A turning mechanism for a pipeline inspection robot

Abstract

This application relates to the field of pipeline inspection technology, and particularly to a turning mechanism for a pipeline inspection robot, including a drive unit and a turning guide mechanism connected to the other end of the drive unit. The turning guide mechanism includes a fixed base, a turning guide rod, a turning power component, and a rotating power component. The fixed base is rotatably connected to the drive unit, and one end of the turning guide rod is rotatably connected to the edge of the fixed base. The turning guide rod is a curved strip-shaped structure, with the side of the turning guide rod facing outwards from the fixed base arched into an arc shape. The turning power component is mounted on the fixed base and is used to drive the turning guide rod to rotate. The rotating power component is disposed between the fixed base and the drive unit and is used to drive the fixed base to rotate. This mechanism enables smooth turning in pipeline bends, eliminating the need for external traction to force the robot through bends.

Description

Technical Field

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

[0002] With the continuous development of urban infrastructure and the increasing complexity of pipeline systems, pipeline inspection technology is playing an increasingly important role in municipal engineering, petrochemicals, nuclear power, and other fields. Pipeline inspection robots, as an emerging type of non-destructive testing equipment, can penetrate deep into pipelines to perform defect detection, cleaning, and maintenance, effectively avoiding the safety risks and efficiency problems of traditional manual inspection.

[0003] Currently, the technology for operating pipeline inspection robots in straight pipe sections is relatively mature. However, when faced with the unavoidable complex geometries of pipeline systems, such as bends, tees, and diameter changes, many technical challenges remain. Traditional pipeline inspection robots mostly use wheeled or tracked drive systems, which have good traction and stability in straight sections. However, existing robots lack effective steering guidance mechanisms, making them prone to jamming or deviation when entering bends, leading to decreased inspection accuracy or even equipment damage. Secondly, due to the lack of active turning capability, robots often need to rely on external traction to force their way through bends, which not only increases energy consumption but may also damage the inner wall of the pipeline. Utility Model Content

[0004] This application aims to at least partially solve one of the aforementioned technical problems in the prior art. To this end, embodiments of this application provide a pipe inspection robot turning mechanism that can smoothly turn in pipe bends without relying on external traction to forcibly pass through the bend.

[0005] A turning mechanism for a pipeline inspection robot, comprising:

[0006] Drive unit;

[0007] A turning guide mechanism is connected to the other end of the drive device. The turning guide mechanism is located in front of the drive device in the direction of travel. The turning guide mechanism includes a fixed base, a turning guide rod, a turning power component, and a rotating power component. The fixed base is rotatably connected to the drive device. One end of the turning guide rod is rotatably connected to the edge of the fixed base. The turning guide rod is a curved strip-shaped structure. The side of the turning guide rod facing outward from the fixed base is arched into an arc structure. The turning power component is mounted on the fixed base and is used to drive the turning guide rod to rotate. The rotating power component is located between the fixed base and the drive device and is used to drive the fixed base to rotate.

[0008] In an optional or preferred embodiment, the end of the turning guide rod away from the fixed seat is bent inward to form a hook-shaped end.

[0009] In an optional or preferred embodiment, a supplementary light bead is provided at one end of the turning guide rod away from the fixed base.

[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, a connecting seat is provided between the fixed seat and the driving device. One end of the connecting seat is fixedly connected to the driving device, 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.

[0012] In an optional or preferred embodiment, the driving device includes

[0013] First end plate;

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] In an optional or preferred embodiment, the transmission assembly includes

[0021] The first transmission wheel is installed at one end of the bracket that extends between the first end plate and the second end plate;

[0022] 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.

[0023] A timing belt connects the first drive pulley and the second drive pulley;

[0024] 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.

[0025] 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.

[0026] 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...

[0027] A sliding adjustment power component is mounted on the second end plate;

[0028] 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;

[0029] The lead screw is fixed on the sliding adjustment assembly and engages with the lead screw.

