Scissor hydraulic lifting sewage pipeline intelligent detection robot

Abstract

The present application relates to a kind of scissor type hydraulic lifting sewage pipeline intelligent detection robot, it is related to detection robot technical field.The fixed block is provided with swing subassembly in the main part, the swing plate top is fixed with blowing device, the blowing device one side is fixed with spray pipe, the push block top is provided with angle adjusting subassembly, angle adjusting subassembly both sides are provided with mud plate, the spray pipe spout is provided with spout adjusting subassembly, the present application is by electric telescopic link, push frame, pusher, pull plate, rotating plate, connecting shaft constitutes multi-link transmission mechanism, hinge transmission of link group each other, can be converted into rotation angle with linear thrust, synchronous belt drive mud plate deflection, cooperate with sharp push block and form collaborative mud removal structure, low viscosity thin mud condition is adjusted to large inclination, avoid silt accumulation and block road, the smoothness of travel is significantly improved, high viscosity thick mud condition is adjusted to small inclination, effectively prevent silt cushion high body from causing roller suspension skid.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, specifically to a scissor-type hydraulic lifting intelligent inspection robot for sewage pipelines. Background Technology

[0002] As the scale of urban underground pipe networks continues to expand, sewage pipes, as an important part of urban infrastructure, are subject to corrosion, siltation, and external damage for a long time, making them prone to defects such as cracks, deformation, and leakage. Regular inspection and maintenance are required. Pipeline inspection robots mostly use fixed-height or single-stage telescopic inspection platforms, which have problems such as poor pipe diameter adaptability, limited lifting stroke, cameras being easily submerged in water conditions, and many blind spots. At the same time, complex pipeline environments place higher demands on the robot's passability and posture adjustment capabilities.

[0003] However, when existing scissor-type hydraulic lifting intelligent inspection robots for sewage pipelines move inside sewage pipelines, the pipelines are often filled with large amounts of soft sludge and humic debris. After the robot enters, its chassis is lifted by the sludge, causing it to spin in place and hinder its progress. The robot's path deviates significantly. The viscosity of the sludge inside the sewage pipeline varies greatly depending on the water content and the accumulation time. Furthermore, when the sludge discharge plate stirs up the sludge, the sludge splashes forward and upward towards the robot. When the pipeline turns or changes diameter, the splash trajectory is unpredictable and can easily hit the lens cover directly. The high humidity and large temperature difference inside the pipeline can easily cause condensation to form on the lens surface. The splashing of thin sludge can also form a mist, blurring the details of the image.

[0004] To address the aforementioned issues, there is an urgent need for innovative design based on the existing scissor-lift hydraulic intelligent inspection robot for sewage pipelines. Summary of the Invention

[0005] The present invention addresses the problem of overly simplistic solutions in existing technologies by providing a significantly different solution. Specifically, the present invention aims to provide a scissor-type hydraulic lifting intelligent inspection robot for sewage pipelines, thereby solving the problems mentioned in the background.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a scissor-type hydraulic lifting intelligent inspection robot for sewage pipelines, comprising a main body, a camera mounted on one side of the main body, fixed blocks fixed on both sides of the camera, a swinging component mounted inside the fixed blocks, a swinging plate fixed on one side of the swinging component, and the swinging component drives the swinging plate to swing periodically, an air blowing device fixed at the top of the swinging plate, a nozzle fixed on one side of the air blowing device, a push block fixed on one side of the main body, an angle adjustment component mounted at the top of the push block, sludge discharge plates mounted on both sides of the angle adjustment component, and the tilt of the sludge discharge plates adjusted by a brightness adjustment component, a nozzle adjustment component mounted at the nozzle of the nozzle, a nozzle adjustment component mounted inside the nozzle adjustment component, multiple sliding plates mounted at equal angles, and the amount of gas ejected from the nozzle adjusted by the nozzle adjustment component driving the sliding plates to slide.

[0007] Preferably, the swing assembly includes a fixed frame fixed inside a fixed block, a turntable rotatably connected inside the fixed frame, a motor fixed to one end of the turntable, a sliding member eccentrically slidably connected to the turntable, a connecting rod slidably connected to the sliding member, a swing frame fixed to the outer wall of the connecting rod, and one side of the swing frame fixedly connected to a swing plate.

