Underwater pipeline inspection robot

Abstract

The invention discloses an underwater pipeline inspection robot, which belongs to the technical field of inspection equipment, and is technically characterized by comprising a mounting box body in which a crushing mechanism is arranged, and further comprising a rotary supporting mechanism arranged below the mounting box body, the rotating supporting mechanism comprises a supporting assembly, a first rotating assembly, a second rotating assembly and a redirection assembly, one end of the supporting assembly is fixedly connected with the mounting box body, the first rotating assembly is mounted on the supporting assembly, the second rotating assembly is mounted on the supporting assembly, and one end of the redirection assembly is movably connected with the supporting assembly; the other end of the direction changing assembly is movably connected with the first rotating assembly and the second rotating assembly; and the lifting moving mechanism is arranged on the rotating supporting mechanism, the lifting moving mechanism is fixedly connected with the direction changing assembly, and the pipeline lifting device has the advantages that movement and height adjustment in a pipeline are more stable and controllable, and a moving mode which is simple in structure and reliable in action is achieved through cooperation of a rotating cam and the moving assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inspection equipment, in particular to an underwater pipeline inspection robot. BACKGROUND

[0002] With the continuous development of urban infrastructure construction, underwater pipelines are widely used in the fields of water supply and drainage, energy transportation and industrial pipelines. Because the underwater pipeline is in a closed or semi-closed environment for a long time, the pipeline is prone to problems such as accumulation of silt, attachment of impurities or blockage of foreign matter, which affects the normal operation of the pipeline. Therefore, it is of great significance to regularly inspect and maintain the underwater pipeline to ensure the safe operation of the pipeline.

[0003] The existing underwater pipeline inspection methods mostly use manual diving detection or simple structure underwater inspection equipment for operation. Manual diving detection not only has high operation risk and high labor intensity, but also has low detection efficiency due to the limitations of water depth, water flow and visual conditions. Although some existing inspection robots can replace manual operation to enter the pipeline, the support and steering structure thereof is relatively simple, and the instability of movement, imbalance of posture or even jamming may occur at the position of pipe diameter change or pipeline bending, which affects the continuity of inspection.

[0004] In addition, some existing underwater inspection equipment usually only has detection function, and lacks effective treatment means for silt or attached impurities in the pipeline, so that subsequent separate cleaning operation is often required, increasing the maintenance cost and operation cycle. At the same time, the moving mode and height adjustment capacity of the existing equipment in the pipeline are limited, and it is difficult to adapt to the complex and changeable pipeline environment. Therefore, the existing technology still has deficiencies in stability, adaptability and comprehensive operation ability of underwater pipeline inspection, and it is urgent to improve a reasonable structure and high function integration underwater pipeline inspection device. SUMMARY

[0005] In view of the deficiencies of the prior art, the purpose of the embodiments of the present application is to provide an underwater pipeline inspection robot to solve the problems in the background art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme: An underwater pipeline inspection robot, comprising a mounting box, a crushing mechanism is arranged in the mounting box, and the underwater pipeline inspection robot further comprises: Rotary support mechanism, rotary support mechanism is arranged below the installation box, the rotary support mechanism is provided with four, the rotary support mechanism includes support assembly, first rotary component, second rotary component and change direction component, the support assembly is provided with four, one end of the support assembly is fixedly connected with the installation box, the first rotary component is installed on the support assembly, the second rotary component is installed on the support assembly, the second rotary component is arranged above the first rotary component, the change direction component is arranged on the support assembly, one end of the change direction component is movably connected with the support assembly, the other end of the change direction component is movably connected with the first rotary component and second rotary component; Lifting movement mechanism, lifting movement mechanism is arranged on the rotary support mechanism, lifting movement mechanism is fixedly connected with the change direction component.

[0007] As a further scheme of the application, the support assembly comprises: Rotary support seat, rotary support seat is arranged below the installation box, the rotary support seat is provided with four; First mounting plate, the first mounting plate is perpendicular to the rotary support seat, the first mounting plate is connected with the first rotary component and second rotary component.

