Pipeline inspection robot

Abstract

According to the pipeline inspection robot provided by the utility model, the lifting driving motor arranged in the robot body drives the lifting driving arm to drive the parallel lifting plate to rotate and drives the lifting driven plate to rotate, so that the height of the parallel lifting plate is changed; according to the pipeline inspection robot, the parallel lifting plate is arranged in the pipeline, and then the observation height of the video inspection assembly connected with the parallel lifting plate is adjusted, so that after the pipeline inspection robot enters the pipeline, the observation height of the video inspection assembly can be adjusted according to pipe diameter changes, it is ensured that the video inspection assembly is kept at the optimal observation position, the inspection view field is greatly expanded, and the inspection efficiency is improved. And the detection blind area is reduced. And the holder rotating component is driven by the holder driving motor to rotate so as to adjust the pitching angle of the holder inspection component, so that the pipeline inspection robot can adapt to the inspection requirements of various narrow spaces and the interiors of complex pipelines, and it is ensured that no important information is missed.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a pipeline inspection robot. Background Art

[0002] As an efficient means of material transportation, pipelines undertake important tasks such as transporting fluids, gases, and solid materials, and have been widely used in various industries. In order to extend the service life of pipelines and prevent accidents such as leakage, it is necessary to effectively inspect and maintain pipelines. Traditional manual inspection usually uses a pipeline endoscope, which can reveal the internal condition of the pipeline to a certain extent, but this method has problems such as limited distance, narrow field of view, poor flexibility, and poor accessibility, making it difficult to comprehensively and effectively detect the internal situation of the pipeline, especially in complex and changeable pipeline systems. Summary of the Utility Model

[0003] In view of the above-mentioned disadvantages of the prior art, the technical problem to be solved by the utility model is to provide a pipeline inspection robot for solving the technical problems such as limited distance, narrow field of view, poor flexibility, and poor accessibility existing in pipeline inspection in the prior art.

[0004] To achieve the above object, the utility model provides a pipeline inspection robot, including: a fuselage, a lifting assembly, a lifting drive assembly, and a video inspection assembly; wherein: the lifting assembly includes a parallel lifting plate and a lifting driven plate movably connected to one end of the parallel lifting plate, and the other end of the lifting driven plate is movably connected to the fuselage; the parallel lifting plate is arranged at the top of the fuselage and is movably connected to the lifting drive assembly; the video inspection assembly includes a pan-tilt rotating component, a pan-tilt drive motor, and a pan-tilt inspection component connected to the pan-tilt rotating component; the pan-tilt rotating component is connected to the pan-tilt drive motor and is arranged at the front end of the fuselage by being connected to the parallel lifting plate; the pan-tilt drive motor drives the pan-tilt rotating component to rotate to adjust the pitch angle of the pan-tilt inspection component; the lifting drive assembly includes a lifting drive motor and a lifting drive arm connected to the lifting drive motor, and the lifting drive motor is arranged inside the fuselage; the lifting drive arm is movably connected to the parallel lifting plate; the lifting drive motor drives the lifting drive arm to drive the parallel lifting plate to rotate and drive the lifting driven plate to rotate, thereby changing the height of the parallel lifting plate, and further adjusting the observation height of the video inspection assembly connected to the parallel lifting plate.

[0005] As a more preferred embodiment, it further includes a crawler-type walking assembly. The crawler-type walking assembly is arranged on the side of the fuselage. The crawler-type walking assembly includes a driving wheel, a driven wheel, a fixing block and a crawler. One end of the crawler is sleeved on the driving wheel, and the other end of the crawler is sleeved on the driven wheel. The fixing block is arranged between the driving wheel and the driven wheel and is connected to the side of the fuselage.

[0006] As a more preferred embodiment, it further includes a servo drive motor. The servo drive motor is arranged inside the fuselage and is connected to the crawler-type walking assembly.

[0007] As a more preferred embodiment, the driving wheel includes a driving belt pulley, a driving wheel coupling and an adapter. The driving wheel coupling is connected to the servo drive motor. The driving wheel coupling is connected to the driving belt pulley through the adapter. One end of the crawler is sleeved on the driving belt pulley.

