Snakelike robot for internal inspection of small pipeline

Abstract

A snakelike robot for internal inspection of small pipelines comprises a head machine body and a tail machine body which are connected through a cross universal joint. Three groups of crawling driving mechanisms are uniformly distributed and fixedly mounted on each of the head machine body and the tail machine body; a supporting shaft is fixedly installed at the front end of the head machine body, a rolling brush mechanism is rotationally installed on the supporting shaft, and a rolling brush driving mechanism is fixedly installed on one side of the supporting shaft. A sealed cabin is fixedly installed at the top end of a supporting shaft on the head machine body, and a camera assembly is fixedly installed in the sealed cabin. A cleaning mechanism for the sealed cabin is detachably and fixedly mounted on the rolling brush mechanism of the head machine body, and the cleaning mechanism is in rotating contact with the sealed cabin; according to the utility model, the problem that the camera assembly is blocked by foreign matters such as chippings in the pipeline is effectively avoided, and the shooting detection sight of the camera assembly is ensured; meanwhile, through the arrangement of the rolling brush mechanism, cleaning of the inner wall of the pipeline in the advancing process is achieved, and smooth crawling of the robot is guaranteed.

Description

Technical Field

[0001] The utility model belongs to the field of robots, and in particular relates to a snake-shaped robot for inspecting inside a small pipeline. Background Art

[0002] When inspecting the inner wall of a pipeline, it is usually necessary to use an inspection robot to carry the inspection instrument into the pipeline to conduct real-time inspection and data recording and transmission of abnormal conditions such as leaks and cracks in the pipeline.

[0003] In order to be able to perform internal inspections on small pipes (less than 150mm in diameter), existing pipeline inspection robots usually adopt a design consisting of multiple sets of flexibly connected body frames to achieve shuttling movement in small pipes, such as the invention patent with authorization publication number CN103672292B, named "A Pipeline Robot"; this invention not only ensures a smaller diameter body, but also achieves turning in the pipe.

[0004] However, research has found that the technical solution of the invention has the following problems in actual operation:

[0005] The robot's visual system is easily blocked by foreign objects such as debris in the pipe, which affects the camera's line of sight and thus the detection effect;

[0006] The inner wall of the tube and the forward route cannot be cleaned, which will also affect the crawling of the robot.

[0007] Therefore, it is very necessary to invent a small pipeline internal inspection snake-like robot that can ensure a clear shooting line of sight at all times and clean the inner wall of the pipeline to be tested. Utility Model Content

[0008] In order to solve the above technical problems, the utility model provides a small pipeline internal inspection snake-like robot, the technical solution adopted is:

[0009] A snake-like robot for inspecting inside a small pipe, characterized in that: it comprises a head body and a tail body connected by a cross universal joint; three sets of crawling drive mechanisms are evenly and fixedly installed on each of the head body and the tail body;

[0010] A support shaft is fixedly installed at the front end of the head body, and a roller brush mechanism is rotatably installed on the support shaft, and a roller brush driving mechanism is fixedly installed on one side of the support shaft; the roller brush driving mechanism is meshed and connected with the roller brush mechanism;

[0011] A sealed cabin is fixedly installed on the top of the support shaft on the head body, and a camera assembly is fixedly installed inside the sealed cabin, and the camera assembly is electrically connected to the control module and the battery module correspondingly arranged inside the head body;

[0012] A cleaning mechanism for the sealed cabin is detachably fixedly mounted on the roller brush mechanism of the head body, and the cleaning mechanism is in rotational contact with the sealed cabin;

[0013] The sealed cabin includes a base and a transparent waterproof cover, and the base is fixedly mounted on the front end of the support shaft, and the base is detachably fixedly connected to the transparent waterproof cover; the camera assembly is fixedly mounted on the base, and the camera assembly is in the transparent waterproof cover;

[0014] The cleaning mechanism includes an L bracket and an arc-shaped brush, and one end of the L bracket is detachably fixedly connected to the roller brush mechanism, and the other end of the L bracket is fixedly connected to one end of the arc-shaped brush; the arc-shaped brush is in close rotational contact with the transparent waterproof cover; the connection between the base and the transparent waterproof cover is at the corner of the L bracket.

