CN212960433U

CN212960433U - Pipeline robot

Info

Publication number: CN212960433U
Application number: CN202021387098.8U
Authority: CN
Inventors: 宋有聚; 熊家利
Original assignee: Shenzhen Srod Industrial Group Co Ltd
Current assignee: Shenzhen Srod Industrial Group Co Ltd
Priority date: 2020-07-13
Filing date: 2020-07-13
Publication date: 2021-04-13
Anticipated expiration: 2030-07-13

Abstract

The utility model discloses a pipeline robot relates to the robotechnology field. The pipeline robot comprises a main body, wherein supporting leg assemblies are rotatably arranged on two sides of the main body; one end of the supporting leg assembly, which is far away from the main body, is rotatably connected with a moving unit; the supporting leg assembly is connected with a first angle adjusting mechanism, and the first angle adjusting mechanism is used for adjusting the opening angle of the supporting leg assembly relative to the main body; the moving unit comprises a roller and a second angle adjusting mechanism which are connected, and the second angle adjusting mechanism is used for adjusting the advancing direction of the roller. The utility model provides a pipeline robot can reciprocate along the pipeline wall as required to the route is marchd in the adjustment, strengthens the practicality.

Description

Pipeline robot

Technical Field

The utility model relates to a pipeline robot technical field especially relates to a pipeline robot.

Background

At present, the condition investigation in the sewer pipeline is mostly carried out by means of pipeline robots. Sewage or sludge is also typically present in the sewer lines, however, the depth of the accumulated water may vary from sewer line to sewer line or from sewer line to sewer line over a period of time.

However, the opening angle of the support legs of the conventional pipe robot is relatively fixed, and the traveling path in the sewer pipe is also relatively fixed, that is, the robot can move only at a specific height in the sewer pipe. Therefore, when a deeper drainage pipeline with accumulated water is met, the pipeline robot needs to move in the accumulated water, so that the condition that the pipeline robot enters sewage easily occurs, and the pipeline robot cannot work normally. In conclusion, the existing pipeline robot cannot move up and down along the pipeline wall, so that the moving path of the pipeline robot is relatively fixed, and the practicability is relatively poor.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's defect, provide a pipeline robot, can reciprocate along the pipeline wall, can carry out the moving path adjustment.

In order to solve the above problem, the utility model provides a:

the pipeline robot comprises a main body, wherein supporting leg assemblies are rotatably arranged on two sides of the main body; one end of the supporting leg assembly, which is far away from the main body, is rotatably connected with a moving unit;

the supporting leg assembly is connected with a first angle adjusting mechanism, and the first angle adjusting mechanism is used for adjusting the opening angle of the supporting leg assembly relative to the main body;

the moving unit comprises a roller and a second angle adjusting mechanism which are connected, and the second angle adjusting mechanism is used for adjusting the advancing direction of the roller.

Further, the first angle adjusting mechanism comprises a first rotating shaft and a first driving piece;

the supporting leg assembly is rotatably mounted on the main body through the first rotating shaft;

the first driving piece is used for driving the first rotating shaft to rotate so as to drive the supporting leg assembly to rotate.

Furthermore, first angle adjustment mechanism still includes first transmission assembly, first transmission assembly connect in first pivot with between the first driving piece for power transmission.

Further, the moving unit further comprises a third driving member and a second transmission assembly;

the third driving piece is used for driving the second transmission assembly to move so as to drive the roller to roll;

the second angle adjusting mechanism is connected with the third driving piece, and drives the third driving piece to rotate so as to drive the roller to change the advancing direction.

Further, the second angle adjusting mechanism comprises a second driving piece, a first gear and a second gear which are in meshed connection;

the second gear is fixedly connected with the third driving piece; the first gear is connected with an output shaft of the second driving piece;

the second driving piece is used for driving the first gear to move so as to drive the third driving piece to rotate.

Further, the supporting leg assembly comprises a connecting rod and a telescopic rod; the telescopic rod is connected with the connecting rod in a sliding mode so as to adjust the length of the supporting leg assembly.

Furthermore, a driving mechanism is connected between the connecting rod and the telescopic rod, and the driving mechanism is used for driving the telescopic rod to slide relative to the connecting rod.

Further, the driving mechanism comprises a fourth driving piece and a transmission shaft; the fourth driving part is arranged in the connecting rod, and the transmission shaft is connected with the telescopic rod;

the fourth driving part is used for driving the transmission shaft to move so as to drive the telescopic rod to slide relative to the connecting rod.

