Pipeline detection robot with intelligent probe

Abstract

The invention discloses a pipeline detection robot with an intelligent probe, and relates to the technical field of pipeline detection robots. Comprising a main body, a push strip is connected to a center shaft in the main body through an electric push rod, a fixing assembly is arranged on the outer wall of a sleeve in an equal-angle surrounding mode, a driving assembly is arranged on one side of a rotating plate, an adjusting assembly is arranged at the bottom of a fixing plate, a wall scraping ring is arranged on one side of the fixing plate, and a swing assembly is arranged on the inner wall of the wall scraping ring. A first gear is engaged with a first rack to drive a first bevel gear to rotate, and then a movable plate at the top end of a second rack is driven to move, so that a wall scraping ring moves, and when the wall scraping ring moves in pipelines with different diameters, the distance between the wall scraping ring and a camera can be synchronously adjusted; the supporting plate and the wall scraping ring can adapt to the inner walls of pipelines with different diameters through the pushing strip, the scraping and detecting processes are completed through one-time passing, and secondary pollution to a cleaned area is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline detection robots, in particular to a pipeline detection robot with an intelligent probe. BACKGROUND

[0002] A pipeline detection robot is an automatic device integrating intelligent perception, autonomous navigation, data processing and other technologies, mainly used for internal defect detection, state evaluation and environmental monitoring of various pipelines (such as urban drainage pipelines, oil and gas pipelines, industrial pipelines, etc.), and its core advantage lies in reducing labor costs, improving detection efficiency, reducing safety risks, and providing data support for pipeline life cycle management. In the actual operation process, the technician puts the robot vertically into the pipeline inlet through a special support, ensures the axis to be aligned with the center of the pipeline, starts the driving motor to drive the traveling wheel to drive the robot to travel in the pipeline, and the robot can perform rough and fine detection while traveling in the pipeline. The detected data is received by the ground control unit and then a detection report is prepared.

[0003] The traditional detection robot first removes the entire pipeline and then takes pictures point by point. The dirt particles carried by the fluid in the pipeline are easily backflowed to the cleaned area, causing secondary pollution of the cleaned area, and the dirt will block the detection area again, affecting the reliability of the detection result. In addition, the dirt generated by mechanical scraping will vertically fall and adhere to the surface of the camera lens, forming a physical obstruction and causing local blur, shadow or light spot in the image. When the detection robot takes pictures in different pipelines, the shooting range will move towards the inside of the pipeline as the diameter of the pipeline changes. The scraping mechanism of the traditional detection robot is fixed in position, which is not convenient for adapting to the change of the camera shooting range in different pipelines, resulting in incomplete shooting pictures.

[0004] In view of the above problems, it is urgent to make innovative design on the basis of the original pipeline detection robot with an intelligent probe. SUMMARY

[0005] The technical solution of the present application provides a significantly different solution from the prior art to solve the technical problem of the over-simplified technical solution of the prior art. Specifically, the purpose of the present application is to provide a pipeline detection robot with an intelligent probe to solve the problems raised in the background art.

[0006] In order to achieve the above object, the present application provides the following technical scheme: a pipeline detection robot with an intelligent probe, comprising a main body, a push bar connected to the center axis of the main body through an electric push rod, a sleeve arranged on the outer wall of the push bar, and the sleeve connected to the inside of the main body through a connecting piece, a fixed assembly arranged at equal angles on the outer wall of the sleeve, a traveling wheel arranged on the outside of the fixed assembly, a rotating plate rotatably connected to one side of the sleeve, a drive assembly arranged on one side of the rotating plate, a plurality of sliding grooves arranged at equal angles on the rotating plate, a sliding plate limitingly and movably connected to the inside of each sliding groove, a fixed plate fixed to the top end of the sliding plate, an adjusting assembly arranged on the bottom of the fixed plate, and a wall scraping ring arranged on one side of the fixed plate, wherein the wall scraping ring is a conical frustum with an opening, and a swing assembly is arranged on the inner wall of the wall scraping ring. The drive assembly comprises a spur gear driven by a motor, a gear ring engaged with the spur gear, and the gear ring fixedly connected to one side of the rotating plate.

[0007] Preferably, the fixed assembly comprises a fixed ring fixed to the outer wall of the push bar, an X support rotatably connected to the protruding position of the fixed ring on the outer wall at equal angles through a connecting shaft, and a support plate movably connected to the top end of the X support.