[0008] Preferably, the sliding member passes through the turntable, the connecting rod passes through the sliding member, the swing frame passes through the fixed frame, and the fixed frame and the swing frame are rotatably connected.

[0009] Preferably, the fixing block has a cavity that accommodates the turntable, the sliding member, and the swing frame, and the fixing frame is fixedly connected to the inner wall of the cavity.

[0010] Preferably, the angle adjustment assembly includes a pusher frame disposed at the top of the pusher block. The pusher frame is slidably connected to the main body. An electric telescopic rod is fixed to one side of the pusher frame, and a pusher is fixed to the other side of the pusher frame. The pusher is rotatably connected to two pull plates, and the pull plates are rotatably connected to a rotating plate. One side of the rotating plate is fixedly connected to the mud discharge plate.

[0011] Preferably, a connecting shaft is rotatably connected inside the rotating plate, the connecting shaft is fixedly connected to the push block, and the main body has a cavity that cooperates with the movement of the push frame.

[0012] Preferably, a first slide rod is fixed to one side of the push frame, and the first slide rod is slidably connected to a first oil tank, which is fixedly connected to the inner wall of the cavity opened in the main body.

[0013] Preferably, the nozzle adjustment assembly includes a second oil tank disposed inside the nozzle of the nozzle pipe, a second slide rod is slidably connected to the second oil tank, a connecting block is fixed to one end of the second slide rod, a rotating ring is fixed to one side of the connecting block, a plurality of guide rods are slidably connected at equal angles inside the rotating ring, the guide rods are fixedly connected to a sliding plate, a fixing ring is slidably connected to one side of the sliding plate, and the second oil tank is connected to the first oil tank through a hose.

[0014] Preferably, the rotating ring has a cavity that slides with the guide rod, the fixed ring has a cavity that slides with the protruding position of the sliding plate, the nozzle has a cavity that moves with the connecting block and the rotating ring, the fixed ring is fixedly connected to the inner wall of the cavity, and the second oil tank is rotatably connected to the inner wall of the cavity.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention uses an electric telescopic rod, a pusher frame, a pusher component, a pull plate, a rotating plate, and a connecting shaft to form a multi-link transmission mechanism. The linkages are hinged to each other, which can convert linear thrust into rotational angle, synchronously driving the mud discharge plate to deflect. Combined with spiked push blocks, it forms a collaborative mud discharge structure. In low-viscosity, thin mud conditions, the inclination angle is increased, and the slope forms a guiding channel, allowing the mud to flow smoothly and significantly reducing the frictional resistance of travel, avoiding silt accumulation and blockage, and significantly improving the smoothness of travel. In high-viscosity, thick mud conditions, the inclination angle is decreased, and the plow-like plate cuts into the silt layer, which can cut and peel off the solidified mud and break up the silt dam, effectively preventing the silt from raising the machine body and causing the rollers to slip. The equipment's ability to pass through complex mud channels is greatly enhanced.

[0016] 2. This invention achieves power linkage through hydraulic transmission, and then forms a cam sliding adjustment structure through a connecting block, rotating ring, guide rod, sliding plate, and fixed ring, converting rotational motion into linear displacement. Multiple sets of sliding plates open and close synchronously, precisely changing the size of the nozzle orifice. In thin mud conditions, the nozzle is narrowed to form a high-speed, narrow airflow, quickly removing water mist and film from the lens, ensuring clear imaging, while reducing gas consumption and extending the equipment's operating time. In thick mud conditions, the nozzle is enlarged to form a large-area protective air curtain, blocking splashed mud clumps from impacting the lens, powerfully peeling off attached dirt, preventing stains from solidifying and damaging lens components, and effectively extending the service life of the camera components.