[0008] As a more preferred embodiment, the driven wheel includes a smooth idler wheel and an idler wheel coupling. The idler wheel coupling is fixedly connected to the side of the fuselage and is connected to the smooth idler wheel through a bearing. The other end of the crawler is sleeved on the smooth idler wheel.

[0009] As a more preferred embodiment, there are two sets of the crawler-type walking assemblies, which are symmetrically arranged on both sides of the fuselage.

[0010] As a more preferred embodiment, a permanent magnet array is arranged at the bottom end of the fuselage. The permanent magnet array is fixed to the bottom end of the fuselage through a bottom cover plate.

[0011] As a more preferred embodiment, the pan-tilt rotating component includes a first fixed arm, a second fixed arm and a rotating arm. The first fixed arm and the second fixed arm are respectively connected to the parallel lifting plate. One end of the rotating arm is rotatably arranged between the first fixed arm and the second fixed arm. The other end of the rotating arm is connected to the pan-tilt inspection component.

[0012] As a more preferred embodiment, the pan-tilt inspection component includes an inspection housing, a heat dissipation seat, a protective cover plate, a front-view camera and a lighting group. The front end of the inspection housing is connected to the protective cover plate. The rear end of the inspection housing is connected to the pan-tilt rotating component through the heat dissipation seat. The front-view camera and the lighting group are respectively arranged inside the inspection housing.

[0013] As a more preferred embodiment, a rear-view camera and a rear-view lighting lamp are arranged at the rear end of the fuselage.

[0014] As described above, the pipeline inspection robot of the present utility model has the following beneficial effects: The lifting drive motor provided inside the fuselage drives the lifting drive arm to drive the parallel lifting plate to rotate and drive the lifting driven plate to rotate, thereby changing the height of the parallel lifting plate, and further adjusting the observation height of the video inspection component connected to the parallel lifting plate. After the pipeline inspection robot enters the pipeline, the observation height of the video inspection component can be adjusted according to the change of the pipe diameter, ensuring that the video inspection component remains at the best observation position, greatly expanding the inspection field of view and reducing the detection blind area. And the pan-tilt drive motor drives the pan-tilt rotating component to rotate to adjust the pitch angle of the pan-tilt inspection component, so that the pipeline inspection robot can adapt to the inspection requirements in various narrow spaces and complex pipelines, ensuring that no important information is missed. The lifting drive component adjusts the observation height of the video inspection component by driving the lifting component to rotate, and the pan-tilt drive motor adjusts the pitch angle of the pan-tilt inspection component by driving the pan-tilt rotating component to rotate. The two cooperate with each other, enabling the pipeline inspection robot to easily adapt to the internal environment of various narrow spaces and pipelines with different diameters, having a wide field of view, good flexibility, being able to achieve a full-range and dead-angle-free inspection, and being able to move flexibly inside the pipeline and maintain a stable shooting effect, greatly improving the comprehensiveness and accuracy of the inspection, and improving the efficiency and quality of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Shows the overall structural schematic diagram of the pipeline inspection robot of the present utility model.

[0016] Figure 2 Shows the main structural schematic diagram of the pipeline inspection robot of the present utility model.

[0017] Figure 3 Shows the structural schematic diagram of the lifting component of the present utility model.

[0018] Figure 4 Shows the structural schematic diagram of the lifting component of the present utility model from another angle.

[0019] Figure 5 Shows the rear view of the pipeline inspection robot of the present utility model.

[0020] Figure 6 Shows the structural schematic diagram of the crawler-type walking component of the present utility model.

[0021] Figure 7 Shows the structural schematic diagram of the video inspection component of the present utility model.