[0008] Preferably, a connecting ring is fixed to the outer wall of the sleeve, and the connecting ring is rotatably connected to the X support at the protruding position on the outer wall at equal angles through a connecting shaft.

[0009] Preferably, the adjusting assembly comprises a sliding cylinder arranged on one end of the push bar, a connecting plate rotatably connected to the protruding position on the outer wall of the sliding cylinder at equal angles, and the connecting plate rotatably connected to one side of the fixed plate.

[0010] Preferably, a first rack is arranged in the sliding groove of the rotating plate, a first gear engaged with one side of the first rack, a belt connected to the first gear through a rotating shaft, and a first bevel gear rotatably connected to the other end of the belt.

[0011] Preferably, a cavity for placing the first gear and the belt is arranged in the inner wall of the sliding plate, and the first gear is fixed in the inside of the sliding plate through a connecting shaft.

[0012] Preferably, a second bevel gear engaged with one side of the first bevel gear, a second gear connected to the second bevel gear through a rotating shaft, a second rack engaged with one side of the second gear, and a moving plate fixed to the top end of the second rack.

[0013] Preferably, a cavity for placing the second bevel gear is arranged in the inside of the fixed plate, and the fixed plate is provided with a cavity for sliding the second rack and the moving plate.

[0014] Preferably, the swing assembly comprises a rotating seat arranged on one side of the moving plate, the rotating seat is connected with the motor through a rotating shaft, one side of the rotating seat is provided with a swing piece, the swing piece is externally sleeved with a connecting frame, and the connecting frame is fixedly connected with the inner wall of the wall scraping ring.

[0015] Compared with the prior art, the present application has the following advantages: 1、The sliding plate moves to make the first gear mesh with the first rack to make the first gear rotate, the first gear rotation drives the first bevel gear to rotate through the belt, and then drives the second bevel gear to rotate, the second bevel gear rotation drives the second gear at the top to rotate, and then drives the second rack engaged therewith to move, the second rack movement drives the moving plate at the top end to move, so that the wall scraping ring moves, so that when the wall scraping ring moves in the pipeline with different diameters, the distance between the wall scraping ring and the camera can be adjusted synchronously, when the camera is in the pipeline with different diameters, the range that can be shot is gradually moved to the deep part of the pipeline as the diameter of the pipeline increases, when detecting in the pipeline with increasing diameter, the wall scraping ring moves to the deep part of the pipeline while moving to fit the inner wall of the pipeline, ensuring that the detection field of view is covered without dirt all the time, avoiding the cleaning blind area caused by the change of the visual angle.

[0016] 2、The fixed ring moves synchronously through the outer wall fixed connection of the push rod, the fixed ring moves through the limiting plate arranged on the outer wall to drive the X support to move, and then drives the support plate at the top end of the X support to open to the inner wall of the pipeline, and the push rod synchronously drives the sliding cylinder to slide, the sliding cylinder moves through the limiting plate fixedly connected on the outer wall to drive the connecting plate to move, so as to drive the fixed plate to open to the center axis of the pipeline, synchronously drive the wall scraping ring to move, so that the support plate and the wall scraping ring can adapt to the inner wall of the pipeline with different diameters.

[0017] 3、The gear ring is driven to rotate by the rotation of the spur gear, and then the rotating plate is driven to rotate, so that the wall scraping ring rotates in the pipeline to clean the dirt on the inner wall of the pipeline, and because the wall scraping ring is an open conical structure, the outer side protruding position cleans the inner wall of the pipeline, so that the dirt enters the inside of the wall scraping ring, after the wall scraping ring removes the dirt, the dirt will fall from the tail position of the wall scraping ring to the rear of the camera under the guidance of the inner wall slope of the wall scraping ring, to prevent the falling dirt from shielding the imaging of the camera, the rotating seat is driven to rotate by the motor, the rotating seat drives the swing piece to rotate, so as to drive the connecting frame to swing, and then drive the wall scraping ring to swing to form a composite cleaning track, effectively solving the problem of stubborn dirt residue on the inner wall of the pipeline. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a three-dimensional structure schematic view of the present application; Figure 2 is another perspective three-dimensional structure schematic view of the present application; Figure 3 is a three-dimensional structure side view of the present application; Figure 4 The fixed component of the application is a three-dimensional structure diagram; Figure 5 The X bracket and support plate connection structure diagram of the application is a three-dimensional structure diagram; Figure 6 The push bar and fixed ring connection structure diagram of the application is a three-dimensional structure diagram; Figure 7 The limit plate and sliding plate connection structure diagram of the application is a three-dimensional structure diagram; Figure 8 The first gear and belt connection structure diagram of the application is a three-dimensional structure diagram; Figure 9 The second rack and moving plate connection structure diagram of the application is a three-dimensional structure diagram; Figure 10 The rotating seat and swing piece connection structure diagram of the application is a three-dimensional structure diagram; Figure 11 The push bar and sliding cylinder connection structure diagram of the application is a three-dimensional structure diagram.