[0017] 3. This invention uses a fixed frame, turntable, and eccentric sliding component to form an eccentric drive structure. It utilizes eccentric rotation to generate reciprocating lifting displacement. Combined with a connecting rod, swing frame, and swing plate, it forms a swing transmission mechanism, which converts rotary motion into reciprocating swing. This drives the nozzle to swing and blow air at multiple angles, making the blowing coverage area controllable. The swinging airflow sweeps across the entire lens surface, thoroughly eliminating cleaning dead corners and preventing dirt residue from solidifying and obstructing the field of view. The detection field of view remains intact at all times. The circulating airflow quickly removes water vapor from the lens surface, suppressing temperature difference fogging and ensuring image clarity throughout the process. The pulsed impact airflow gently peels away stubborn dirt particles without squeezing or damaging the lens surface, maintaining a clean state for a long time. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural schematic diagram of the angle adjustment component of the present invention; Figure 3 This is a three-dimensional structural schematic diagram of the angle adjustment component of the present invention. Figure 4 This is a schematic diagram showing the connection between the swing plate and the air blowing device of the present invention; Figure 5 This is a three-dimensional structural diagram of the swing component of the present invention; Figure 6 This is a three-dimensional schematic diagram of the oscillating component of the present invention. Figure 7 This is a three-dimensional structural schematic diagram of the nozzle adjustment component of the present invention; Figure 8 This is a three-dimensional structural schematic diagram of the nozzle adjustment component of the present invention. Figure 9 This is a structural schematic diagram showing the connection between the first oil tank and the second oil tank of the present invention.

[0019] In the diagram: 1. Main body; 2. Camera; 3. Fixing block; 401. Fixing frame; 402. Turntable; 403. Sliding component; 404. Connecting rod; 405. Swing frame; 5. Swing plate; 6. Air blowing device; 7. Nozzle; 8. Push block; 901. Pushing frame; 902. Pushing component; 903. Pull plate; 904. Rotating plate; 905. Connecting shaft; 906. First sliding rod; 907. First oil tank; 10. Mud discharge plate; 111. Second oil tank; 112. Second sliding rod; 113. Connecting block; 114. Rotating ring; 115. Guide rod; 116. Fixing ring; 12. Sliding plate. Detailed Implementation

[0020] Please see Figures 1 to 9This invention provides a technical solution: a scissor-type hydraulic lifting intelligent inspection robot for sewage pipelines, comprising a main body 1, a camera 2 on one side of the main body 1, fixed blocks 3 on both sides of the camera 2, a swinging component inside the fixed blocks 3, a swinging plate 5 fixed on one side of the swinging component, and the swinging component drives the swinging plate 5 to swing periodically, an air blowing device 6 fixed at the top of the swinging plate 5, a nozzle 7 fixed on one side of the air blowing device 6, a push block 8 fixed on one side of the main body 1, an angle adjustment component at the top of the push block 8, sludge discharge plates 10 on both sides of the angle adjustment component, and the tilt of the sludge discharge plates 10 is adjusted by a brightness adjustment component, a nozzle adjustment component is provided at the nozzle of the nozzle 7, and multiple sliding plates 12 are arranged at equal angles inside the nozzle adjustment component, and the amount of gas ejected from the nozzle is adjusted by the nozzle adjustment component driving the sliding plates 12 to slide.

[0021] In specific implementation, a camera 2 is installed on the side of the main body 1, and fixed blocks 3 are fixed on both sides of the camera 2. The swing component inside the fixed block 3 can drive the swing plate 5 to swing back and forth periodically. The upper end of the swing plate 5 is connected to the air blowing device 6 and the nozzle 7. The main body 1 is also fixed with a push block 8. The angle adjustment component above the push block 8 can adjust the tilt angle of the mud discharge plates 10 on both sides. The nozzle 7 is provided with a nozzle adjustment component with multiple sliding plates 12 at the port. The air flow rate can be changed by sliding the sliding plates 12.

[0022] As a further embodiment of the present invention, the swing assembly includes a fixed frame 401 fixed in the fixed block 3, a turntable 402 rotatably connected in the fixed frame 401, a motor fixed at one end of the turntable 402, a sliding member 403 eccentrically slidably connected to the turntable 402, a connecting rod 404 slidably connected to the sliding member 403, a swing frame 405 fixed to the outer wall of the connecting rod 404, and one side of the swing frame 405 fixedly connected to the swing plate 5.

