Miniaturized cable pipeline auxiliary construction pipeline robot

Abstract

The invention relates to a small cable pipeline auxiliary construction pipeline robot, and belongs to the technical field of pipeline cable robots, the small cable pipeline auxiliary construction pipeline robot comprises a plurality of vehicle bodies which are sequentially arranged in the crawling direction, and every two adjacent vehicle bodies are hinged through a folding mechanism so as to adjust the included angle between every two adjacent vehicle bodies; each section of vehicle body is connected with a walking mechanism, and at least one walking mechanism is driven by a driving mechanism; the camera angle adjusting mechanism is arranged at the front end of the first vehicle body connected in sequence and comprises a camera box and a push rod mechanism, the infrared camera is arranged in the camera box, and the camera box is pushed to rotate through the push rod mechanism so as to adjust the pitch angle of the infrared camera; and the optical fiber interface is arranged at the rear end of the last vehicle body which is connected in sequence, and a waterproof sealing ring is arranged at the interface position of the optical fiber interface.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline cable robots, and in particular relates to a miniaturized pipeline robot for auxiliary cable pipeline construction. Background Art

[0002] When laying cables in pre-buried pipes, intense friction occurs between the cable surface and the pipe wall. Sharp protrusions on the pipe wall caused by production quality issues can severely scratch the cable surface, posing a risk to subsequent commissioning and maintenance. Furthermore, during cable expansion projects, it's impossible to accurately inspect and locate blockages, pressure deformation, and corrosion damage within pre-buried pipes. Furthermore, threading the cable traction rope through long pre-buried pipes presents significant challenges. Therefore, the development of a pipeline cable robot that integrates pipeline flaw detection and traction capabilities is crucial.

[0003] Current industrial pipeline robots are primarily used for large-diameter pipes. Their complex structures and the need to maintain structural strength while avoiding motion interference result in a generally large overall size. However, few robots are capable of operating in smaller pipes. Furthermore, due to varying voltage levels and the varying thicknesses of pre-buried cable pipelines, there is currently a lack of pipeline robots with adaptive pipe diameter capabilities. Furthermore, current pipeline robots are typically used in horizontal pipelines, with limited adaptability to changing conditions. They perform poorly at height differences or accumulated obstacles at pipeline junctions, making it difficult to climb and advance. Furthermore, due to the lack of internal light sources, current pipeline robots struggle to transmit images of the pipeline interior with low loss and high speed to an external control terminal for real-time viewing, providing operators with real-time insights. Furthermore, due to the complex internal pipeline environment, unexpected situations such as flooding and obstructions can occur at any time. Safely completing pipeline operations through timely control and warnings, and implementing appropriate actions, is a major challenge in current pipeline robot design. Therefore, optimizing the design of cable and pipeline robot technology is of great significance. Summary of the Invention

[0004] In order to solve the above problems existing in the prior art, the present invention provides a miniaturized cable duct auxiliary construction pipeline robot. The technical problem to be solved by the present invention is achieved through the following technical solutions:

[0005] The present invention provides a miniaturized cable duct auxiliary construction pipeline robot, comprising: a plurality of vehicle bodies, which are arranged in sequence along a crawling direction, and two adjacent vehicle bodies are hingedly connected by a folding mechanism to adjust the angle between the two adjacent vehicle bodies; each vehicle body is connected to a walking mechanism, at least one of which is driven by a driving mechanism; a camera angle adjustment mechanism, which is arranged at the front end of the first vehicle body connected in sequence, and comprises: a camera box and a push rod mechanism, an infrared camera is arranged in the camera box, and the camera box is pushed to rotate by the push rod mechanism to adjust the pitch angle of the infrared camera; an optical fiber interface, which is arranged at the rear end of the last vehicle body connected in sequence, and a waterproof sealing ring is provided at the interface of the optical fiber interface.

[0006] In one embodiment of the present invention, a control device is provided in at least one section of the vehicle body, and the control device controls and connects part or all of the folding mechanism, the driving mechanism and the camera angle adjustment mechanism respectively, and the control device is connected to an external optical fiber through the optical fiber interface and is connected to an external control device through the external optical fiber.

[0007] In one embodiment of the present invention, each section of the vehicle body includes: a bottom plate and a side plate, the bottom plate is arranged on one side of the main structure of the vehicle body, and each of the bottom plates is provided with a wiring hole; the side plates are connected to the bottom plate, and the side plates of two adjacent sections of the vehicle body are rotatably connected to each other.

