Pipeline detection robot with turning function

Abstract

The application relates to the technical field of pipeline detection, in particular to a pipeline detection robot with a turning function, which comprises a driving section, a detection section arranged at one end of the driving section, and a turning guide mechanism connected to the other end of the driving section and located in front of the driving section in a running direction; the turning guide mechanism comprises a fixing seat, a turning guide rod and a turning power component; the fixing seat is rotationally connected with the driving section; one end of the turning guide rod is rotationally connected with the edge of the fixing seat; the turning guide rod is a curved strip-shaped structure; the side of the turning guide rod facing the outside of the fixing seat is arranged in an arc shape; the end of the turning guide rod away from the fixing seat is inwardly bent to form a hook-shaped end; the turning power component is installed on the fixing seat and used for rotating the turning guide rod. The robot can realize flexible turning and stable movement in complex structures such as pipeline elbows and forked openings through the turning guide mechanism.

Description

Technical Field

[0001] This application relates to the field of pipeline inspection technology, and in particular to a pipeline inspection robot with turning function. Background Technology

[0002] With the continuous development of urban infrastructure, underground pipeline networks are becoming increasingly complex. These systems include water supply pipelines, drainage pipelines, gas pipelines, and heating pipelines, forming a vital part of urban lifeline engineering. However, due to their long-term underground burial, these pipelines are susceptible to damage, corrosion, and blockages due to various factors such as soil corrosion, temperature changes, and pressure fluctuations. Failure to detect and address these problems promptly can lead to serious economic losses and safety hazards.

[0003] Traditional pipeline inspection methods mainly rely on manual visual inspection or simple video detection equipment, which have drawbacks such as low inspection efficiency, low accuracy, and harsh working conditions. Especially for pipeline systems with complex structures, such as areas with multiple bends, diameter changes, and T-joints, traditional inspection equipment is often difficult to reach or cannot work effectively.

[0004] In recent years, pipeline inspection robot technology has developed rapidly. Current pipeline inspection robots mainly employ tracked, creeping, and wheeled movement methods, enabling stable movement and basic inspection functions within straight pipe sections. However, when faced with complex structures such as pipe bends and forks, these robots have limited turning capabilities, unable to flexibly steer at bends, resulting in a limited inspection range. Furthermore, during turns, the robot is prone to losing balance or experiencing excessive friction with the pipe wall, leading to jamming or inability to continue moving forward. Utility Model Content

[0005] This application aims to at least partially address one of the aforementioned technical problems in the prior art. To this end, embodiments of this application provide a pipeline inspection robot with turning capabilities. Through a turning guide mechanism, it can achieve flexible turning and stable movement in complex structures such as pipeline bends and forks, thereby significantly improving the coverage and accuracy of pipeline inspection.

[0006] A pipeline inspection robot with turning capability includes:

[0007] Drive section;

[0008] A detection section is located at one end of the drive section;

[0009] A turning guide mechanism is connected to the other end of the drive segment. The turning guide mechanism is located in front of the drive segment in the direction of travel. The turning guide mechanism includes a fixed seat, a turning guide rod, and a turning power component. The fixed seat is rotatably connected to the drive segment. One end of the turning guide rod is rotatably connected to the edge of the fixed seat. The turning guide rod is a curved strip-shaped structure. The side of the turning guide rod facing outward from the fixed seat is arched to form an arc structure. The end of the turning guide rod away from the fixed seat is bent inward to form a hook-shaped end. The turning power component is mounted on the fixed seat and is used to drive the turning guide rod to rotate.

[0010] In an optional or preferred embodiment, a travel groove is provided in the middle of the turning guide rod, the travel groove extends along the length direction of the turning guide rod, a rotating swing arm is provided between the turning power component and the turning guide rod, one end of the rotating swing arm is connected to the power output end of the turning power component, and the other end is assembled in the travel groove, and the end of the rotating swing arm assembled in the travel groove can slide in the travel groove.

[0011] In an optional or preferred embodiment, the turning guide mechanism further includes a rotary power component disposed between the fixed base and the drive section, the rotary power component being used to drive the fixed base to rotate.

[0012] In an optional or preferred embodiment, a connecting seat is provided between the fixed seat and the drive section. One end of the connecting seat is fixedly connected to the drive section, and the other end of the connecting seat is rotatably connected to the fixed seat via a rotating shaft. A cavity is provided inside the connecting seat, and the rotating power component is disposed in the cavity.

[0013] In an optional or preferred embodiment, the drive section includes

[0014] First end plate;

[0015] The second end plate is arranged at a distance from the first end plate, and the second end plate is parallel to the first end plate.

[0016] A guide post is provided, with one end connected to the edge of the first end plate and the other end connected to the edge of the second end plate. The guide post extends along the spacing distribution direction between the first end plate and the second end plate. At least two guide posts are provided, and each guide post is spaced apart between the first end plate and the second end plate.

[0017] At least three walking components are provided, and each walking component is arranged in a divergent manner between the first end plate and the second end plate. Each walking component includes a bracket, a walking roller, a transmission component, and a walking power component. One end of the bracket extends into the space between the first end plate and the second end plate and is rotatably connected to the first end plate, and the other end extends out from the space between the first end plate and the second end plate. The walking roller is installed at the end of the bracket that extends out from the space between the first end plate and the second end plate. The walking power component is disposed on the first end plate. The transmission component connects the walking roller and the power output end of the walking power component.

[0018] A sliding adjustment component is disposed between the first end plate and the second end plate. The sliding adjustment component is slidably engaged with the guide post, and the sliding adjustment component can slide along the guide post.

[0019] A first connecting rod is disposed between the sliding adjustment assembly and the walking assembly. One end of the first connecting rod is hinged to the middle of the bracket, and the other end is hinged to the sliding adjustment assembly.

[0020] The sliding adjustment assembly adjusts the expansion or contraction of each of the walking components between the first end plate and the second end plate by sliding on the guide post.

[0021] In an optional or preferred embodiment, the transmission assembly includes

[0022] The first transmission wheel is installed at one end of the bracket that extends between the first end plate and the second end plate;

[0023] The second drive wheel is installed at the end of the bracket that extends outside the first end plate and the second end plate, and the second drive wheel is fixed coaxially with the walking roller.

[0024] A timing belt connects the first drive pulley and the second drive pulley;

[0025] An active bevel gear is rotatably mounted on the first end plate. The active bevel gear is parallel to the first end plate and is fixedly connected to the power output end of the walking power component. The walking power component is used to drive the active bevel gear to rotate on the first end plate.

[0026] A driven bevel gear is disposed on the first end plate, and a driven bevel gear is coaxially fixed on each of the first transmission wheels. Each driven bevel gear meshes with the driving bevel gear.

[0027] In an optional or preferred embodiment, a sliding adjustment component driving module is further provided between the first end plate and the second end plate, the sliding adjustment component driving module including...

[0028] A sliding adjustment power component is mounted on the second end plate;

[0029] A lead screw is disposed between the first end plate and the second end plate, the lead screw extends along the distribution direction of the first end plate and the second end plate, and one end of the lead screw is connected to the power output end of the sliding adjustment power component;

[0030] The lead screw is fixed on the sliding adjustment assembly and engages with the lead screw.