[0015] Furthermore, at least one intermediate fuselage for carrying the detection equipment is installed between the head fuselage and the tail fuselage via a plurality of cross universal joints.

[0016] Furthermore, three sets of creeping drive mechanisms are evenly and fixedly installed on the middle fuselage.

[0017] Furthermore, a support shaft is also fixedly installed on the rear end of the tail fuselage, and a roller brush mechanism is also rotatably installed on the support shaft, and a roller brush driving mechanism meshing with the roller brush mechanism is also fixedly installed on one side of the support shaft; a sealed cabin is also fixedly installed on the top end of the support shaft, and correspondingly, a cleaning mechanism for the sealed cabin is also detachably fixedly installed on the roller brush mechanism of the tail fuselage, and the cleaning mechanism is in rotational contact with the sealed cabin; the camera assembly in the sealed cabin is electrically connected to communicate with the control module and battery module correspondingly arranged inside the tail fuselage.

[0018] Furthermore, the roller brush mechanism includes a hollow disc roller brush, and a hollow driven gear is fixedly installed on one side of the hollow disc roller brush; the driven gear is meshingly connected with the roller brush driving mechanism; the hollow disc roller brush and the driven gear are rotatably installed on the corresponding support shaft; the cleaning mechanism is detachably fixedly installed on the corresponding hollow disc roller brush.

[0019] Furthermore, the roller brush driving mechanism includes a support arm, and one end of the support arm is fixedly connected to the corresponding support shaft, and the other end of the support arm is fixedly installed with a motor; the output end of the motor rotates and extends out from the support arm, and the output end of the motor is fixedly installed with a main gear, which is meshed with the driven gear; the motor is electrically connected to the control module and battery module correspondingly arranged inside the head fuselage and the tail fuselage.

[0020] Furthermore, the crawling drive mechanism includes a telescopic mechanism and a crawling mechanism, and one end of the telescopic mechanism is detachably fixedly connected to the crawling mechanism, and the other end of the telescopic mechanism is fixedly connected to the corresponding head fuselage, middle fuselage and tail fuselage; the crawling mechanism is electrically connected to communicate with the control module and battery module inside the corresponding head fuselage, middle fuselage and tail fuselage.

[0021] Furthermore, the telescopic mechanism includes a lower support seat and an upper support seat, and a telescopic rod, a compression spring 1 and a compression spring 2 are evenly fixedly installed between the lower support seat and the upper support seat, and the compression spring 1 and the compression spring 2 are located on both sides of the telescopic rod; the telescopic rod, the compression spring 1 and the compression spring 2 are each provided with a corrugated telescopic sleeve of corresponding size, and the two ends of the corrugated telescopic sleeve are respectively fixedly connected to the lower support seat and the upper support seat; a fixing plate is fixedly installed on the upper support seat, and the fixing plate is detachably fixedly connected to the crawling mechanism; the lower support seat is fixedly connected to the corresponding head fuselage, middle fuselage and tail fuselage.

[0022] Furthermore, the crawling mechanism includes L-plate 1 and L-plate 2, and crawling wheels and crawling wheels 2 are evenly rotatably installed on the long sides between L-plate 1 and L-plate 2, and a rotating shaft is rotatably installed at the corner between the inner sides of L-plate 1 and L-plate 2; a synchronous toothed belt wheel is fixedly installed on one side of each crawling wheel and crawling wheel 2, and the synchronous toothed belt wheel is located between L-plate 2 and the corresponding crawling wheel and crawling wheel 2, and the synchronous toothed belt wheel is rotatably connected to L-plate 2; a main synchronous toothed belt wheel is rotatably installed on the short side of L-plate 2, and the main synchronous toothed belt wheel is between L-plate 1 and L-plate 2; a motor 2 is fixedly mounted on the short side of the L-plate 1, and the output end of the motor 2 rotates through the L-plate 1 and is fixedly connected to the main synchronous belt pulley; the synchronous belt pulley and the main synchronous belt pulley are connected through a synchronous belt transmission; the rotating shaft is located on the outside of the synchronous belt, and the rotating shaft is in rolling contact with the synchronous belt; the fixed plate is detachably fixedly mounted on the inner side of the L-plate 1; the motor 2 is electrically connected to the control modules and battery modules inside the corresponding head fuselage, middle fuselage and tail fuselage for communication.