[0008] As a further scheme of the application, the first rotary component comprises: First rotary shaft, the first rotary shaft is arranged on the first mounting plate, the first rotary shaft output end is fixedly connected with first rotary rod, the first rotary rod adopts arc structure; First connecting groove, the first connecting groove is arranged in the first rotary rod, the first connecting groove is movably connected with the change direction component; First connecting shaft, one end of the first connecting shaft is movably connected with the first rotary rod, the other end of the first connecting shaft is movably connected with the first mounting plate.

[0009] As a further scheme of the application, the second rotary component comprises: Second rotary shaft, the second rotary shaft is arranged on the first mounting plate, the second rotary shaft output end is fixedly connected with second rotary rod, the second rotary rod adopts arc structure; Second connecting groove, the second connecting groove is arranged in the second rotary rod, the second connecting groove is movably connected with the change direction component; Second connecting shaft, one end of the second connecting shaft is movably connected with the second rotary rod, the other end of the second connecting shaft is movably connected with the first mounting plate.

[0010] As a further scheme of the application, the change direction component comprises: Connecting ball, the connecting ball is rotatably connected with the rotating support seat, and the connecting ball is rotatably connected with the redirection ball; First sliding groove, the redirection ball is provided with the first sliding groove and the second sliding groove, and the first sliding groove is perpendicular to the second sliding groove; Connecting block, the connecting block is arranged in the first sliding groove and the second sliding groove, and the connecting block is movably connected with the first sliding groove and the second sliding groove; Connecting rod, the connecting rod is arranged on the connecting block, one end of the connecting rod is fixedly connected with the connecting block, the other end of the connecting rod is fixedly connected with the mounting seat, and the connecting rod is movably connected with the first connecting groove and the second connecting groove.

[0011] As a further scheme of the present application, the lifting moving mechanism comprises: Lifting assembly, the lifting assembly is mounted on the mounting seat; Moving assembly, the lifting assembly is movably connected with the moving assembly.

[0012] As a further scheme of the present application, the lifting assembly comprises: Second mounting plate, the second mounting plate is fixedly connected with the mounting seat, and the second mounting plate is provided with a first mounting shaft; Rotary cam, the rotary cam is arranged on the first mounting shaft, the rotary cam is a driving member, and the rotary cam is movably connected with the moving assembly; Limiting block, the limiting block is symmetrically arranged on the second mounting plate, and the limiting block is movably connected with the moving assembly.

[0013] As a further scheme of the present application, the moving assembly comprises: Sliding plate, the sliding plate is movably connected with the limiting block, the sliding plate is provided with a square hole, and the square hole is movably connected with the limiting block; Second mounting shaft, the second mounting shaft is arranged on the sliding plate, the second mounting shaft is provided with a moving wheel, and the moving wheel is movably connected with the rotary cam.

[0014] As a further scheme of the present application, the crushing mechanism comprises: Telescopic assembly, the telescopic assembly comprises a telescopic rod and a third mounting plate, one end of the telescopic rod is fixedly connected with the inner wall of the mounting box, and the other end of the telescopic rod is fixedly connected with the third mounting plate; Rotating assembly, the rotating assembly is arranged on the third mounting plate, and the rotating assembly is provided with a plurality of uniformly distributed crushing teeth.

[0015] As a further scheme of the present application, the rotating assembly comprises: A driving gear, which is mounted on the third mounting plate, meshes with a driven gear, which is also mounted on the third mounting plate. A first cylinder is disposed at the geometric center of the drive gear, and a plurality of evenly distributed crushing teeth are disposed on the first cylinder. The second cylinder is located at the geometric center of the drive gear, and a plurality of evenly distributed crushing teeth are provided on the second cylinder.

[0016] In summary, the embodiments of the present invention have the following beneficial effects compared with the prior art: The underwater pipeline inspection robot of this invention, by incorporating multiple rotating support mechanisms beneath its mounting housing and combining the synergistic effects of a first rotating component, a second rotating component, and a reversing component, enables the robot to achieve multi-directional adaptive support and attitude adjustment within the pipeline. Compared to existing inspection equipment employing fixed support or a single steering structure, this invention better adapts to different pipe diameters and curved pipeline environments, maintaining stable support during travel, reducing the risk of jamming, and improving the continuity and reliability of the inspection process.