[0008] In one embodiment of the present invention, each of the folding mechanisms includes: a folding drive motor, a folding rotating assembly and a transmission sleeve; wherein, the folding drive motor is fixed on the adjacent first section of the vehicle body, the transmission sleeve is fixed on the side panel of the adjacent second section of the vehicle body, and the folding rotating assembly respectively transmits and connects the folding drive motor and the transmission sleeve.

[0009] In one embodiment of the present invention, the folding rotation assembly includes: a worm and a worm wheel, the worm is directly connected to the folding drive motor and meshes with the worm wheel for transmission; the worm wheel is fixedly connected to the transmission sleeve along the axial direction.

[0010] In one embodiment of the present invention, each of the driving mechanisms includes: a travel drive motor and a bevel gear set, and the bevel gear set is respectively connected to the travel drive motor and the walking mechanism.

[0011] In one embodiment of the present invention, the bevel gear set includes a first bevel gear and a second bevel gear, the output end of the travel drive motor is connected to the first bevel gear, the first bevel gear is meshed with the second bevel gear, and the second bevel gear is coaxially fixedly connected to the corresponding walking mechanism.

[0012] In one embodiment of the present invention, the walking mechanism includes: a connecting shaft and moving wheels, wherein each of the side panels is provided with a through hole, the connecting shaft passes through the through hole, and both ends of the connecting shaft are connected to moving wheels; at least one pair of the moving wheels among all the moving wheels are universal wheels.

[0013] In one embodiment of the present invention, a rotating shaft is provided at one end of the camera box, and a first connecting shaft is provided at the other end.

[0014] In one embodiment of the present invention, the push rod mechanism includes: a push rod, a sliding rod, a return spring, and a second connecting shaft, the front end of the push rod is fixedly connected to the sliding rod, the sliding rod is in sliding contact with the bottom of the camera box, and a return spring is connected between the first connecting shaft and the second connecting shaft;

[0015] When the push rod is pushed out, the slide bar slides to change the pitch angle of the camera box; when the push rod is retracted, the reset spring drives the camera box to reset.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The miniaturized cable conduit auxiliary construction pipeline robot of the present invention effectively solves the key technical problems faced by existing pipeline robots in complex pipeline environments through the innovative design of a multi-section articulated body and a folding mechanism. Through the design of the folding mechanism, the robot can automatically adjust the angle between the bodies according to the changes in the inner diameter of the pipeline, so that most of the walking mechanism always maintains close contact with the inner wall of the pipeline, thereby significantly improving the driving force and passability. In response to the detection needs in the dark environment inside the pipeline, the camera angle adjustment mechanism is combined with the infrared camera to achieve all-round image acquisition. At the same time, the fiber optic interface with a waterproof and sealed design effectively overcomes the signal shielding problem of traditional wireless communication in metal pipelines, ensuring the real-time and reliable transmission of detection data.

[0018] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic structural diagram of a miniaturized cable duct auxiliary construction pipeline robot provided by an embodiment of the present invention;

[0020] Figure 2 1 is a schematic diagram of a folded state of a miniaturized cable duct auxiliary construction pipeline robot provided by an embodiment of the present invention;

[0021] Figure 3 is a structural schematic diagram of a folding mechanism provided by an embodiment of the present invention;

[0022] Figure 4 Schematic diagram of the structure of the walking mechanism and the driving mechanism provided by an embodiment of the present invention;

[0023] Figure 5 2 is a structural diagram of a camera angle adjustment mechanism provided by an embodiment of the present invention;

[0024] Figure 6 It is a structural cross-sectional view of a camera angle adjustment mechanism provided by an embodiment of the present invention.

[0025] Figure numerals: 100-body; 110-bottom plate; 120-side plate; 130-wiring hole; 200-folding mechanism; 210-folding drive motor; 220-folding rotating assembly; 221-worm; 222-worm wheel; 230-transmission sleeve; 300-traveling mechanism; 310-connecting shaft; 320-moving wheel; 330-coupling; 340-bearing; 400-driving mechanism; 410-travel drive motor; 420-bevel gear set; 500-camera angle adjustment mechanism; 510-camera box; 511-rotating shaft; 512-first connecting shaft; 520-push rod mechanism; 521-push rod; 522-slide rod; 523-reset spring; 524-second connecting shaft; 530-guide slide groove; 600-optical fiber interface. DETAILED DESCRIPTION

[0026] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the following is a detailed description of a miniaturized cable duct auxiliary construction pipeline robot proposed in accordance with the present invention in combination with the accompanying drawings and specific embodiments.