[0023] Furthermore, the camera assembly includes a high-definition camera, a thermal imaging camera and an LED lighting lamp, and the high-definition camera, the thermal imaging camera and the LED lighting lamp are all fixed on a base, and the high-definition camera, the thermal imaging camera and the LED lighting lamp are electrically connected to the corresponding control module and battery module inside the head fuselage and the tail fuselage.

[0024] Compared with the prior art, the advantages of the utility model are:

[0025] The utility model effectively avoids the problem of the camera assembly being blocked by foreign objects such as debris in the pipeline through the coordinated design of the sealed cabin and the cleaning mechanism on the head body, thereby ensuring the shooting and detection line of sight of the camera assembly; at the same time, through the setting of the roller brush mechanism on the head body, the inner wall of the pipeline is cleaned once during the forward movement, and the smooth crawling of the robot is ensured.

[0026] The utility model realizes secondary cleaning of the inner wall of the pipeline during the forward movement by arranging the roller brush mechanism on the tail body, so that the leakage points and pipeline cracks on the inner wall of the pipeline are exposed more thoroughly, and provides conditions for secondary re-inspection and shooting of the camera assembly arranged on the tail body.

[0027] The utility model provides space for the installation of other detection components while effectively increasing the power through the arrangement of the middle body. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0029] Figure 2 It is a schematic diagram of the exploded structure of the head fuselage assembly of the utility model.

[0030] Figure 3 It is a structural schematic diagram of the telescopic mechanism and the crawling mechanism of the utility model.

[0031] Figure 4 It is a partial cutaway structural schematic diagram of the telescopic mechanism of the utility model.

[0032] In the figure:

[0033] Head fuselage 1, middle fuselage 2, tail fuselage 3, cross universal joint 4, telescopic mechanism 5, lower support seat 51, upper support seat 52, telescopic rod 53, compression spring 1 54, compression spring 2 55, corrugated telescopic sleeve 56, fixed plate 57, crawling mechanism 6, L plate 1 61, L plate 2 62, crawling wheel 63, crawling wheel 2 64, synchronous gear pulley 65, main synchronous gear pulley 66, motor 2 67, synchronous gear belt 68, rotating shaft 69, support shaft 7, support arm 8, motor 9, main gear 10, hollow disc roller brush 11, driven gear 12, L bracket 13, arc brush 14, base 15, camera assembly 16, transparent waterproof cover 17, flange 18. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be described clearly and completely below. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0035] In the description of the embodiments, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in the utility model can be understood according to specific circumstances.

[0036] The utility model is further described below in conjunction with the accompanying drawings: Example

[0037] Reference Figure 1-4, a snake-like robot for inspecting inside a small pipe, comprising a head body 1, an intermediate body 2 and a tail body 3, wherein: one end of the head body 1 is fixedly connected to one end of the intermediate body 2 through a cross universal joint 4, and the other end of the intermediate body 2 is fixedly connected to one end of the tail body 3 through a cross universal joint 4, and the setting of the intermediate body 2 and the tail body 3 allows the robot to suspend and carry other detection instruments, such as ultrasonic thickness gauges and electromagnetic eddy current crack detection sensors in the prior art, and ensures that the robot has sufficient power as a whole; the head body 1, the intermediate body 2 and the tail body 3 are evenly and fixedly installed with three sets of crawling drive mechanisms, which can be extended and contracted within a certain range according to the change of pipe diameter through the three sets of crawling drive mechanisms to ensure the automatic centering of the robot in the pipe. In addition, the robot has certain flexibility in pipe diameter adaptability, and can currently adapt to pipe inner diameters of 95mm to 105mm. Due to the use of an adaptive pipe wall mechanism, it can adapt and self-adjust well when the pipe changes in diameter or stubborn foreign matter remains in the pipe;