[0022] ELEMENT LABEL DESCRIPTION

[0023] 1 fuselage

[0024] 11 Permanent magnet array

[0025] 12 Bottom cover plate

[0026] 13 Cable connection assembly

[0027] 14 Rear view camera

[0028] 15 Rear view lighting lamp

[0029] 16 Laser lamp assembly

[0030] 17 Side plate

[0031] 2 Lifting assembly

[0032] 21 Parallel lifting plate

[0033] 22 Lifting driven plate

[0034] 3 Video inspection assembly

[0035] 31 Pan-tilt rotating part

[0036] 311 First fixed arm

[0037] 312 Second fixed arm

[0038] 313 Rotating arm

[0039] 32 Pan-tilt inspection part

[0040] 321 Inspection housing

[0041] 322 Heat dissipation seat

[0042] 323 Protective cover plate

[0043] 324 Front view camera

[0044] 325 Lighting lamp group

[0045] 4 Lifting drive motor

[0046] 5 Lifting drive arm

[0047] 6 Crawler-type walking assembly

[0048] 61 Driving wheel

[0049] 611 Driving belt pulley

[0050] 612 Driving wheel coupling

[0051] 613 Adapter

[0052] 62 Driven wheel

[0053] 621 idle pulley

[0054] 622 idler coupling

[0055] 63 fixing block

[0056] 64 crawler belt

[0057] 7 servo drive motor Detailed implementation manners

[0058] The following specific embodiments illustrate the implementation manners of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification.

[0059] It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the limited conditions under which the present utility model can be implemented. Therefore, they do not have substantial technical significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present utility model can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present utility model. The following detailed description should not be considered restrictive, and the scope of the embodiments of this application is only limited by the claims of the published patent. The terms used here are only for describing specific embodiments and are not intended to limit this application. Spatially related terms, such as "upper", "lower", "left", "right", "below", "beneath", "lower part", "above", "upper part", etc., may be used in the text to facilitate the description of the relationship between one element or feature shown in the figure and another element or feature.

[0060] In the present utility model, unless otherwise clearly defined and limited, the terms "install", "connect", "couple", "fix", "hold" and other terms should be understood in a broad sense. For example, it 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 directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0061] Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should be further understood that the terms "comprises" and / or "comprising", when used in this specification, specify the presence of stated features, operations, elements, components, items, species, and / or groups, but do not preclude the presence, occurrence or addition of one or more other features, operations, elements, components, items, species, and / or groups. The terms "or" and "and / or" as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition occur only when the combination of elements, functions or operations are inherently mutually exclusive in some manner.

[0062] In order to make the objectives, technical solutions and advantages of the present utility model clearer and more understandable, the technical solutions in the embodiments of the present invention will be further described in detail through the following embodiments in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not used to limit the invention.

[0063] As Figure 1-7 shown, the present utility model provides a pipeline inspection robot, comprising: a fuselage 1, a lifting assembly 2, a lifting drive assembly, and a video inspection assembly 3; wherein:

[0064] The lifting assembly 2 includes parallel lifting plates 21 and a lifting driven plate 22 with one end movably connected to the parallel lifting plates 21, and the other end of the lifting driven plate 22 is movably connected to the fuselage 1; the parallel lifting plates 21 are arranged at the top of the fuselage 1 and are movably connected to the lifting drive assembly;

[0065] The video inspection assembly 3 includes a pan-tilt rotating member 31, a pan-tilt drive motor, and a pan-tilt inspection member 32 connected to the pan-tilt rotating member 31; the pan-tilt rotating member 31 is connected to the pan-tilt drive motor and is arranged at the front end of the fuselage 1 by being connected to the parallel lifting plates 21; the pan-tilt drive motor drives the pan-tilt rotating member 31 to rotate to adjust the pitch angle of the pan-tilt inspection member 32;

[0066] The lifting drive assembly includes a lifting drive motor 4 and a lifting drive arm 5 connected to the lifting drive motor 4, and the lifting drive motor 4 is arranged inside the fuselage 1; the lifting drive arm 5 is movably connected to the parallel lifting plates 21; the lifting drive motor 4 drives the lifting drive arm 5 to drive the parallel lifting plates 21 to rotate and drive the lifting driven plate 22 to rotate, thereby changing the height of the parallel lifting plates 21, and further adjusting the observation height of the video inspection assembly 3 connected to the parallel lifting plates 21.

