Pipeline detection head and pipeline robot

Abstract

The utility model discloses a pipeline detection head and pipeline robot, the pipeline detection head comprises a driving member, a distance measuring sensor and a conductive slip ring, the distance measuring sensor and the conductive slip ring are both installed at the driving end of the driving member, and the detection part of the distance measuring sensor is perpendicular to the driving shaft of the driving member. The distance measuring sensor is electrically connected with the conductive slip ring, and the driving piece is used for driving the distance measuring sensor to rotate, so that the pipeline detection head can be coaxially arranged in a pipeline, and the distance measuring sensor is driven by the driving piece to rotate so as to carry out circumferential measurement on the inner diameter of the pipeline by the distance measuring sensor; and the conductive slip ring can avoid the winding problem of the distance measuring sensor during rotation.

Description

Technical Field

[0001] The utility model belongs to the technical field of pipeline detection, and particularly relates to a pipeline detection head and a pipeline robot. Background Art

[0002] At present, video detection or radar scanning is mostly used for pipeline detection during inspection. However, video detection can only detect pipeline defects and cannot measure the pipe diameter, layout direction, etc. Radar scanning can measure the pipe diameter, but its accuracy is relatively low, generally about 2 mm, and it cannot determine the orientation and pipeline trend. In the prior art, in CN117189994A "Pipeline Detection Robot", a laser ranging probe and a camera are used in combination to detect the pipeline. However, its detection head is fixedly installed on the pipeline robot, which makes the applicability of the pipeline robot poor and unable to replace detection heads with other functions. Although its ranging sensor has high accuracy and can determine the pipeline trend, it is arranged radially on the side wall of the lens, which makes it lack protection and the volume of the entire detection part is relatively large. As a result, the ranging sensor is prone to collide with the pipeline or obstacles inside the pipeline and be damaged during use. Of course, if the ranging sensor is radially embedded into the detection head in the above prior art, although it can avoid the problem of too long protruding part of the ranging sensor, it will cause the diameter of the detection head to increase (a larger space is required inside the detection head to accommodate the ranging sensor), thus still increasing the volume of the detection head. Summary of the Utility Model

[0003] In order to solve the above technical problems, the purpose of the utility model is to provide a pipeline detection head with a compact structure and capable of flexibly rotating to perform circumferential measurement on the inner diameter of the pipeline.

[0004] In order to achieve the above purpose, the technical solution of the utility model is as follows: A pipeline detection head includes a driving member, a ranging sensor, and a conductive slip ring. The ranging sensor and the conductive slip ring are both installed at the driving end of the driving member, and the detection part of the ranging sensor is perpendicular to the driving shaft of the driving member. The ranging sensor is electrically connected to the conductive slip ring, and the driving member is used to drive the ranging sensor to rotate.

[0005] The beneficial effect of the above technical solution is that: In this way, the pipeline detection head can be coaxially placed inside the pipeline, and the driving member drives the ranging sensor to rotate so that the ranging sensor can perform circumferential measurement on the inner diameter of the pipeline, and the conductive slip ring can avoid the problem of wire winding when the ranging sensor rotates.

[0006] The above technical solution further includes a central shaft and a plug member. The distance measuring sensor is rotatably mounted on the central shaft. The conductive slip ring is coaxially arranged on the central shaft. The plug member is arranged at one end of the central shaft. The driving member is mounted on the central shaft, and the driving member is in transmission connection with the distance measuring sensor. The driving member is electrically connected to the plug member. The distance measuring sensor is electrically connected to the plug member through the conductive slip ring.

[0007] The beneficial effect of the above technical solution is that the central shaft can be used as the installation carrier for the driving member, the distance measuring sensor, the conductive slip ring and the plug member, so that the structure of the entire pipeline detection head is compact. And by setting the plug member, the pipeline detection head can be detachably installed on the pipeline robot for use.

[0008] The above technical solution further includes a rotating shell. The rotating shell is a cylindrical shell. The central shaft coaxially penetrates through both ends of the rotating shell, and the rotating shell is coaxially and rotatably connected to the central shaft. The distance measuring sensor is embedded in the rotating shell. The driving member is in transmission connection with the rotating shell. The driving member is used to drive the rotating shell to drive the distance measuring sensor to rotate around the central shaft.