[0038] A support shaft 7 is fixedly installed at one end of the head body 1 and the tail body 3 to ensure the stability of the roller brush mechanism and the smoothness of the rotation process, and a roller brush mechanism is rotatably installed on the support shaft 7 of the head body 1 and the tail body 3, which mainly assists in cleaning and facilitates the detection of abnormalities while the robot moves forward, reduces the resistance of the robot during movement, and can clean the inner wall of the tube body to achieve a better detection effect. A roller brush driving mechanism is fixedly installed on one side of the support shaft 7 of the head body 1 and the tail body 3 to provide power for the roller brush mechanism; the roller brush driving mechanism is meshed and connected with the roller brush mechanism;

[0039] The crawling drive mechanism includes a telescopic mechanism 5 and a crawling mechanism 6, and one end of the telescopic mechanism 5 is detachably fixedly connected to the crawling mechanism 6, and the other end of the telescopic mechanism 5 is fixedly connected to the corresponding head fuselage 1, the middle fuselage 2 and the tail fuselage 3. Through the setting of the telescopic mechanism 5, the distance between the crawling mechanism 6 and the corresponding head fuselage 1, the middle fuselage 2 and the tail fuselage 3 can be adjusted to adapt to pipes with different inner diameters; the crawling mechanism 6 is electrically connected to the control module and the battery module inside the corresponding head fuselage 1, the middle fuselage 2 and the tail fuselage 3 for communication; since the control module and the battery module of the robot are very mature technologies, they will not be described in detail here;

[0040] A sealed cabin is fixedly installed at the front end of the support shaft 7 on the head fuselage 1 and the tail fuselage 3 to protect the camera assembly 16, and the camera assembly 16 is fixedly installed inside the sealed cabin; the camera assembly 16 includes a high-definition camera, a thermal imaging camera and an LED lighting lamp, and the high-definition camera, the thermal imaging camera and the LED lighting lamp are all fixed on the base 15, and the high-definition camera, the thermal imaging camera and the LED lighting lamp are electrically connected to the control module and the battery module inside the corresponding head fuselage 1 and the tail fuselage 3; the main function is to take photos and videos in real time to record the actual state inside the pipeline, providing a certain basis for later maintenance;

[0041] The cleaning mechanism for the sealed cabin is detachably fixedly mounted on the roller brush mechanism of the head fuselage 1 and the tail fuselage 3, and the cleaning mechanism is in rotational contact with the sealed cabin, and is used for periodic cleaning of the transparent waterproof cover 17 to ensure stable operation of the shooting operation;

[0042] The roller brush mechanism includes a hollow disc roller brush 11, so as to be suitable for pipes with different inner diameters, and a hollow driven gear 12 is fixedly installed on one side of the hollow disc roller brush 11, and the hollow disc roller brush 11 is coaxial with the driven gear 12; the driven gear 12 is meshed and connected with the roller brush driving mechanism; the hollow disc roller brush 11 and the driven gear 12 are rotatably installed on the corresponding support shaft 7 through bearings; the cleaning mechanism is detachably fixedly installed on the corresponding hollow disc roller brush 11;

[0043] The roller brush driving mechanism includes a support arm 8, and one end of the support arm 8 is fixedly connected to the corresponding support shaft 7, and the other end of the support arm 8 is fixedly installed with a motor 9, and the motor 9 adopts a 22mm DC brushless motor; the output end of the motor 9 rotates and extends out from the support arm 8, and the output end of the motor 9 is fixedly installed with a main gear 10, and the main gear 10 is meshed and connected with a driven gear 12, and a high-speed ratio spur gear is meshed between the main gear 10 and the driven gear 12; through the meshing of the high-speed ratio spur gear, the power is transmitted to the hollow disc roller brush 11 to ensure the axial rotation of the hollow disc roller brush 11; the motor 9 is electrically connected to the control module and the battery module inside the head fuselage 1 and the tail fuselage 3;

[0044] The sealed cabin includes a base 15 and a transparent waterproof cover 17, and the base 15 is fixedly mounted on the front end of the support shaft 7 on the head body 1 to ensure the stability of the camera assembly 16. The base 15 is detachably fixedly connected to the transparent waterproof cover 17. The camera assembly 16 can be protected by the transparent waterproof cover 17. The camera assembly 16 is fixedly mounted on the base 15, and the camera assembly 16 is in the transparent waterproof cover 17, so that the camera assembly 16 can clearly record and shoot the situation inside the pipeline through the transparent waterproof cover 17.