[0031] In an optional or preferred embodiment, the sliding adjustment assembly includes a main sliding plate, a first limiting plate, a second limiting plate, and a second spring. The main sliding plate is slidably connected to each of the guide posts. The first connecting rod is hinged to the main sliding plate. The first limiting plate and the second limiting plate are respectively arranged parallel to each other on both sides of the main sliding plate. The first limiting plate and the second limiting plate are connected by a connecting rod. The main sliding plate is provided with a connecting hole, and the main sliding plate slides with the connecting rod through the connecting hole. The main sliding plate can slide along the connecting rod between the first limiting plate and the second limiting plate. The lead screw is fixed perpendicularly to the second limiting plate. The first limiting plate is provided with a first clearance hole to avoid the lead screw, and the main sliding plate is provided with a second clearance hole to avoid the lead screw. The second spring is sleeved on the lead screw. One end of the second spring is connected to the first limiting plate, and the other end is connected to the main sliding plate. A sensing element is provided on the main sliding plate. The sensing element is used to sense the distance between the main sliding plate and the first or second limiting plate. The sensing element is connected to the sliding adjustment power component.

[0032] In an optional or preferred embodiment, the drive section further includes a plurality of support rods, each of which is circumferentially spaced on the first end plate. Each support rod has a first segment rod and a second segment rod. One end of the first segment rod is hinged to the first end plate, and the hinge point between the first segment rod and the first end plate is the pivot point for the rotation of the support rod. The other end of the first segment rod is connected to the second segment rod at a certain angle. The second segment rod is used to support the inner wall of the pipe. A second connecting rod is provided between the end of the first segment rod away from the second segment rod and the bracket. One end of the second connecting rod is hinged to the middle of the bracket, and the other end is hinged to the end of the first segment rod away from the second segment rod. The bracket drives the support rod to rotate around the pivot point of the support rod through the second connecting rod.

[0033] In an optional or preferred embodiment, the detection section includes

[0034] Two side plates are arranged opposite each other at intervals and are parallel to each other. At least three support wheels are installed on each side plate. The support wheels are distributed circumferentially at intervals on the side plate, and the wheel surfaces of the support wheels extend from the edge of the side plate.

[0035] A connecting shaft connects the two side plates;

[0036] The detection assembly includes a fixed plate, a rotating base, a rotating cylinder, a detection probe, and a detection probe power component. The fixed plate is fixed on the connecting shaft, and the detection probe power component is mounted on the fixed plate. The rotating base is rotatably mounted on the connecting shaft via the rotating cylinder. The power output end of the detection probe power component is connected to the rotating base for driving the rotating base to rotate 360° on the connecting shaft. Multiple detection probes are provided, and each detection probe is arranged circumferentially on the rotating base.

[0037] In an optional or preferred embodiment, a telescopic sliding device is provided on the outer side of the side plate, and each support wheel is mounted on the side plate through a telescopic sliding device. The support wheel is connected to the sliding end of the telescopic sliding device. A first linkage mechanism is provided on the inner side of each side plate. The first linkage mechanism is connected to the sliding end of each telescopic sliding device. The first linkage mechanism is used to drive the sliding end of each telescopic sliding device to slide synchronously, so that each support wheel extends or retracts synchronously from the edge of the side plate.

[0038] In an optional or preferred embodiment, the telescopic sliding device includes a groove and a slider. The side plate has a circular structure. The groove is disposed on the side plate and extends radially along the side plate. One end of the groove extends to the edge extending out of the side plate, and the other end extends to a position close to the center of the side plate. The slider is assembled in the groove, and the support wheel is fixed on the slider. The slider is the sliding end of the telescopic sliding device.

[0039] In an optional or preferred embodiment, the first linkage mechanism includes a first turntable, a first strip groove, a first involute guide groove, a first guide rod, a first drive wheel, and a first linkage power component. The first turntable is provided with multiple first involute guide grooves, each corresponding to one of the telescopic sliding devices. The side plate has a first strip groove corresponding to each of the sliding grooves, extending along the length of the sliding groove and communicating with it. The first guide rod passes through the first involute guide groove and the first strip groove, and slides in cooperation with them. One end of the first guide rod is connected to the slider. The first linkage power component is mounted on the side plate. The first drive wheel is connected to the power output end of the first linkage power component, and the first drive wheel is connected to the first turntable via a transmission connection.

[0040] In an optional or preferred embodiment, a first connecting post is provided on the side plate, and a second connecting post is provided on the first turntable. The first connecting post and the second connecting post are connected by a third spring.

[0041] In an optional or preferred embodiment, the detection assembly further includes multiple telescopic structures, each of which is circumferentially spaced on the rotating base. Each telescopic structure has a detection probe installed at its telescopic movable end. A second linkage mechanism is provided between the two side plates, connecting each of the detection probes. The second linkage mechanism is used to drive each of the detection probes to telescopically extend and retract synchronously.

[0042] In an optional or preferred embodiment, the second linkage mechanism includes a mounting plate, a second turntable, a second involute guide groove, a second guide rod, a second drive wheel, and a second linkage power component. The second turntable is provided with the second involute guide groove corresponding to each of the detection probes. One end of the second guide rod is connected to the detection probe, and the other end passes through the second involute guide groove and slides in cooperation with the second involute guide groove. The second linkage power component is mounted on the rotating drum through the mounting plate. The second turntable is rotatably mounted on the rotating drum. A third drive wheel is coaxially fixed on one side of the second turntable. The second drive wheel is connected to the power output end of the second linkage power component, and the third drive wheel is drively connected to the second drive wheel.

[0043] In an optional or preferred embodiment, multiple drive sections are connected in series on both sides of the detection section via universal joints or a first spring, and the turning guide mechanism is provided on each of the drive sections located at the ends.

[0044] In an optional or preferred embodiment, a power module is further included, the power module comprising a battery pack and a protective housing, the battery pack being disposed inside the protective housing, and the two ends of the power module being connected to the drive joint and the detection joint via universal joints.

[0045] Based on the above technical solution, the embodiments of this application have at least the following beneficial effects: During the process of the robot traveling and inspecting inside the pipeline, the drive section drives the entire robot to walk along the inner wall of the pipeline, while the inspection section continuously inspects the pipeline during its movement, thereby achieving the purpose of continuous inspection. When the robot walks to the pipeline bend or fork, the end of the turning guide rod located in front of the drive section will abut against the inner wall of the pipeline bend. As the drive section continues to advance, the turning power component will drive the turning guide rod to rotate inward, so that the arched side of the turning guide rod moves close to the inner wall of the pipeline bend. Thus, under the guidance of the turning guide rod, the entire robot is slowly guided to turn. Therefore, the robot of this application can achieve flexible turning and stable movement in complex structures such as pipeline bends and forks through the turning guide mechanism, thereby significantly improving the coverage and inspection accuracy of pipeline inspection. Attached Figure Description

[0046] The present application will be further described below with reference to the accompanying drawings and embodiments;

[0047] Figure 1 This is a schematic diagram of the structure of the pipeline inspection robot with turning function provided in the embodiments of this application;

[0048] Figure 2 yes Figure 1 A schematic diagram of the connection structure between the turning guide mechanism and the drive unit in the embodiment;

[0049] Figure 3 yes Figure 1 A schematic diagram of the drive section in the embodiment;

[0050] Figure 4 yes Figure 1 A partial structural diagram of the drive section in the embodiment;

[0051] Figure 5 yes Figure 1 A partial structural schematic diagram of the walking assembly on the drive section in the embodiment;

[0052] Figure 6 yes Figure 1 A schematic diagram of the detection section in the embodiment;

[0053] Figure 7 yes Figure 1 A partial structural diagram of the detection section in the embodiment.