Further, the main body is provided with at least one camera, and the camera is used for image acquisition.

Further, the main part is close to the position of camera is provided with the anticollision support on the length direction of pipeline robot, the anticollision support protrusion in the tip setting of camera.

The utility model has the advantages that: the utility model provides a pipeline robot, including the main part with connect the supporting leg subassembly in the main part, the one end that the main part was kept away from to the supporting leg subassembly still is connected with the mobile unit for drive the main part motion. Wherein, the supporting leg subassembly is connected with the first angle adjustment mechanism that is used for adjusting its angle of opening, and the gyro wheel in the mobile unit is connected with second angle adjustment mechanism, and second angle adjustment mechanism is used for adjusting the advancing direction of gyro wheel.

In use, the opening angle of the supporting leg assembly can be adjusted through the first angle adjusting mechanism, and the roller can move up and down along the pipeline wall by matching with the advancing direction of the second angle adjusting mechanism to adjust the roller, so that the pipeline robot can move above sewage to reach a new advancing path. Then, the advancing direction of the roller is adjusted through the second angle adjusting mechanism, and the advancing direction is arranged along the axial direction of the pipeline, so that the pipeline robot can move back and forth along the pipeline wall to perform normal operation.

Therefore, the utility model provides a pipeline robot can adjust the angle that opens of supporting leg as required to can follow the pipeline wall and reciprocate, with the route of marcing of adjustment pipeline robot in the pipeline. Thereby, can avoid inside sewage entering pipeline robot, and then avoid influencing pipeline robot's normal work, have higher practicality.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 shows a schematic top view of a pipeline robot in the present invention;

fig. 2 shows a schematic perspective view of a pipeline robot in the present invention;

fig. 3 is a schematic structural diagram of a first angle adjusting mechanism according to the present invention;

fig. 4 shows a schematic partial structure diagram of a mobile unit according to the present invention;

fig. 5 shows a schematic structural diagram of a driving mechanism in the present invention.

Description of the main element symbols:

1-a body; 2-a camera; 3-an anti-collision support; 4-a support leg assembly; 401-connecting rod; 401 a-a mount; 401 b-support block; 402-a telescoping rod; 402 a-connection block; 5-a first angle adjustment mechanism; 501-a first rotating shaft; 502-a first driver; 503-a first transmission assembly; 503 a-fifth gear; 503 b-sixth gear; 6-a transmission line; 7-a buffer member; 8-a mobile unit; 801-a roller; 802-a second angle adjustment mechanism; 802 a-a second driver; 802 b-mounting plate; 802c — first gear; 802 d-second gear; 803-a third driving member; 804-a second transmission assembly; 804 a-third gear; 804 b-fourth gear; 804 c-a transmission rod; 804 d-a first bevel gear; 804 e-second bevel gear; 804 f-a second rotating shaft; 9-a drive mechanism; 901-a fourth drive; 902-a propeller shaft; 903-coupler.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to 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", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Example one

The embodiment provides a pipeline robot which can be used for collecting situation information in a sewer pipe. In use, the pipeline robot can carry corresponding detection components, such as a camera, an infrared sensor, a radar and the like, so as to acquire the condition in the sewer pipeline.

Of course, in other embodiments, the pipeline robot can also be applied to gas pipelines, oil pipelines and other occasions where information acquisition is needed.

As shown in fig. 1, in the embodiment, the pipe robot includes a main body 1 and a support leg assembly 4. Wherein, the both sides of main part 1 all are provided with two sets of at least supporting leg subassemblies 4. In this embodiment, the both sides of main part 1 all are provided with two sets of supporting leg subassembly 4, and the supporting leg subassembly 4 symmetry setting of both sides to make pipeline robot steadily remove.

In other embodiments, three, four, etc. sets of support leg assemblies 4 may be provided on each side of the main body 1, and may be provided as desired. The supporting leg assemblies 4 on one side can be uniformly or non-uniformly distributed; the supporting leg assemblies 4 on both sides can be distributed symmetrically or asymmetrically.

As shown in fig. 2 and 3, a first angle adjusting mechanism 5 is further connected to the supporting leg assembly 4, and the first angle adjusting mechanism 5 is used for adjusting the opening angle of the supporting leg assembly relative to the main body 1. In the embodiment, the opening angle is half of an included angle formed by two groups of corresponding supporting leg assemblies 4 on two sides of the main body 1.