[0067] For the pipeline inspection robot of the present utility model, the lifting drive motor 4 disposed inside the fuselage 1 drives the lifting drive arm 5 to drive the parallel lifting plate 21 to rotate, and drives the lifting driven plate 22 to rotate, thereby changing the height of the parallel lifting plate 21, and further adjusting the observation height of the video inspection assembly 3 connected to the parallel lifting plate 21. After the pipeline inspection robot enters the pipeline, the observation height of the video inspection assembly 3 can be adjusted according to the change of the pipe diameter, ensuring that the video inspection assembly 3 is kept at the best observation position, greatly expanding the inspection field of view and reducing the detection blind area. And the pan-tilt drive motor drives the pan-tilt rotating member 31 to rotate to adjust the pitch angle of the pan-tilt inspection member 32, so that the pipeline inspection robot can adapt to the inspection requirements in various narrow spaces and complex pipeline interiors, ensuring that no important information is missed. The lifting drive assembly drives the lifting assembly 2 to rotate to adjust the observation height of the video inspection assembly 3, and the pan-tilt drive motor drives the pan-tilt rotating member 31 to rotate to adjust the pitch angle of the pan-tilt inspection member 32. The two cooperate with each other, enabling the pipeline inspection robot to easily adapt to the internal environments of various narrow spaces and pipelines with different diameters, having a wide field of view, good flexibility, being able to achieve a full-range and dead-angle-free inspection, and being able to move flexibly inside the pipeline and maintain a stable shooting effect, greatly improving the comprehensiveness and accuracy of the inspection, and improving the efficiency and quality of the detection.

[0068] It is worth noting that most of the existing pipeline robots need to be custom-developed according to the actual diameter, material, internal distance, stepped branch pipes, etc. of the pipeline, with complex structures and large sizes, which to a certain extent limits their versatility. However, for the pipeline inspection robot of the present utility model, the lifting drive assembly drives the lifting assembly 2 to rotate to adjust the observation height of the video inspection assembly 3, and the pan-tilt drive motor drives the pan-tilt rotating member 31 to rotate to adjust the pitch angle of the pan-tilt inspection member 32. The two cooperate with each other, enabling the pipeline inspection robot to easily adapt to the internal environments of various narrow spaces and pipelines with different diameters, having strong versatility, a wide field of view, good flexibility, being able to achieve a full-range and dead-angle-free inspection, completely replacing the way of manual endoscopes to enter the pipeline to perform inspection work, and being able to move flexibly inside the pipeline and maintain a stable shooting effect, greatly improving the comprehensiveness and accuracy of the inspection, and improving the efficiency and quality of the detection.

[0069] In this embodiment, as Figure 1-4As shown, the lifting drive arm 5, the parallel lifting plate 21, the lifting driven plate 22, and the fuselage 1 form a telescopic structure similar to a parallelogram. Under the driving action of the lifting drive motor 4, the height of the parallel lifting plate 21 is changed, so as to adjust the observation height of the video inspection assembly 3 without changing its angle, that is, without affecting the observation angle of the video inspection assembly 3.

[0070] In this embodiment, as Figure 1 , 5 , 6 shows, it further includes a crawler-type walking assembly 6. The crawler-type walking assembly 6 is arranged on the side of the fuselage 1. The crawler-type walking assembly 6 includes a driving wheel 61, a driven wheel 62, a fixing block 63, and a crawler 64. One end of the crawler 64 is sleeved on the driving wheel 61, and the other end of the crawler 64 is sleeved on the driven wheel 62. The fixing block 63 is arranged between the driving wheel 61 and the driven wheel 62 and is connected to the side of the fuselage 1.

[0071] In this embodiment, as Figure 1-2 shows, it further includes a servo drive motor 7. The servo drive motor 7 is arranged inside the fuselage 1 and is connected to the crawler-type walking assembly 6. The motor shaft of the servo drive motor 7 is connected to the driving wheel 61 and is used to drive the driving wheel 61 to rotate. The driving wheel 61 rotates and drives the crawler 64 to rotate. The crawler 64 rotates to drive the driven wheel 62 to rotate, so that the pipeline inspection robot moves and walks in the pipeline. The fixing block 63 prevents the crawler 64 from being pressed into the wheel gap during rotation, helps to maintain the normal tension and position stability of the crawler 64, and avoids unstable walking or failures caused by the loosening or displacement of the crawler. The fixing block 63 helps to disperse and resist various forces and torques generated during walking, reduces the wear of the crawler and the wheels, strengthens the walking structure of the pipeline inspection robot, and extends the service life.

