 1 and the inspection main body 2 are installed at the center of the pipe. Then, the scissor lift platform 5 is withdrawn from the guiding slide 4;

[0051] The hub motor 9 rotates by itself. Under the condition of the friction force between it and the inner wall surface of the pipe, the inspection main body 1 and the inspection main body 2 walk along the inside of the pipe, and the inner wall surface of the pipe is photographed and inspected through the camera 3;

[0052] When the robot is detected to have an obstacle on the inner wall of the pipeline located on the travel route of the wheel hub motor 9 on the way of travel, which blocks the travel of the wheel hub motor 9, the robot stops moving at this time, the wheel hub motor 9 on the inspection body 1 releases the conflict with the inner wall of the pipeline, and the wheel hub motor 9 on the inspection body 2 remains in the state of conflict with the inner wall of the pipeline, then the angle conversion component 8 on the inspection body 1 drives the wheel hub motor 9 to rotate 90° clockwise, then the wheel hub motor 9 on the inspection body 1 conflicts with the inner wall of the pipeline again, and the wheel hub motor 9 is started to verify that the inner wall of the pipeline rotates around, the wheel hub motor 9 staggers the obstacle, so that the obstacle is located between the two wheel hub motors 9, after the wheel hub motor 9 staggers the obstacle, the angle conversion component 8 drives the wheel hub motor 9 to rotate 90° counterclockwise to reset, and then conflicts with the inner wall of the pipeline again;

[0053] Similarly, the inspection body 2 is also moved to avoid obstacles. After the inspection bodies 1 and 2 avoid obstacles, they continue to perform inspections inside the pipeline.

[0054] It should be understood that the purpose of these embodiments is only to illustrate the present invention and is not intended to limit the protection scope of the present invention. In addition, it should also be understood that after reading the technical content of the present invention, those skilled in the art can make various changes, modifications and / or variations to the present invention, and all of these equivalent forms also fall within the protection scope defined by the appended claims of this application.

Claims

1. A pipeline inspection robot, characterized in that: It includes an inspection main body one (1) and an inspection main body two (2), and the inspection main body one (1) and the inspection main body two (2) are in a universal connection state. Cameras (3) are installed at the opposite ends of the inspection main body one (1) and the inspection main body two (2). Guide sliders (4) are installed at the bottoms of the inspection main body one (1) and the inspection main body two (2). A scissor-type lifting platform (5) is slidably installed on the guide sliders (4). The inspection main body one (1) and the inspection main body two (2) have the same structural size. The inspection main body one (1) includes a trapezoidal bin (11). End caps (12) are fixed at both ends of the trapezoidal bin (11). A bin cover (13) is installed at the top of the trapezoidal bin (11). A driving source (6) is installed inside the trapezoidal bin (11). Three movable ends of the driving source (6) are provided with balance platforms (7). An angle conversion component (8) is installed in the middle of the balance platform (7). A self-propelled hub motor (9) is rotatably installed on the movable end of the angle conversion component (8).

2. The pipeline inspection robot according to claim 1, characterized in that: A communication hole (71) is opened in the middle of the top of the balance platform (7). The angle conversion component (8) includes a motor protection shell (81) fixed at the bottom of the balance platform (7). A wire passing hole (82) is opened at the bottom of the motor protection shell (81). A spring pre-tightening mechanism is installed inside the motor protection shell (81). One end of the spring pre-tightening mechanism close to the hub motor (9) is installed with a corner motor (87) for driving the hub motor (9) to rotate. The driving end of the corner motor (87) is fixedly connected with an L-shaped plate (88), and the hub motor (9) is fixed on the vertical end of the L-shaped plate (88).

3. The pipeline inspection robot according to claim 2, characterized in that: A thin-film pressure sensor (83) is fixed inside the motor protection shell (81), and the spring pre-tightening mechanism is installed on one end of the thin-film pressure sensor (83) close to the hub motor (9).

4. The pipeline inspection robot according to claim 3, characterized in that: The spring pre-tightening mechanism includes a mounting ring plate one (84) installed on the thin-film pressure sensor (83), and a mounting ring plate two (86) for mounting the corner motor (87). A spring (85) is installed on the opposite surfaces of the corner motor (87) and the mounting ring plate two (86).

5. The pipeline inspection robot according to claim 4, characterized in that: A partition plate (15) is installed inside the trapezoidal bin (11). The driving source (6) includes a main shaft motor (61) installed on one side of the partition plate (15). The driving end of the main shaft motor (61) is fixedly connected with a lead screw (64). A nut (66) is threadedly installed on the threaded end of the lead screw (64). Three support rods (67) are equally spaced and hinged on the peripheral surface of the nut (66). Communication channels (14) for the support rods (67) to pass through are opened at the top of the bin cover (13) and on both sides of the trapezoidal bin (11). Two rotating rods (610) are hingedly installed on the top of the bin cover (13) and away from one side of the communication channel (14), and the balance platform (7) is hinged between the two rotating rods (610). The rotating rod (610) close to the communication channel (14) is hingedly connected with the support rod (67).

6. The pipeline inspection robot according to claim 5, wherein: The driving end of the main shaft motor (61) is connected to one end of the lead screw (64) close to the main shaft motor (61) through a coupling (62). Inside the trapezoidal bin (11) and located between the coupling (62) and the lead screw (64), a support frame (63) is fixed, and the support frame (63) is connected to the shaft end of the lead screw (64) through a bearing installed thereon.

7. The pipeline inspection robot according to claim 6, wherein: Hinge cavities are provided at both ends of the rotating rod (610). At the top of the bin cover (13) and opposite to the two ends of the rotating rod (610) away from the balance table (7), shaft blocks (611) are installed, and the shaft blocks (611) are hinged to the ends of the rotating rod (610) away from the balance table (7). On both sides of the bottom of the balance table (7), mounting rods (68) are welded, and the mounting rods (68) are hinged to the ends of the rotating rod (610) away from the shaft blocks (611).

8. The pipeline inspection robot according to claim 7, characterized in that: A connection cavity (69) is provided at the middle end of the rotating rod (610). Both ends of the support rod (67) are arranged in a flat shape. Three U-shaped frames (65) are welded at equal intervals on the peripheral surface of the nut (66). One end of the support rod (67) close to the nut (66) is hinged and installed inside the U-shaped frame (65). One end of the support rod (67) away from the nut (66) is hinged and installed inside the connection cavity (69) of the rotating rod (610) on the side close to the communication channel (14).

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