[0009] The beneficial effect of the above technical solution is that the rotating shell serves as the installation carrier for the distance measuring sensor on the central shaft, and the driving member is directly in transmission connection with the rotating shell.

[0010] In the above technical solution, the distance measuring sensor is arranged tangentially on the side wall of the rotating shell.

[0011] The beneficial effect of the above technical solution is that the volume of the entire pipeline detection head can be further reduced, and the distance measuring sensor will not protrude significantly outside the rotating shell, thereby reducing the probability of damage to the distance measuring sensor.

[0012] In the above technical solution, a protective cover covering the distance measuring sensor is further arranged on the outer side wall of the rotating shell, and a detection hole is arranged on the protective cover. The detection part of the distance measuring sensor is aligned with the detection hole.

[0013] The beneficial effect of the above technical solution is that a protective structure can be formed on the outer wall of the rotating shell by the protective cover for the distance measuring sensor, so as to further reduce the probability of damage to the distance measuring sensor.

[0014] The above technical solution further includes a lens member. The lens member is arranged at one end of the central shaft away from the plug member. The lens member is electrically connected to the plug member.

[0015] The beneficial effects of the above technical solution are as follows: In this way, the lens component can image the pipeline so that the staff can flexibly know the actual situation inside the pipeline outside the pipeline.

[0016] In the above technical solution, the lens component includes a lens holder, a camera lens, and a fill light. The lens holder is installed at the corresponding end of the central axis. The camera lens is installed at one end of the lens holder away from the central axis, and the camera lens is coaxially distributed with the central axis. The fill light is arranged on the lens holder.

[0017] The beneficial effects of the above technical solution are as follows: Its structure is simple and the detection effect is good.

[0018] In the above technical solution, the driving component is a DD motor, which is coaxially and fixedly installed on the central axis.

[0019] The beneficial effects of the above technical solution are as follows: In this way, the driving component can be coaxially and fixedly installed on the central axis, so that the structure inside the entire rotating shell is more compact, and thus the diameter of the rotating shell can be relatively reduced, so that the volume of the entire pipeline detector is more compact.

[0020] The above technical solution further includes an encoder, which is electrically connected to the plug component. The encoder is used to monitor the rotation parameters of the rotating shell or the driving end of the driving component.

[0021] The beneficial effects of the above technical solution are as follows: In this way, the rotation parameters of the rotating shell relative to the central axis can be conveniently obtained through the encoder.

[0022] The above technical solution further includes a controller. The plug component, the driving component, the lens component, the ranging sensor, and the encoder are all electrically connected to the controller.

[0023] The beneficial effects of the above technical solution are as follows: In this way, the lens component, the ranging radar, the driving component, and the encoder can be directly electrically connected to the controller, and the controller is electrically connected to the plug component. In this way, there is no need for the lens component, the ranging radar, the driving component, and the encoder to be directly electrically connected to the plug component through wires. At this time, the wiring amount of the entire pipeline detector is small, and the wiring is convenient and simple.

[0024] In the above technical solution, the driving component, the conductive slip ring, the encoder, and the controller are all arranged inside the rotating shell.

[0025] The beneficial effects of the above technical solution are as follows: In this way, the rotating shell can protect the driving component, the conductive slip ring, the encoder, and the controller inside it.

[0026] In the above technical solution, the central axis is a hollow shaft. A wire threading hole communicating with the inside thereof is provided on the side wall of the central axis, and the wire threading hole is located inside the rotating shell. The inner hole and the wire threading hole of the central axis are both used for a conductive wire to pass through.

[0027] The beneficial effect of the above technical solution is that: in this way, the inner hole of the central axis can be used for wire routing, and the conductive wire inside the rotating shell can also be led out through the wire threading hole into the inner hole of the central axis, so that it has good aesthetics, and the wire routing method does not affect the detection vision of the rotating shell driving the distance measuring sensor to rotate.

[0028] The second object of the present utility model is to provide a pipeline robot with a simple structure and good reliability during operation.