[0054] Figure label:

[0055] Drive section 100, first end plate 110, fixing block 111, rotating shaft 111a, second end plate 120, guide post 130, walking assembly 140, bracket 141, walking roller 142, transmission assembly 143, first transmission wheel 143a, second transmission wheel 143b, synchronous belt 143c, driving bevel gear 143d, driven bevel gear 143f, walking power component 144, sliding adjustment assembly 150, main sliding plate 151, first limiting plate 152, second limiting plate 1 53. Connecting rod 154, First connecting rod 160, Sliding adjustment component drive module 170, Sliding adjustment power component 171, First gear 171a, Lead screw 172, Second gear 172a, Lead nut 173, Support rod 180, First segment rod 181, Second segment rod 182, Second connecting rod 190, Third end plate 101, Detection section 200, Side plate 210, First connecting column 211, Connecting shaft 220, Detection component 230, Fixing plate 231, Rotating seat 232, etc. Two driven wheels 232a, a rotating drum 233, a detection probe 234, a detection probe power component 235, a second driving wheel 235a, a telescopic structure 236, a support wheel 240, a telescopic sliding device 250, a slide groove 251, a slider 252, a first linkage mechanism 260, a first turntable 261, a second connecting column 261a, a first strip groove 262, a first involute guide groove 263, a first guide rod 264, a first drive wheel 265, a first linkage power component 266, and a third spring 267. The system includes a second linkage mechanism 270, a mounting plate 271, a second turntable 272, a second involute guide groove 273, a second guide rod 274, a second drive wheel 275, a second linkage power component 276, a third drive wheel 277, a turning guide mechanism 300, a fixed seat 310, a first driven wheel 311, a turning guide rod 320, a stroke groove 321, a turning power component 330, a rotating swing arm 340, a rotating power component 350, a first driving wheel 351, a connecting seat 360, and a power module 400. Detailed Implementation

[0056] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0057] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0058] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0059] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0060] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0061] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0062] With the continuous development of urban infrastructure, underground pipeline networks are becoming increasingly complex. These systems include water supply pipelines, drainage pipelines, gas pipelines, and heating pipelines, forming a vital part of urban lifeline engineering. However, due to their long-term underground burial, these pipelines are susceptible to damage, corrosion, and blockages due to various factors such as soil corrosion, temperature changes, and pressure fluctuations. Failure to detect and address these problems promptly can lead to serious economic losses and safety hazards.

[0063] Traditional pipeline inspection methods mainly rely on manual visual inspection or simple video detection equipment, which have drawbacks such as low inspection efficiency, low accuracy, and harsh working conditions. Especially for pipeline systems with complex structures, such as areas with multiple bends, diameter changes, and T-joints, traditional inspection equipment is often difficult to reach or cannot work effectively.

[0064] In recent years, pipeline inspection robot technology has developed rapidly. Current pipeline inspection robots mainly employ tracked, creeping, and wheeled movement methods, enabling stable movement and basic inspection functions within straight pipe sections. However, when faced with complex structures such as pipe bends and forks, these robots have limited turning capabilities, unable to flexibly steer at bends, resulting in a limited inspection range. Furthermore, during turns, the robot is prone to losing balance or experiencing excessive friction with the pipe wall, leading to jamming or inability to continue moving forward.

[0065] Reference Figures 1 to 7 This invention provides a pipe inspection robot with turning function, including a drive section 100, a detection section 200, and a turning guide mechanism 300. The detection section 200 is connected to one end of the drive section 100, and the turning guide mechanism 300 is located at the other end of the drive section 100. The turning guide mechanism 300 is located in front of the drive section 100 in the direction of travel. The drive section 100 is used to drive the entire robot to walk in the pipe, the detection section 200 is used to inspect the pipe, and the turning guide mechanism 300 is used to guide the robot to turn when it walks to a bend or fork in the pipe.

[0066] Reference Figure 2The turning guide mechanism 300 includes a fixed base 310, a turning guide rod 320, and a turning power component 330. The fixed base 310 is rotatably connected to the drive section 100. One end of the turning guide rod 320 is rotatably connected to the edge of the fixed base 310. The turning guide rod 320 is a curved strip-shaped structure. The side of the turning guide rod 320 facing the outside of the fixed base 310 is arched to form an arc structure. The end of the turning guide rod 320 away from the fixed base 310 is bent inward to form a hook-shaped end. The hook-shaped end structure of the turning guide rod 320 can play a good guiding role at the pipe bend. The turning power component 330 is mounted on the fixed base 310 and is used to drive the turning guide rod 320 to rotate.

[0067] During the pipeline inspection process, the robot of this application uses a drive section 100 to propel the entire robot along the inner wall of the pipeline, while the inspection section 200 continuously inspects the pipeline during its movement, thus achieving continuous inspection. When the robot reaches a pipe bend or branch, the end of the turning guide rod 320, located in front of the drive section 100, abuts against the inner wall of the bend. As the drive section 100 advances, the turning power component 330 drives the turning guide rod 320 to rotate inward, causing the arched side of the turning guide rod 320 to move close to the inner wall of the bend. Guided by the turning guide rod 320, the entire robot slowly turns. Therefore, the robot of this application, through the turning guide mechanism 300, can achieve flexible turning and stable movement in complex structures such as pipe bends and branches, thereby significantly improving the coverage and accuracy of pipeline inspection.

[0068] Furthermore, a stroke groove 321 is provided in the middle of the turning guide rod 320, extending along the length of the turning guide rod 320. A rotating swing arm 340 is provided between the turning power component 330 and the turning guide rod 320. One end of the rotating swing arm 340 is connected to the power output end of the turning power component 330, and the other end is fitted into the stroke groove 321. The end of the rotating swing arm 340 fitted into the stroke groove 321 can slide within the stroke groove 321. The turning power component 330 drives the rotating swing arm 340 to rotate, and the rotation of the rotating swing arm 340 drives the turning guide rod 320 to rotate, thereby realizing the rotation of the turning guide rod 320. The rotating arm 340 serves two purposes: firstly, it drives the turning guide rod 320 to rotate; secondly, it supports the turning guide rod 320. As the curved side of the turning guide rod 320 moves close to the inner wall of the pipe bend, the rotating arm 340 supports the turning guide rod 320, preventing it from becoming loose and ensuring the robot can smoothly navigate the bend. The turning power component 330 is a servo motor.

[0069] To ensure improved flexibility of the turning guide mechanism 300, the turning guide mechanism 300 also includes a rotary power component 350, which is disposed between the fixed base 310 and the drive section 100. The rotary power component 350 is used to drive the fixed base 310 to rotate 360°.

