A pipeline inspection robot with adjustable viewing angle

Abstract

The present application relates to the technical field of pipeline maintenance, in particular to a pipeline maintenance robot capable of adjusting the visual angle; the robot body is placed into the entrance of the pipeline to be maintained, and then the robot is controlled to walk in the pipeline; while walking, the real-time image in the pipeline is shot by the camera and transmitted to the control terminal operated by the operator in the back end, so as to facilitate the operator to perform real-time maintenance on the pipeline; in the process of maintenance, the first driving component can be used to drive the driving support arm to rotate, so as to drive the lifting seat to lift, thereby adjusting the vertical height position of the entire camera; the second driving component can be used to drive the connecting arm to rotate, since the rotation axis of the connecting arm is vertically arranged, the camera can rotate on the horizontal plane; the third driving component can be used to drive the camera to rotate, since the rotation axis of the camera is horizontally arranged, the camera can rotate on the vertical plane, and thus the shooting visual angle range of the camera can be greatly increased.

Description

Technical Field

[0001] This invention relates to the field of pipeline maintenance technology, and in particular to a pipeline maintenance robot with an adjustable viewing angle. Background Technology

[0002] As a core infrastructure for fluid transportation, municipal sewage disposal, and industrial media transmission, pipelines are prone to problems such as scaling, dirt accumulation, blockage by debris, or leakage after long-term operation. When these problems occur, timely pipeline maintenance is required. Currently, there are maintenance robots on the market that can walk inside pipelines and remotely photograph the inside of the pipeline using cameras. However, the camera field of view of existing pipeline maintenance robots is limited, resulting in poor maintenance results. Summary of the Invention

[0003] The main objective of this invention is to provide a pipeline inspection robot with an adjustable viewing angle, which aims to solve the problem that the limited camera viewing angle of existing pipeline inspection robots leads to poor inspection results.

[0004] To achieve the above objectives, the technical solution proposed by this invention is as follows: An adjustable-viewpoint pipeline inspection robot includes a robot body, a camera, a connecting arm, a mounting base, a lifting base, a first drive component, a second drive component, a third drive component, a first rotating arm, a second rotating arm, a support base, a first horizontal arm, a second horizontal arm, a support arm, and a control terminal. The support base is disposed on the upper side wall of the robot body. One end of the first rotating arm and one end of the second rotating arm are hinged to the support base. The other ends of the first rotating arm and the second rotating arm are hinged to the lifting base. The support base and the lifting base are both horizontally positioned. The first rotating arm is parallel to the second rotating arm. The two ends of the first horizontal arm are respectively hinged to the first rotating arm and the second rotating arm, and the two ends of the second horizontal arm are respectively hinged to the support base. A first rotating arm and a second rotating arm; the first horizontal arm is higher than the second horizontal arm; the two ends of the support arm are respectively hinged to the first horizontal arm and the second horizontal arm; the first driving component is used to drive the support arm to rotate, so as to drive the lifting seat to rise and fall; the second driving component is disposed on the lifting seat and is used to drive the connecting arm to rotate, and the rotation axis of the connecting arm is vertically arranged; the end of the connecting arm away from the lifting seat is provided with the mounting seat; the camera is disposed on the mounting seat; the third driving component is disposed on the mounting seat and is used to drive the camera to rotate, and the rotation axis of the camera is horizontally arranged; the control terminal is used to control the start and stop of the first driving component, the second driving component, and the third driving component.

[0005] Preferably, the first rotating arm and the second rotating arm have the same length; one end of the first rotating arm is hinged to one end of the support seat; one end of the second rotating arm is hinged to the other end of the support seat; the other end of the first rotating arm is hinged to one end of the lifting seat; the other end of the second rotating arm is hinged to the other end of the lifting seat; the first horizontal arm and the second horizontal arm have the same length; both the first horizontal arm and the second horizontal arm are horizontally arranged.