[0072] In this embodiment, as Figure 1 , 5 , 6 shows, the crawler 64 is made of anti-slip rubber material and has a high friction coefficient. The crawler-type walking assembly 6 increases the relative movement contact area between the chassis of the fuselage 1 and the pipeline through its continuous crawler 64, provides a larger support area and friction force, thereby enhancing the stability of the pipeline inspection robot when walking in the pipeline. Even in the state where one side of the pipeline inspection robot is tilted up or not fully in contact, the crawler 64 can automatically adjust the contact points through its flexibility and continuity to maintain overall stability.

[0073] In this embodiment, as Figure 6As shown, the drive wheel 61 includes a drive pulley 611, a drive wheel coupling 612, and an adapter 613. The drive wheel coupling 612 is connected to the servo drive motor 7. The drive wheel coupling 612 is connected to the drive pulley 611 through the adapter 613. One end of the crawler 64 is sleeved on the drive pulley 611.

[0074] In this embodiment, as Figure 6 shown, the driven wheel 62 includes a light idler wheel 621 and an idler wheel coupling 622. The idler wheel coupling 622 is fixedly connected to the side of the fuselage 1 and is connected to the light idler wheel 621 through a bearing. The other end of the crawler 64 is sleeved on the light idler wheel 621. The servo drive motor 7 drives the drive wheel coupling 612 to rotate, drives the drive pulley 611 to rotate together through the adapter 613. The rotation of the drive pulley 611 drives the crawler 64 to rotate, and the crawler 64 drives the driven wheel 62 to rotate.

[0075] In this embodiment, as Figure 1 、 5 shown, two sets of the crawler-type walking assemblies 6 are provided and symmetrically arranged on both sides of the fuselage 1. The number of the servo drive motors 7 is two. Each set of the crawler-type walking assemblies 6 is respectively connected to a servo drive motor 7. The drive wheel 61 in the crawler-type walking assembly 6 on one side of the fuselage 1 is located in front of or behind the driven wheel 62, while the crawler-type walking assembly 6 on the other side of the fuselage 1 is arranged in the opposite order, that is, the driven wheel 62 is located in front of or behind the drive wheel 61. This opposite order arrangement ensures the symmetry of the overall structure of the pipeline inspection robot and helps to reduce vibration and imbalance during walking. The drive wheels 61 driven by the two servo drive motors 7 rotate at different speeds. When one crawler 64 rotates faster than the other side, due to the frictional force between the crawler 64 and the inner wall of the pipeline, the robot will generate a steering torque towards the slower rotating side, so as to realize the steering function of the pipeline inspection robot through the differential drive of the two crawlers 64. The pipeline inspection robot adopts wheel differential drive and crawler transmission, reduces the number of drive motors, reduces the overall size, and takes into account flexibility and driving ability at the same time.

[0076] In this embodiment, as Figure 2As shown, a permanent magnet array 11 is provided at the bottom end of the fuselage 1, and the permanent magnet array 11 is fixed to the bottom end of the fuselage 1 through a bottom cover plate 12. The permanent magnet array 11 has a strong adsorption capacity for ferromagnetic pipelines and is not easily detached, providing a solid foundation for the walking and inspection of the pipeline inspection robot, realizing the magnetic adsorption and wall-climbing function of the pipeline inspection robot. Whether it is a smooth pipeline surface or a part with slight unevenness, the permanent magnet array 11 can maintain a stable adsorption force, enabling the pipeline inspection robot to work normally in various pipeline environments. When the pipeline inspection robot conducts long-distance inspection and bends inside the pipeline, the permanent magnet array 11 can provide a stable adsorption force to keep its normal walking function, avoid the situation of adsorption failure, and ensure the safety of the inspection process.

[0077] In this embodiment, as Figure 2 shown, the pipeline inspection robot of the present utility model adopts a wheel set structure composed of a servo drive motor 7 and a permanent magnet array 11, and cooperates with an anti-slip track, so that it has strong walking stability inside the ferromagnetic pipeline. When conducting long-distance inspection and bending inside the pipeline, it can still maintain its normal walking function, effectively replacing the way of artificial endoscope and realizing the remote control of pipeline internal inspection work.