As shown in fig. 2 and 4, a moving unit 8 is connected to one end of the support leg assembly 4 away from the main body 1 to realize movement of the pipeline robot. The moving unit 8 includes a roller 801 and a second angle adjusting mechanism 802, and the second angle adjusting mechanism 802 is used to adjust the traveling direction of the roller 801.

In use, when the travelling path of the pipeline robot needs to be adjusted, the travelling direction of the roller 801 can be adjusted by the second angle adjusting mechanism 802, so that the travelling direction of the roller 801 is arranged along the circumferential direction of the pipeline, i.e. the roller 801 can move up and down along the pipeline wall. And then the opening angle of the supporting leg assembly 4 relative to the main body 1 is adjusted by matching with the first angle adjusting mechanism 5. Therefore, the pipeline robot can move up and down along the pipeline wall and move to a proper height position, for example, move to the position above sewage, and the pipeline robot is prevented from contacting the sewage or sludge. After the pipeline robot moves to a new moving path, the traveling direction of the roller 801 can be adjusted by the second angle adjusting mechanism 802, so that the traveling direction of the roller 801 is set along the axial direction of the pipeline, and then normal moving work can be performed along the pipeline wall.

Therefore, the utility model provides a pipeline robot can reciprocate along the pipeline wall, adjusts to new moving path as required, has higher practicality. For example, in the sewer pipe, the height of the pipeline robot in the pipeline can be adjusted according to the height of sewage, so that the pipeline robot moves above the sewage to operate, thereby preventing the sewage from entering the pipeline robot and further avoiding influencing the work of the pipeline robot.

Example two

As shown in fig. 1 and 2, in addition to the first embodiment, in the present embodiment, a camera 2 is mounted on a main body 1 for capturing images of the inside of the pipeline. Specifically, the both ends of main part 1 all are provided with a camera 2, and the head and the afterbody of main part 1 all are provided with camera 2 promptly to can carry out image acquisition to the condition around the pipeline robot. In the embodiment, the camera 2 may be a wide-angle camera, so that a wider range of images can be captured.

In other embodiments, the main body 1 may be provided with one, three, or other numbers of cameras, and the number of cameras may be specifically set according to the use requirement.

The position that is close to camera 2 on the main part 1 still is provided with crashproof support 3, and the both ends of main part 1 all are provided with the crashproof support 3 of protection camera 2 promptly. In the length direction of the main body 1, the anti-collision bracket 3 is arranged to protrude out of the end part of the camera 2; thus, when collision occurs, the anti-collision bracket 3 can block the front of the camera 2 from colliding with the striker, and further avoid the collision of the camera 2.

As shown in fig. 2, the crash bracket 3 is disposed below the camera 2. Anticollision support 3 presents the U-shaped structure, and an accessible tubular structure is buckled and is formed, makes 3 middle parts of anticollision support form great vacancy of keeping away to avoid anticollision support 3 to influence the shooting of camera 2.

In other embodiments, the crash support 3 is telescopically mounted to the body 1, i.e., the crash support 3 may be relatively extended out of the body 1 or embedded within the body 1. In the advancing process, the anti-collision support 3 can extend out of the main body 1 to protect the camera 2; when the pipeline robot stops moving to take a picture, the collision avoidance support 3 may be embedded in the main body 1. Specifically, the anti-collision support 3 can be driven by driving parts such as a motor and a cylinder to stretch.

Correspondingly, the two side edges of the main body 1 are also provided with corresponding buffering parts 7 so as to protect the main body 1 and avoid the damage of the main body 1 in accidental collision. The buffer member 7 may be one or a combination of plural kinds of components having buffering elasticity, such as a silicone pad, a sponge, a rubber pad, a spring, and an elastic air bag.

In an embodiment, a main board (not shown) may be further disposed in the main body 1, and the main board is electrically connected to the camera 2, the first angle adjusting mechanism 5, and the second angle adjusting mechanism 802, respectively. Meanwhile, the mainboard can be connected with terminal equipment such as a PC (personal computer) and the like through a transmission line 6 so as to realize the transmission of electric energy, communication signals and the like; thus, the user can realize remote control of the pipe robot. In use, the pipeline robot is put down into the corresponding pipeline, and a user can control the pipeline robot on the ground through a terminal such as a PC, for example, to control the camera 2 to perform image acquisition, to control the movement of the pipeline robot, and the like.