[0006] Preferably, one end of the support arm is hinged to the middle of the first horizontal arm; the other end of the support arm is hinged to the middle of the second horizontal arm; and the support arm is parallel to the first rotating arm.

[0007] Preferably, the support arm has a waist hole extending along the length of the body; the first driving component includes a lead screw, a slider, and a movable arm; the lead screw is rotatably disposed on the upper side wall of the robot body and located behind the support seat; the slider has a through threaded hole and is fitted onto the lead screw through the threaded hole; the upper side wall of the robot body is also provided with a slide rail; the slide rail is located directly below the lead screw and parallel to the lead screw; the bottom of the slider has a sliding groove to slide onto the slide rail through the sliding groove; one end of the movable arm is hinged to the slider; the other end of the movable arm is provided with a protruding post; the central axis of the protruding post is horizontally arranged; the protruding post is movably embedded in the waist hole.

[0008] Preferably, the protruding column is fixedly fitted with a circular baffle; the diameter of the circular baffle is larger than the width of the waist hole; the circular baffle and the movable arm are respectively located on both sides of the support arm; the lead screw is perpendicular to the axis of rotation of the first rotating arm.

[0009] Preferably, the first driving component further includes a first motor; the upper sidewall of the robot body is provided with a first support base and a second support base; one end of the first lead screw is rotatably connected to the first support base, and the other end is rotatably inserted through the second support base; the second support base is located on the side of the first support base opposite to the bearing seat; the first motor is disposed on the upper sidewall of the robot body and is located on the side of the second support base opposite to the first support base; the output shaft of the first motor is coaxially connected to the lead screw; the control terminal is used to control the start, stop and rotation direction of the first motor.

[0010] Preferably, the second driving component includes a support column, a rotating sleeve, a connecting ring, a second motor, and an external gear ring; the support column is fixedly mounted on the lifting seat; the support column is vertically positioned; the rotating sleeve is rotatably mounted on the support column and shares a central axis with the support column; the connecting ring is fixedly mounted on the outer wall of the rotating sleeve; one end of the connecting arm is connected to the connecting ring; the connecting arm is horizontally positioned; the end of the connecting arm away from the connecting ring is connected to the mounting base; the external gear ring is coaxially mounted on the rotating sleeve and is higher than the connecting ring; the second motor is fixedly connected to the outer wall of the support column; the output shaft of the second motor is coaxially connected to a first gear; the first gear meshes with the external gear ring; the control terminal is also used to control the start / stop and rotation direction of the second motor.

[0011] Preferably, it also includes a rotating column and a cable; the rotating column is rotatably embedded in the top of the support column and is collinear with the central axis of the support column; one end of the cable is connected to the rotating column, the other end of the cable is connected to the middle of the connecting arm, and the cable is taut.

[0012] Preferably, the third driving component includes a third motor, a worm gear, a worm, a first rotating shaft, and a second rotating shaft; the mounting base includes a first base plate and a second base plate parallel to each other, and a third base plate disposed between the first base plate and the second base plate; the other end of the connecting arm is connected to the third base plate; one end of the first rotating shaft is fixedly connected to one side of the camera, and the other end of the first rotating shaft is rotatably connected to the first base plate; one end of the second rotating shaft is fixedly connected to the other side of the camera, and the other end of the first rotating shaft rotatably passes through the second base plate; the first rotating shaft and the second rotating shaft share a common central axis; the worm gear is coaxially connected to the second rotating shaft and is located outside the second base plate; the third motor is disposed on the outer wall of the second base plate; the worm is coaxially connected to the output shaft of the third motor; the worm and the worm gear mesh; the control terminal is also used to control the start / stop and rotation direction of the third motor.

[0013] Preferably, the robot body is further provided with walking wheels and a drive motor for driving the walking wheels to rotate.