[0027] The aforementioned and other technical contents, features, and effects of the present invention are clearly presented in the following detailed description of the specific embodiments in conjunction with the accompanying drawings. Through the description of the specific embodiments, a deeper and more specific understanding of the technical means and effects adopted by the present invention to achieve the intended purpose can be obtained. However, the accompanying drawings are provided for reference and illustration purposes only and are not intended to limit the technical solutions of the present invention.

[0028] Example 1

[0029] The pipeline robots in related technologies are not adaptable enough to different pipeline inner diameters. For example, they can only adapt to pipelines with a fixed inner diameter and are difficult to handle small-sized pipelines. Current pipeline robots are usually used in horizontal pipelines, cannot flexibly adjust their own posture, have poor adaptability to changes in the situation inside the pipeline, and find it difficult to work in irregular pipelines or pipelines with accumulated obstacles. Current pipeline robots find it difficult to transmit images inside the pipeline to the control end outside the pipeline at low loss and high speed and display them so that operators can understand the situation inside the pipeline in real time.

[0030] Based on the above-mentioned problems, this embodiment provides a miniaturized cable pipeline auxiliary construction pipeline robot, which can not only work in pipelines in multiple scenarios and improve the passing efficiency in the pipeline, but also transmit the image inside the pipeline to the outside of the pipeline with low loss and high speed, so that the operator can understand the situation inside the pipeline in real time.

[0031] like Figures 1 to 6 As shown, Figure 1 This is a structural schematic diagram of a miniaturized cable duct auxiliary construction pipeline robot provided by an embodiment of the present invention; Figure 2 1 is a schematic diagram of a folded state of a miniaturized cable and duct auxiliary construction pipeline robot provided by an embodiment of the present invention; Figure 3 is a structural schematic diagram of a folding mechanism provided by an embodiment of the present invention; Figure 4 Schematic diagram of the structure of the walking mechanism and the driving mechanism provided by an embodiment of the present invention; Figure 5 2 is a structural diagram of a camera angle adjustment mechanism provided by an embodiment of the present invention; Figure 6 It is a structural cross-sectional view of a camera angle adjustment mechanism provided by an embodiment of the present invention.

[0032] In this embodiment, a miniaturized cable duct auxiliary construction pipeline robot includes: multiple vehicle bodies 100, which are arranged in sequence along a crawling direction, and adjacent vehicle bodies 100 are hingedly connected by a folding mechanism 200 to adjust the angle between the adjacent vehicle bodies 100; each vehicle body 100 is connected to a walking mechanism 300, wherein at least one walking mechanism 300 is driven by a driving mechanism 400; a camera angle adjustment mechanism 500, which is arranged at the front end of the first vehicle body 100 connected in sequence, and includes: a camera box 510 and a push rod mechanism 520, an infrared camera (not shown in the figure) is arranged in the camera box 510, and the camera box 510 is rotated by the push rod mechanism 520 to adjust the pitch angle of the infrared camera; an optical fiber interface 600, which is arranged at the rear end of the last vehicle body 100 connected in sequence, and a waterproof sealing ring is provided at the interface of the optical fiber interface 600 to prevent moisture from entering the interface, ensure the reliability and stability of communication, thereby achieving waterproof sealing and communicating with equipment outside the pipeline via optical fiber.

[0033] It is noteworthy that the miniaturized cable conduit auxiliary construction robot of this embodiment, through the provision of a folding mechanism 200, enables the traveling mechanism 300 to closely adhere to the inner wall of the pipe, thereby providing the pipeline robot with a certain degree of pipe diameter adaptation and providing driving force for its movement. It also enables the pipeline robot to have a certain degree of obstacle surmounting and passability in irregular pipes. Specifically, by adjusting the angle of the vehicle body 100 through the folding mechanism 200, the traveling mechanism 300 always conforms to the inner wall of the pipe. Combined with the steering function of some of the moving wheels 320, this achieves adaptive passage through curved and variable-diameter pipes.