[0029] To achieve the above object, the technical solution of the present utility model is as follows: A pipeline robot includes the pipeline detection head as described above.

[0030] The beneficial effect of the above technical solution is that: in this way, the pipeline detection head can be installed on the pipeline robot, so that the pipeline robot can drive the pipeline detection head to move inside the pipeline for detecting the inside of the pipeline. Description of the Drawings

[0031] Figure 1 It is a front view of the pipeline detection head according to Embodiment 1 of the present utility model;

[0032] Figure 2 It is a front view of the pipeline detection head according to Embodiment 2 of the present utility model;

[0033] Figure 3 It is a rear view of the pipeline detection head according to Embodiment 2 of the present utility model;

[0034] Figure 4 It is a front view of the pipeline detection head according to Embodiment 2 of the present utility model;

[0035] Figure 5 It is a top view of the pipeline detection head according to Embodiment 2 of the present utility model after removing the protective cover;

[0036] Figure 6 It is a cross-sectional view of the pipeline detection head according to Embodiment 2 of the present utility model;

[0037] Figure 7 It is an assembly schematic diagram of the central axis, the encoder, the driving member and the conductive slip ring in Embodiment 2 of the present utility model;

[0038] Figure 8 It is a schematic diagram of the pipeline detection head according to Embodiment 2 of the present utility model under cross-section;

[0039] Figure 9This is a schematic structural diagram of the pipeline robot described in Embodiment 3 of the present utility model.

[0040] In the figure: 1, central axis; 11, wire threading hole; 2, rotating shell; 21, protective cover; 22, detection hole; 23, bearing; 24, embedding table; 25, wire passing hole; 3, driving member; 4, distance measuring sensor; 5, lens member; 51, lens seat; 52, camera lens; 53, fill light; 6, plug member; 7, encoder; 8, controller; 9, conductive slip ring; 100, pipeline detection head; 200, robot body; 210, lifting frame; 220, socket member. Detailed implementation manners

[0041] The principles and features of the present utility model will be described below with reference to the accompanying drawings. The examples given are only for explaining the present utility model and are not intended to limit the scope of the present utility model. In the following paragraphs, the present utility model will be described more specifically by way of example with reference to the accompanying drawings. The advantages and features of the present utility model will be clearer according to the following description and the claims. It should be noted that the drawings are all in a very simplified form and use non-precise scales, only for conveniently and clearly assisting in explaining the purpose of the embodiments of the present utility model.

[0042] Embodiment 1

[0043] As Figure 1 shown, this embodiment provides a pipeline detection head, which includes a driving member 3, a distance measuring sensor 4 and a conductive slip ring 9. The distance measuring sensor 4 and the conductive slip ring 9 are both installed at the driving end of the driving member 3, and the detection part of the distance measuring sensor 4 is perpendicular to the driving shaft of the driving member 3. The distance measuring sensor 4 is electrically connected to the conductive slip ring 9. The driving member 3 is used to drive the distance measuring sensor 4 to rotate. In this way, the pipeline detection head can be coaxially placed in the pipeline, and the driving member drives the distance measuring sensor to rotate so that the distance measuring sensor can perform circumferential measurement on the inner diameter of the pipeline, and the conductive slip ring can avoid the winding problem of the distance measuring sensor when it rotates.

[0044] In this embodiment, the distance measuring sensor can adopt a laser ranging radar. In this embodiment, the distance measuring sensor can be directly installed on the driving shaft of the driving member, and the conductive slip ring is also coaxially installed on the driving shaft of the driving member (the conductive slip ring has a stator ring and a rotor ring. In this embodiment, the stator ring is outside and the rotor ring is inside. The rotor ring can be connected to the driving shaft of the driving member to rotate therewith, and the stator ring is connected to the body of the driving member and remains stationary. Among them, the rotor ring is electrically connected to the distance measuring sensor, and the stator ring sends out the ranging signal of the distance measuring sensor).

[0045] In addition, preferably, in this embodiment, the distance measuring sensor 4 can be arranged tangentially along the driving shaft of the driving member, so that the volume of the entire pipeline detection head can be further reduced, thereby reducing the probability of damage to the distance measuring sensor.