[0014] Compared with the prior art, the present invention has at least the following beneficial effects: The pipeline inspection robot proposed in this invention can adjust the camera at more angles, thereby greatly expanding the camera's field of view and improving the inspection effect. In specific use, the robot body is placed at the entrance of the pipeline to be inspected, and then the robot is controlled to walk inside the pipeline. While walking, it takes real-time images of the pipeline through the camera and transmits them back to the control terminal operated by the back-end operator, so that the operator can carry out real-time pipeline inspection. During the inspection process, the first drive component can drive the drive support arm to rotate, thereby driving the lifting seat to rise and fall, thereby adjusting the vertical height position of the entire camera. The second drive component can also drive the connecting arm to rotate. Since the rotation axis of the connecting arm is set vertically, the camera can be rotated in the horizontal plane. The third drive component can also drive the camera to rotate. Since the rotation axis of the camera is set horizontally, the camera can be rotated in the vertical plane. With these combined, the shooting field of view of the camera can be greatly increased, improving the inspection effect. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of an embodiment of the pipeline inspection robot with adjustable viewing angle proposed in this invention. Figure 2 for Figure 1 Enlarged view of details at point A in the middle; Figure 3 This is a partial structural schematic diagram of an embodiment of the pipeline inspection robot with adjustable viewing angle proposed in this invention.

[0017] Explanation of reference numerals in the attached figures: 110. Robot body; 120. Walking wheel; 130. Cable conduit; 140. Front ring plate; 150. Bearing seat; 160. Lifting seat; 170. Mounting seat; 180. Camera; 190. Lead screw; 210. Slide rail; 220. Slider; 230. First support seat; 240. Second support seat; 250. First motor; 260. Movable arm; 270. First rotating arm; 280. Second rotating arm; 290. First horizontal arm; 310. Second horizontal arm; 320. Support arm; 3 30. Waist hole; 340. Protruding column; 350. Circular baffle; 360. Support column; 370. Rotating sleeve; 380. Connecting ring; 390. Connecting arm; 410. Second motor; 420. First gear; 430. External gear ring; 440. Rotating column; 450. Cable; 460. First seat plate; 470. Second seat plate; 480. Third seat plate; 490. First rotating shaft; 510. Second rotating shaft; 520. Worm gear; 530. Worm; 540. Third motor; 550. Protective cover.

[0018] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0021] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0022] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0024] This invention proposes a pipeline inspection robot with an adjustable viewing angle.

[0025] As attached Figure 1 -Appendix Figure 3As shown, in one embodiment of the pipeline maintenance robot with adjustable viewing angle proposed in this invention, the pipeline maintenance robot with adjustable viewing angle includes a robot body 110, a camera 180, a connecting arm, a mounting base 170, a lifting base 160, a first drive component, a second drive component, a third drive component, a first rotating arm 270, a second rotating arm 280, a support base 150, a first horizontal arm 290, a second horizontal arm 310, a support arm 320, and a control terminal (e.g., a tablet computer with a display screen); the support base 150 is disposed on the upper side wall of the robot body 110; one end of the first rotating arm 270 and one end of the second rotating arm 280 are both hinged to the support base 150; the other ends of the first rotating arm 270 and the other ends of the second rotating arm 280 are both hinged to the lifting base 160; the support base 150 and the lifting base 160 are both horizontally arranged; the first rotating arm 270 is parallel to the second rotating arm 280; the two ends of the first horizontal arm 290 are respectively hinged to the first rotating arm 270 and the second horizontal arm 280. The two ends of the second rotating arm 280 and the second horizontal arm 310 are respectively hinged to the first rotating arm 270 and the second rotating arm 280; the first horizontal arm 290 is higher than the second horizontal arm 310; the two ends of the support arm 320 are respectively hinged to the first horizontal arm 290 and the second horizontal arm 310; the first driving component is used to drive the support arm 320 to rotate, so as to drive the lifting seat 160 to rise and fall; the second driving component is set on the lifting seat 160 and is used to drive the connecting arm to rotate, and the rotation axis of the connecting arm is vertically set; the end of the connecting arm away from the lifting seat 160 is provided with a mounting seat 170; the camera 180 is set on the mounting seat 170; the third driving component is set on the mounting seat 170 and is used to drive the camera 180 to rotate, and the rotation axis of the camera 180 is horizontally set; the control terminal is used to control the start and stop of the first driving component, the second driving component, and the third driving component; a front ring plate 140 and a lighting lamp are provided in front of the robot body 110, and the front ring plate 140 is used to break through obstacles in the pipe.