[0034] In addition, since there is usually no light source inside the pipeline, ordinary cameras cannot take pictures. Therefore, the miniaturized cable pipeline auxiliary construction pipeline robot of this embodiment uses an infrared camera to take pictures of the interior of the pipeline, and is equipped with a camera angle adjustment mechanism 500, so that the camera's shooting angle can be adjusted according to the body state of the pipeline robot, so as to accurately reflect the situation inside the pipeline and provide an early warning judgment basis for possible emergencies.

[0035] In addition, since signals inside pipelines are easily shielded, wireless communication often cannot guarantee communication quality. Fiber optic communication has strong anti-interference ability, large transmission capacity, and fast speed, which can meet the requirements of pipeline robots for real-time communication in closed pipelines. Therefore, the miniaturized cable pipeline assisted construction pipeline robot in this embodiment uses optical fiber to achieve communication inside and outside the pipeline.

[0036] For example, optical fiber interface 600 may be a single-mode optical fiber interface, i.e., used to connect to a single-mode optical fiber. Due to the high bandwidth and low attenuation characteristics of single-mode optical fiber, it facilitates long-distance communication and high-speed data transmission. Furthermore, optical fiber interface 600 may be configured as other types of interfaces, such as a multimode optical fiber interface, or used in conjunction with multiple optical fiber interfaces 600 to meet the needs of different application scenarios. The present invention is not limited in this regard.

[0037] In an optional embodiment, a control device (not shown in the figure) is provided in at least one section of the vehicle body 100, and the control device controls and connects part or all of the folding mechanism 200, the driving mechanism 400 and the camera angle adjustment mechanism 500, and the control device is connected to an external optical fiber through an optical fiber interface 600, and is further connected to an external control device through an external optical fiber.

[0038] For example, the control device can control the angle between adjacent sections of the pipeline robot 100 by controlling the rotational speed of the folding drive motor 210, and the crawling direction and speed of the pipeline robot by controlling the rotational speed of the travel drive motor 410. For example, the folding drive motor 210 can be controlled by ground equipment based on feedback signals from an infrared camera to adjust the angle between adjacent sections of the vehicle 100. The control device can also adjust the infrared camera's shooting angle by controlling the extension and retraction distance of the push rod 521.

[0039] Specifically, at least one of all the walking mechanisms 300 is a steerable walking mechanism 300, that is, at least one walking mechanism 300 can be steered; by controlling the rotational speed of multiple walking mechanisms 300 through the travel drive motor 410, adjustment of the crawling direction along the pipeline can be achieved, and the speed of the pipeline robot can continue to be controlled by controlling the rotational speed of multiple walking mechanisms 300.

[0040] Exemplarily, it can be set to two or three car bodies 100. The following only takes two car bodies 100 as an example, and the two car bodies 100 are connected in sequence along the crawling direction, wherein the crawling direction is the movement direction of the pipeline robot.

[0041] For example, the vehicle body 100 is not only the main part of the pipeline robot skeleton, but is also used to place accessories such as the pipeline robot's drive motor, control device, and battery.

[0042] In an optional embodiment, each section of the vehicle body 100 includes: a bottom plate 110 and a side plate 120, the bottom plate 110 is arranged on one side of the main structure of the vehicle body 100, and each bottom plate 110 is provided with a wiring hole 130; the side plate 120 is connected to the bottom plate 110, and the side plates 120 of two adjacent vehicle bodies 100 are rotatably connected to each other.

[0043] In an optional embodiment, each folding mechanism 200 includes: a folding drive motor 210, a folding rotation assembly 220 and a transmission sleeve 230; wherein, the folding drive motor 210 is fixed on the adjacent first section of the car body 100, the transmission sleeve 230 is fixed on the side panel 120 of the adjacent second section of the car body 100, and the folding rotation assembly 220 is respectively connected to the folding drive motor 210 and the transmission sleeve 230.

[0044] Illustratively, the worm gear 222 is provided with a plurality of mounting holes along the axial direction, and is fixedly connected to the transmission sleeve 230 through the mounting holes and fasteners, and further fixedly connected to one of the side panels 120 of the two vehicle bodies 100 .

[0045] In an optional embodiment, the folding rotation assembly 220 includes: a worm 221 and a worm wheel 222, the worm 221 is directly connected to the folding drive motor 210 and meshes with the worm wheel 222 for transmission; the worm wheel 222 is fixedly connected to the transmission sleeve 230 along the axial direction.