[0019] In the figure: 1, main body; 2, push bar; 3, sleeve; 401, fixed ring; 402, connecting ring; 403, X bracket; 404, support plate; 5, rotating plate; 601, straight gear; 602, gear ring; 7, sliding plate; 8, fixed plate; 901, sliding cylinder; 902, connecting plate; 903, first rack; 904, first gear; 905, belt; 906, first helical gear; 907, second helical gear; 908, second gear; 909, second rack; 910, moving plate; 101, rotating seat; 102, swing piece; 103, connecting frame; 11, wall scraping ring. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0021] Please refer to Figures 1 to 11The application provides a technical scheme: a pipeline detection robot with an intelligent probe, which comprises a main body 1, a push bar 2 connected to the central axis of the main body 1 through an electric push rod, a sleeve 3 sleeved on the outer wall of the push bar 2, and the sleeve 3 is connected to the inside of the main body 1 through a connecting piece, a fixing assembly is arranged at equal angles on the outer wall of the sleeve 3, a traveling wheel is arranged outside the fixing assembly, a rotating plate 5 is rotatably connected to one side of the sleeve 3, a driving assembly is arranged on one side of the rotating plate 5, a plurality of sliding grooves are formed at equal angles in the rotating plate 5, a sliding plate 7 is movably connected in each sliding groove, a fixed plate 8 is fixed to the top end of the sliding plate 7, an adjusting assembly is arranged on the bottom of the fixed plate 8, a wall scraping ring 11 is arranged on one side of the fixed plate 8, and the wall scraping ring 11 is a truncated cone with an opening, and a swinging assembly is arranged on the inner wall of the wall scraping ring 11. The driving assembly comprises a straight gear 601 driven by a motor, the straight gear 601 is engaged with a gear ring 602, and the gear ring 602 is fixedly connected to one side of the rotating plate 5.

[0022] In specific implementation, the electric push rod at the central axis of the main body 1 drives the push bar 2 to move, the sleeve 3 sleeved on the outer wall of the push bar 2 is fixed to the main body 1 through the connecting piece, the fixing assembly arranged at equal angles on the outer wall of the sleeve 3 is used for supporting the robot and adapting to different pipe diameters, the motor drives the rotating plate 5 to rotate through the driving assembly, the sliding grooves on the rotating plate 5 are matched with the sliding plates 7, the sliding plates 7 are connected to the fixed plates 8 through the limiting plates, the adjusting assembly on the bottom of the fixed plate 8 can adjust the position of the wall scraping ring 11, so that the wall scraping ring 11 moves to the deep part of the pipeline while adhering to the inner wall of the pipeline, and the shooting range of the robot is ensured to be cleaned, the wall scraping ring 11 is a truncated cone with an opening, and the swinging assembly on the inner wall of the wall scraping ring 11 can enhance the cleaning effect, and the scraped dirt falls to the rear of the camera through the inclined conical surface, so that the imaging is prevented from being blocked.

[0023] As a further embodiment of the application, the fixing assembly comprises a fixing ring 401 fixed to the outer wall of the push bar 2, X supports 403 are rotatably connected to the protruding positions arranged at equal angles on the outer wall of the fixing ring 401 through connecting shafts, and support plates 404 are movably connected to the top ends of the X supports 403.

[0024] In specific implementation, the fixing ring 401 fixed to the outer wall of the push bar 2 moves with the push bar 2, the outer wall of the fixing ring 401 drives the X supports 403 to move through the connecting shafts, and then the support plates 404 at the top ends of the X supports 403 open to the inner wall of the pipeline, the detection robot in the pipeline is supported through the plurality of support plates 404, the support range can be self-adaptively adjusted according to the diameter of the pipeline, and the robot is prevented from being deviated due to the impact of airflow or water flow in the pipeline.

[0025] As a further embodiment of the application, a connecting ring 402 is fixed to the outer wall of the sleeve 3, and the connecting ring 402 is rotatably connected to the X supports 403 through connecting shafts at the protruding positions arranged at equal angles on the outer wall of the connecting ring 402.