[0045] The cleaning mechanism includes an L bracket 13 and an arc-shaped brush 14, and one end of the L bracket 13 is detachably fixedly connected to the corresponding hollow disc roller brush 11 to ensure the stability of the arc-shaped brush 14 and facilitate the replacement of the arc-shaped brush 14. The other end of the L bracket 13 is fixedly connected to one end of the arc-shaped brush 14. Through the setting of the arc-shaped brush 14, it can rotate with the hollow disc roller brush 11 on the head body 1, so that when the impurities generated during the cleaning process of the hollow disc roller brush 11 fall on the transparent waterproof cover 17, the transparent waterproof cover 17 can be cleaned 360 degrees without dead ends in time to avoid affecting the operation of the camera assembly 16; the arc-shaped brush 14 is in close rotational contact with the transparent waterproof cover 17; the connection between the base 15 and the transparent waterproof cover 17 is at the corner of the L bracket 13; it should be noted that the length of the arc-shaped brush 14 is half the length of the semicircular arc of the transparent waterproof cover 17.

[0046] The other ends of the head body 1 and the tail body 3 are each fixedly installed with a flange 18; the two ends of the middle body 2 and the cross universal joint 4 are respectively fixedly installed with flanges 18; the flange 18 on the cross universal joint 4 is detachably fixedly connected with the corresponding flanges 18 on the head body 1, the middle body 2 and the tail body 3, so as to facilitate disassembly and assembly between the head body 1, the middle body 2 and the tail body 3. The maximum load capacity of the head body 1, that is, the weight of the testing instrument carried is about 5kg, that is, the maximum traction force under the premise of ensuring normal travel is about 50N. If the existing load capacity cannot be met, the selection of the power and transmission components of the robot can be modified according to the actual load size.

[0047] The telescopic mechanism 5 includes a lower support seat 51 and an upper support seat 52, and a telescopic rod 53, a compression spring 1 54 and a compression spring 2 55 are evenly and fixedly installed between the lower support seat 51 and the upper support seat 52. The compression spring 1 54 and the compression spring 2 55 are located on both sides of the telescopic rod 53. Through the setting of the telescopic rod 53, the overall strength of the telescopic mechanism 5 can be guaranteed, and at the same time, it can be extended and retracted following the extension and retraction of the compression spring 1 54 and the compression spring 2 55; the telescopic rod 53, the compression spring 1 54 and the compression spring 2 55 are each provided with a corrugated telescopic spring of corresponding size. The bellows telescopic sleeve 56 can prevent foreign matter from entering the telescopic rod 53, the compression spring 1 54 and the compression spring 2 55, and avoid the telescopic rod 53, the compression spring 1 54 and the compression spring 2 55 from getting stuck, and the two ends of the bellows telescopic sleeve 56 are respectively fixedly connected to the lower support seat 51 and the upper support seat 52; a fixing plate 57 is fixedly installed on the upper support seat 52, and the fixing plate 57 is detachably fixedly connected to the crawling mechanism 6; the lower support seat 51 is fixedly connected to the corresponding head fuselage 1, the middle fuselage 2 and the tail fuselage 3;

[0048] Compression spring 1 54 and compression spring 2 55 use 50% high compression rectangular springs, and directly and evenly transmit the reverse force of the compression spring to crawling wheel 63 and crawling wheel 2 64 through telescopic rod 53, ensuring that crawling wheel 63 and crawling wheel 2 64 are stably and reliably pressed against the inner wall of the pipe. High compression rectangular springs can exert higher elastic force due to their own higher elastic coefficient, and can also ensure the required buffer stroke. In this way, the robot can overcome the falling problems such as its own weight and friction when crawling in a vertical pipe. If you want to further increase the friction to suppress the falling problem, in addition to choosing a rectangular spring with a higher elastic coefficient, you can consider changing the round rubber wheels of the two crawling wheels in each group to toothed metal hard wheels.