[0046] Specifically, the folding mechanism 200 is positioned between two adjacent vehicle bodies 100, adjusting the angle between them so that the running mechanism 300 connected to both vehicle bodies 100 adheres to the inner wall of the pipe. This folding mechanism 200 enables the robot to adapt to pipe diameters and provides a strong driving force for movement. It also enables the pipeline robot to overcome obstacles and navigate irregular pipes.

[0047] When the folding drive motor 210 is powered on, it drives the worm 221 to rotate, and the teeth of the worm wheel 222 slide and roll along the spiral surface of the worm 221, thereby changing the angle between the two sections of the vehicle body 100. After the folding drive motor 210 stops rotating, the self-locking function between the worm 221 and the worm wheel 222 prevents the relative position between the worm 221 and the worm wheel 222 from changing, thereby fixing the angle between the two sections of the vehicle body 100. At the same time, the folding drive motor 210 can also be used to adjust the angle in real time.

[0048] In an optional embodiment, each driving mechanism 400 includes: a travel driving motor 410 and a bevel gear set 420 , and the bevel gear set 420 is respectively connected to the travel driving motor 410 and the walking mechanism 300 in a transmission manner.

[0049] In an optional embodiment, the bevel gear set 420 includes a first bevel gear and a second bevel gear, the output end of the travel drive motor 410 is connected to the first bevel gear, the first bevel gear is meshed with the second bevel gear, and the second bevel gear is coaxially fixedly connected to the corresponding walking mechanism 300.

[0050] In an optional embodiment, the walking mechanism 300 includes: a connecting shaft 310 and moving wheels 320, wherein each side plate 120 is provided with a through hole, the connecting shaft 310 passes through the through hole, and both ends of the connecting shaft 310 are connected to the moving wheels 320; at least one pair of the moving wheels 320 among all the moving wheels 320 are universal wheels to realize bending pipe steering.

[0051] Exemplarily, two adjacent car bodies 100 are connected by a connecting shaft 310, and the folding mechanism 200 includes a folding drive motor 210 and a folding rotation assembly 220. The folding drive motor 210 is fixedly connected to one of the two car bodies 100, and the folding rotation assembly 220 is arranged on the other of the two car bodies 100. The folding drive motor 210 drives the folding rotation assembly 220 to rotate so that an angle is formed between the two car bodies 100.

[0052] For example, the pipeline robot is provided with three running mechanisms 300, respectively located at the end of the first car body 100 away from the second car body 100, between the first and second car bodies 100, and at the end of the second car body 100 away from the first car body 100. Each running mechanism 300 includes two moving wheels 320, which are arranged at both ends of the connecting shaft 310 via a coupling 330.

[0053] Illustratively, the vehicle body 100 is disposed on the connecting shaft 310 or an adjacent vehicle body 100 via a bearing 340 .

[0054] Furthermore, the running mechanism 300 located at the end of the first car body 100 away from the second car body 100 and the running mechanism 300 located at the end of the second car body 100 away from the first car body 100 are both driven by the driving mechanism 400, and the running mechanism 300 located between the first car body 100 and the second car body 100 is in a driven state.

[0055] Specifically, the traveling mechanism 300 is provided at the connection between two adjacent car bodies 100, as well as at the front end of the first car body 100 and the rear end of the tail car body 100. The traveling mechanisms 300 provided at the front end of the first car body 100 and the rear end of the tail car body 100 are driven by corresponding drive mechanisms 400, respectively, to drive the multiple car bodies 100 to move within the pipeline. The drive mechanism 400 includes a pair of bevel gear sets 420, one of which is adapted to be connected to the connecting shaft 310, and the other is fixedly connected to the travel drive motor 410. The power of the travel drive motor 410 is transmitted to the connecting shaft 310 via the bevel gear set 420, thereby driving the traveling mechanism 300 to travel via the connecting shaft 310.

[0056] In an optional embodiment, a rotating shaft 511 is provided at one end of the camera box 510, and a first connecting shaft 512 is provided at the other end.

[0057] In an optional embodiment, the push rod mechanism 520 includes: a push rod 521, a sliding rod 522, a return spring 523 and a second connecting shaft 524. The front end of the push rod 521 is fixedly connected to the sliding rod 522. The sliding rod 522 is in sliding contact with the bottom of the camera box 510. A return spring 523 is connected between the first connecting shaft 512 and the second connecting shaft 524. When the push rod 521 is pushed out, the sliding rod 522 slides to change the pitch angle of the camera box 510. When the push rod 521 is retracted, the camera box 510 is reset by the return spring 523.