[0070] A connecting seat 360 is provided between the fixed seat 310 and the drive section 100. One end of the connecting seat 360 is fixedly connected to the drive section 100, and the other end of the connecting seat 360 is rotatably connected to the fixed seat 310 via a rotating shaft. The connecting seat 360 has a cavity inside, and the rotating power component 350 is disposed in the cavity. The connecting seat 360 serves two purposes: firstly, it connects the turning guide mechanism 300 and the drive section 100; secondly, its internal cavity provides space for the rotating power component 350, thus making the overall structure more rationally distributed and more compact. Furthermore, the connecting seat 360 has a cylindrical structure, and the rotating power component 350 is disposed inside the cylindrical structure.

[0071] The rotary power component 350 has a first driving wheel 351 mounted on its power output end, and a first driven wheel 311 mounted on its fixed base 310. The first driven wheel 311 is rotatably connected to the shaft of the fixed base 310, and the first driving wheel 351 and the first driven wheel 311 are connected by a transmission. The rotary power component 350 drives the first driving wheel 351, causing the first driving wheel 351 to transmit power to the first driven wheel 311, thereby causing the first driven wheel 311 to rotate the fixed base 310. Specifically, both the first driving wheel 351 and the first driven wheel 311 are gear structures, and the first driving wheel 351 and the first driven wheel 311 mesh and transmit power. Of course, the first driving wheel 351 and the first driven wheel 311 can also be driven by a transmission belt.

[0072] When the robot faces a curved pipe in different directions, the rotary power unit 350 drives the fixed base 310 to rotate, thereby causing the entire turning guide mechanism 300 to rotate. When the turning guide mechanism 300 rotates until the turning guide rod 320 corresponds to the bending direction of the curved pipe, the drive section 100 continues to advance, guiding the robot to turn via the turning guide rod 320. Because the turning guide mechanism 300 of this application can rotate 360° in front of the drive section 100, it can adapt to pipe bends and forks with various bending directions, thus providing greater flexibility in guiding turns.

[0073] Reference Figure 3 , Figure 4The drive section 100 includes a first end plate 110, a second end plate 120, guide posts 130, a traveling assembly 140, a sliding adjustment assembly 150, and a first connecting rod 160. The second end plate 120 is arranged at a distance from the first end plate 110 and is parallel to the first end plate 110. One end of the guide post 130 is connected to the edge of the first end plate 110, and the other end is connected to the edge of the second end plate 120. The guide posts 130 extend along the spacing distribution direction of the first end plate 110 and the second end plate 120. At least two guide posts 130 are provided, and each guide post 130 is spaced apart between the first end plate 110 and the second end plate 120. The first end plate 110, the second end plate 120, and the guide posts 130 connecting the first end plate 110 and the second end plate 120 form the main frame of the drive section 100. In this application, the first end plate 110 and the second end plate 120 are both circular plates, and three guide posts 130 are provided, which are equally spaced and circumferentially distributed between the first end plate 110 and the second end plate 120.

[0074] A sliding adjustment assembly 150 is disposed between the first end plate 110 and the second end plate 120. The sliding adjustment assembly 150 is slidably engaged with the guide post 130 and can slide along the guide post 130. By sliding on the guide post 130, the sliding adjustment assembly 150 adjusts the expansion or contraction of each traveling assembly 140 between the first end plate 110 and the second end plate 120, thereby enabling the traveling assembly 140 to adapt to different pipe diameters and travel in pipes of different diameters.

[0075] Specifically, the sliding adjustment assembly 150 includes a main sliding plate 151, a first limiting plate 152, and a second limiting plate 153. The main sliding plate 151 is slidably connected to each guide post 130. Specifically, the main sliding plate 151 has three through holes, which are slidably engaged with the three guide posts 130 respectively, thereby realizing the sliding connection between the sliding adjustment assembly 150 and the guide posts 130.

[0076] The first limiting plate 152 and the second limiting plate 153 are respectively arranged parallel to each other on both sides of the main sliding plate 151. The first limiting plate 152 and the second limiting plate 153 are connected by a connecting rod 154. The main sliding plate 151 is provided with connecting holes, and the main sliding plate 151 is connected to the connecting rod 154 through the connecting holes. Specifically, the first limiting plate 152 and the second limiting plate 153 are connected by three spaced connecting rods 154. The main sliding plate 151 is provided with three spaced connecting holes, and the main sliding plate 151 slides along the connecting rods 154 through the connecting holes, allowing the main sliding plate 151 to slide between the first limiting plate 152 and the second limiting plate 153.

[0077] In order to drive the sliding adjustment component 150, a sliding adjustment component drive module 170 is also provided between the first end plate 110 and the second end plate 120. The sliding adjustment component drive module 170 includes a sliding adjustment power component 171, a lead screw 172 and a lead nut 173.

[0078] The sliding adjustment power component 171 is installed on the second end plate 120. One end of the lead screw 172 is connected to the power output end of the sliding adjustment power component 171. The lead screw nut 173 is vertically fixed on the second limiting plate 153. A second clearance hole is provided in the middle of the main sliding plate 151. The lead screw nut 173 passes through the second clearance hole. The lead screw 172 is located between the first end plate 110 and the second end plate 120. The lead screw 172 extends along the distribution direction of the first end plate 110 and the second end plate 120. The lead screw 172 is located in the middle of the three guide posts 130. A first clearance hole is provided on the first limiting plate 152. The lead screw 172 passes through the first clearance hole and cooperates with the lead screw nut 173.

[0079] Furthermore, a first gear 171a is installed at the power output end of the sliding adjustment power component 171, and a second gear 172a is installed on the lead screw 172. The first gear 171a and the second gear 172a mesh, and the sliding adjustment power component 171 drives the lead screw 172 to rotate through the meshing of the first gear 171a and the second gear 172a.

[0080] The sliding adjustment power component 171 uses a stepper motor or a servo motor, which can provide precise position control. When the sliding adjustment power component 171 drives the lead screw 172 to rotate, the lead screw nut 173 will move linearly along the lead screw 172, thereby driving the sliding adjustment assembly 150 to move, realizing the adjustment of the expansion or contraction of the walking assembly 140.

[0081] At least three walking components 140 are provided, and each walking component 140 is arranged in a divergent manner between the first end plate 110 and the second end plate 120.

[0082] In this application, three walking components 140 are provided, and the three walking components 140 and three guide columns 130 are staggered. The three walking components 140 can ensure that the robot walks stably and supportedly inside the pipe.

[0083] The walking assembly 140 includes a bracket 141, a walking roller 142, a transmission assembly 143, and a walking power component 144. One end of the bracket 141 extends between the first end plate 110 and the second end plate 120 and is rotatably connected to the first end plate 110, while the other end extends out from between the first end plate 110 and the second end plate 120.

[0084] Specifically, the bracket 141 is a strip-shaped rod structure. Three fixing blocks 111 are arranged circumferentially at intervals around the edge of the first end plate 110. The three fixing blocks 111 correspond one-to-one with the three brackets 141. One end of each bracket 141 extends between the first end plate 110 and the second end plate 120 and is rotatably connected to the corresponding fixing block 111 on the first end plate 110 through a rotating shaft 111a. The other end of the bracket 141 extends out from between the first end plate 110 and the second end plate 120. A traveling roller 142 is installed on the end of the bracket 141 that extends out from between the first end plate 110 and the second end plate 120. The traveling roller 142 has an anti-slip texture on its surface, which can provide good grip on the inner wall of pipes of various materials.