[0026] The pipeline inspection robot proposed in this invention can adjust the camera 180 at more angles, thereby greatly expanding the field of view of the camera 180 and improving the inspection effect. In specific use, the robot body 110 is placed in the inlet of the pipeline to be inspected, and then the robot is controlled to walk inside the pipeline. While walking, it takes real-time images of the pipeline through the camera 180 and transmits them back to the control terminal operated by the back-end operator, so that the operator can carry out real-time inspection of the pipeline. During the inspection process, the first driving component can drive the drive support arm 320 to rotate, thereby driving the lifting seat 160 to rise and fall, thereby adjusting the vertical height position of the entire camera 180. The second driving component can also drive the connecting arm to rotate. Since the rotation axis of the connecting arm is set vertically, the camera 180 can be rotated in the horizontal plane. The third driving component can also drive the camera 180 to rotate. Since the rotation axis of the camera 180 is set horizontally, the camera 180 can be rotated in the vertical plane. With these combined, the shooting field of view of the camera 180 can be greatly increased, improving the inspection effect.

[0027] Furthermore, the first rotating arm 270 and the second rotating arm 280 are of the same length; one end of the first rotating arm 270 is hinged to one end of the support base 150; one end of the second rotating arm 280 is hinged to the other end of the support base 150; the other end of the first rotating arm 270 is hinged to one end of the lifting base 160; the other end of the second rotating arm 280 is hinged to the other end of the lifting base 160; the first horizontal arm 290 and the second horizontal arm 310 are of the same length; both the first horizontal arm 290 and the second horizontal arm 310 are horizontally arranged. One end of the support arm 320 is hinged to the middle of the first horizontal arm 290; the other end of the support arm 320 is hinged to the middle of the second horizontal arm 310; the support arm 320 is parallel to the first rotating arm 270. Through the above technical solutions, the structure and function of this pipeline maintenance robot are further improved.

[0028] Meanwhile, the support arm 320 has a waist hole 330 extending along the length of the body; the first driving component includes a lead screw 190, a slider 220, and a movable arm 260; the lead screw 190 is rotatably mounted on the upper side wall of the robot body 110 and is located behind the support seat 150; the slider 220 has a through threaded hole and is fitted onto the lead screw 190 through the threaded hole; the upper side wall of the robot body 110 is also provided with a slide rail 210; the slide rail 210 is located directly below the lead screw 190 and parallel to the lead screw 190; the bottom of the slider 220 has a sliding groove to slide onto the slide rail 210 through the sliding groove; one end of the movable arm 260 is hinged to the slider 220; the other end of the movable arm 260 is provided with a protruding post 340; the central axis of the protruding post 340 is horizontally set; the protruding post 340 is movably embedded in the waist hole 330. The protruding column 340 is fixedly fitted with a circular baffle 350; the diameter of the circular baffle 350 is greater than the width of the waist hole 330; the circular baffle 350 and the movable arm 260 are respectively located on both sides of the support arm 320; the lead screw 190 is perpendicular to the axis of rotation of the first rotating arm 270.

[0029] The above technical solution further improves the structure and function of the first driving component. In use, the drive screw 190 rotates, thereby driving the slider 220 to slide linearly under the cooperation of the slide rail 210. Then, the movable arm 260 drives the support arm 320 to rotate. The rotation of the support arm 320 drives the entire lifting seat 160 to rise and fall. The lifting seat 160 can always remain horizontal during the lifting process (due to the parallel hinge of the first rotating arm 270 and the second rotating arm 280), thus ensuring the stability of the camera 180's viewing angle.