[0046] In this embodiment, the driving member can be a motor, preferably a servo motor.

[0047] Embodiment 2

[0048] Same as Embodiment 1, the difference is that this embodiment further includes a central shaft 1, a rotating shell 2, a lens member 5 and a plug member 6. The rotating shell 2 is a cylindrical shell, and the central shaft 1 penetrates through both ends of the rotating shell 2, and the rotating shell 2 is coaxially rotatably connected to the central shaft 1. The lens member 5 is arranged at one end of the central shaft 1, and the plug member 6 is arranged at the other end of the central shaft 1. The driving member 3 is arranged inside the rotating shell 2, and the driving member 3 is used to drive the rotating shell 2 to rotate around the central shaft 1. The distance measuring sensor 4 is embedded in the rotating shell 2, and both the driving member 3 and the lens member 5 are electrically connected to the plug member. The distance measuring sensor is electrically connected to the plug member through the slip ring. By arranging the plug member at one end of the central shaft, the pipeline detection head can be detachably plugged on the pipeline robot during use. In addition, the detection head combines the lens member and the distance measuring sensor to detect the inside of the pipeline, and high-precision visual detection is realized after the two are combined.

[0049] As Figures 6 - 8 shown, the slip ring 9 is coaxially arranged on the central shaft 1 and is located inside the rotating shell 2, and the slip ring 9 is located on the conductive wire for electrical connection between the distance measuring sensor 4 and the plug member. In this way, the driving member can drive the rotating shell to continuously rotate in one direction, and there is no need to worry about the problem of winding of the conductive wire corresponding to the distance measuring sensor on the central shaft (in this embodiment, the distance measuring sensor is electrically connected to the controller 18 through the slip ring).

[0050] Specifically, in this embodiment, the stator ring of the slip ring is inside, and its rotor ring is outside, and its stator ring is coaxially fixed on the central shaft, and its rotor ring can be connected to the rotating shell to rotate therewith. In this embodiment, the stator ring is electrically connected to the plug member.

[0051] As Figure 8 shown, both ends of the rotating shell in this embodiment can be rotatably connected to the central shaft through bearings 23, and the bearings 23 are preferably waterproof bearings, which can improve the waterproof performance inside the rotating shell and at the same time make the rotation effect of the rotating shell and the central shaft better.

[0052] As Figures 6 - 8As shown, the above technical solution also includes an encoder 7, which is arranged in the rotating shell 2 and electrically connected to the plug member 6. The encoder 7 is used to monitor the rotation parameters of the rotating shell 2. In this way, the rotation parameters of the rotating shell relative to the central axis can be conveniently known through the encoder, wherein the rotation parameters are specifically the angular velocity and rotation angle of the rotating shell, that is, the angular velocity and rotation angle of the ranging sensor relative to the central axis.

[0053] In this embodiment, since the driving member and the rotating shell are directly driven, the encoder can directly detect the rotation parameters of the driving end of the driving member or directly detect the rotation parameters of the rotating shell. Preferably, the driving end of the driving member can be coaxially fixedly connected to one end of the rotating shell, and the encoder is arranged on the driving member, which is used to monitor the rotation parameters of the driving end of the driving member (in this embodiment, the rotation parameters of the driving end of the driving member and the rotation parameters of the rotating shell can directly represent the rotation parameters of the ranging sensor).

[0054] Of course, the driving component may also directly adopt a servo motor. In this case, the driving component has its own encoder and there is no need to set up an additional independent encoder.

[0055] like Figure 6 and Figure 8 As shown, the above technical solution also includes a controller 8, and the plug component 6, the driving component 3, the lens component 5, the ranging sensor 4 and the encoder 7 are all electrically connected to the controller 8. In this way, the controller can be directly set in the rotating shell, and the lens component, the ranging radar, the driving component and the encoder are all electrically connected to the controller, and the controller is electrically connected to the plug component. In this way, there is no need for the lens component, the ranging radar, the driving component and the encoder to be directly electrically connected to the plug component through conductive wires. At this time, the amount of wiring in the entire pipeline detection head is reduced, and the wiring is convenient and simple. The controller in this embodiment can adopt an ARM series single-chip microcomputer.