[0030] 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.

[0031] In an optional or preferred embodiment, the driving device 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 about the pivot point of the support rod as the center through the second connecting rod.

[0032] Based on the above technical solution, the embodiments of this application have at least the following beneficial effects: When the robot encounters a bend, the rotary power component drives the fixed base to rotate, adjusting the turning guide rod to a suitable angle. Then, the rotary swing arm swings under the drive of the turning power component, and drives the turning guide rod to rotate by sliding in the stroke groove, causing its arched side to slide against the inner wall of the bend, providing accurate guidance for the robot's turning. Therefore, this application can achieve smooth turning in complex structures such as pipe bends and T-bifurions, and does not require external traction to force its way through the bend when turning at a bend. Attached Figure Description

[0033] The present application will be further described below with reference to the accompanying drawings and embodiments;

[0034] Figure 1 This is a schematic diagram of the turning mechanism of the pipeline inspection robot provided in the embodiments of this application;

[0035] Figure 2 yes Figure 1 A schematic diagram of the driving device in the embodiment;

[0036] Figure 3 yes Figure 2 A partial structural schematic diagram of the driving device in the embodiment;

[0037] Figure 4 yes Figure 2 A schematic diagram of the walking component in the embodiment. Detailed Implementation

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] With the continuous development of urban infrastructure and the increasing complexity of pipeline systems, pipeline inspection technology is playing an increasingly important role in municipal engineering, petrochemicals, nuclear power, and other fields. Pipeline inspection robots, as an emerging type of non-destructive testing equipment, can penetrate deep into pipelines to perform defect detection, cleaning, and maintenance, effectively avoiding the safety risks and efficiency problems of traditional manual inspection.

[0045] Currently, the technology for operating pipeline inspection robots in straight pipe sections is relatively mature. However, when faced with the unavoidable complex geometries of pipeline systems, such as bends, tees, and diameter changes, many technical challenges remain. Traditional pipeline inspection robots mostly use wheeled or tracked drive systems, which have good traction and stability in straight sections. However, existing robots lack effective steering guidance mechanisms, making them prone to jamming or deviation when entering bends, leading to decreased inspection accuracy or even equipment damage. Secondly, due to the lack of active turning capability, robots often need to rely on external traction to force their way through bends, which not only increases energy consumption but may also damage the inner wall of the pipeline.

[0046] Reference Figures 1 to 4 The present invention provides a turning mechanism for a pipeline inspection robot, including a drive device 100 and a turning guide mechanism 200, wherein the detection section 200 is connected to one end of the drive device 100, and the turning guide mechanism 200 is disposed at the other end of the drive device 100. The turning guide mechanism 200 is located in front of the drive device 100 in the direction of travel. The drive device 100 is used to drive the entire robot to walk in the pipeline, the detection section 200 is used to inspect the pipeline, and the turning guide mechanism 200 is used to guide the robot to turn when it walks to a bend or fork in the pipeline.

[0047] The turning guide mechanism 200 includes a fixed base 210, a turning guide rod 220, a turning power component 230, and a rotating power component 250. The fixed base 210 is rotatably connected to the drive device 100. One end of the turning guide rod 220 is rotatably connected to the edge of the fixed base 210. The turning guide rod 220 is a curved strip-shaped structure. The side of the turning guide rod 220 facing outward from the fixed base 210 is arched to form an arc structure. The end of the turning guide rod 220 away from the fixed base 210 is bent inward to form a hook-shaped end. The hook-shaped end structure of the turning guide rod 220 can play a good guiding role at the pipe bend. The turning power component 230 is installed on the fixed base 210 and is used to drive the turning guide rod 220 to rotate. The rotating power component 250 is disposed between the fixed base 210 and the drive device 100 and is used to drive the fixed base 210 to rotate 360°.