[0058] Exemplarily, the rotating shaft 511 and the first connecting shaft 512 are fixedly connected to the upper and lower sides of the camera box 510, respectively. The second connecting shaft 524 is fixedly connected to the lower end of the vehicle body 100. The ends of the spring are respectively connected to the first connecting shaft 512 and the second connecting shaft 524. The upper end of the camera box 510 is connected to the front end of the vehicle body 100 via the rotating shaft 511 and can rotate along the rotating shaft 511. The lower end of the camera box 510 is elastically connected to the front end of the vehicle body 100 via the return spring 523. In addition to achieving reset, the return spring 523 also ensures the stability of the infrared camera during adjustment through spring damping.

[0059] Exemplarily, one side of the slide rod 522 is fixed to the front end of the push rod 521, and the other side is tangent to the bottom surface of the camera box 510, and can slide along the guide groove 530, wherein the guide groove 530 is arranged in the horizontal direction to guide the sliding of the slide rod 522.

[0060] Exemplarily, the push rod 521 is fixedly connected to the front end of the vehicle body 100 by a fastener. After the push rod 521 is powered on, the pitch angle of the camera box 510 is changed by pushing forward or pulling backward the slide bar 522, thereby adjusting the shooting angle of the infrared camera.

[0061] Specifically, the camera angle adjustment mechanism 500 is arranged at the front end of the first vehicle body 100, and is used to adjust the shooting angle of the infrared camera, so that the shooting angle of the infrared camera can be adjusted according to the body state of the pipeline robot to accurately reflect the situation inside the pipe.

[0062] It is worth noting that the miniaturized cable duct auxiliary construction pipeline robot of this embodiment is connected in sequence through multiple sections of vehicle bodies 100, and a walking mechanism 300 is set respectively. The folding mechanism 200 set between adjacent vehicle bodies 100 is adjusted to change the angle between two adjacent vehicle bodies 100, so that the walking mechanism 300 connected between adjacent vehicle bodies 100 is close to the inner wall of the pipeline. This arrangement not only has good passability for curved pipes and irregular pipes, but also makes part of the walking mechanism 300 always close to the inner wall of the pipeline, which can provide a strong driving force for the pipeline robot to walk. The walking mechanism 300 close to the inner wall of the pipeline also enables the pipeline robot to pass through pipelines with low friction coefficients better. Compared with traditional pipeline robots with rigid structures, the miniaturized cable duct auxiliary construction pipeline robot of this embodiment, through the articulated vehicle body 100 and the folding structure 200 based on the worm 221 and the worm gear 222, realizes dynamic adjustment to adapt to changes in pipe diameter and takes into account stability.

[0063] In addition, when working in pipelines of different diameters, since the angles between the two adjacent car bodies 100 of the pipeline robot are different, in order to ensure that the infrared camera installed on the first car body 100 can be adjusted to a suitable angle to capture images inside the pipeline, the present invention has designed a camera angle adjustment mechanism 500, so that the shooting angle of the infrared camera can be flexibly adjusted according to the folding situation of the pipeline robot, so as to accurately capture images inside the pipeline.

[0064] The miniaturized cable conduit auxiliary construction pipeline robot of the present invention effectively solves the key technical problems faced by existing pipeline robots in complex pipeline environments through the innovative design of a multi-section articulated body and a folding mechanism. Through the design of the folding mechanism, the robot can automatically adjust the angle between the bodies according to the changes in the inner diameter of the pipeline, so that most of the walking mechanism always maintains close contact with the inner wall of the pipeline, thereby significantly improving the driving force and passability. In response to the detection needs in the dark environment inside the pipeline, the camera angle adjustment mechanism is combined with the infrared camera to achieve all-round image acquisition. At the same time, the fiber optic interface with a waterproof and sealed design effectively overcomes the signal shielding problem of traditional wireless communication in metal pipelines, ensuring the real-time and reliable transmission of detection data.

[0065] It should be noted that, in this document, relational terms such as first and second are used solely to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations. Furthermore, the terms "comprise," "include," or any other variations thereof are intended to encompass non-exclusive inclusion, such that an article or device comprising a list of elements includes not only those elements but also other elements not explicitly listed. Without further limitation, an element defined by the phrase "comprising a..." does not preclude the presence of additional identical elements in the article or device comprising the element. Terms such as "connected" or "connected" are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. References to orientations or positional relationships, such as "upper," "lower," "left," and "right," are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate description and simplify the description of the present invention. They do not indicate or imply that the device or element referred to must have, be constructed, or operate in a specific orientation, and are therefore not to be construed as limiting the present invention.