[0056] like Figure 6 and Figure 8 As shown, the central shaft 1 in the above technical solution is a hollow shaft, and a threading hole 11 penetrating the interior of the central shaft 1 is provided on the side wall of the central shaft 1, and the threading hole 11 is located in the rotating shell 2. The inner hole of the central shaft 1 and the threading hole 11 are both used for passing the conductive wire, so that the inner hole of the central shaft can be used for routing, and the conductive wire in the rotating shell can also be led out to the inner hole of the central shaft through the threading hole, which has good aesthetics, and the routing method does not affect the detection field of the ranging sensor driven by the rotating shell to rotate.

[0057] In this embodiment, a plurality of wire threading holes may be provided on the central axis to facilitate the threading of the conductive wires. Among them, the conductive wires corresponding to the lens member and the plug member are introduced into the rotating housing through the inner hole of the central axis and the wire threading holes to be electrically connected to the controller, while the conductive wires of the driving member, the ranging sensor, and the encoder can be directly electrically connected to the controller within the rotating housing.

[0058] In the above technical solution, the driving member 3 is a DD motor (with a through hole in the middle for the central axis to pass through). The driving member 3 is coaxially and fixedly installed on the central axis 1, and the driving end of the driving member 3 is coaxially connected to the rotating housing 2. In this way, the driving member can be coaxially and fixedly installed on the central axis, making the structure inside the entire rotating housing more compact, so that the diameter of the rotating housing can be relatively reduced, making the volume of the entire pipeline detection head smaller and more compact.

[0059] As Figure 5 shown, in the above technical solution, the lens member 5 includes a lens holder 51, a camera lens 52, and a fill light 53. The lens holder 51 is installed at the corresponding end of the central axis 1. The camera lens 52 is installed at the end of the lens holder 51 away from the central axis 1, and the camera lens 52 is coaxially distributed with the central axis 1. The fill light 53 is arranged on the lens holder 51. Its structure is simple and the detection effect is good.

[0060] As Figure 5 shown, in this embodiment, a plurality of fill lights can be provided, and the plurality of fill lights are circumferentially and spaced apart at the edge of the lens holder (specifically, an LED light strip directly circumferentially embedded at the edge of the lens holder can be used, and each LED light core on the LED light strip constitutes a fill light).

[0061] As Figures 2 - 5 shown, in the above technical solution, the ranging sensor 4 is arranged tangentially on the side wall of the rotating housing 2, which can further reduce the volume of the entire pipeline detection head, and the ranging sensor does not protrude significantly outside the rotating housing, thus reducing the probability of the ranging sensor being damaged.

[0062] As Figures 2 - 7 shown, a protective cover 21 is provided on the outer side wall of the rotating housing 2. The protective cover 21 is an arc-shaped plate. Both ends of the protective cover 21 are turned inward, and both ends of the protective cover 21 are connected to the outer side wall of the rotating housing 2. The ranging sensor 4 is covered between the protective cover 21 and the rotating housing 2, and a detection hole 22 is provided at one end of the protective cover 21. The detection part of the ranging sensor 4 is aligned with the detection hole 22. In this way, a protective structure can be formed for the ranging sensor on the outer wall of the rotating housing by the protective cover, further reducing the probability of the ranging sensor being damaged.

[0063] Specifically, as Figure 5 shown, in this embodiment, a flat mounting platform 24 can be recessed on the outer side wall of the rotating shell 2, and the distance measuring sensor is directly mounted at the mounting platform 24. The detecting portion of the distance measuring sensor faces the side of the rotating shell, and the orientation of the detecting portion of the distance measuring sensor is perpendicular to the axis of the rotating shell. At this time, the protective cover completely covers the mounting platform at the periphery of the rotating shell (a wire passing hole 25 is provided at the mounting platform for the conducting wire of the distance measuring sensor to penetrate into the rotating shell, and a waterproof protective coil needs to be installed at the wire passing hole, which belongs to the prior art and will not be elaborated here).