[0023] In practice, the fixed frame 401 is installed inside the fixed block 3. The motor drives the turntable 402 inside the fixed frame 401 to rotate. The turntable 402 drives the eccentrically assembled sliding part 403 to perform eccentric rotation and compound lifting motion. The sliding part 403 slides and drives the connecting rod 404 to swing back and forth. Then, through the swing frame 405 fixed to the outer wall of the connecting rod 404, it synchronously drives the swing plate 5 to complete the periodic swing action, thereby realizing the reciprocating purging operation of the subsequent nozzle 7.

[0024] As a further embodiment of the present invention, the sliding member 403 passes through the turntable 402, the connecting rod 404 passes through the sliding member 403, the swing frame 405 passes through the fixed frame 401, and the fixed frame 401 and the swing frame 405 are rotatably connected.

[0025] In specific implementation, through the nested limiting structure of the sliding member 403 penetrating the turntable 402, the connecting rod 404 penetrating the sliding member 403, and the swing frame 405 penetrating the fixed frame 401, and in conjunction with the rotational connection between the fixed frame 401 and the swing frame 405, the turntable 402 can drive the sliding member 403 to make eccentric sliding motion when it rotates. Through the sliding cooperation between the sliding member 403 and the connecting rod 404, the transmission is stabilized, and finally the swing frame 405 is driven to rotate stably and smoothly around the fixed frame 401, realizing the overall swing transmission action.

[0026] As a further embodiment of the present invention, the fixing block 3 has a cavity that moves in conjunction with the turntable 402, the sliding member 403 and the swing frame 405, and the fixing frame 401 is fixedly connected to the inner wall of the cavity.

[0027] In practice, the cavity inside the fixed block 3 provides ample space for the turntable 402, the sliding member 403, and the swing frame 405 to move and limit their movement. At the same time, the fixed frame 401 is fixed to the inner wall of the cavity to complete the overall positioning and installation, ensuring that the overall structure of the swing assembly is compact and the movement space is regular, so that the turntable 402, the sliding member 403, and the swing frame 405 can stably and smoothly complete the continuous swing transmission operation inside the fixed block 3.

[0028] As a further embodiment of the present invention, the angle adjustment component includes a pusher frame 901 disposed at the top of the pusher block 8. The pusher frame 901 is slidably connected to the main body 1. An electric telescopic rod is fixed on one side of the pusher frame 901, and a pusher 902 is fixed on the other side of the pusher frame 901. The pusher 902 is rotatably connected to two pull plates 903. The pull plates 903 are rotatably connected to a rotating plate 904. One side of the rotating plate 904 is fixedly connected to the mud discharge plate 10.

[0029] In practice, the electric telescopic rod drives the pusher frame 901, which is slidably coupled with the main body 1, to move. The pusher frame 901 moves synchronously with the pusher component 902. The pusher component 902 pulls the pull plates 903 symmetrically arranged on both sides to rotate, thereby driving the rotating plate 904 to deflect, and finally driving the fixed mud discharge plate 10 to complete the tilt angle adjustment.

[0030] As a further embodiment of the present invention, a connecting shaft 905 is rotatably connected inside the rotating plate 904, the connecting shaft 905 is fixedly connected to the push block 8, and the main body 1 has a cavity that cooperates with the movement of the push frame 901.

[0031] In practice, the connecting shaft 905 is fixed on the push block 8 and rotates in cooperation with the rotating plate 904. The main body 1 has a cavity to provide an active area for the push frame 901, thereby limiting the movement trajectory of each component and ensuring that the angle adjustment of the mud discharge plate 10 is completed smoothly.

[0032] As a further embodiment of the present invention, a first slide rod 906 is fixed on one side of the push frame 901, and a first oil tank 907 is slidably connected to the first slide rod 906. The first oil tank 907 is fixedly connected to the inner wall of the cavity opened in the main body 1.

[0033] In practice, when the pusher 901 moves, it drives the first slide rod 906 to slide within the first oil tank 907 fixed in the cavity of the main body 1, thereby completing the synchronous transmission of hydraulic power.