[0048] During the inspection process inside a pipeline, the robot of this application is driven by a drive unit 100 to move 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 bend or branch in the pipeline, the end of the turning guide rod 220 located in front of the drive unit 100 will abut against the inner wall of the bend. As the drive unit 100 continues to advance, the turning power component 230 will drive the turning guide rod 220 to rotate inward, causing the arched side of the turning guide rod 220 to move close to the inner wall of the bend. Guided by the turning guide rod 220, 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 bends and branches in pipelines through the turning guide mechanism 200, thereby significantly improving the coverage and accuracy of pipeline inspection.

[0049] A supplementary light bulb 222 is installed on the end of the turning guide rod 220 away from the fixed base 210, so that the staff can easily check the turning situation in the pipeline.

[0050] Furthermore, a stroke groove 221 is provided in the middle of the turning guide rod 220, extending along the length of the turning guide rod 220. A rotating swing arm 240 is provided between the turning power component 230 and the turning guide rod 220. One end of the rotating swing arm 240 is connected to the power output end of the turning power component 230, and the other end is fitted into the stroke groove 221. The end of the rotating swing arm 240 fitted into the stroke groove 221 can slide within the stroke groove 221. The turning power component 230 drives the rotating swing arm 240 to rotate, and the rotation of the rotating swing arm 240 causes the turning guide rod 220 to rotate, thereby realizing the rotation of the turning guide rod 220. The rotating arm 240 serves two purposes: firstly, it drives the turning guide rod 220 to rotate; secondly, it supports the turning guide rod 220. As the curved side of the turning guide rod 220 moves close to the inner wall of the pipe bend, the rotating arm 240 supports the turning guide rod 220, preventing it from becoming loose and ensuring the robot can smoothly navigate the bend. The turning power component 230 is a servo motor.

[0051] A connecting seat 260 is provided between the fixed base 210 and the drive device 100. One end of the connecting seat 260 is fixedly connected to the drive device 100, and the other end of the connecting seat 260 is rotatably connected to the fixed base 210 via a rotating shaft. The connecting seat 260 has a cavity inside, and the rotating power component 250 is disposed in the cavity. The connecting seat 260 serves two purposes: firstly, it connects the turning guide mechanism 200 and the drive device 100; secondly, its internal cavity provides space for the rotating power component 250, thus making the overall structure more rationally distributed and more compact. Furthermore, the connecting seat 260 has a cylindrical structure, and the rotating power component 250 is disposed inside the cylindrical structure.

[0052] The rotating power component 250 has a first driving wheel 251 mounted on its power output end, and a first driven wheel 211 mounted on its fixed base 210. The first driven wheel 211 is rotatably connected to the shaft of the fixed base 210, and the first driving wheel 251 and the first driven wheel 211 are connected by a transmission. The rotating power component 250 drives the first driving wheel 251, causing the first driving wheel 251 to transmit power to the first driven wheel 211, thereby causing the first driven wheel 211 to rotate the fixed base 210. Specifically, both the first driving wheel 251 and the first driven wheel 211 are gear structures, and the first driving wheel 251 meshes with the first driven wheel 211 for transmission. Of course, the first driving wheel 251 and the first driven wheel 211 can also be driven by a transmission belt.

[0053] When the robot faces a curved pipe in different directions, the rotary power unit 250 drives the fixed base 210 to rotate, thereby causing the entire turning guide mechanism 200 to rotate. When the turning guide mechanism 200 rotates until the turning guide rod 220 corresponds to the bending direction of the curved pipe, the drive device 100 continues to advance, guiding the robot to turn via the turning guide rod 220. Because the turning guide mechanism 200 of this application can rotate 360° in front of the drive device 100, it can adapt to pipe bends and forks with various bending directions, thus providing greater flexibility in guiding turns.

[0054] The drive device 100 includes a first end plate 110, a second end plate 120, guide posts 130, a walking 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 device 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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 device 100.

[0068] 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.