[0064] In this embodiment, the flanged parts at both ends of the protective cover can be arc-shaped, which is equivalent to chamfering the two ends of the protective cover, so that the outer shape of the corresponding ends is round and no obvious edges will be formed.

[0065] Among them, Figure 1 and Figure 2 at A represents the laser signal emitting portion of the distance measuring sensor, and at B represents the laser signal receiving portion. It is the prior art that the laser ranging radar has a laser signal emitting portion and a laser signal receiving portion, and will not be elaborated here.

[0066] Among them, Figure 8 the dotted line represents the wiring path schematic diagram of the conducting wire of the entire pipeline probe head.

[0067] Embodiment 3

[0068] As Figure 9 shown, this embodiment provides a pipeline robot, including a robot body 200 and the pipeline probe head 100 as described in Embodiment 2. A socket member 210 is provided at the front end of the robot body 200, and the plug member 6 is inserted into the socket member 210 to mount the pipeline probe head 100 on the robot body 200.

[0069] Specifically, the robot body 200 may further include a chassis vehicle body 220 and a lifting frame 230. The lifting frame 230 is mounted on the upper end of the chassis vehicle body 220, and the socket member 210 is provided in the middle of the front upper end of the lifting frame 230. At this time, the pipeline probe head 100 can be inserted into the socket member 210 through the plug member 6, and the height of the pipeline probe head 100 in the pipeline (i.e., adjusting the coaxiality of the pipeline probe head in the pipeline) can be adjusted by the lifting frame 230.

[0070] In this embodiment, the plug and the socket can directly adopt the existing power supply and communication dual-purpose electrical connectors on the market (where the plug and the socket are respectively the male part and the female part of the electrical connector), and the robot body in this embodiment can be similar to the structure disclosed in the document with the document number CN117189994A, "Pipeline Detection Robot".

[0071] When the pipeline robot is in a stationary state in the pipeline in this embodiment, when the driving member drives the rotating shell to rotate, the ranging sensor is driven to rotate accordingly. When the rotating shell rotates one week, the data measurement of the current pipeline position for one week can be realized. The ranging sensor collects the distance data between itself and the inner wall of the pipeline and sends it to the controller. At the same time, the encoder collects the rotation angle data of the laser sensor and sends it to the controller. The controller couples the distance data and the rotation angle data at the same moment to form plane data. That is, by driving the rotating shell to rotate one week by the driving member, the ranging sensor measures the distance data for one week, and the encoder measures the angle value at each moment. A point can be formed on the plane through the angle value and the distance value at a certain moment. When there are enough points on one circle, a complete ring-shaped measurement data can be formed. However, in the actual working condition, when the robot body is moving forward in the pipeline and the driving member drives the rotating shell to rotate around the central axis at the same time, after the distance data measured by the pipeline detection head for the pipeline is coupled with the forward movement speed of the robot body, the data measured by the ranging sensor will be a spiral measurement data. When the rotation speed of the rotating shell is large enough and the moving speed of the robot body is slow enough, the data points in the axial direction of the spiral measurement data are denser (that is, the pitch of the spiral measurement data is shorter). At this time, the data scanned by the ranging sensor will approximately form a tubular measurement data. In this embodiment, the moving speed of the robot body should not be too fast, preferably 5 - 20 m / min. In this embodiment, the rotation speed of the rotating shell can be not less than 10 r / min, preferably 10 - 100 r / min.

[0072] A speed sensor, a horizontal sensor, and an angle offset sensor can also be set on the robot body or the controller of the pipeline detection head in this embodiment. At this time, the inclination angle of the pipeline can be judged through the information obtained by these three sensors, so as to judge the pipeline orientation and length. After measuring the inclination angle, size, and length of the pipeline, it is convenient to construct a three-dimensional image of the pipeline layout (that is, a three-dimensional map of the pipeline layout) on the urban space pipeline network.