[0078] In this embodiment, as Figure 1 、 7 shown, the pan-tilt rotating component 31 includes a first fixed arm 311, a second fixed arm 312 and a rotating arm 313. The first fixed arm 311 and the second fixed arm 312 are respectively connected to the parallel lifting plate 21. One end of the rotating arm 313 is rotatably arranged between the first fixed arm 311 and the second fixed arm 312, and the other end of the rotating arm 313 is connected to the pan-tilt inspection component 32. The pan-tilt drive motor is arranged inside the rotating arm 313. The output shaft of the pan-tilt drive motor is connected to the first fixed arm 311 through a gear and connected to the second fixed arm 312 through a bearing. By driving the rotating arm 313 to rotate through the pan-tilt drive motor, the adjustment of the pitch angle of the pan-tilt inspection component 32 can be realized, and with the differential in-situ steering function, the all-round internal pipeline inspection can be realized.

[0079] In this embodiment, as Figure 7As shown, the pan-tilt inspection component 32 includes an inspection housing 321, a heat dissipation base 322, a protective cover plate 323, a front-view camera 324, and a lighting lamp group 325. The front end of the inspection housing 321 is connected to the protective cover plate 323, and the rear end of the inspection housing 321 is connected to the pan-tilt rotating component 31 through the heat dissipation base 322. The front-view camera 324 and the lighting lamp group 325 are respectively arranged inside the inspection housing 321. The rear end of the inspection housing 321 is connected to the rotating arm 313 through the heat dissipation base 322. An observation chamber for accommodating the front-view camera 324 and a lighting chamber for accommodating the lighting lamp group 325 are arranged inside the inspection housing 321. Through holes matching the shapes of the observation chamber and the lighting chamber are arranged on the protective cover plate 323, and protective glass is arranged in the through holes.

[0080] In this embodiment, as Figure 7 shown, the front-view camera 324 is used to collect real-time videos inside the pipeline and transmit them to a remote host computer through an integrated circuit board inside the fuselage 1, enabling the inspectors to observe the pipeline conditions in real time. The lighting lamp group 325 can provide sufficient lighting for the front-view camera 324 to ensure that the captured images are clearly visible.

[0081] In this embodiment, as Figure 7 shown, since internal components such as the front-view camera 324 and the lighting lamp group 325 generate heat during operation, if the heat cannot be dissipated in time, it will lead to a decline in equipment performance, component aging, and even damage. The heat dissipation base 322 can effectively conduct the internally generated heat to the external environment and keep the internal temperature of the equipment stable.

[0082] In this embodiment, the protective glass can protect the front-view camera 324 and the lighting lamp group 325 from the invasion of external environmental factors such as physical impact, dust, and water vapor, ensuring that the pipeline inspection robot can still work normally in complex or harsh environments. At the same time, the protective glass has high transparency and scratch resistance, ensuring that the front-view camera 324 can obtain clear and interference-free images.

[0083] In this embodiment, an integrated circuit board is arranged inside the fuselage 1. The video inspection component 3, the lifting drive component, the crawler walking component 6, the servo drive motor 7, the laser lamp component 16, the rear-view camera 14, and the rear-view lighting lamp 15 are all controlled and signal-communicated by the integrated circuit board, so as to realize the control of the observation height, angle, and image acquisition of the video inspection component 3, as well as the control of the walking direction and speed of the crawler walking component 6, etc.

[0084] In this embodiment, as Figure 1 、 2, as shown in Fig. 5, a cable connection component 13 is provided at the rear end of the fuselage 1. The integrated circuit board is connected to an external cable through the cable connection component 13 and is wired to a remote host computer to provide remote monitoring.

[0085] In this embodiment, as Figure 5 shown, a rear-view camera 14 and a rear-view lighting lamp 15 are provided at the rear end of the fuselage 1. When the pipeline inspection robot finishes the inspection work and exits the pipeline, the rear-view camera 14 can capture and transmit the image behind the robot to the remote host computer in real time, enabling the operator to clearly see the pipeline conditions behind the robot, so as to accurately navigate and avoid collisions. The rear-view lighting lamp 15 can provide sufficient light source to illuminate the area behind the robot, which helps the rear-view camera 14 capture clearer and more detailed images, improving the visibility and accuracy of the entire detection process.