[0049] The crawling mechanism 6 includes an L-plate 1 61 and an L-plate 2 62, and crawling wheels 63 and crawling wheels 64 are evenly and rotatably installed on the long sides between the L-plate 1 61 and the L-plate 2 62. The crawling wheels are made of nitrile rubber wheels or polyurethane wheels to ensure that the life span and stability are maximized without slipping during crawling. The maximum crawling speed is about 0.4 m / s, and the speed is adjustable. While the crawling mechanism 6 is pressing the inner wall of the pipe, the axial power and stability of the robot are ensured. A rotating shaft 69 is rotatably installed at the corner between the inner sides of the L-plate 1 61 and the L-plate 2 62; a synchronous toothed belt pulley 65 is fixedly installed on one side of the crawling wheel 63 and the crawling wheel 2 64, and the synchronous toothed belt pulley 65 is between the L-plate 2 62 and the corresponding crawling wheel 63 and crawling wheel 2 64. The synchronous toothed belt pulley 65 and The L-plate 2 62 is rotatably connected; the main synchronous toothed pulley 66 is rotatably installed on the short side of the L-plate 2 62, and the main synchronous toothed pulley 66 is located between the L-plate 1 61 and the L-plate 2 62; the motor 2 67 is fixedly installed on the short side of the L-plate 1 61, and the motor 2 67 adopts a 22mm DC brushless motor, and the output end of the motor 2 67 rotates through the L-plate 1 61 and is fixedly connected to the main synchronous toothed pulley 66; the synchronous toothed pulley 65 and the main synchronous toothed pulley 66 are connected through a synchronous toothed belt 68; the rotating shaft 69 is on the outside of the synchronous toothed belt 68, and the rotating shaft 69 is in rolling contact with the synchronous toothed belt 68; the fixed plate 57 is detachably fixedly installed on the inner side of the L-plate 1 61; the motor 2 67 is electrically connected to the control module and the battery module inside the corresponding head fuselage 1, the middle fuselage 2 and the tail fuselage 3 for communication.

[0050] For this robot, after the compression spring 1 54 and the compression spring 2 55 are fully retracted, the outer dimension is 95mm in outer diameter (the brush is not included in the outer diameter dimension); after the compression spring 1 54 and the compression spring 2 55 are fully expanded, the outer dimension is 105mm in outer diameter (the brush is not included in the outer diameter dimension), and the total length of a single section is about 140mm.

[0051] In this embodiment, it is known that the inner diameter of the pipeline is 100mm, and the radius of curvature at the 90-degree right-angle bend is 1.5D (150mm). In order to ensure that the robot can turn smoothly at the 90-degree right-angle bend, it is necessary to strictly limit the effective length of the robot to 140mm to meet the turning requirements of the pipeline.

[0052] Working process:

[0053] First, the snake-like robot of this embodiment is placed into the pipeline, and the motors 9 on the head body 1 and the tail body 3 are started, driving the hollow disc roller brushes 11 at the front and rear ends to start cleaning the inner wall of the pipeline. At the same time, the arc brush 14 installed on the hollow disc roller brush 11 starts to clean the transparent waterproof cover 17 360 degrees without dead angles; then the motors 67 on the head body 1, the middle body 2 and the tail body 3 are started, driving the snake-like robot to move forward along the inner wall of the pipeline as a whole; during the moving process, the camera assembly at the front end A preliminary inspection is carried out on large obstacles in the pipeline, obvious leaks on the inner wall of the pipe, pipe cracks and other abnormal conditions. At the same time, the hollow disc roller brush 11 on the head fuselage 1 performs the first cleaning of the inner wall of the pipe, providing detection conditions for other detection equipment installed on the middle fuselage 2 and the tail fuselage 3, and the hollow disc roller brush 11 on the tail fuselage 3 performs a second cleaning of the inner wall of the pipe, and the camera assembly installed on the tail fuselage 3 completes a second re-inspection and shooting of less obvious leaks on the inner wall of the pipe, pipe cracks and other abnormal conditions.