[0026] In specific implementation, the connecting ring 402 fixed on the outer wall of the sleeve 3 is in push connection with the X bracket 403 through a connecting shaft at the position of the protrusion arranged at equal angles on the outer wall, which can support the detection robot in the pipeline to adapt to different pipelines and ensure stable operation of the robot.

[0027] As a further embodiment of the present application, the adjusting assembly comprises a sliding cylinder 901 sleeved on one end of the push bar 2, and a connecting plate 902 is rotatably connected to the protruding position arranged at equal angles on the outer wall of the sliding cylinder 901.

[0028] In specific implementation, the sliding cylinder 901 on the outer wall of the push bar 2 moves synchronously when the push bar 2 moves, and the connecting plate 902 rotatably connected to the outer wall of the sliding cylinder 901 drives the fixed plate 8 rotatably connected thereto to shrink or move away from the center axis of the pipeline, thereby driving the wall scraping ring 11 to move correspondingly and adjusting the position of the wall scraping ring 11, so that the wall scraping ring 11 can be attached to the inner wall of the pipeline with different diameters to ensure cleaning of the camera shooting range of the robot.

[0029] As a further embodiment of the present application, a first rack 903 is arranged in the sliding groove of the rotating plate 5, a first gear 904 is engaged on one side of the first rack 903, the first gear 904 is connected with a belt 905 through a rotating shaft, and a first bevel gear 906 is rotatably connected to the other end of the belt 905.

[0030] In specific implementation, the first rack 903 arranged in the sliding groove of the rotating plate 5 is engaged with the first gear 904 inside the sliding plate 7, when the sliding plate 7 moves in the sliding groove, the first gear 904 rotates and drives the belt 905 through the rotating shaft to transmit power, thereby driving the first bevel gear 906 connected to the other end of the belt 905 to rotate, which provides a power transmission basis for subsequent adaptive adjustment of the distance between the wall scraping ring 11 and the camera through the second bevel gear 907, the second gear 908, the second rack 909 and other components, and finally enables the wall scraping ring 11 to adjust the position synchronously in the pipeline with different diameters to ensure cleaning of the camera shooting range of the robot.

[0031] As a further embodiment of the present application, a cavity for placing the first gear 904 and the belt 905 is arranged on the inner wall of the sliding plate 7, and the first gear 904 is fixed inside the sliding plate 7 through a connecting shaft.

[0032] In specific implementation, the cavity arranged on the inner wall of the sliding plate 7 is used for placing the first gear 904 and the belt 905, and the first gear 904 is fixed inside the sliding plate 7 through a connecting shaft, which enables the sliding plate 7 to drive the first gear 904 to rotate when the sliding plate 7 moves in the sliding groove of the rotating plate 5, thereby transmitting power through the belt 905 to provide a basis for operation of subsequent transmission components, realize linkage with components such as the wall scraping ring 11, and complete the camera shooting range cleaning function of the inner wall of the pipeline.

[0033] As a further implementation solution of the present application, the first bevel gear 906 is engaged with a second bevel gear 907, the second bevel gear 907 is connected with a second gear 908 through a rotating shaft, and the second gear 908 is engaged with a second rack 909 on one side, and the top end of the second rack 909 is fixed with a moving plate 910.

[0034] In specific implementation, when the first bevel gear 906 rotates, the second bevel gear 907 engaged with the first bevel gear 906 is driven to rotate, the second bevel gear 907 drives the second gear 908 to rotate through the rotating shaft, and the rotating second gear 908 further drives the second rack 909 engaged with the second gear 908 to move linearly, so that the moving plate 910 fixed at the top end of the second rack 909 is displaced, thereby realizing the adjustment of the position of the wall scraping ring 11, so that the distance between the wall scraping ring 11 and the camera can be adjusted according to the change of the diameter of the pipeline, and the cleaning of the dirt in the shooting range of the robot is ensured.

[0035] As a further implementation solution of the present application, a cavity for placing the second bevel gear 907 is formed in the fixed plate 8, and the fixed plate 8 is provided with a cavity for sliding of the second rack 909 and the moving plate 910.