[0017] Meanwhile, this invention, by incorporating a lifting and moving mechanism, makes the robot's movement and height adjustment within the pipeline more stable and controllable. The cooperation between the rotating cam and the moving components achieves a simple yet reliable movement method, reducing energy consumption and structural complexity. Furthermore, the pulverizing mechanism installed within the mounting housing can simultaneously pulverize impurities and deposits within the pipeline during inspection, preventing impurity accumulation from affecting inspection and subsequent operation. The overall device integrates inspection, support, movement, and cleaning functions, making it suitable for complex underwater pipeline environments and improving the efficiency and safety of underwater pipeline inspection and maintenance operations.

[0018] To more clearly illustrate the structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of an embodiment of the invention.

[0020] Figure 2 As an embodiment of the invention Figure 1 The front view.

[0021] Figure 3 As an embodiment of the invention Figure 1 A schematic diagram of the rotating support mechanism.

[0022] Figure 4 As an embodiment of the invention Figure 3 The front view.

[0023] Figure 5 is a side view of the embodiment of the application. Figure 3

[0024] Figure 6 is a structure schematic view of the lifting moving mechanism in the embodiment of the application. Figure 4

[0025] Figure 7 is a side view of the embodiment of the application. Figure 6

[0026] Figure 8 is a structure schematic view of the crushing mechanism in the embodiment of the application. Figure 1

[0027] 1-rotating support mechanism, 11-support assembly, 111-rotating support seat, 112-first mounting plate, 12-first rotating assembly, 121-first rotating shaft, 122-first rotating rod, 123-first connecting groove, 124-first connecting shaft, 13-second rotating assembly, 131-second rotating shaft, 132-second rotating rod, 133-second connecting groove, 134-second connecting shaft, 14-reversing assembly, 141-connecting ball, 142-reversing ball, 143-first sliding groove, 144-second sliding groove, 145-connecting block, 146-connecting rod, 147-mounting seat, 2-lifting moving mechanism, 21-lifting assembly, 211-second mounting plate, 212-first mounting shaft, 213-rotating cam, 214-limiting block, 22-moving assembly, 221-sliding plate, 222-second mounting shaft, 223-moving wheel, 3-mounting box, 4-crushing mechanism, 41-telescopic assembly, 411-telescopic rod, 412-third mounting plate, 42-rotating assembly, 421-driving gear, 422-first cylinder, 423-driven gear, 424-second cylinder, 43-crushing tooth. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0029] The specific implementation of the present application is described in detail below in combination with specific embodiments.

[0030] In one embodiment, an underwater pipeline inspection robot, referring to Figures 1-8 , comprising a mounting box 3, the mounting box 3 is provided with a crushing mechanism 4, further comprising: ​​​​The rotating support mechanism 1 is arranged below the mounting box 3, four rotating support mechanisms 1 are arranged, the rotating support mechanism 1 comprises a support assembly 11, a first rotating assembly 12, a second rotating assembly 13 and a redirecting assembly 14, the support assembly 11 is arranged in four, one end of the support assembly 11 is fixedly connected with the mounting box 3, the first rotating assembly 12 is installed on the support assembly 11, the second rotating assembly 13 is installed on the support assembly 11, the second rotating assembly 13 is arranged above the first rotating assembly 12, the redirecting assembly 14 is arranged on the support assembly 11, one end of the redirecting assembly 14 is movably connected with the support assembly 11, the other end of the redirecting assembly 14 is movably connected with the first rotating assembly 12 and the second rotating assembly 13. The lifting moving mechanism 2 is arranged on the rotating support mechanism 1, and the lifting moving mechanism 2 is fixedly connected with the redirecting assembly 14.