[0030] In addition, the first driving component also includes a first motor 250; a first support base 230 and a second support base 240 are provided on the upper side wall of the robot body 110; one end of the first lead screw 190 is rotatably connected to the first support base 230, and the other end is rotatably inserted through the second support base 240; the second support base 240 is located on the side of the first support base 230 away from the bearing seat 150; the first motor 250 is provided on the upper side wall of the robot body 110 and is located on the side of the second support base 240 away from the first support base 230; the output shaft of the first motor 250 is coaxially connected to the lead screw 190; and the control terminal is used to control the start, stop and rotation direction of the first motor 250.

[0031] Meanwhile, the second driving component includes a support column 360, a rotating sleeve 370, a connecting ring 380, a second motor 410, and an external gear ring 430; the support column 360 is fixedly mounted on the lifting seat 160; the support column 360 is vertically mounted; the rotating sleeve 370 is rotatably mounted on the support column 360 and shares a central axis with the support column 360; the connecting ring 380 is fixedly mounted on the outer wall of the rotating sleeve 370; one end of the connecting arm 390 is connected to the connecting ring 380; the connecting arm 390 is horizontally mounted; the end of the connecting arm 390 away from the connecting ring 380 is connected to the mounting seat 170; the external gear ring 430 is coaxially mounted on the rotating sleeve 370 and is higher than the connecting ring 380; the second motor 410 is fixedly connected to the outer wall of the support column 360; the output shaft of the second motor 410 is coaxially connected to a first gear 420; the first gear 420 and the external gear ring 430 mesh; the control terminal is also used to control the start, stop, and rotation direction of the second motor 410.

[0032] Specifically, the pipeline maintenance robot that can instinctively adjust its viewing angle also includes a rotating column 440 and a cable 450; the rotating column 440 is rotatably embedded in the top of the support column 360 and is collinear with the central axis of the support column 360; one end of the cable 450 is connected to the rotating column 440, and the other end of the cable 450 is connected to the middle of the connecting arm 390, and the cable 450 is taut.

[0033] The above technical solution further improves the structure and function of the second drive component. In use, the second motor 410 drives the outer gear ring 430 to rotate, thereby causing the sleeve 370 to rotate relative to the support column 360, which in turn drives the entire connecting arm 390 and the mounting base 170 to rotate, so as to adjust the horizontal position of the camera 180.

[0034] Furthermore, the aforementioned third drive component includes a third motor 540, a worm gear 520, a worm 530, a first rotating shaft 490, and a second rotating shaft 510; the mounting base 170 includes a first base plate 460 and a second base plate 470 parallel to each other, and a third base plate 480 disposed between the first base plate 460 and the second base plate 470; the other end of the connecting arm is connected to the third base plate 480; one end of the first rotating shaft 490 is fixedly connected to one side of the camera 180, and the other end of the first rotating shaft 490 is rotatably connected to the first base plate 460; one end of the second rotating shaft 510 is fixedly connected to the other side of the camera 180, and the first rotating shaft 490... The other end of 90 is rotatably inserted through the second base plate 470; the first rotating shaft 490 and the second rotating shaft 510 share a central axis; the worm gear 520 is coaxially connected to the second rotating shaft 510 and is located on the outside of the second base plate 470; the third motor 540 is disposed on the outer wall of the second base plate 470; the worm 530 is coaxially connected to the output shaft of the third motor 540; the worm 530 and the worm gear 520 mesh; the control terminal is also used to control the start, stop and rotation direction of the third motor 540; a protective cover 550 is provided on the outside of the second base plate 470, and the third motor 540, the worm gear 520 and the worm 530 are all inside the protective cover 550.