[0085] One end of the first connecting rod 160 is hinged to the middle of the bracket 141, and the other end is hinged to the sliding adjustment component 150. Specifically, the first connecting rod 160 is hinged to the main sliding plate 151 of the sliding adjustment component 150, so that the sliding adjustment component 150 and the traveling component 140 form a linkage mechanism through the first connecting rod 160. When the sliding adjustment component 150 slides along the guide post 130, the first connecting rod 160 will drive the bracket 141 to swing, thereby realizing the extension or expansion adjustment of each traveling component 140 to adapt to the change of the inner diameter of the pipe.

[0086] The walking power component 144 is mounted on the first end plate 110. The transmission component 143 connects the walking roller 142 and the power output end of the walking power component 144. The transmission component 143 transmits the power of the walking power component 144 to the walking roller 142, thereby realizing the forward and backward movement of the drive section 100.

[0087] Transmission assembly 143 includes a first transmission wheel 143a, a second transmission wheel 143b, a timing belt 143c, a driving bevel gear 143d, and a driven bevel gear 143f. The first transmission wheel 143a is mounted on one end of the bracket 141 that extends between the first end plate 110 and the second end plate 120. The second transmission wheel 143b is mounted on the other end of the bracket 141 that extends outside the space between the first end plate 110 and the second end plate 120. The second transmission wheel 143b is coaxially fixed with the traveling roller 142. The timing belt 143c connects to the first transmission wheel 143a. A first transmission wheel 143a and a second transmission wheel 143b are provided. A driving bevel gear 143d is rotatably mounted on a first end plate 110, parallel to the first end plate 110. The driving bevel gear 143d is connected to the power output end of a walking power component 144, which drives the driving bevel gear 143d to rotate on the first end plate 110. A driven bevel gear 143f is mounted on the first end plate 110, and one driven bevel gear 143f is coaxially fixed on each first transmission wheel 143a. Specifically, one driven bevel gear 143f is fixed on the rotation shaft 111a between each bracket 141 and the corresponding fixed block 111, and each driven bevel gear 143f meshes with the driving bevel gear 143d. This meshing of driven bevel gears 143f with the driving bevel gear 143d forms a one-to-many transmission method, enabling a single walking power component 144 to simultaneously drive multiple walking components 140.

[0088] During travel, the travel power unit 144 drives the driving bevel gear 143d to rotate. The driving bevel gear 143d meshes and drives each driven bevel gear 143f to rotate. The driven bevel gears 143f drive the first transmission wheel 143a through the rotating shaft 111a. The first transmission wheel 143a drives the second transmission wheel 143b through the synchronous belt 143c. The second transmission wheel 143b drives the travel roller 142 to roll. This application achieves synchronous travel of the three travel components 140 by using the driving bevel gear 143d and the synchronous belt 143c to drive the three driven bevel gears 143f, ensuring the synchronicity and stability of the drive section 100 during travel.

[0089] The sliding adjustment assembly 150 also includes a second spring, which is sleeved on the nut 173. One end of the second spring is connected to the first limiting plate 152, and the other end is connected to the main sliding plate 151. A sensing element is provided on the main sliding plate 151 to sense the distance between the main sliding plate 151 and the first limiting plate 152 or the second limiting plate 153. The sensing element is connected to the sliding adjustment power component 171. The sensing element is a magnetic sensor, a photoelectric sensor, or an inductive sensor, which can sense changes in the distance between the main sliding plate 151 and the first limiting plate 152 or the second limiting plate 153 in real time.

[0090] When the robot of this application moves through a pipe, if the pipe diameter changes (e.g., when the pipe diameter decreases), the three walking components 140 will be compressed and contract. At this time, the contracted walking components 140 will drive the main sliding plate 151 to slide between the first limiting plate 152 and the second limiting plate 153 via the first connecting rod 160. The sensing element on the main sliding plate 151 will detect the change in distance between the main sliding plate 151 and either the first or second limiting plate 152. After detecting the change in distance, the sensing element will send a signal to the sliding adjustment power component 171, causing the sliding adjustment power component 171 to start working and actively adjust the three walking components 140 to a suitable position to adapt to the smaller pipe diameter. This design effectively prevents the walking components 140 from getting stuck in the pipe with a changing diameter, ensuring smooth robot movement.

[0091] To improve the stability of the drive joint 100 during walking, the drive joint 100 also includes multiple support rods 180. Specifically, three support rods 180 are provided, and each support rod 180 is distributed circumferentially at intervals on the first end plate 110, providing additional stable support for the robot.

[0092] The support rod 180 is a bent rod structure. The support rod 180 has a first segment rod 181 and a second segment rod 182. One end of the first segment rod 181 is hinged to the first end plate 110. The hinge point between the first segment rod 181 and the first end plate 110 is the rotation fulcrum of the support rod. The other end of the first segment rod 181 is connected to the second segment rod 182 at a certain angle, which is usually between 90 degrees and 120 degrees, forming an L-shaped or bent structure. The second segment rod 182 is used to support the inner wall of the pipe.

[0093] A second connecting rod 190 is provided between the end of the first segment rod 181 away from the second segment rod 182 and the bracket 141. One end of the second connecting rod 190 is hinged to the middle of the bracket 141, and the other end is hinged to the end of the first segment rod 181 away from the second segment rod 182, forming a linkage mechanism. The bracket 141 drives the support rod 180 to rotate around the pivot point of the support rod through the second connecting rod 190. When the support 141 changes under the drive of the sliding adjustment component 150, the second connecting rod 190 transmits this movement, causing the support rod 180 to rotate around the pivot point of the support rod, thereby realizing the linkage adjustment of the support rod 180. That is, when the three traveling components 140 expand or contract synchronously to adapt to the change in pipe diameter, the three support rods 180 will also be driven to expand or contract synchronously, so that the second segment rod 182 is supported on the inner wall of the pipe. In this way, the traveling components 140 and the support rods 180 form a front-to-back support on the drive section 100, which can effectively ensure the stability of the drive section 100 during the travel process.

[0094] Reference Figure 6 The detection section 200 includes two side plates 210, a connecting shaft 220, and a detection assembly 230. The two side plates 210 are arranged opposite each other at intervals and are parallel to each other. At least three support wheels 240 are installed on each side plate 210. The support wheels 240 are distributed circumferentially at intervals on the side plate 210, and the wheel surfaces of the support wheels 240 extend from the edge of the side plate 210. The connecting shaft 220 connects the two side plates 210. The detection assembly 230 includes a fixed plate 231, a rotating seat 232, a rotating cylinder 233, and a detection probe 230. 4. The detection probe power component 235 is fixed on the connecting shaft 220 by the fixing plate 231. The detection probe power component 235 is mounted on the fixing plate 231. The rotating seat 232 is rotatably mounted on the connecting shaft 220 through the rotating cylinder 233. The power output end of the detection probe power component 235 is connected to the rotating seat 232 for driving the rotating seat 232 to rotate 360° on the connecting shaft 220. Multiple detection probes 234 are provided, and each detection probe 234 is arranged circumferentially on the rotating seat 232.