[0031] In the embodiment, the mounting box 3 is a closed box structure, which is used for mounting and protecting internal electrical elements and the crushing mechanism 4, so that the internal electrical elements and the crushing mechanism 4 can work stably in the underwater environment. The crushing mechanism 4 is arranged in the mounting box 3, which is used for crushing the silt, waterweeds or attached impurities in the pipeline, so as to ensure the smoothness of the pipeline.

[0032] Four rotating support mechanisms 1 are arranged below the mounting box 3, and the four rotating support mechanisms 1 are arranged in a uniform distribution mode with the center of the bottom of the mounting box 3 as a reference. The rotating support mechanism 1 is used for supporting the robot on the inner wall of the pipeline, and plays a role of supporting and posture adjustment when the robot travels or turns.

[0033] One lifting moving mechanism 2 is arranged on each rotating support mechanism 1, the lifting moving mechanism 2 is fixedly connected with the redirecting assembly 14 of the rotating support mechanism 1, and the lifting and movement of the lifting moving mechanism 2 are matched, so that the robot can realize forward movement, backward movement and height adjustment in the pipeline. The support assembly 11 comprises a rotating support seat 111 and a first mounting plate 112. The rotating support seat 111 is fixedly connected below the mounting box 3, and is used for fixing the rotating support mechanism 1 on the robot body. The first mounting plate 112 is vertically arranged on the rotating support seat 111, and is used as a mounting carrier of the first rotating assembly 12 and the second rotating assembly 13, so that the rotating components are mounted on the same reference surface, and the rotating precision is guaranteed.

[0034] The first rotating assembly 12 and the second rotating assembly 13 are both mounted on the first mounting plate 112, and the second rotating assembly 13 is arranged above the first rotating assembly 12, so that the redirecting assembly 14 is provided with a multi-directional rotating matching space.

[0035] In one embodiment, referring to Figures 1-8 , the support assembly 11 comprises: A rotating support base 111, which is arranged below the installation box 3, is provided with four; A first mounting plate 112, which is perpendicular to the rotating support base 111, connects the first rotating assembly 12 and the second rotating assembly 13.

[0036] Further, referring to Figures 1-8 , the first rotating assembly 12 comprises: A first rotating shaft 121, which is arranged on the first mounting plate 112, has a fixed connection with a first rotating rod 122 at the output end, and adopts an arc structure; A first connecting groove 123, which is arranged in the first rotating rod 122, movably connects the change-over assembly 14; A first connecting shaft 124, one end of which movably connects the first rotating rod 122, and the other end of which movably connects the first mounting plate 112.

[0037] Further, referring to Figures 1-8 , the second rotating assembly 13 comprises: A second rotating shaft 131, which is arranged on the first mounting plate 112, has a fixed connection with a second rotating rod 132 at the output end, and adopts an arc structure; A second connecting groove 133, which is arranged in the second rotating rod 122, movably connects the change-over assembly 14; A second connecting shaft 134, one end of which movably connects the second rotating rod 122, and the other end of which movably connects the first mounting plate 112.

[0038] Further, referring to Figures 1-8 , the change-over assembly 14 comprises: A connecting ball 141, which rotatably connects the rotating support base 111, and rotatably connects a change-over ball 142; A first sliding groove 143, which is arranged on the change-over ball 142, and a second sliding groove 144, which is perpendicular to the first sliding groove 143; A connecting block 145 is arranged in the first sliding groove 143 and the second sliding groove 144, and the connecting block 145 movably connects the first sliding groove 143 and the second sliding groove 144; A connecting rod 146 is arranged on the connecting block 145, one end of the connecting rod 146 is fixedly connected with the connecting block 145, the other end of the connecting rod 146 is fixedly connected with a mounting seat 147, and the connecting rod 146 movably connects the first connecting groove 123 and the second connecting groove 133.

[0039] In the embodiment, the first rotating shaft 121 is fixedly mounted on the first mounting plate 112, and the output end of the first rotating shaft 121 is fixedly connected with the first rotating rod 122. The first rotating rod 122 is arranged in an arc shape, and the arc outer side of the first rotating rod 122 is used to abut against the inner wall of the pipeline, so as to provide stable support during the running of the robot.