[0035] The above technical solution further improves the structure and function of the third drive component. In use, the third motor 540 drives the worm gear 530 to rotate, and then the worm wheel 520 drives the second rotating shaft 510 to rotate, thereby causing the entire camera 180 to flip in the vertical plane. Due to the meshing method of the worm wheel 520 and worm gear 530, self-locking can be achieved to fix the camera 180 in any adjusted position.

[0036] Meanwhile, the pipeline maintenance robot, which can instinctively adjust its viewing angle, also includes a cable conduit 130, I-beams, and a battery; the control terminal is equipped with a display screen; the robot body 110 is also equipped with four walking wheels 120 and a drive motor for driving the walking wheels 120 to rotate; a first cable, a second cable, and a third cable are threaded inside the cable conduit 130; one end of the cable conduit 130 is wound around the I-beams, and the other end is connected to the tail of the robot body 110; the I-beams are set on the ground; the battery supplies power to the first motor 250, the second motor 410, the third motor 540, the drive motor, and the camera 180 through the first cable; the camera 180 transmits the captured images to the control terminal in real time through the second cable and displays them on the display screen in real time; the control terminal controls the start, stop, and rotation direction of the first motor 250, the second motor 410, the third motor 540, and the drive motor through the third cable.

[0037] By setting up I-beam reels, it is easier to wind up the cable sleeve 130, and the wired power supply and communication method is more stable than wireless communication.

[0038] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A pipeline inspection robot with adjustable viewing angle, characterized in that, The system includes a robot body, a camera, a connecting arm, a mounting base, a lifting base, a first drive component, a second drive component, a third drive component, a first rotating arm, a second rotating arm, a support base, a first horizontal arm, a second horizontal arm, a support arm, and a control terminal. The support base is located on the upper side wall of the robot body. One end of the first rotating arm and one end of the second rotating arm are hinged to the support base. The other ends of the first rotating arm and the second rotating arm are hinged to the lifting base. The support base and the lifting base are both horizontally positioned. The first rotating arm is parallel to the second rotating arm. The two ends of the first horizontal arm are respectively hinged to the first rotating arm and the second rotating arm, and the two ends of the second horizontal arm are respectively hinged to the first rotating arm and the second rotating arm. Two rotating arms; the first horizontal arm is higher than the second horizontal arm; the two ends of the support arm are respectively hinged to the first horizontal arm and the second horizontal arm; the first driving component is used to drive the support arm to rotate, so as to drive the lifting seat to rise and fall; the second driving component is disposed on the lifting seat and is used to drive the connecting arm to rotate, and the rotation axis of the connecting arm is vertically arranged; the end of the connecting arm away from the lifting seat is provided with the mounting seat; the camera is disposed on the mounting seat; the third driving component is disposed on the mounting seat and is used to drive the camera to rotate, and the rotation axis of the camera is horizontally arranged; the control terminal is used to control the start and stop of the first driving component, the second driving component, and the third driving component.

2. The pipeline inspection robot with adjustable viewing angle according to claim 1, characterized in that, The first rotating arm and the second rotating arm have the same length; one end of the first rotating arm is hinged to one end of the support seat; one end of the second rotating arm is hinged to the other end of the support seat; the other end of the first rotating arm is hinged to one end of the lifting seat; the other end of the second rotating arm is hinged to the other end of the lifting seat; the first horizontal arm and the second horizontal arm have the same length; both the first horizontal arm and the second horizontal arm are horizontally arranged.

3. The pipeline inspection robot with adjustable viewing angle according to claim 1, characterized in that, One end of the support arm is hinged to the middle of the first horizontal arm; the other end of the support arm is hinged to the middle of the second horizontal arm; the support arm is parallel to the first rotating arm.