[0054] Utilizing the technical solution described in the utility model, or those skilled in the art designing similar technical solutions inspired by the technical solution of the utility model to achieve the above-mentioned technical effects, all fall within the protection scope of the utility model.

Claims

1. A snake-like robot for inspecting inside small pipes, characterized in that: It comprises a head fuselage (1) and a tail fuselage (3) connected by a cross universal joint (4); three sets of creeping drive mechanisms are evenly and fixedly installed on each of the head fuselage (1) and the tail fuselage (3); A support shaft (7) is fixedly mounted on the front end of the head body (1), and a roller brush mechanism is rotatably mounted on the support shaft (7), and a roller brush driving mechanism is fixedly mounted on one side of the support shaft (7); the roller brush driving mechanism is meshingly connected with the roller brush mechanism; A sealed cabin is fixedly mounted on the top of the support shaft (7) on the head body (1), and a camera assembly (16) is fixedly mounted inside the sealed cabin. The camera assembly (16) is electrically connected to a control module and a battery module correspondingly arranged inside the head body (1); A cleaning mechanism for the sealed cabin is detachably fixedly mounted on the roller brush mechanism of the head body (1), and the cleaning mechanism is in rotational contact with the sealed cabin; The sealed cabin comprises a base (15) and a transparent waterproof cover (17), wherein the base (15) is fixedly mounted on the front end of the support shaft (7), and the base (15) is detachably fixedly connected to the transparent waterproof cover (17); the camera assembly (16) is fixedly mounted on the base (15), and the camera assembly (16) is located in the transparent waterproof cover (17); The cleaning mechanism comprises an L bracket (13) and an arc-shaped brush (14), wherein one end of the L bracket (13) is detachably fixedly connected to the roller brush mechanism, and the other end of the L bracket (13) is fixedly connected to one end of the arc-shaped brush (14); the arc-shaped brush (14) is in close contact with the transparent waterproof cover (17) for rotation; and the connection between the base (15) and the transparent waterproof cover (17) is located at the corner of the L bracket (13).

2. A snake-like robot for inspecting inside a small pipe as claimed in claim 1, characterized in that: At least one intermediate fuselage (2) for carrying detection equipment is installed between the head fuselage (1) and the tail fuselage (3) via a plurality of cross universal joints (4).

3. A snake-like robot for inspecting inside a small pipe as claimed in claim 2, characterized in that: Three sets of creeping drive mechanisms are evenly and fixedly mounted on the middle fuselage (2).

4. A small pipe internal inspection snake-like robot according to any one of claims 1 to 3, characterized in that: The rear end of the tail fuselage (3) is also fixedly mounted with a support shaft (7), and a roller brush mechanism is also rotatably mounted on the support shaft (7), and a roller brush driving mechanism meshing with the roller brush mechanism is also fixedly mounted on one side of the support shaft (7); a sealed cabin is also fixedly mounted on the top end of the support shaft (7), and correspondingly, a cleaning mechanism for the sealed cabin is also detachably fixedly mounted on the roller brush mechanism of the tail fuselage (3), and the cleaning mechanism is in rotational contact with the sealed cabin; the camera assembly (16) in the sealed cabin is electrically connected to a control module and a battery module correspondingly arranged inside the tail fuselage (3).

5. A snake-like robot for inspecting inside a small pipe as claimed in claim 4, characterized in that: The roller brush mechanism comprises a hollow disc roller brush (11), and a hollow driven gear (12) is fixedly mounted on one side of the hollow disc roller brush (11); the driven gear (12) is meshingly connected with the roller brush driving mechanism; the hollow disc roller brush (11) and the driven gear (12) are rotatably mounted on a corresponding support shaft (7); and the cleaning mechanism is detachably fixedly mounted on the corresponding hollow disc roller brush (11).

6. A snake-like robot for inspecting inside a small pipe as claimed in claim 5, characterized in that: The roller brush driving mechanism comprises a support arm (8), one end of the support arm (8) is fixedly connected to a corresponding support shaft (7), and a motor (9) is fixedly mounted on the other end of the support arm (8); an output end of the motor (9) rotates and extends out from the support arm (8), and a main gear (10) is fixedly mounted on the output end of the motor (9), and the main gear (10) is meshingly connected to a driven gear (12); the motor (9) is electrically connected to a control module and a battery module correspondingly arranged inside the head body (1) and the tail body (3).