[0095] Specifically, the two side plates 210 are arranged at intervals and maintain a parallel relationship. The side plates 210 are typically circular, with the diameter designed according to the applicable pipe size. Three support wheels 240 are installed on each side plate 210, and the support wheels 240 are evenly distributed circumferentially on the side plate 210 to ensure stable support of the inspection section 200 within the pipe. The support wheels 240 are made of polyurethane or rubber, possessing good wear resistance and elasticity. The wheel surface extends 10mm to 30mm from the edge of the side plate 210, enabling reliable contact with the inner wall of the pipe.

[0096] The connecting shaft 220 connects the middle of the two side plates 210, serving not only as structural support but also as a mounting base for the detection assembly 230. The connecting shaft 220 typically has a hollow structure, allowing for the internal arrangement of cables and signal lines to enable power supply and data transmission for various detection devices.

[0097] The power unit 235 of the detection probe uses a stepper motor or a servo motor, which can provide precise angle control.

[0098] The rotating base 232 is rotatably mounted on the connecting shaft 220 via the rotating cylinder 233. The rotating cylinder 233 is equipped with bearings to ensure that the rotating base 232 can rotate smoothly. The power output end of the detection probe power unit 235 is connected to the rotating base 232 to drive the rotating base 232 to rotate on the connecting shaft 220, thereby realizing 360-degree omnidirectional scanning of the detection probe 234.

[0099] In this application, four detection probes 234 are typically provided, arranged circumferentially at intervals on the rotating base 232 to form a multi-point detection array. Depending on the detection requirements, the detection probes 234 can be configured with different types of sensors. In the first configuration, the detection probes 234 employ ultrasonic sensors, capable of detecting defects such as pipe wall thickness, cracks, and corrosion. In the second configuration, the detection probes 234 employ eddy current sensors, suitable for detecting surface and near-surface defects in metal pipes. In the third configuration, the detection probes 234 employ laser rangefinder sensors, capable of accurately measuring changes in pipe inner diameter and deformation.

[0100] The second driving wheel 235a is installed at the power output end of the power component 235 of the detection probe, and the second driven wheel 232a is coaxially fixed on the rotating seat 232. The second driving wheel 235a and the second driven wheel 232a are connected in a transmission connection.

[0101] The second driving wheel 235a and the second driven wheel 232a constitute the transmission system of the detection assembly 230. When gear transmission is used, it is ensured that the rotating seat 232 has an appropriate rotational speed and sufficient driving torque.

[0102] The outer side of the side plate 210 is provided with a telescopic sliding device 250. Each support wheel 240 is mounted on the side plate 210 through a telescopic sliding device 250. The support wheel 240 is connected to the sliding end of the telescopic sliding device 250. The inner side of each side plate 210 is provided with a first linkage mechanism 260. The first linkage mechanism 260 is connected to the sliding end of each telescopic sliding device 250. The first linkage mechanism 260 is used to drive the sliding end of each telescopic sliding device 250 to slide synchronously, so that each support wheel 240 extends or retracts synchronously from the edge of the side plate 210.

[0103] The telescopic sliding device 250 provides diameter adaptation capability for the detection section 200. Each support wheel 240 is mounted on the side plate 210 via a telescopic sliding device 250, which includes a groove 251 and a slider 252. The groove 251 is provided on the side plate 210 and extends radially along the side plate 210, with one end extending to the edge protruding from the side plate 210 and the other end extending to a position near the center of the side plate 210. The slider 252 is fitted into the groove 251. The support wheel 240 is fixed to the slider 252, and the extension distance of the support wheel 240 is adjusted by the radial sliding of the slider 252.

[0104] The first linkage mechanism 260 includes a first turntable 261, a first strip groove 262, a first involute guide groove 263, a first guide rod 264, a first drive wheel 265, and a first linkage power component 266. The first turntable 261 is provided with multiple first involute guide grooves 263, each corresponding to a specific telescopic sliding device 250. The side plate 210 has a first strip groove 262 corresponding to the position of each slide groove 251, extending along the length of the slide groove 251. Extending in the angular direction, the first strip groove 262 communicates with the sliding groove 251. The first guide rod 264 passes through the first involute guide groove 263 and the first strip groove 262 and slides in cooperation with them. One end of the first guide rod 264 is connected to the slider 252. The first linkage power component 266 is mounted on the side plate 210. The first drive wheel 265 is connected to the power output end of the first linkage power component 266 and is driven by the first turntable 261. The first linkage mechanism 260 enables synchronous sliding control of the sliders 252 on each telescopic sliding device 250. This ensures that the support wheel 240 extends or retracts synchronously, improving the stability of the detection section 200 during pipe diameter movement.

[0105] In the embodiment shown in this application, the first involute guide groove 263 is provided with four sliding grooves 251 on the first turntable 261, and the first strip groove 262 is also provided with four strips on the side plate 210, which correspond to the four sliding grooves 251 respectively.

[0106] The first linkage power component 266 is mounted on the side plate 210 and uses a stepper motor or servo motor. The first drive wheel 265 is connected to the power output end of the first linkage power component 266 and is connected to the first turntable 261 for transmission. When the first drive wheel 265 is a gear structure, a toothed edge 265 is provided on part of the arc-shaped edge of the first turntable 261. The length of the toothed edge 265 usually covers 40% to 50% of the circumference of the first turntable 261, forming a meshing transmission with the first drive wheel 265. The first linkage power component 266 drives the first drive wheel 265 to rotate, and the first drive wheel 265 meshes with the toothed edge on the first turntable 261 to drive the first turntable 261 to rotate. The rotation of the first turntable 261 causes the first involute guide groove 263 to drive the first guide rod 264 to slide in the first strip groove 262, thereby causing the slider 252 to drive the support wheel 240 to slide.

[0107] The side plate 210 is provided with a first connecting post 211, and the first turntable 261 is provided with a second connecting post 261a. The first connecting post 211 and the second connecting post 261a are connected by a third spring 267.

[0108] The first connecting post 211 and the second connecting post 261a are connected by a third spring 267, forming a rebound mechanism for the first turntable 261. When the first turntable 261 rotates to the point where it drives each support wheel 240 to extend out of the side plate 210, the third spring 267 will be stretched. When the power applied to the first turntable 261 by the first linkage power component 266 disappears, each support wheel 240 will return to its original position under the rebound force of the third spring 267.

[0109] To enable the adjustable distance between each detection probe 234 and the inner wall of the pipe, the detection assembly 230 also includes multiple telescopic structures 236. Each telescopic structure 236 is circumferentially spaced on the rotating seat 232. Each telescopic structure 236 has a detection probe 234 installed at its telescopic movable end. A second linkage mechanism 270 is provided between the two side plates 210. The second linkage mechanism 270 connects each detection probe 234 and is used to drive each detection probe 234 to telescopically extend and retract synchronously.

[0110] The telescopic structure 236 provides radial adjustment capability for the detection probe 234. The telescopic structure 236 includes a telescopic guide post and a fourth spring. The telescopic guide post is vertically fixed to the rotating seat 232 and extends radially along the connecting shaft 220, providing precise guidance for the radial movement of the detection probe 234.