[0040] The first connecting groove 123 is arranged in the inner side of the first rotating rod 122, and the first connecting groove 123 movably connects with the connecting rod 146 in the changing direction assembly 14. One end of the first connecting shaft 124 is movably connected with the first rotating rod 122, and the other end of the first connecting shaft 124 is movably connected with the first mounting plate 112, so that the first rotating rod 122 can rotate around the first rotating shaft 121 and keep a stable posture under the limitation of the connecting shaft 124 during rotation.

[0041] The second rotating assembly 13 has the same structure as the first rotating assembly 12, and includes a second rotating shaft 131, a second rotating rod 132, a second connecting groove 133 and a second connecting shaft 134. The second rotating rod 132 is also arranged in an arc shape and used to contact the inner wall of the pipeline. The second connecting groove 133 movably connects with the changing direction assembly 14, so that the first rotating assembly 12 and the second rotating assembly 13 can rotate cooperatively under the action of the changing direction assembly 14.

[0042] The connecting ball 141 is rotatably connected with the rotating support seat 111, so that the changing direction assembly 14 can produce multi-angle rotation relative to the rotating support seat 111. The changing direction ball 142 is rotatably connected with the connecting ball 141, and the first sliding groove 143 and the second sliding groove 144 are arranged on the changing direction ball 142. The first sliding groove 143 and the second sliding groove 144 are arranged perpendicularly to each other, so as to provide two directions of sliding freedom for the connecting block 145.

[0043] The connecting block 145 is arranged in the first sliding groove 143 and the second sliding groove 144 and can slide relatively in the two sliding grooves. The connecting rod 146 is fixedly connected to the connecting block 145, one end of the connecting rod 146 is fixedly connected to the connecting block 145, the other end of the connecting rod 146 is fixedly connected to the mounting seat 147, and the middle part of the connecting rod 146 is movably inserted into the first connecting groove 123 and the second connecting groove 133, so that the rotating actions of the first rotating assembly 12 and the second rotating assembly 13 can be coordinated through the changing direction assembly 14.

[0044] In one embodiment, referring to Figures 1-8 , the lifting moving mechanism 2 comprises: a lifting assembly 21, the lifting assembly 21 is mounted on the mounting seat 147; a moving assembly 22, the lifting assembly 21 is movably connected to the moving assembly 22.

[0045] Further, referring to Figures 1-8 , the lifting assembly 21 comprises: a second mounting plate 211, the second mounting plate 211 is fixedly connected to the mounting seat 147, and the first mounting shaft 212 is arranged on the second mounting plate 211; a rotating cam 213, the rotating cam 213 is arranged on the first mounting shaft 212, the rotating cam 213 is a driving member, and the rotating cam 213 is movably connected to the moving assembly 22; a limiting block 214, the limiting block 214 is symmetrically arranged on the second mounting plate 211, and the limiting block 214 is movably connected to the moving assembly 22.

[0046] Further, referring to Figures 1-8 , the moving assembly 22 comprises: a sliding plate 221, the sliding plate 221 is movably connected to the limiting block 214, and the sliding plate 221 is provided with a square hole movably connected to the limiting block 214; a second mounting shaft 222, the second mounting shaft 222 is arranged on the sliding plate 221, the moving wheel 223 is arranged on the second mounting shaft 222, and the moving wheel 223 is movably connected to the rotating cam 213.

[0047] In the embodiment, the lifting assembly 21 is mounted on the mounting seat 147 and comprises the second mounting plate 211, the first mounting shaft 212, the rotating cam 213 and the limiting block 214. The second mounting plate 211 is fixedly connected to the mounting seat 147, the first mounting shaft 212 is arranged on the second mounting plate 211, the rotating cam 213 is mounted on the first mounting shaft 212 and serves as a lifting driving member.