4. The pipeline inspection robot with adjustable viewing angle according to claim 1, characterized in that, The support arm has a waist hole extending along the length of the body; the first driving component includes a lead screw, a slider, and a movable arm; the lead screw is rotatably mounted on the upper side wall of the robot body and located behind the support seat; the slider has a through threaded hole and is fitted onto the lead screw through the threaded hole; the upper side wall of the robot body is also provided with a slide rail; the slide rail is located directly below the lead screw and parallel to the lead screw; the bottom of the slider has a groove to slide onto the slide rail through the groove; one end of the movable arm is hinged to the slider; the other end of the movable arm is provided with a protruding post; the central axis of the protruding post is horizontally arranged; the protruding post is movably embedded in the waist hole.

5. A pipeline inspection robot with adjustable viewing angle according to claim 4, characterized in that, The protruding column is fixedly fitted with a circular baffle; the diameter of the circular baffle is greater than the width of the waist hole; the circular baffle and the movable arm are respectively located on both sides of the support arm; the lead screw is perpendicular to the axis of rotation of the first rotating arm.

6. A pipeline inspection robot with adjustable viewing angle according to claim 4, characterized in that, The first driving component further includes a first motor; the upper sidewall of the robot body is provided with a first support base and a second support base; one end of the first lead screw is rotatably connected to the first support base, and the other end is rotatably passed through the second support base; the second support base is located on the side of the first support base opposite to the bearing seat; the first motor is located on the upper sidewall of the robot body and on the side of the second support base opposite to the first support base; the output shaft of the first motor is coaxially connected to the lead screw; the control terminal is used to control the start, stop and rotation direction of the first motor.

7. A pipeline inspection robot with adjustable viewing angle according to claim 1, characterized in that, The second driving component includes a support column, a rotating sleeve, a connecting ring, a second motor, and an external gear ring; the support column is fixedly mounted on the lifting seat; the support column is vertically positioned; the rotating sleeve is rotatably mounted on the support column and shares a central axis with the support column; The connecting ring is fixedly sleeved on the outer wall of the rotating sleeve; one end of the connecting arm is connected to the connecting ring; the connecting arm is horizontally positioned; the end of the connecting arm away from the connecting ring is connected to the mounting base; the external gear ring is coaxially sleeved on the rotating sleeve and is higher than the connecting ring; the second motor is fixedly connected to the outer wall of the support column; the output shaft of the second motor is coaxially connected to the first gear; the first gear meshes with the external gear ring; the control terminal is also used to control the start, stop and rotation direction of the second motor.

8. A pipeline inspection robot with adjustable viewing angle according to claim 7, characterized in that, It also includes a rotating column and a cable; the rotating column is rotatably embedded in the top of the support column and is collinear with the central axis of the support column; one end of the cable is connected to the rotating column, and the other end of the cable is connected to the middle of the connecting arm, and the cable is taut.

9. A pipeline inspection robot with adjustable viewing angle according to claim 1, characterized in that, The third driving component includes a third motor, a worm gear, a worm, a first rotating shaft, and a second rotating shaft; the mounting base includes a first base plate and a second base plate parallel to each other, and a third base plate disposed between the first base plate and the second base plate; the other end of the connecting arm is connected to the third base plate; one end of the first rotating shaft is fixedly connected to one side of the camera, and the other end of the first rotating shaft is rotatably connected to the first base plate; one end of the second rotating shaft is fixedly connected to the other side of the camera, and the other end of the first rotating shaft rotatably passes through the second base plate; the first rotating shaft and the second rotating shaft share a common central axis; the worm gear is coaxially connected to the second rotating shaft and is located on the outside of the second base plate; the third motor is disposed on the outer wall of the second base plate; the worm is coaxially connected to the output shaft of the third motor; the worm and the worm gear mesh; the control terminal is also used to control the start / stop and rotation direction of the third motor.

10. A pipeline inspection robot with adjustable viewing angle according to claim 1, characterized in that, The robot body is also equipped with walking wheels and a drive motor for driving the walking wheels to rotate.

Images