[0066] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. A miniaturized cable duct auxiliary construction pipeline robot, characterized in that: include: Multiple vehicle bodies are arranged in sequence along the crawling direction, and two adjacent vehicle bodies are hingedly connected by a folding mechanism to adjust the angle between the two adjacent vehicle bodies; each vehicle body is connected to a running mechanism, and at least one of the running mechanisms is driven by a driving mechanism; A camera angle adjustment mechanism is provided at the front end of the first of the sequentially connected vehicle bodies, comprising: a camera box and a push rod mechanism, wherein the infrared camera is provided in the camera box, and the push rod mechanism is used to push the camera box to rotate so as to adjust the pitch angle of the infrared camera; The optical fiber interface is arranged at the rear end of the last vehicle body connected in sequence, and a waterproof sealing ring is provided at the interface of the optical fiber interface.

2. The miniaturized cable duct auxiliary construction pipeline robot according to claim 1 is characterized in that: A control device is provided in at least one section of the vehicle body, and the control device controls and connects part or all of the folding mechanism, the driving mechanism and the camera angle adjustment mechanism respectively, and the control device is connected to an external optical fiber through the optical fiber interface and is connected to an external control device through the external optical fiber.

3. The miniaturized cable duct auxiliary construction pipeline robot according to claim 1 is characterized in that: Each section of the vehicle body includes: a bottom plate and a side plate. The bottom plate is arranged on one side of the main structure of the vehicle body. Each bottom plate is provided with a wiring hole. The side plates are connected to the bottom plate. The side plates of two adjacent sections of the vehicle body are rotatably connected to each other.

4. The miniaturized cable duct auxiliary construction pipeline robot according to claim 1 is characterized in that: Each of the folding mechanisms includes: a folding drive motor, a folding rotating assembly and a transmission sleeve; wherein, the folding drive motor is fixed on the adjacent first section of the vehicle body, the transmission sleeve is fixed on the side panel of the adjacent second section of the vehicle body, and the folding rotating assembly is respectively connected to the folding drive motor and the transmission sleeve.

5. The miniaturized cable duct auxiliary construction pipeline robot according to claim 4 is characterized in that: The folding rotation assembly includes a worm and a worm wheel. The worm is directly connected to the folding drive motor and meshes with the worm wheel for transmission. The worm wheel is fixedly connected to the transmission sleeve along the axial direction.

6. The miniaturized cable duct auxiliary construction pipeline robot according to claim 1 is characterized in that: Each of the driving mechanisms includes a travel drive motor and a bevel gear set, and the bevel gear set is respectively connected to the travel drive motor and the walking mechanism.

7. The miniaturized cable duct auxiliary construction pipeline robot according to claim 6 is characterized in that: The bevel gear set includes a first bevel gear and a second bevel gear. The output end of the travel drive motor is connected to the first bevel gear. The first bevel gear is meshed with the second bevel gear. The second bevel gear is coaxially fixedly connected to the corresponding travel mechanism.

8. The miniaturized cable duct auxiliary construction pipeline robot according to claim 5 is characterized in that: The walking mechanism includes: a connecting shaft and moving wheels, wherein each of the side panels is provided with a through hole, the connecting shaft passes through the through hole, and both ends of the connecting shaft are connected to the moving wheels; at least one pair of the moving wheels among all the moving wheels are universal wheels.

9. The miniaturized cable duct auxiliary construction pipeline robot according to claim 1, characterized in that: One end of the camera box is provided with a rotating shaft, and the other end is provided with a first connecting shaft.

10. The miniaturized cable duct auxiliary construction pipeline robot according to claim 9, characterized in that: The push rod mechanism includes: a push rod, a sliding rod, a return spring and a second connecting shaft. The front end of the push rod is fixedly connected to the sliding rod. The sliding rod is in sliding contact with the bottom of the camera box. A return spring is connected between the first connecting shaft and the second connecting shaft. When the push rod is pushed out, the slide bar slides to change the pitch angle of the camera box; when the push rod is retracted, the reset spring drives the camera box to reset.

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