[0086] In this embodiment, as Figure 2 shown, a laser lamp assembly 16 is further provided at the front end of the fuselage 1. The red line emitted by the laser lamp assembly 16 forms an obvious straight line inside the pipeline, providing an accurate direction indication for the robot, enabling the inspection personnel to clearly understand the traveling direction and position of the robot inside the pipeline, which is convenient for accurate detection and recording. When there are bumps, cracks or other abnormalities on the inner wall of the pipeline, the laser line will have obvious changes or offsets at these positions. This change provides intuitive visual feedback for the inspection personnel, enabling them to quickly identify and locate the defects and problems inside the pipeline.

[0087] In this embodiment, as Figure 2 shown, a side plate 17 is provided on the side of the fuselage 1, forming a closed structure with the outer shell of the fuselage 1.

[0088] In summary, the pipeline inspection robot of the present utility model has the following advantages:

[0089] (1) The lifting drive motor 4 provided inside the fuselage 1 drives the lifting drive arm 5 to drive the parallel lifting plate 21 to rotate and drive the lifting driven plate 22 to rotate, thereby changing the height of the parallel lifting plate 21, and further adjusting the observation height of the video inspection component 3 connected to the parallel lifting plate 21. After the pipeline inspection robot enters the pipeline, the observation height of the video inspection component 3 can be adjusted according to the change in the pipe diameter, ensuring that the video inspection component 3 is maintained at the best observation position, greatly expanding the inspection field of view and reducing the detection blind area.

[0090] (2) The pan-tilt driving motor drives the pan-tilt rotating component 31 to rotate, so as to adjust the pitching angle of the pan-tilt inspection component 32, enabling the pipeline inspection robot to adapt to the inspection requirements in various narrow spaces and complex pipeline interiors, ensuring that no important information is missed, achieving all-round and dead-angle-free inspection, and being able to move flexibly inside the pipeline and maintain a stable shooting effect, greatly improving the comprehensiveness and accuracy of the inspection, and enhancing the efficiency and quality of detection.

[0091] (3) The crawler-type walking assembly 6 increases the relative motion contact area between the chassis of the fuselage 1 and the pipeline through its continuous crawler 64, providing a larger support area and friction force, thereby enhancing the stability of the pipeline inspection robot when walking inside the pipeline. Even in the state where one side of the pipeline inspection robot is tilted up or not fully contacted, the crawler 64 can automatically adjust the contact points through its flexibility and continuity to maintain overall stability. And the steering function of the pipeline inspection robot is realized through the differential drive of the two crawlers 64.

[0092] (4) The pipeline inspection robot adopts pair-wheel differential drive and crawler drive, reducing the number of driving motors and the overall size, while taking into account flexibility and driving ability.

[0093] (5) A wheel set structure composed of a servo driving motor 7 and a permanent magnet array 11, combined with an anti-slip crawler, enables it to have strong walking stability inside ferromagnetic pipelines. When performing long-distance inspection and turning inside the pipeline, it can still maintain normal walking function, effectively replacing the method of artificial endoscope and realizing remote control of the pipeline internal inspection work.

[0094] (6) The overall mechanical structure of the pipeline inspection robot of the present utility model is simple and small in size, and can enter holes with a diameter above DN80. It adopts a lightweight fuselage design, ensuring light overall weight and convenient portability without affecting the structural strength. This design not only reduces the operating burden of the motor, but also improves the flexibility and operation efficiency of the robot, thus better adapting to various inspection tasks. The characteristics and advantages of the lightweight design significantly enhance the practicability and reliability of the robot in pipeline inspection.

[0095] In summary, the present utility model effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0096] The above embodiments are only illustrative of the principles and effects of the present utility model, and are not intended to limit the present utility model. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present utility model. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present utility model should still be covered by the claims of the present utility model.