[0073] The above are only the preferred embodiments of the present utility model and do not impose any form of limitation on the present utility model. Any ordinary technician in the industry can smoothly implement the present utility model according to what is shown in the accompanying drawings of the specification and the above description. However, any minor changes, modifications, and equivalent variations made by those skilled in the art within the scope of the technical solution of the present utility model by using the technical content disclosed above are equivalent embodiments of the present utility model. At the same time, any changes, modifications, and equivalent variations made to the above embodiments based on the essential technology of the present utility model still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A pipeline detection head, characterized in that, The invention comprises a driving member (3), a distance sensor (4) and a conductive slip ring (9), wherein the distance sensor (4) and the conductive slip ring (9) are both mounted on the driving end of the driving member (3), and the detection part of the distance sensor (4) and the driving axis of the driving member (3) are perpendicular to each other, the distance sensor (4) is electrically connected to the conductive slip ring (9), and the driving member (3) is used to drive the distance sensor (4) to rotate.

2. The pipeline detection head according to claim 1, characterized in that, The invention also comprises a central shaft (1) and a plug component (6), wherein the distance sensor (4) is rotatably mounted on the central shaft (1), the conductive slip ring (9) is coaxially arranged on the central shaft (1), the plug component (6) is arranged at one end of the central shaft (1), the driving component (3) is mounted on the central shaft (1), and the driving component (3) is transmission-connected to the distance sensor (4), the driving component (3) is electrically connected to the plug component (6), and the distance sensor (4) is electrically connected to the plug component (6) via the conductive slip ring (9).

3. The pipeline detection head according to claim 2, wherein, The invention also comprises a rotating shell (2), wherein the rotating shell (2) is a cylindrical shell, the central axis (1) coaxially passes through both ends of the rotating shell (2), and the rotating shell (2) is coaxially rotatably connected to the central axis (1), the distance measuring sensor (4) is embedded in the rotating shell (2), the driving member (3) is transmission-connected to the rotating shell (2), and the driving member (3) is used to drive the rotating shell (2) to drive the distance measuring sensor (4) to rotate around the central axis (1).

4. The pipeline detection head according to claim 3, characterized in that, The distance measuring sensor (4) is arranged on the side wall of the rotating shell (2) along its tangent direction.

5. The pipeline detection head according to claim 4, characterized in that, A protective cover (21) is also provided on the outer side wall of the rotating shell (2) and is arranged outside the distance measuring sensor (4), and a detection hole (22) is provided on the protective cover (21), and the detection part of the distance measuring sensor (4) is aligned with the detection hole (22).

6. The pipeline detection head according to claim 3, characterized in that, It also comprises a lens component (5), wherein the lens component (5) is arranged at one end of the central axis (1) away from the plug component (6), and the lens component (5) is electrically connected to the plug component (6).

7. The pipeline detection head according to claim 6, characterized in that, The lens component (5) comprises a lens mount (51), a camera lens (52) and a fill light (53); the lens mount (51) is mounted on the corresponding end of the central axis (1); the camera lens (52) is mounted on an end of the lens mount (51) away from the central axis (1); the camera lens (52) and the central axis (1) are coaxially distributed; and the fill light (53) is arranged on the lens mount (51).

8. The pipeline detection head according to claim 2, wherein The driving member (3) is a DD motor, which is coaxially fixedly mounted on the central shaft (1).

9. The pipeline detection head according to claim 4, characterized in that, It also comprises an encoder (7), the encoder (7) being electrically connected to the plug member (6), and the encoder (7) being used to monitor the rotation parameters of the driving end of the rotating shell (2) or the driving member (3).

10. The pipeline detection head according to claim 9, characterized in that, It also comprises a controller (8), and the plug component (6), the driving component (3), the lens component (5), the distance measuring sensor (4) and the encoder (7) are all electrically connected to the controller (8).

11. The pipeline detection head according to claim 10, characterized in that, The driving member (3), the conductive slip ring (9), the encoder (7) and the controller (8) are all arranged inside the rotating housing (2).

12. The pipeline detection head according to claim 3, characterized in that, The central shaft (1) is a hollow shaft. A wire passing hole (11) that communicates with its interior is provided on the side wall of the central shaft (1), and the wire passing hole (11) is located inside the rotating housing (2). The inner hole of the central shaft (1) and the wire passing hole (11) are both used for guiding wires to pass through.

13. A pipeline robot, characterized in that, It includes the pipeline detection head (100) according to any one of claims 1-12.

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