[0034] As a further embodiment of the present invention, the nozzle adjustment assembly includes a second oil tank 111 disposed inside the nozzle of the nozzle pipe 7. A second slide rod 112 is slidably connected inside the second oil tank 111. A connecting block 113 is fixed to one end of the second slide rod 112. A rotating ring 114 is fixed to one side of the connecting block 113. A plurality of guide rods 115 are slidably connected at equal angles inside the rotating ring 114. The guide rods 115 are fixedly connected to the sliding plate 12. A fixing ring 116 is slidably connected to one side of the sliding plate 12. The second oil tank 111 is connected to the first oil tank 907 through a hose.

[0035] In practice, hydraulic oil is introduced from the first oil tank 907 into the second oil tank 111 via a hose, which pushes the second slide rod 112 to slide in a limited position, causing the connecting block 113 and the rotating ring 114 to rotate synchronously. The rotating ring 114 drives multiple guide rods 115 to slide, pulling the sliding plate 12 to move along the fixed ring 116, thereby controlling the opening and closing size of the nozzle 7.

[0036] As a further embodiment of the present invention, the rotating ring 114 has a cavity that slides with the guide rod 115, the fixed ring 116 has a cavity that slides with the protruding position on one side of the sliding plate 12, the nozzle 7 has a cavity that moves with the connecting block 113 and the rotating ring 114, the fixed ring 116 is fixedly connected to the inner wall of the cavity, and the second oil tank 111 is rotatably connected to the inner wall of the cavity.

[0037] In specific implementation, the rotating ring 114, the fixed ring 116 and the nozzle 7 are respectively provided with corresponding cavities, and the guide rod 115, the sliding plate 12, the connecting block 113 and the rotating ring 114 are reserved for the movement stroke. The fixed ring 116 is fixed to the inner wall of the cavity of the nozzle 7. The second oil tank 111 can rotate in the cavity. Each structure is mutually limited and adapted to ensure the smooth linkage operation of the nozzle adjustment component.