[0048] The moving assembly 22 comprises a sliding plate 221, a second mounting shaft 222 and a moving wheel 223. The sliding plate 221 is movably connected to the limiting block 214, which limits the moving direction of the sliding plate 221 so that the sliding plate 221 can only move along the set path. The moving wheel 223 is mounted on the second mounting shaft 222 and is in surface contact with the rotating cam 213. When the rotating cam 213 rotates, the moving wheel 223 is pushed to produce periodic displacement, thereby driving the sliding plate 221 to move up and down.

[0049] In one embodiment, referring to Figures 1-8 , the crushing mechanism 4 comprises: a telescopic assembly 41, which comprises a telescopic rod 411 and a third mounting plate 412, one end of the telescopic rod 411 being fixedly connected to the inner wall of the mounting box 3, and the other end of the telescopic rod 411 being fixedly connected to the third mounting plate 412; a rotating assembly 42, which is arranged on the third mounting plate 412 and is provided with a plurality of uniformly distributed crushing teeth 43.

[0050] Further, referring to Figures 1-8 , the rotating assembly 42 comprises: a driving gear 421, which is arranged on the third mounting plate 412 and is engaged with a driven gear 423 arranged on the third mounting plate 412, a first cylinder 422, which is arranged at the geometric center of the driving gear 421 and is provided with a plurality of uniformly distributed crushing teeth 43; a second cylinder 424, which is arranged at the geometric center of the driving gear 421 and is provided with a plurality of uniformly distributed crushing teeth 43.

[0051] In this embodiment, the telescopic assembly 41 comprises the telescopic rod 411 and the third mounting plate 412, one end of the telescopic rod 411 being fixedly connected to the inner wall of the mounting box 3, and the other end of the telescopic rod 411 being fixedly connected to the third mounting plate 412. The position of the rotating assembly 42 in the mounting box 3 can be changed by telescopic adjustment of the telescopic rod 411.

[0052] The rotating assembly 42 is arranged on the third mounting plate 412 and comprises the driving gear 421, the driven gear 423, the first cylinder 422 and the second cylinder 424. The driving gear 421 is engaged with the driven gear 423, the first cylinder 422 and the second cylinder 424 are arranged at the geometric centers of the corresponding gears respectively, and a plurality of crushing teeth 43 are uniformly arranged on the first cylinder 422 and the second cylinder 424 for shearing and crushing the impurities in the pipeline.

[0053] The working principle of the present application is as follows: In operation, the underwater pipeline inspection robot enters the inside of the pipeline, the four rotating support mechanisms 1 are in contact with the inner wall of the pipeline, and through the rotation of the first rotating assembly 12 and the second rotating assembly 13, the robot can automatically adjust the support angle according to the inner diameter and the direction of the pipeline. The re-directing assembly 14 realizes flexible re-direction in multiple directions through the cooperation of the connecting ball 141, the re-directing ball 142 and the connecting block 145, so that the robot can still keep stable movement at the curved pipe or the place with changing slope.

[0054] The lifting and moving mechanism 2 drives the moving assembly 22 to produce periodic up-and-down movement under the drive of the rotating cam 213, thereby driving the robot to move forward or adjust the height in the pipeline. When the robot moves to the impurity area, the crushing mechanism 4 is started, the rotating assembly 42 drives the first cylinder 422 and the second cylinder 424 to rotate at high speed, the crushing teeth 43 crush the impurities, and the telescopic assembly 41 can adjust the position of the crushing mechanism according to the need to adapt to the pipeline with different diameters.

[0055] The above only describes the preferred embodiments of the present application and is not used to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An underwater pipeline inspection robot, comprising a mounting housing, wherein a crushing mechanism is provided inside the mounting housing, characterized in that, Also includes: A rotating support mechanism is provided below the mounting housing. Four rotating support mechanisms are provided, each including a support assembly, a first rotating assembly, a second rotating assembly, and a redirecting assembly. The four support assemblies are fixedly connected at one end to the mounting housing. The first rotating assembly is mounted on the support assembly, and the second rotating assembly is mounted on the support assembly and positioned above the first rotating assembly. The redirecting assembly is mounted on the support assembly, with one end movably connected to the support assembly and the other end movably connected to both the first and second rotating assemblies. A lifting and moving mechanism is mounted on the rotating support mechanism and is fixedly connected to the redirecting component.

