A pipeline inspection robot drive mechanism

Abstract

The application relates to the technical field of pipeline detection, in particular to a pipeline detection robot driving mechanism which comprises at least one driving section, the driving section comprises a first end plate, a second end plate is arranged in a spaced-apart mode opposite to the first end plate, a guide column is connected to the edge of the first end plate at one end and connected to the edge of the second end plate at the other end, the guide column is provided in at least two, and each guide column is distributed in a spaced-apart mode between the first end plate and the second end plate; at least three walking assemblies are arranged in a divergent mode between the first end plate and the second end plate; a sliding adjusting assembly is arranged between the first end plate and the second end plate, the sliding adjusting assembly is in sliding fit with the guide column; a first connecting rod is hingedly connected to the middle part of the support at one end and hingedly connected to the sliding adjusting assembly at the other end; and the sliding adjusting assembly adjusts the synchronous expansion or synchronous contraction of each walking assembly between the first end plate and the second end plate by sliding on the guide column. The application can walk in pipelines with different pipe diameters.

Description

Technical Field

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

[0002] With the rapid development of urban infrastructure, various pipeline systems are increasingly widely used in industrial production, municipal water supply, petrochemicals, and other fields. Because pipelines operate in complex environments for extended periods, they are prone to corrosion, blockages, cracks, and other defects. Regular inspection and maintenance are crucial to ensuring the safe operation of pipeline systems. Traditional manual inspection methods suffer from low efficiency, high cost, and significant safety risks; therefore, pipeline inspection robot technology has emerged.

[0003] Existing pipeline inspection robots mainly employ wheeled, tracked, or peristaltic drive systems. Wheeled robots have a relatively simple structure, but they are prone to slipping on smooth pipe walls or when there is water or oil residue, resulting in poor walking stability. Tracked robots, while possessing good traction, have a complex structure and insufficient adaptability when turning or navigating pipe diameter changes. Peristaltic robots mimic the peristaltic principle of biological movement, but their walking speed is slow, limiting their efficiency.

[0004] A key problem commonly found in existing pipeline inspection robots is their insufficient adaptability when dealing with pipes of varying diameters. In practical applications, pipeline systems often contain pipes of multiple diameters, ranging from tens of millimeters to hundreds of millimeters or even larger. Existing robots are typically only applicable to a specific pipe diameter range. When the pipe diameter changes, the robot's walking mechanism cannot adjust effectively, leading to poor contact with the pipe wall and problems such as instability, slippage, or jamming, severely impacting inspection efficiency and reliability. 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 pipe inspection robot drive mechanism that can adapt to pipes of different diameters, offering better adaptability.

[0006] A pipeline inspection robot drive mechanism includes at least one drive section, the drive section comprising:

[0007] First end plate;

[0008] 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.

[0009] 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.

[0010] 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;

[0011] 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.

[0012] A first link is disposed between the sliding adjustment component and the walking component, with one end of the first link hinged to the walking component and the other end hinged to the sliding adjustment component;

[0013] The sliding adjustment component adjusts the synchronous 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.

[0014] In an optional or preferred embodiment, each of the walking components includes a bracket, a walking roller, a transmission component, and a walking power component. One end of the bracket extends between the first end plate and the second end plate and is rotatably connected to the first end plate, while the other end extends out from between the first end plate and the second end plate. The walking roller is mounted on the end of the bracket extending from between the first end plate and the second end plate. The walking power component is disposed on the first end plate, and the transmission component connects the walking roller and the power output end of the walking power component.

[0015] In an optional or preferred embodiment, the transmission assembly includes

[0016] The first transmission wheel is installed at one end of the bracket that extends between the first end plate and the second end plate;

[0017] 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.

[0018] A timing belt connects the first drive pulley and the second drive pulley;

[0019] 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.

[0020] 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.

[0021] 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...

[0022] A sliding adjustment power component is mounted on the second end plate;

[0023] 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;

[0024] The lead screw is fixed on the sliding adjustment assembly and engages with the lead screw.

[0025] In an optional or preferred embodiment, the sliding adjustment assembly includes a main sliding plate, a first limiting plate, and a second limiting plate. 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. 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.

[0026] In an optional or preferred embodiment, the lead screw nut is vertically fixed 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 nut. The sliding adjustment assembly further includes a second spring, which 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. 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.

[0027] 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. One end of each support rod is hinged to the first end plate, and the hinge point between the support rod and the first end plate is the pivot point for the rotation of the support rod. A second connecting rod is provided between the support rod and the bracket, with one end of the second connecting rod hinged to the bracket and the other end hinged to the support rod. The bracket drives the support rod to rotate around the pivot point of the support rod as the center through the second connecting rod.

[0028] In an optional or preferred embodiment, 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, and the hinge point between the first segment rod and the first end plate is the 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 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.

[0029] In an optional or preferred embodiment, a third end plate is further included, which is parallel to and spaced apart from the first end plate, and each of the guide posts extends from the first end plate and connects to the third end plate.

[0030] In an optional or preferred embodiment, two drive joints are included, with the ends of the two drive joints connected in series via a universal joint or a first spring.