[0036] In specific implementation, the cavity formed in the fixed plate 8 is used for accommodating the second bevel gear 907, and provides space for rotation of the second bevel gear 907, and the other cavity formed in the fixed plate 8 is adapted to the sliding of the second rack 909 and the moving plate 910, so that the second rack 909 can drive the moving plate 910 to smoothly slide in the cavity during the gear and rack transmission, thereby realizing the adjustment of the position of the wall scraping ring 11 and ensuring the accurate control of the distance between the wall scraping ring 11 and the camera in different diameter pipelines, so as to clean the shooting range of the robot.

[0037] As a further implementation solution of the present application, the swing assembly comprises a rotating seat 101 arranged on one side of the moving plate 910, the rotating seat 101 is connected with a motor through a rotating shaft, a swing piece 102 is arranged on one side of the rotating seat 101, a connecting frame 103 is sleeved on the swing piece 102, and the connecting frame 103 is fixedly connected with the inner wall of the wall scraping ring 11.

[0038] In specific implementation, the motor drives the rotating seat 101 to rotate, the rotating seat 101 drives the swing piece 102 on one side to move in a circular motion, the connecting frame 103 sleeved on the swing piece 102 converts the circular motion into reciprocating swing, and the reciprocating swing is transmitted to the wall scraping ring 11 fixedly connected with the connecting frame 103, so that the wall scraping ring 11 swings, and the cleaning effect on the inner wall of the pipeline is enhanced, and the problem of stubborn dirt residue is effectively solved.

[0039] Working principle: when using the pipeline detection robot with intelligent probe, place the detection robot at the pipeline inlet, drive the push bar 2 to move through the electric push rod, the movement of the push bar 2 drives the synchronous movement of the fixed ring 401 fixedly connected to the outer wall of the push bar 2, the connecting ring 402 fixed to the outer wall of the sleeve 3 does not move (the sleeve 3 is fixed inside the main body 1 through the connecting piece), so that the fixed ring 401 moves through the protruding position provided on the outer wall thereof to drive the X bracket 403 to move, and then drive the support plate 404 at the top of the X bracket 403 to open towards the inner wall of the pipeline, support the detection robot in the pipeline through the plurality of support plates 404, and move through the travel wheels provided on both sides of the support plate 404; When the push bar 2 moves to drive the fixed ring 401 to move, the push bar 2 moves to drive the sliding cylinder 901 to slide inside the main body 1, the sliding cylinder 901 moves through the protruding position provided on the outer wall thereof to drive the connecting plate 902 to move, so as to drive the fixed plate 8 to open towards the inner wall of the pipeline, and the opening of the fixed plate 8 synchronously drives the scraping ring 11 to move, when the scraping ring 11 and the support plate 404 move to contact with the inner wall of the pipeline (the scraping ring 11 is in the form of a truncated cone, and the contact side with the inner wall of the pipeline is horizontally fitted), drive the detection robot to move along the inner wall of the pipeline through the motor-driven travel wheels; When the fixed plate 8 opens to drive the sliding plate 7 fixedly connected to the bottom end thereof to slide in the cavity opened in the rotating plate 5, the movement of the sliding plate 7 makes the first gear 904 inside the sliding plate 7 mesh with the first rack 903 in the cavity to make the first gear 904 rotate, the rotation of the first gear 904 drives the first bevel gear 906 to rotate through the belt 905, and then drives the second bevel gear 907 meshed therewith to rotate, the rotation of the second bevel gear 907 drives the second gear 908 at the top thereof to rotate through the connecting shaft, and then drives the second rack 909 meshed on one side thereof to move, the movement of the second rack 909 drives the moving plate 910 at the top end thereof to move in the fixed plate 8, so as to make the scraping ring 11 move towards the camera side, so that when the scraping ring 11 is in the pipeline with different diameters, the distance between the scraping ring 11 and the camera can be adjusted synchronously, when the camera moves in the pipeline with different diameters, the range that can be shot by the camera is gradually moved to the deep part of the pipeline as the diameter of the pipeline becomes larger, when detecting in the pipeline with larger diameter, the scraping ring 11 of the robot moves to fit the inner wall of the pipeline while moving to the deep part of the pipeline under the drive of the moving plate 910, so as to clean the shootable range of the robot; When the detection robot travels in the pipeline, the motor drives the spur gear 601 to rotate, the spur gear 601 drives the gear ring 602 engaged with the spur gear 601 to rotate, and the rotating plate 5 is further driven to rotate, so that the wall scraping ring 11 rotates in the pipeline to clean the dirt on the inner wall of the pipeline. Since the wall scraping ring 11 is an open conical frustum, when the scraper of the wall scraping ring 11 scrapes the dirt, the dirt will fall to the inner wall of the wall scraping ring 11, and the inclined conical surface makes the dirt fall to the rear of the camera, preventing the falling dirt from shielding the detection area of the camera. When the motor drives the spur gear 601 to rotate, the motor drives the rotating seat 101 to rotate, the rotating seat 101 drives the swing piece 102 to rotate, so as to drive the connecting frame 103 to swing, and further drive the wall scraping ring 11 to swing, thereby enhancing the cleaning effect of the wall scraping ring 11, and effectively solving the problem of stubborn dirt residue on the inner wall of the pipeline.