[0038] Working principle: When using this scissor-type hydraulic lifting intelligent sewage pipeline inspection robot, complete data on the pipeline to be inspected is first collected, the location of the working well, the surrounding environment and safe passage path are verified on-site, and all kinds of safety hazards on the ground are comprehensively investigated. The operator uses the hoisting equipment to smoothly lift the robot into the working well, maintaining the horizontal posture of the body throughout the process to effectively avoid the body hitting the well wall structure. Then, the robot is pushed to the pipeline inlet position, and the scissor lifting platform is controlled to fall back to the lowest working position, so that the mud discharge plate 10 is closely attached to the bottom surface of the pipeline. At the same time, the orientation of the camera 2 is calibrated so that its lens is accurately aligned with the central axis of the pipeline, laying a solid foundation for subsequent smooth movement and accurate imaging. After the equipment is in place and debugged, the automatic cruise mode is activated. The robot moves forward at a constant speed along the pipeline axis. The main body 1 uses sensors to detect the viscosity of the sludge in the pipe in real time, and then triggers the operation of the electric telescopic rod. The electric telescopic rod drives the push frame 901 to move. The movement of the push frame 901 causes the push component 902 fixed on one side to move synchronously. Then, the push component 902 drives the pull plate 903 to rotate as it moves. The rotating pull plate 903 then drives the hinged rotating plate 904 to rotate around the connecting shaft 905, so that the mud discharge plate 10 fixed to the rotating plate 904 rotates on the side of the push block 8, adjusting the tilt of the mud discharge plate 10. The pusher 8, with its spiked structure, works in conjunction with the mud discharge plate 10 to guide and remove silt from the bottom of the pipe. When the pipe contains low-viscosity thin mud, the angle between the mud discharge plates 10 is increased. Low-viscosity mud has strong fluidity, and a gentle angle can form a guide surface, guiding the mud to flow quickly from both sides without disturbing the mud layer, reducing travel resistance and preventing mud accumulation. When the pipe contains high-viscosity thick mud, the angle between the mud discharge plates 10 is decreased. High-viscosity clay has strong adhesion, and a steep angle can cut into the silt layer like a plow, peeling off the thick mud and pushing it to both sides, powerfully cutting the dried clay, breaking up the mud dam in front, avoiding obstruction of travel, and preventing the rollers from being lifted up by the silt and slipping. During the displacement of the pusher frame 901, the first slide rod 906, fixed on the side, is simultaneously driven to slide within the first oil tank 907. The hydraulic oil in the squeeze tank is then transported to the second oil tank 111 via a hose, causing the second slide rod 112 within the second oil tank 111 to slide within its limit. Since the second oil tank 111 is rotatably connected to the inner wall of the cavity opened in the nozzle 7, the second slide rod 112 drives the connecting block 113 to rotate, which in turn drives the rotating ring 114, fixed to the connecting block 113, to rotate. The rotating ring 114 has a cavity that slides with the guide rod 115. The rotating ring 114 drives the guide rod 115 to slide within the cavity. Since the guide rod 115 is fixedly connected to the sliding plate 12, and the fixing ring 116 is fixed to the inner wall of the cavity opened in the nozzle 7, the fixing ring 116... A cavity is provided to slide in conjunction with the protruding position of the sliding plate 12, so that the sliding plate 12 is driven by the guide rod 115 to move in the cavity opened in the fixing ring 116. Multiple sliding plates 12 are displaced synchronously, which can change the nozzle diameter of the nozzle 7. When facing thin mud with high water content and strong fluidity, the nozzle diameter is reduced, and a high-speed narrow airflow is formed under constant air supply pressure. This can quickly blow away the water film on the lens surface, efficiently remove the fog on the lens surface, and ensure the clarity of the image. At the same time, the small airflow can reduce the air source loss and extend the continuous operation time of the equipment. When facing thick clay with hardened clumps and strong adhesion, the nozzle diameter is enlarged to form a large-area high-flow airflow barrier, which blocks the splashing mud clumps from hitting the camera 2 in advance. The strong airflow peels off the attached mud and dirt, prevents the dirt from drying and solidifying, and protects the lens components for a long time. As the robot body 1 travels along the pipeline, the drive motor is simultaneously activated, causing the turntable 402 to rotate within the fixed frame 401. The rotation of the turntable 402 causes its eccentrically mounted sliding member 403 to rotate synchronously. Since the sliding member 403 passes through the turntable 402, it moves up and down synchronously within the turntable 402 during rotation. The rotating sliding member 403 causes its slidably connected connecting rod 404 to swing. Simultaneously, the sliding member 403 slides on the outer wall of the connecting rod 404 during rotation. The swinging connecting rod 404 causes the swing frame 405, fixed to its outer wall, to rotate around the hinge point of the fixed frame 401, driving the swing... The swing plate 5 connected to the frame 405 swings regularly on the side of the fixed block 3. The blowing device 6 continuously delivers compressed gas to the nozzle 7. The swing nozzle 7 blows the surface of the camera 2 at multiple angles. The reciprocating airflow can fully cover the entire area of ​​the lens, completely eliminating blind spots and effectively preventing mud residue from drying and obstructing the view. The circulating swing airflow forms a uniform air layer on the lens surface, quickly removing surface moisture and avoiding secondary fogging caused by temperature differences. The pulsed and alternating airflow impact force can easily peel off stubborn mud particles without squeezing and sticking the stains to the lens surface, continuously maintaining the cleanliness of the camera 2 and ensuring a clear and stable pipeline inspection image.

[0039] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention are within the scope of the present invention.

Claims

1. A scissor-type hydraulic lifting intelligent inspection robot for sewage pipelines, comprising a main body (1), characterized in that: A camera (2) is provided on one side of the main body (1). Fixing blocks (3) are fixed on both sides of the camera (2). A swinging component is provided inside the fixing block (3). A swinging plate (5) is fixed on one side of the swinging component. The swinging plate (5) is driven to swing periodically by the swinging component. An air blowing device (6) is fixed at the top of the swinging plate (5). A nozzle (7) is fixed on one side of the air blowing device (6). A push block (8) is fixed on one side of the main body (1). An angle adjustment component is provided at the top of the push block (8). A mud discharge plate (10) is provided on both sides of the angle adjustment component. The tilt of the mud discharge plate (10) is adjusted by the brightness adjustment component. A nozzle adjustment component is provided at the nozzle of the nozzle (7). Multiple sliding plates (12) are provided at equal angles inside the nozzle adjustment component. The amount of gas ejected from the nozzle is adjusted by the sliding plates (12) driven by the nozzle adjustment component.