As shown in fig. 3, in the embodiment, the first angle adjusting mechanism 5 includes a first rotating shaft 501, a first driving member 502 and a first transmission assembly 503; the first transmission assembly 503 is drivingly connected between the first rotating shaft 501 and the first driving member 502. The first driving member 502 is electrically connected to the motherboard, so that the operation of the first driving member 502 can be controlled.

The supporting leg assembly 4 is rotatably connected to the main body 1 through a first rotating shaft 501, and two ends of the first rotating shaft 501 face to the front end and the rear end of the main body 1 respectively. In this embodiment, the first transmission assembly 503 includes a fifth gear 503a and a sixth gear 503b that are engaged; one end of the first rotation shaft 501 is fixedly connected to the sixth gear 503 b. The first driving member 502 is a motor, and an output shaft of the motor is fixedly connected to the fifth gear 503 a. Therefore, when the first driving member 502 drives the first transmission assembly 503 to move, the first rotation shaft 501 is driven to rotate, and then the supporting leg assembly 4 is driven to rotate, so as to adjust the opening angle of the supporting leg assembly 4.

In one embodiment, an encoder is further coupled to the first driving member 502 to facilitate controlling the degree of opening of the support leg assembly 4.

In other embodiments, the output shaft of the first driving member 502 can be directly connected to the first rotating shaft 501 through a coupling, and the first driving member 502 directly drives the first rotating shaft 501 to rotate.

In other embodiments, the first driving component 503 can also be a belt and pulley, a sprocket and a chain, etc. to realize the driving connection between the first driving component 502 and the first rotating shaft 501.

As shown in fig. 2 and 4, a moving unit 8 is connected to the other end of the support leg assembly 4 for accomplishing the movement of the pipeline robot.

The moving unit 8 includes a roller 801 and a second angle adjusting mechanism 802. The roller 801 is used for contacting the ground to realize the traveling action. The second angle adjusting mechanism 802 is used to adjust the traveling direction of the roller 801, thereby realizing up-and-down movement or front-and-back movement of the pipeline robot along the pipeline wall as required.

The moving unit 8 further comprises a third driving member 803 and a second transmission assembly 804, wherein the third driving member 803 is used for driving the second transmission assembly 804 to move so as to drive the roller 801 to roll. In an embodiment, the moving unit 8 may further include a mounting case (not shown), the mounting case is fixedly connected to the third driving element 803, the second transmission assembly 804 is embedded in the protective case, and an output shaft of the third driving element 803 extends into the mounting case and is connected to the second transmission assembly 804. The second transmission assembly 804 can perform transmission operation in the protective shell under the driving of the third driving member 803; meanwhile, when the third driving member 803 rotates, the second transmission assembly 804 rotates together with the third driving member 803 under the action of the protective shell. One end of the second transmission assembly 804, which is far away from the third driving member 803, extends out of the protective casing to be connected with the roller 801, and can also drive the roller 801 to synchronously rotate along with the third driving member 803.

In an embodiment, the second angle adjustment mechanism 802 drives the third driving member 803 to rotate, so as to drive the roller 801 to rotate, thereby adjusting the traveling direction of the roller 801.

Specifically, the second angle adjustment mechanism 802 includes a second driving member 802a, a mounting plate 802b, a first gear 802c, and a second gear 802 d; the second driving member 802a can be a motor. The output shaft of the second driving member 802a passes through the mounting plate 802b and is fixedly connected to the first gear 802c, so that the second driving member 802a drives the first gear 802c to rotate. The third driving member 803 is fixedly mounted on the mounting plate 802b, and the mounting plate 802b is fixedly connected with the second gear 802 d; the first gear 802c is meshed with the second gear 802 d. The mounting housing may be fixedly coupled to a side of the second gear 802d remote from the mounting plate 802 b.

In use, when the second driving member 802a works, the first gear 802c can be driven to rotate, the first gear 802c drives the second gear 802d to rotate, and then the second gear 802d drives the mounting plate 802b and the third driving member 803 to rotate; relative rotation can occur between the mounting plate 802b and the second driver 802 a. That is, the second driving member 802a can drive the third driving member 803 to rotate around the output shaft of the second driving member 802 a. When the third driving member 803 rotates around the shaft, it drives the protective shell, the second transmission assembly 804 and the roller 801 to rotate synchronously, so as to adjust the advancing direction of the roller 801.