[0040] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A pipe inspection robot with an intelligent probe comprising a main body (1), characterized in that: The body (1) is connected with a push bar (2) through an electric push rod at the center axis, the push bar (2) is sleeved with a sleeve (3), and the sleeve (3) is connected with the body (1) through a connecting piece, the outer wall of the sleeve (3) is provided with a fixing assembly at equal angles, the outer part of the fixing assembly is provided with a traveling wheel, one side of the sleeve (3) is rotatably connected with a rotating plate (5), and one side of the rotating plate (5) is provided with a driving assembly, the rotating plate (5) is provided with a plurality of sliding grooves at equal angles, and each sliding groove is movably connected with a sliding plate (7) inside, the top of the sliding plate (7) is fixedly connected with a fixed plate (8), the bottom of the fixed plate (8) is provided with an adjusting assembly, one side of the fixed plate (8) is provided with a wall scraping ring (11), and the wall scraping ring (11) is a truncated cone with an opening, and the inner wall of the wall scraping ring (11) is provided with an oscillating assembly. The driving assembly comprises a spur gear (601) driven by a motor, the spur gear (601) is engaged with a tooth ring (602), and one side of the tooth ring (602) is fixedly connected with the rotating plate (5).

2. The pipe inspection robot with intelligent probe according to claim 1, characterized in that: The fixing assembly comprises a fixing ring (401) fixed to the outer wall of the push bar (2), the outer wall of the fixing ring (401) is rotatably connected with an X support (403) through a connecting shaft at the protruding position provided at equal angles, and the top of the X support (403) is movably connected with a supporting plate (404).

3. The pipe inspection robot with intelligent probe according to claim 2, characterized in that: The outer wall of the sleeve (3) is fixedly connected with a connecting ring (402), and the outer wall of the connecting ring (402) is rotatably connected with the X support (403) through a connecting shaft at the protruding position provided at equal angles.

4. The pipe inspection robot with intelligent probe according to claim 3, characterized in that: The adjusting assembly comprises a sliding cylinder (901) sleeved on one end of the push bar (2), the sliding cylinder (901) is rotatably connected with a connecting plate (902) at the protruding position provided at equal angles on the outer wall, and one side of the connecting plate (902) is rotatably connected with the fixed plate (8).

5. The pipe inspection robot with intelligent probe according to claim 4, characterized in that: The sliding groove of the rotating plate (5) is provided with a first rack (903), one side of the first rack (903) is engaged with a first gear (904), the first gear (904) is connected with a belt (905) through a rotating shaft, and the other end of the belt (905) is rotatably connected with a first bevel gear (906).

6. The pipe inspection robot with intelligent probe according to claim 5, characterized in that: The inner wall of the sliding plate (7) is provided with a cavity for placing the first gear (904) and the belt (905), and the first gear (904) is fixedly connected in the sliding plate (7) through a connecting shaft.

7. The pipe inspection robot with intelligent probe according to claim 6, characterized in that: One side of the first bevel gear (906) is engaged with a second bevel gear (907), the second bevel gear (907) is connected with a second gear (908) through a rotating shaft, one side of the second gear (908) is engaged with a second rack (909), and the top of the second rack (909) is fixedly connected with a moving plate (910).

8. The pipe inspection robot with intelligent probe according to claim 7, characterized in that: The inner part of the fixed plate (8) is provided with a cavity for placing the second bevel gear (907), and the fixed plate (8) is provided with a cavity for sliding the second rack (909) and the moving plate (910).

9. The pipe inspection robot with intelligent probe of claim 8, wherein: The swing assembly comprises a rotating seat (101) arranged on one side of the moving plate (910), the rotating seat (101) is connected with the motor through a rotating shaft, one side of the rotating seat (101) is provided with a swing piece (102), the swing piece (102) is externally sleeved with a connecting frame (103), and the connecting frame (103) is fixedly connected with the inner wall of the wall scraping ring (11).

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