Claims

1. A pipeline inspection robot, characterized in that, Comprising: A fuselage (1), a lifting assembly (2), a lifting drive assembly, and a video inspection assembly (3); wherein: The lifting assembly (2) includes a parallel lifting plate (21) and a lifting driven plate (22) with one end movably connected to the parallel lifting plate (21), and the other end of the lifting driven plate (22) is movably connected to the fuselage (1); the parallel lifting plate (21) is arranged at the top of the fuselage (1) and is movably connected to the lifting drive assembly; The video inspection assembly (3) includes a pan-tilt rotating member (31), a pan-tilt drive motor, and a pan-tilt inspection member (32) connected to the pan-tilt rotating member (31); the pan-tilt rotating member (31) is connected to the pan-tilt drive motor and is arranged at the front end of the fuselage (1) by being connected to the parallel lifting plate (21); The pan-tilt drive motor drives the pan-tilt rotating member (31) to rotate to adjust the pitching angle of the pan-tilt inspection member (32); The lifting drive assembly includes a lifting drive motor (4) and a lifting drive arm (5) connected to the lifting drive motor (4), and the lifting drive motor (4) is arranged inside the fuselage (1); the lifting drive arm (5) is movably connected to the parallel lifting plate (21); the lifting drive motor (4) drives the lifting drive arm (5) to drive the parallel lifting plate (21) to rotate and drive the lifting driven plate (22) to rotate, thereby changing the height of the parallel lifting plate (21), and further adjusting the observation height of the video inspection assembly (3) connected to the parallel lifting plate (21).

2. The pipeline inspection robot according to claim 1, characterized in that, It further includes a crawler-type traveling assembly (6), and the crawler-type traveling assembly (6) is arranged on the side of the fuselage (1). The crawler-type traveling assembly (6) includes a drive wheel (61), a driven wheel (62), a fixing block (63), and a crawler (64). One end of the crawler (64) is sleeved on the drive wheel (61), the other end of the crawler (64) is sleeved on the driven wheel (62), and the fixing block (63) is arranged between the drive wheel (61) and the driven wheel (62) and is connected to the side of the fuselage (1).

3. The pipeline inspection robot according to claim 2, wherein, It further includes a servo drive motor (7), and the servo drive motor (7) is arranged inside the fuselage (1) and is connected to the crawler-type traveling assembly (6).

4. The pipeline inspection robot according to claim 3, wherein The drive wheel (61) includes a drive pulley (611), a drive wheel coupling (612), and an adapter (613). The drive wheel coupling (612) is connected to the servo drive motor (7), and the drive wheel coupling (612) is connected to the drive pulley (611) through the adapter (613), and one end of the crawler (64) is sleeved on the drive pulley (611).

5. The pipeline inspection robot according to claim 2, wherein, The driven wheel (62) includes a smooth idler wheel (621) and an idler coupling (622). The idler coupling (622) is fixedly connected to the side of the fuselage (1) and is connected to the smooth idler wheel (621) through a bearing. The other end of the crawler belt (64) is sleeved on the smooth idler wheel (621).

6. The pipeline inspection robot according to claim 2, wherein There are two sets of the crawler-type traveling assemblies (6), which are symmetrically arranged on both sides of the fuselage (1).

7. The pipeline inspection robot according to claim 1, characterized in that, A permanent magnet array (11) is provided at the bottom end of the fuselage (1), and the permanent magnet array (11) is fixed to the bottom end of the fuselage (1) through a bottom cover plate (12).

8. The pipeline inspection robot according to claim 1, wherein, The pan-tilt rotating component (31) includes a first fixed arm (311), a second fixed arm (312) and a rotating arm (313). The first fixed arm (311) and the second fixed arm (312) are respectively connected to the parallel lifting plate (21). One end of the rotating arm (313) is rotatably arranged between the first fixed arm (311) and the second fixed arm (312), and the other end of the rotating arm (313) is connected to the pan-tilt inspection component (32).

9. The pipeline inspection robot according to claim 1, characterized in that The pan-tilt inspection component (32) includes an inspection housing (321), a heat dissipation base (322), a protective cover plate (323), a front-view camera (324) and a lighting lamp group (325). The front end of the inspection housing (321) is connected to the protective cover plate (323), the rear end of the inspection housing (321) is connected to the pan-tilt rotating component (31) through the heat dissipation base (322), and the front-view camera (324) and the lighting lamp group (325) are respectively arranged in the inspection housing (321).

10. The pipeline inspection robot according to claim 1, characterized in that, A rear-view camera (14) and a rear-view lighting lamp (15) are provided at the rear end of the fuselage (1).

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