[0111] The telescopic guide groove on the detection probe 234 forms a sliding fit with the telescopic guide post. The fourth spring is sleeved on the telescopic guide post, with one end pressing against the rotating seat 232 and the other end pressing against the detection probe 234, providing an outward thrust to the detection probe 234 so that it can maintain appropriate contact pressure with the inner wall of the pipe.

[0112] To improve guiding accuracy, two telescopic guide columns are preferably provided, arranged parallel to each other. Correspondingly, two telescopic guide grooves are provided on the detection probe 234, and the two telescopic guide columns are slidably assembled in the two telescopic guide grooves, forming a double-guide structure, which effectively prevents the detection probe 234 from tilting and jamming during the telescopic process.

[0113] The second linkage mechanism 270 realizes the synchronous extension and retraction control of each detection probe 234, so that the detection probe 234 can adjust the degree of extension and retraction according to the change of pipe diameter, ensuring detection accuracy.

[0114] Specifically, the second linkage mechanism 270 includes a mounting plate 271, a second turntable 272, a second involute guide groove 273, a second guide rod 274, a second drive wheel 275, and a second linkage power component 276. The second turntable 272 is provided with second involute guide grooves 273 corresponding to each detection probe 234. One end of the second guide rod 274 is connected to the detection probe 234, and the other end passes through the second involute guide groove 273 and slides in cooperation with the second involute guide groove 273. The second linkage power component 276 is mounted on the rotating drum 233 through the mounting plate 271. The second turntable 272 is rotatably mounted on the rotating drum 233. A third drive wheel 277 is coaxially fixed on one side of the second turntable 272. The second drive wheel 275 is connected to the power output end of the second linkage power component 276, and the third drive wheel 277 is connected to the second drive wheel 275 through a transmission connection. Therefore, the entire second linkage mechanism 270 can be driven to rotate by the rotating drum 233.

[0115] One end of the second guide rod 274 is connected to the detection probe 234, and the other end passes through the second involute guide groove 273 and slides in cooperation with the second involute guide groove 27. The second linkage power component 276 is mounted on the rotating drum 233 via the mounting plate 271, and uses a micro stepper motor or servo motor to provide precise angle control. The second turntable 272 is rotatably mounted on the rotating drum 233, and a third drive wheel 277 is coaxially fixed on one side of it. The second drive wheel 275 is connected to the power output end of the second linkage power component 276, and the third drive wheel 277 is connected to the second drive wheel 275 in a transmission connection, forming a complete transmission chain.

[0116] When the detection probe 234 needs to be adjusted, the second linkage power component 276 drives the second drive wheel 275, the second drive wheel 275 engages and drives the third drive wheel 277 to rotate, the third drive wheel 277 drives the second turntable 272 to rotate, and the third drive wheel 277 drives the second guide rod 274 through the second involute guide groove 27 on it, so that the second guide rod 274 and the detection probe 234 slide synchronously along the telescopic guide column.

[0117] To expand detection capabilities and adapt to longer pipeline systems, the robot can adopt a modular, serial structure. Multiple drive sections 100 are sequentially connected on both sides of the detection section 200 via universal joints or a first spring. Each drive section 100 at the end is equipped with a turning guide mechanism 300, allowing the robot to turn and guide while moving forward and backward in the pipeline, ensuring its guiding capability in complex pipeline environments. For example, in the embodiment shown in this application, three drive sections 100 are sequentially connected on both sides of the detection section 200, and each drive section 100 at the end is equipped with a turning guide mechanism 300.

[0118] Specifically, the drive section 100 also includes a third end plate 101, which is parallel to and spaced apart from the first end plate 11. Each guide post 130 extends from the first end plate 110 and connects to the edge of the third end plate 101. The drive section 100 is connected to the adjacent detection section 200 via the third end plate 101 through a universal joint. For two drive sections 100, the third end plate 101 of one drive section 100 is connected to the second end plate 120 of the other drive section via a universal joint or a first spring.

[0119] To provide power to the entire robot system, this application also includes a power module 400, which comprises a battery pack and a protective shell. The battery pack uses lithium-ion batteries, and the protective shell is made of high-strength aluminum alloy or engineering plastic, providing good sealing and impact resistance. The two ends of the power module 400 are connected to the drive section 100 and the detection section 200 via universal joints, forming a flexible connection. For example, in this application, one side of the detection section 200 is connected to the power module 400 via a universal joint. Three drive sections 100 are connected in series on the power module 400, with their first and last ends connected sequentially. The drive section 100 equipped with the turning guide mechanism 300 is connected to its adjacent drive section 100 via a first spring, thus improving the flexibility of the robot's head. The other drive sections 100 are connected in series via universal joints. Of course, in other embodiments, the drive sections 100, the detection section 200, and the battery module 400 can all be connected via universal joints.

[0120] When the robot encounters a right-angle bend, the rotary power unit 350 drives the fixed base 310 to rotate, adjusting the turning guide rod 320 to the appropriate angle. Then, the rotary swing arm 340 swings under the drive of the turning power unit 330, and through sliding in the stroke groove 321, it drives the turning guide rod 320 to rotate, causing its arched side to slide against the inner wall of the bend, providing accurate guidance for the robot's turn. The innovative design of the turning guide mechanism 300 enables the robot to actively turn in complex structures such as pipe bends and T-bifurcations.

[0121] In practical applications, this robot can work stably in various pipeline systems such as urban water supply pipelines, drainage pipelines, and gas pipelines, effectively solving the problems of low efficiency, poor accuracy, and insufficient adaptability of traditional detection methods. It provides advanced technical means for the maintenance and management of urban infrastructure and has significant economic value and social benefits.

[0122] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A pipeline inspection robot with turning function, characterized in that, The utility model relates to a kind of driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component.

2. The pipe inspection robot with turning function according to claim 1, characterized in that: The utility model discloses a driving section, detection section, turning guide mechanism and walking component.

3. The pipe inspection robot with turning function according to claim 1, characterized in that: The utility model discloses a driving section, detection section, turning guide mechanism and walking component.

4. The pipe inspection robot with turning function according to claim 3, characterized in that: The utility model discloses a driving section, detection section, turning guide mechanism and walking component.

5. The pipe inspection robot with turning function according to claim 1, characterized in that: The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section, turning guide mechanism and walking component. The utility model discloses a driving section, detection section and turning guide mechanism. The utility model discloses a driving section, detection section and turning guide mechanism. The utility mode A first connecting rod is arranged between the sliding adjustment assembly and the walking assembly, one end of the first connecting rod is hingedly connected to the middle part of the support, and the other end is hingedly connected to the sliding adjustment assembly; The sliding adjustment assembly adjusts the expansion or contraction of each walking assembly between the first end plate and the second end plate by sliding on the guide column.

6. The pipe inspection robot with turning function according to claim 5, characterized in that: The transmission assembly comprises A first transmission wheel is installed on one end of the support extending between the first end plate and the second end plate; A second transmission wheel is installed on one end of the support extending outside the first end plate and the second end plate, and the second transmission wheel is coaxially fixed with the walking roller; A synchronous belt connects the first transmission wheel and the second transmission wheel; A driving bevel gear is rotatably arranged on the first end plate, the driving bevel gear is parallel to the first end plate, the driving bevel gear is fixedly connected to the power output end of the walking power component, and the walking power component is used to drive the driving bevel gear to rotate on the first end plate; A driven bevel gear is arranged on the first end plate, one driven bevel gear is coaxially fixed on each first transmission wheel, and each driven bevel gear is in meshing connection with the driving bevel gear.