2. The scissor-type hydraulic lifting intelligent inspection robot for sewage pipelines according to claim 1, characterized in that: The swing assembly includes a fixed frame (401) fixed in a fixed block (3), a turntable (402) rotatably connected inside the fixed frame (401), a motor fixed at one end of the turntable (402), a sliding member (403) eccentrically slidably connected to the turntable (402), a connecting rod (404) slidably connected to the sliding member (403), a swing frame (405) fixed to the outer wall of the connecting rod (404), and one side of the swing frame (405) fixedly connected to the swing plate (5).

3. The scissor-type hydraulic lifting intelligent inspection robot for sewage pipelines according to claim 2, characterized in that: The sliding member (403) passes through the turntable (402), the connecting rod (404) passes through the sliding member (403), the swing frame (405) passes through the fixed frame (401), and the fixed frame (401) and the swing frame (405) are rotatably connected.

4. The scissor-type hydraulic lifting intelligent inspection robot for sewage pipelines according to claim 2, characterized in that: The fixed block (3) has a cavity that allows the turntable (402), the sliding member (403) and the swing frame (405) to move together, and the fixed frame (401) is fixedly connected to the inner wall of the cavity.

5. The scissor-type hydraulic lifting intelligent inspection robot for sewage pipelines according to claim 1, characterized in that: The angle adjustment assembly includes a pusher frame (901) set at the top of the pusher block (8). The pusher frame (901) is slidably connected to the main body (1). An electric telescopic rod is fixed on one side of the pusher frame (901), and a pusher (902) is fixed on the other side of the pusher frame (901). The pusher (902) is rotatably connected to two pull plates (903). The pull plates (903) are rotatably connected to a rotating plate (904). One side of the rotating plate (904) is fixedly connected to the mud discharge plate (10).

6. The scissor-type hydraulic lifting intelligent inspection robot for sewage pipelines according to claim 5, characterized in that: The rotating plate (904) is rotatably connected to a connecting shaft (905), which is fixedly connected to the push block (8). The main body (1) has a cavity that cooperates with the movement of the push frame (901).

7. The scissor-type hydraulic lifting intelligent inspection robot for sewage pipelines according to claim 5, characterized in that: The push frame (901) is fixed with a first slide rod (906) on one side. The first slide rod (906) is slidably connected to a first oil tank (907). The first oil tank (907) is fixedly connected to the inner wall of the cavity opened in the main body (1).

8. The scissor-type hydraulic lifting intelligent inspection robot for sewage pipelines according to claim 7, characterized in that: The nozzle adjustment assembly includes a second oil tank (111) disposed inside the nozzle of the nozzle pipe (7). A second slide rod (112) is slidably connected inside the second oil tank (111). A connecting block (113) is fixed at one end of the second slide rod (112). A rotating ring (114) is fixed on one side of the connecting block (113). Multiple guide rods (115) are slidably connected at equal angles inside the rotating ring (114). The guide rods (115) are fixedly connected to the sliding plate (12). A fixing ring (116) is slidably connected on one side of the sliding plate (12). The second oil tank (111) and the first oil tank (907) are connected by a hose.

9. The scissor-type hydraulic lifting intelligent inspection robot for sewage pipelines according to claim 8, characterized in that: The rotating ring (114) has a cavity for sliding with the guide rod (115), the fixed ring (116) has a cavity for sliding with the protruding position of the sliding plate (12) on one side, the nozzle (7) has a cavity for moving with the connecting block (113) and the rotating ring (114), the fixed ring (116) is fixedly connected to the inner wall of the cavity, and the second oil tank (111) is rotatably connected to the inner wall of the cavity.

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