In an embodiment, the second driving element 802a is electrically connected to the motherboard, so as to control the operation of the second driving element 802 a. The second driving member 802a is further connected to an encoder, so that the adjustment angle of the roller 801 in the advancing direction can be controlled.

In an embodiment, an output shaft of the third driving member 803 passes through a through hole on the second gear 802d and then is connected with the second transmission assembly 804; relative rotation can occur between the output shaft of the third drive member 803 and the second gear 802 d. In an embodiment, the third driving member 803 may be a motor; the third driving member 803 is electrically connected to the motherboard.

The second transmission assembly 804 includes a transmission rod 804c and a second rotation shaft 804f which are in transmission connection. One end of the transmission rod 804c is in transmission connection with the output shaft of the third driving member 803, so as to drive the transmission rod 804c to rotate. The other end of the transmission rod 804c is in transmission connection with one end of a second rotating shaft 804f, and the other end of the second rotating shaft 804f extends out of the mounting shell and is fixedly connected with the roller 801. Thus, when the third driving member 803 is operated, the roller 801 can be driven to roll.

Specifically, a third gear 804a is fixedly mounted on an output shaft of the third driving member 803, a fourth gear 804b is fixedly mounted at one end of the transmission rod 804c, and the fourth gear 804b is in meshed connection with the third gear 804 a.

The other end of the transmission rod 804c is fixedly provided with a first bevel gear 804 d; one end of the second rotating shaft 804f away from the roller 801 is fixedly provided with a second bevel gear 804e, and the first bevel gear 804d is in meshed connection with the second bevel gear 804 e.

In use, when the pipeline robot needs to be adjusted to move to a higher traveling path, a user can control the second angle adjusting mechanism 802 through the terminal device, adjust the traveling direction of the roller 801, and enable the traveling direction of the roller 801 to be arranged along the circumferential direction of the pipeline wall, so that the up-and-down movement can be realized. Subsequently, when the third driving member 803 is operated, the roller 801 is driven to move upwards along the pipeline wall; at the same time, the first angle adjusting mechanism 5 is operated to adapt the opening angle of the supporting leg assembly 4 to the movement of the roller 801, so that the roller 801 is attached to the pipeline wall. When the pipeline robot moves to a required height, the first angle adjusting mechanism 5 and the third driving member 803 stop working; the second angle adjusting mechanism 802 works to adjust the advancing direction of the roller 801, so that the advancing direction of the roller 801 is arranged along the axial direction of the pipeline; then, the third driving member 803 is activated again to drive the roller 801 to roll.

In other embodiments, other types of powered omni-wheels or powered universal wheels may be used for the mobile unit 8.

In order to avoid the risk of falling due to the overlarge opening angle of the supporting leg assembly 4, in the embodiment, the supporting leg assembly 4 can be selected from telescopic supporting legs, when the travelling height of the pipeline robot is adjusted, the length of the supporting leg assembly 4 can be adjusted as required, so that stable triangular support is formed between the supporting leg assembly 4 and the pipeline, the roller 801 can be stably contacted with the pipeline wall, and smooth movement of the pipeline robot is ensured.

As shown in fig. 2, 3 and 5, in the present embodiment, the support leg assembly 4 includes a connecting rod 401 and a telescopic rod 402; one end of the connecting rod 401 away from the telescopic rod 402 is fixedly connected with the first rotating shaft 501 of the first angle adjusting mechanism 5. The connecting rod 401 has a hollow cavity inside, and one end of the telescopic rod 402 is slidably inserted into the connecting rod 401 to achieve the telescopic effect of the support leg assembly 4. The end of the telescopic rod 402 remote from the connecting rod 401 is connected to the moving unit 8.

In an embodiment, the support leg assembly 4 further comprises a driving mechanism 9, and the driving mechanism 9 is used for driving the telescopic rod 402 to slide relative to the connecting rod 401.

Specifically, the drive mechanism 9 includes a fourth drive member 901 and a transmission shaft 902. In this embodiment, the fourth driving member 901 is a motor, and correspondingly, the transmission shaft 902 is a screw rod. Fourth driver 901 is fixedly mounted in connecting rod 401 by mounting base 401 a. An output shaft of the fourth driving member 901 is connected to the transmission shaft 902 through a coupling 903, so that the transmission shaft 902 is driven by the fourth driving member 901 to rotate. In order to enhance the stability of the connection between the transmission shaft 902 and the output shaft of the fourth driving member 901, a supporting block 401b is further arranged in the connecting rod 401, and the coupling 903 is mounted on the supporting block 401 b.