2. The underwater pipeline inspection robot according to claim 1, characterized in that, The support components include: Rotary support bases are provided below the mounting box, and four rotary support bases are provided. A first mounting plate is perpendicular to the rotating support base, and the first mounting plate connects the first rotating assembly and the second rotating assembly.

3. The underwater pipeline inspection robot according to claim 2, characterized in that, The first rotating assembly includes: A first rotating shaft is mounted on the first mounting plate, and a first rotating rod is fixedly connected to the output end of the first rotating shaft. The first rotating rod has an arc-shaped structure. A first connecting groove is disposed inside the first rotating rod, and the first connecting groove is movably connected to the redirection component; A first connecting shaft, one end of which is movably connected to the first rotating rod, and the other end of which is movably connected to the first mounting plate.

4. The underwater pipeline inspection robot according to claim 3, characterized in that, The second rotating assembly includes: A second rotating shaft is mounted on the first mounting plate, and a second rotating rod is fixedly connected to the output end of the second rotating shaft. The second rotating rod has an arc-shaped structure. The second connecting groove is disposed inside the second rotating rod and is movably connected to the redirection assembly. The second connecting shaft has one end movably connected to the second rotating rod and the other end movably connected to the first mounting plate.

5. The underwater pipeline inspection robot according to claim 4, characterized in that, The redirection component includes: A connecting ball is rotatably connected to the rotating support seat, and the connecting ball is rotatably connected to the redirecting ball; The first sliding groove is provided on the redirecting ball, and the second sliding groove is perpendicular to the second sliding groove. A connecting block is disposed within a first sliding groove and a second sliding groove, and the connecting block is movably connected to the first sliding groove and the second sliding groove. A connecting rod is provided on the connecting block. One end of the connecting rod is fixedly connected to the connecting block, and the other end of the connecting rod is fixedly connected to the mounting base. The connecting rod is movably connected to the first connecting groove and the second connecting groove.

6. The underwater pipeline inspection robot according to claim 1, characterized in that, The lifting and moving mechanism includes: A lifting assembly, which is mounted on the mounting base; A movable component, wherein the lifting component is movably connected to the movable component.

7. The underwater pipeline inspection robot according to claim 6, characterized in that, The lifting assembly includes: A second mounting plate is fixedly connected to the mounting base, and a first mounting shaft is provided on the second mounting plate. A rotating cam is mounted on the first mounting shaft, the rotating cam is a driving component, and the rotating cam is movably connected to the moving component; A limiting block is symmetrically arranged on the second mounting plate, and the limiting block is movably connected to the moving component.

8. The underwater pipeline inspection robot according to claim 7, characterized in that, The moving component includes: A sliding plate, wherein the sliding plate is movably connected to the limiting block, and a square hole is provided inside the sliding plate, wherein the square hole is movably connected to the limiting block; A second mounting shaft is disposed on the sliding plate, and a movable wheel is provided on the second mounting shaft, the movable wheel being movably connected to the rotating cam.

9. The underwater pipeline inspection robot according to claim 1, characterized in that, The crushing mechanism includes: A telescopic assembly, comprising a telescopic rod and a third mounting plate, wherein one end of the telescopic rod is fixedly connected to the inner wall of the mounting box, and the other end of the telescopic rod is fixedly connected to the third mounting plate; A rotating assembly is disposed on the third mounting plate, and the rotating assembly is provided with a plurality of evenly distributed crushing teeth.

10. The underwater pipeline inspection robot according to claim 9, characterized in that, The rotating assembly includes: A driving gear, which is mounted on the third mounting plate, meshes with a driven gear, which is also mounted on the third mounting plate. A first cylinder is disposed at the geometric center of the drive gear, and a plurality of evenly distributed crushing teeth are disposed on the first cylinder. The second cylinder is located at the geometric center of the drive gear, and a plurality of evenly distributed crushing teeth are provided on the second cylinder.

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