[0069] During travel, the travel power unit 144 drives the active bevel gear 143d to rotate. The active 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 active bevel gear 143d and the synchronous belt 143c to drive the three driven bevel gears 143f, ensuring the synchronicity and stability of the drive device 100 during travel.

[0070] 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.

[0071] 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.

[0072] To improve the stability of the drive unit 100 during walking, the drive unit 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.

[0073] 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.

[0074] 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 device 100, which can effectively ensure the stability of the drive device 100 during the travel process.

[0075] When the robot encounters a bend in the pipe, the rotary power unit 250 drives the fixed base 210 to rotate, adjusting the turning guide rod 220 to a suitable angle. Then, the rotary swing arm 240 swings under the drive of the turning power unit 230, and through sliding in the stroke groove 221, it drives the turning guide rod 220 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 200 enables the robot to actively turn in complex structures such as pipe bends and T-bifurcations.

[0076] 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.

[0077] 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 turning mechanism, comprising: include: Drive unit; A turning guide mechanism is connected to the other end of the drive device. The turning guide mechanism is located in front of the drive device in the direction of travel. The turning guide mechanism includes a fixed base, a turning guide rod, a turning power component, and a rotating power component. The fixed base is rotatably connected to the drive device. One end of the turning guide rod is rotatably connected to the edge of the fixed base. The turning guide rod is a curved strip-shaped structure. The side of the turning guide rod facing outward from the fixed base is arched into an arc structure. The turning power component is mounted on the fixed base and is used to drive the turning guide rod to rotate. The rotating power component is located between the fixed base and the drive device and is used to drive the fixed base to rotate.

2. The pipe inspection robot turning mechanism of claim 1, wherein: The end of the turning guide rod away from the fixed seat is bent inward to form a hook-shaped end.

3. The pipe inspection robot turning mechanism of claim 1, wherein: A supplementary light bulb is installed at the end of the turning guide rod away from the fixed base.

4. The turning mechanism of the pipeline inspection robot according to claim 1, characterized in that: A stroke groove is provided in the middle of the turning guide rod, and the stroke 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 stroke groove. The end of the rotating swing arm assembled in the stroke groove can slide in the stroke groove.

5. The pipe inspection robot turning mechanism of claim 1, wherein: A connecting seat is provided between the fixed seat and the driving device. One end of the connecting seat is fixedly connected to the driving device, and the other end of the connecting seat is rotatably connected to the fixed seat through a rotating shaft. A cavity is provided inside the connecting seat, and the rotating power component is disposed in the cavity.

6. The pipe inspection robot turning mechanism of claim 1, wherein: The driving device includes First end plate; 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. 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. 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. 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. 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. 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.

7. The pipe inspection robot turning mechanism of claim 6, wherein: The transmission assembly includes The first transmission wheel is installed at one end of the bracket that extends between the first end plate and the second end plate; 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. A timing belt connects the first drive pulley and the second drive pulley; 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. 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.

8. The pipe inspection robot turning mechanism of claim 6, wherein: 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... A sliding adjustment power component is mounted on the second end plate; 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; The lead screw is fixed on the sliding adjustment assembly and engages with the lead screw.

9. The pipe inspection robot turning mechanism of claim 8, wherein: 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 and second limiting plates are respectively arranged parallel to each other on both sides of the main sliding plate and are connected by a connecting rod. The main sliding plate has a connecting hole, through which it slidably engages with the connecting rod. The main sliding plate can slide along the connecting rod between the first and second limiting plates. The lead screw is perpendicularly fixed to the second limiting plate. The first limiting plate has a first clearance hole to avoid the lead screw, and the main sliding plate has a second clearance hole to avoid the lead screw. The second spring is sleeved on the lead screw, with one end connected to the first limiting plate and the other end connected to the main sliding plate. A sensing element is provided on the main sliding plate 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.

10. The pipe inspection robot turning mechanism of claim 6, wherein: The driving device further includes multiple 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.

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