One end of the transmission shaft 902 far away from the fourth driving part 901 extends into the telescopic rod 402, and the transmission shaft 902 is connected with the telescopic rod 402. Specifically, a connecting block 402a is arranged in the telescopic rod 402, and the connecting block 402a is in threaded fit connection with the transmission shaft 902. In an embodiment, the cross section of the hollow cavity of the connecting rod 401 is non-circular, and correspondingly, the cross section of the telescopic rod 402 is also non-circular, and the telescopic rod 402 and the connecting rod 401 are assembled without relative rotation. Therefore, when the fourth drive 901 works, the drive transmission shaft 902 rotates, and under the screw-thread fit of the transmission shaft 902 and the connecting block 402a and the limiting effect of the connecting rod 401, the telescopic rod 402 realizes telescopic sliding relative to the connecting rod 401, thereby realizing the length adjustment of the support leg assembly 4.

In the embodiment, the fourth driving component 901 is electrically connected to the motherboard; and an encoder is connected to the fourth driving member 901, so that the extension length of the telescopic rod 402 can be controlled and adjusted.

In other embodiments, the driving mechanism 9 may also be an air cylinder, an electric push rod, or the like, so as to drive the telescopic rod 402 to slide relative to the connecting rod 401.

In use, when the height of the traveling path of the pipeline robot in the pipeline needs to be adjusted, the traveling direction of the roller 801 can be arranged along the circumferential direction of the pipeline wall through the second angle adjusting mechanism 802; and make gyro wheel 801 reciprocate through third driving piece 803, simultaneously, first angle adjustment mechanism 5 and actuating mechanism 9 cooperation are adjusted the opening angle and the length of supporting leg subassembly 4 to form stable supporting relation between messenger's pipeline robot and the pipeline, avoid the pipeline robot to fall. After the pipeline robot moves to a proper height, the traveling direction of the roller 801 can be set along the axis of the pipeline by the second angle adjusting mechanism 802, and then the pipeline robot can be driven to move back and forth along the pipeline by the third driving member 803.

For example, when running into sewer pipe in sewage when darker, can make pipeline robot move the top of sewage and remove, avoid sewage to enter into inside the pipeline robot, and then avoid influencing pipeline robot's normal work. Therefore, the utility model provides a pipeline robot can be applicable to the detection of the sewer pipe of multiple environment, has higher practicality.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims

1. The pipeline robot is characterized by comprising a main body, wherein supporting leg assemblies are rotatably arranged on two sides of the main body; one end of the supporting leg assembly, which is far away from the main body, is rotatably connected with a moving unit;

2. The pipeline robot of claim 1, wherein the first angle adjustment mechanism comprises a first rotating shaft and a first driving member;

3. The pipeline robot of claim 2, wherein the first angle adjustment mechanism further comprises a first transmission assembly connected between the first rotating shaft and the first driving member for power transmission.

4. The pipeline robot of claim 1, wherein the moving unit further comprises a third driving member and a second transmission assembly;

5. The pipeline robot of claim 4, wherein the second angle adjustment mechanism comprises a second driving member and a first gear and a second gear that are engaged;

6. The pipeline robot of any one of claims 1 to 5, wherein the support leg assembly comprises a connecting rod and a telescopic rod; the telescopic rod is connected with the connecting rod in a sliding mode so as to adjust the length of the supporting leg assembly.

7. The pipeline robot of claim 6, wherein a driving mechanism is further connected between the connecting rod and the telescopic rod, and the driving mechanism is used for driving the telescopic rod to slide relative to the connecting rod.

8. The pipeline robot of claim 7, wherein the drive mechanism comprises a fourth drive member and a drive shaft; the fourth driving part is arranged in the connecting rod, and the transmission shaft is connected with the telescopic rod;

9. The pipeline robot of claim 1, wherein the main body is provided with at least one camera for image acquisition.

10. The pipeline robot of claim 9, wherein an anti-collision bracket is provided at a position of the main body close to the camera, and the anti-collision bracket is provided to protrude from an end of the camera in a length direction of the pipeline robot.