[0031] Based on the above technical solution, the embodiments of this application have at least the following beneficial effects: the sliding adjustment component adjusts the synchronous expansion or contraction of each walking component between the first end plate and the second end plate by sliding on the guide post, thereby enabling the walking component to adapt to different pipe diameters and walk in pipes of different diameters. Therefore, the pipe inspection robot drive mechanism of this application has better adaptability. Attached Figure Description

[0032] The present application will be further described below with reference to the accompanying drawings and embodiments;

[0033] Figure 1 This is a schematic diagram of the structure of the pipeline inspection robot drive mechanism provided in one embodiment of this application;

[0034] Figure 2 yes Figure 1 The schematic diagram of the drive section in the embodiment shown;

[0035] Figure 3 yes Figure 2 Partial structural diagram;

[0036] Figure 4 yes Figure 2 A schematic diagram of the structure of the walking component. Detailed Implementation

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] With the rapid development of urban infrastructure, various pipeline systems are increasingly widely used in industrial production, municipal water supply, petrochemicals, and other fields. Because pipelines operate in complex environments for extended periods, they are prone to corrosion, blockages, cracks, and other defects. Regular inspection and maintenance are crucial to ensuring the safe operation of pipeline systems. Traditional manual inspection methods suffer from low efficiency, high cost, and significant safety risks; therefore, pipeline inspection robot technology has emerged.

[0044] Existing pipeline inspection robots mainly employ wheeled, tracked, or peristaltic drive systems. Wheeled robots have a relatively simple structure, but they are prone to slipping on smooth pipe walls or when there is water or oil residue, resulting in poor walking stability. Tracked robots, while possessing good traction, have a complex structure and insufficient adaptability when turning or navigating pipe diameter changes. Peristaltic robots mimic the peristaltic principle of biological movement, but their walking speed is slow, limiting their efficiency.

[0045] A key problem commonly found in existing pipeline inspection robots is their insufficient adaptability when dealing with pipes of varying diameters. In practical applications, pipeline systems often contain pipes of multiple diameters, ranging from tens of millimeters to hundreds of millimeters or even larger. Existing robots are typically only applicable to a specific pipe diameter range. When the pipe diameter changes, the robot's walking mechanism cannot adjust effectively, leading to poor contact with the pipe wall and problems such as instability, slippage, or jamming, severely impacting inspection efficiency and reliability.

[0046] Reference Figures 1 to 4This application provides a drive mechanism for a pipeline inspection robot, including at least one drive section 100. The drive section 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 main frame of the drive section 100 is formed by 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. 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.

[0047] 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 walking assembly 140 between the first end plate 110 and the second end plate 120, thereby enabling the walking assembly 140 to adapt to different pipe diameters. Therefore, the pipe inspection robot drive mechanism of this application has better adaptability.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] One end of the first link 160 is hinged to the traveling component 140, and the other end is hinged to the sliding adjustment component 150. Specifically, the first link 160 is hinged to the main sliding plate 151 of the sliding adjustment component 150, thereby enabling the sliding adjustment component 150 to form a linkage mechanism with the traveling component 140 through the first link 160. When the sliding adjustment component 150 slides along the guide post 130, the first link 160 will drive the bracket 141 to swing, thereby enabling the various traveling components 140 to extend or expand to adapt to changes in the inner diameter of the pipe.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] This application includes two drive joints 100, which are connected end to end by a universal joint or a first spring.

[0068] 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. Two adjacent drive sections 100 are connected by a universal joint or a first spring between the third end plate 101 of one drive section 100 and the second end plate 120 of the other drive section.

[0069] 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 drive mechanism for a pipeline inspection robot, characterized in that, Includes at least one drive section, said drive section comprising: 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 link is disposed between the sliding adjustment assembly and the walking assembly. One end of the first link is hinged to the walking assembly, and the other end is hinged to the sliding adjustment assembly. The sliding adjustment assembly adjusts the synchronous expansion or contraction of each of the walking assemblies between the first end plate and the second end plate by sliding on the guide post. Multiple support rods are provided, each of which is circumferentially spaced on the first end plate. One end of each support rod is hinged to the first end plate, and the hinge point between the support rod and the first end plate is the pivot point for the support rod's rotation. A second connecting rod is provided between the support rod and the bracket, with one end of the second connecting rod hinged to the bracket and the other end hinged to the support rod. The bracket drives the support rod to rotate around the pivot point of the support rod through the second connecting rod.

2. The pipeline inspection robot drive mechanism according to claim 1, characterized in that: 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.

3. The pipeline inspection robot drive mechanism according to claim 1, characterized in that: 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.

4. The pipeline inspection robot drive mechanism according to claim 3, characterized in that: The sliding adjustment assembly includes a main sliding plate, a first limiting plate, and a second limiting plate. 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. 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.

5. The pipeline inspection robot drive mechanism according to claim 4, characterized in that: The lead screw nut is vertically fixed to the second limiting plate. The first limiting plate is provided with a first clearance hole to avoid the lead screw. The main sliding plate is provided with a second clearance hole to avoid the lead screw nut. The sliding adjustment assembly also includes a second spring. 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. 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.

6. The pipeline inspection robot drive mechanism according to claim 1, characterized in that: 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 point between the first segment rod and the first end plate is the 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 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.

7. The pipeline inspection robot drive mechanism according to claim 6, characterized in that: It also includes a third end plate, which is parallel to and spaced apart from the first end plate, and each of the guide posts extends from the first end plate and connects to the third end plate.

8. The pipeline inspection robot drive mechanism according to claim 1, characterized in that: It includes two drive joints, the ends of which are connected in series via a universal joint or a first spring.

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