7. The pipe inspection robot with turning function according to claim 6, characterized in that: A sliding adjustment assembly driving module is further arranged between the first end plate and the second end plate, and the sliding adjustment assembly driving module comprises A sliding adjustment power component is installed on the second end plate; A lead screw is arranged between the first end plate and the second end plate, the lead screw extends along the distribution direction of the first end plate and the second end plate, one end of the lead screw is connected to the power output end of the sliding adjustment power component; A lead screw nut is fixed on the sliding adjustment assembly, and the lead screw nut cooperates with the lead screw.

8. The pipe inspection robot with turning function according to claim 7, characterized in that: The sliding adjustment assembly comprises a main sliding plate, a first limiting plate, a second limiting plate and a second spring, the main sliding plate is in sliding connection with each guide column, the first connecting rod is hingedly connected to the main sliding plate, the first limiting plate and the second limiting plate are respectively arranged on the two sides of the main sliding plate in parallel, the first limiting plate and the second limiting plate are connected by a connecting rod, the main sliding plate is provided with a connecting hole, the main sliding plate is in sliding cooperation with the connecting rod through the connecting hole, the main sliding plate can slide along the connecting rod between the first limiting plate and the second limiting plate, the lead screw nut is fixed perpendicularly to the second limiting plate, the first limiting plate is provided with a first avoiding hole for avoiding the lead screw, the main sliding plate is provided with a second avoiding hole for avoiding the lead screw nut, the second spring is sleeved on the lead screw nut, one end of the second spring is connected to the first limiting plate, and the other end is connected to the main sliding plate, the main sliding plate is provided with a sensing element, the sensing element is used to sense the distance between the main sliding plate and the first limiting plate or the second limiting plate, and the sensing element is connected to the sliding adjustment power component.

9. The pipe inspection robot with turning function according to claim 8, characterized in that: The driving section further comprises a plurality of support rods, each of the support rods is distributed on the first end plate in a circumferential direction, the support rod has a first segment rod and a second segment rod, one end of the first segment rod is hinged to the first end plate, the hinge between the first segment rod and the first end plate is a rotation fulcrum of the support rod, the other end of the first segment rod is connected to the second segment rod at a certain angle, the second segment rod is used for supporting the inner wall of the pipeline, the other end of the first segment rod away from the second segment rod is provided with a second connecting rod between the support frame, one end of the second connecting rod is hinged to the middle of the support frame, the other end is hinged to the other end of the first segment rod away from the second segment rod, the support frame drives the support rod to rotate around the rotation fulcrum of the support rod through the second connecting rod.

10. The pipe inspection robot with turning function according to claim 1, characterized in that: The detection section comprises two side plates, the two side plates are arranged in opposite directions and parallel to each other, at least three support wheels are installed on each side plate, each of the support wheels is distributed on the side plate in a circumferential direction, and the wheel surface of the support wheel extends from the edge of the side plate; a connecting shaft connecting the two side plates; a detection assembly comprising a fixed plate, a rotating seat, a rotating cylinder, a detection probe and a detection probe power component, the fixed plate is fixed on the connecting shaft, the detection probe power component is installed on the fixed plate, the rotating seat is rotatably installed on the connecting shaft through the rotating cylinder, the power output end of the detection probe power component is in transmission connection with the rotating seat for driving the rotating seat to rotate 360° on the connecting shaft, and a plurality of detection probes are arranged on the rotating seat in a circumferential direction.

11. The pipe inspection robot with turning function according to claim 10, characterized in that: The outer side of the side plate is provided with a telescopic sliding device, each support wheel is installed on the side plate through a telescopic sliding device, the support wheel is connected with the sliding end of the telescopic sliding device, the inner side of each side plate is provided with a first linkage mechanism, the first linkage mechanism connects the sliding ends of the telescopic sliding devices, and the first linkage mechanism is used to drive the sliding ends of the telescopic sliding devices to slide synchronously, so that each support wheel extends from or retracts from the edge of the side plate synchronously.

12. The pipe inspection robot with turning function according to claim 11, characterized in that: The telescopic sliding device comprises a sliding groove and a sliding block, the side plate is in a circular structure, the sliding groove is arranged on the side plate and extends along the radial direction of the side plate, one end of the sliding groove extends to the edge of the side plate, and the other end extends to a position close to the center of the side plate, the sliding block is assembled in the sliding groove, the support wheel is fixed on the sliding block, and the sliding block is the sliding end of the telescopic sliding device.

13. The pipe inspection robot with turning function according to claim 12, characterized in that: The first linkage mechanism comprises a first rotating disc, a first slot, a first involute guide slot, a first guide rod, a first driving wheel and a first linkage power component, a plurality of the first involute guide slots are arranged on the first rotating disc, each of the first involute guide slots corresponds to each of the telescopic sliding devices, the first slot is arranged on the side plate corresponding to the position of each of the sliding slots, the first slot extends along the length direction of the sliding slot, the first slot is communicated with the sliding slot, the first guide rod is arranged in the first involute guide slot and the first slot and is in sliding fit with the first involute guide slot and the first slot, one end of the first guide rod is connected with the sliding block, the first linkage power component is installed on the side plate, the first driving wheel is connected with the power output end of the first linkage power component, and the first driving wheel is in transmission connection with the first rotating disc.

14. The pipe inspection robot with turning function according to claim 13, characterized in that: The side plate is provided with a first connecting column, and the first rotating disc is provided with a second connecting column, and the first connecting column is connected with the second connecting column through a third spring.

15. The pipe inspection robot with turning function according to claim 10, characterized in that: The detection assembly further comprises a plurality of telescopic structures, each of the telescopic structures is arranged on the rotating seat in a circumferential interval, and each telescopic structure is provided with a detection probe at a telescopic active end.

16. The pipe inspection robot with turning function according to claim 15, characterized in that: The second linkage mechanism comprises a mounting plate, a second rotating disc, a second involute guide slot, a second guide rod, a second driving wheel and a second linkage power component, the second rotating disc is provided with the second involute guide slot corresponding to each of the detection probes, one end of the second guide rod is connected with the detection probe, the other end is arranged in the second involute guide slot and is in sliding fit with the second involute guide slot, the second linkage power component is installed on the rotating drum through the mounting plate, the second rotating disc is rotatably installed on the rotating drum, a third driving wheel is coaxially fixed on one side of the second rotating disc, the second driving wheel is connected with the power output end of the second linkage power component, and the third driving wheel is in transmission connection with the second driving wheel.

17. The pipe inspection robot with turning function according to any one of claims 1 to 16, characterized in that: The detection joints are connected with a plurality of the driving joints in sequence through universal joints or first springs, and the driving joints at the end portions are provided with the turning guide mechanisms.

18. The pipe inspection robot with turning function according to claim 17, characterized in that: The power module comprises a battery pack and a protective shell, the battery pack is arranged in the protective shell, and the power module is connected with the driving joints and the detection joints through universal joints at both ends. The power module comprises a battery pack and a protective shell, the battery pack is arranged in

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