7. A snake-like robot for inspecting inside a small pipe as claimed in claim 3, characterized in that: The crawling drive mechanism comprises a telescopic mechanism (5) and a crawling mechanism (6), wherein one end of the telescopic mechanism (5) is detachably fixedly connected to the crawling mechanism (6), and the other end of the telescopic mechanism (5) is fixedly connected to the corresponding head fuselage (1), middle fuselage (2) and tail fuselage (3); the crawling mechanism (6) is electrically connected to the control module and the battery module inside the corresponding head fuselage (1), middle fuselage (2) and tail fuselage (3).

8. A snake-like robot for inspecting inside a small pipe as claimed in claim 7, characterized in that: The telescopic mechanism (5) comprises a lower support seat (51) and an upper support seat (52), and a telescopic rod (53), a first compression spring (54) and a second compression spring (55) are evenly and fixedly installed between the lower support seat (51) and the upper support seat (52), and the first compression spring (54) and the second compression spring (55) are located on both sides of the telescopic rod (53); the telescopic rod (53), the first compression spring (54) and the second compression spring (55) are each provided with a corrugated telescopic sleeve (56) of corresponding size, and the two ends of the corrugated telescopic sleeve (56) are respectively fixedly connected to the lower support seat (51) and the upper support seat (52); a fixing plate (57) is fixedly installed on the upper support seat (52), and the fixing plate (57) is detachably fixedly connected to the crawling mechanism (6); the lower support seat (51) is fixedly connected to the corresponding head fuselage (1), the middle fuselage (2) and the tail fuselage (3).

9. A snake-like robot for inspecting inside a small pipe as claimed in claim 8, characterized in that: The crawling mechanism (6) comprises an L-plate 1 (61) and an L-plate 2 (62), and crawling wheels (63) and crawling wheels 2 (64) are evenly rotatably mounted on the long sides between the L-plate 1 (61) and the L-plate 2 (62), and a rotating shaft (69) is rotatably mounted at the corner between the inner sides of the L-plate 1 (61) and the L-plate 2 (62); a synchronous toothed belt wheel (65) is fixedly mounted on one side of each of the crawling wheels (63) and the crawling wheel 2 (64), and the synchronous toothed belt wheel (65) is located between the L-plate 2 (62) and the corresponding crawling wheel (63) and crawling wheel 2 (64), and the synchronous toothed belt wheel (65) is rotatably connected to the L-plate 2 (62); a main synchronous toothed belt wheel (66) is rotatably mounted on the short side of the L-plate 2 (62), and the main synchronous toothed belt wheel (66) ) is located between L-plate 1 (61) and L-plate 2 (62); a motor 2 (67) is fixedly mounted on the short side of the L-plate 1 (61), and the output end of the motor 2 (67) rotates through the L-plate 1 (61) and is fixedly connected to the main synchronous toothed belt wheel (66); the synchronous toothed belt wheel (65) and the main synchronous toothed belt wheel (66) are connected by a synchronous toothed belt (68); the rotating shaft (69) is located outside the synchronous toothed belt (68), and the rotating shaft (69) is in rolling contact with the synchronous toothed belt (68); the fixed plate (57) is detachably fixedly mounted on the inner side of the L-plate 1 (61); the motor 2 (67) is electrically connected to the control module and the battery module inside the corresponding head fuselage (1), the middle fuselage (2) and the tail fuselage (3) for communication.

10. The snake-like robot for inspecting inside a small pipe as claimed in claim 4, characterized in that: The camera assembly (16) comprises a high-definition camera, a thermal imaging camera and an LED lighting lamp, and the high-definition camera, the thermal imaging camera and the LED lighting lamp are all fixed on the base (15), and the high-definition camera, the thermal imaging camera and the LED lighting lamp are electrically connected to the control module and the battery module inside the corresponding head fuselage (1) and the tail fuselage (3).

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