CN214171666U

CN214171666U - Multi-joint pipeline robot

Info

Publication number: CN214171666U
Application number: CN202023351491.4U
Authority: CN
Inventors: 卢西魁; 曹卫兵; 周理想; 胡燕; 朱留军; 雒兴建; 刘晓辉; 戚劲松; 张建伟
Original assignee: Zhengzhou Industrial And Trade School; Henan Yunhe Surveying And Mapping Engineering Co ltd
Current assignee: Zhengzhou Industrial And Trade School; Henan Yunhe Surveying And Mapping Engineering Co ltd
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-09-10
Anticipated expiration: 2030-12-31

Abstract

The application relates to a multi-joint pipeline robot, which comprises a robot body, a walking part and a shooting unit, wherein mounting grooves are formed in the robot body, and the walking part is mounted in each mounting groove; the walking part comprises a plurality of buffer frames, each buffer frame comprises two buffer plates, and the buffer plates are rotatably connected to the machine body; the buffer frame also comprises an elastic part connected between the two buffer plates and a support wheel pair arranged on each buffer plate, wherein the support wheel pair comprises a walking wheel, and the walking wheel is rotationally connected with the buffer plates; walk the portion and still include guiding mechanism and track, and guiding mechanism connects including rotating leading wheel on the organism, and the track includes chain and a plurality of backing plate, and a plurality of backing plate end to end connection form confined annular structure, and the annular structure cladding that the backing plate formed walk on the wheel, the chain is fixed on the backing plate, walk the portion and be connected with actuating mechanism. This application can make the convenient barrier that passes through protruding position in the pipeline of pipeline robot.

Description

Multi-joint pipeline robot

Technical Field

The application relates to the technical field of pipeline robots, in particular to a multi-joint pipeline robot.

Background

The pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk along the inside or outside of a tiny pipeline, carry one or more sensors and an operating machine and carry out a series of pipeline operations under the remote control operation of a worker or the automatic control of a computer.

At present, a patent document with an authorization publication number of CN206191162U discloses a pipeline robot, which has a main technical scheme that the pipeline robot comprises two symmetrically arranged support units, a control unit is connected between the two support units, the support units are connected with the control unit through universal joints, a walking unit is connected to each support unit, each support unit comprises an electric push rod and three supports, three adjusting nuts which are uniformly distributed are arranged on the electric push rod, the three supports are connected with the electric push rod through the adjusting nuts, and the three supports are arranged in an isosceles triangle shape; the walking unit comprises a motor box, two walking wheels, a motor and two bevel gears. The pipeline robot can detect whether cracks exist in the straight pipeline or not.

In view of the above-mentioned related art, the inventor believes that the bracket unit of the above-mentioned pipeline robot is easily jammed after encountering an obstacle in a raised portion inside the pipeline, thereby hindering the detection work, and therefore needs to be improved.

SUMMERY OF THE UTILITY MODEL

In order to make the barrier of protruding position in the pipeline that the pipeline robot can be convenient, this application provides an articulated pipeline robot.

The application provides a multi-joint pipeline robot adopts following technical scheme:

the multi-joint pipeline robot comprises a robot body, a walking part and a shooting unit, wherein the robot body is provided with at least three mounting grooves, and each mounting groove is internally provided with one walking part; the walking part comprises a plurality of buffer frames, each buffer frame comprises two buffer plates, and the buffer plates are rotatably connected to the machine body; the buffer frame also comprises an elastic part connected between the two buffer plates and a support wheel pair arranged on each buffer plate, wherein the support wheel pair comprises a walking wheel, and the walking wheel is rotationally connected with the buffer plates; walk the portion of walking still includes guiding mechanism and track, and guiding mechanism is including rotating the connection and be in leading wheel on the organism, the track includes chain and a plurality of backing plate, and a plurality of backing plate end to end connection form confined loop configuration, and articulated each other between the adjacent backing plate, the loop configuration cladding that the backing plate formed the leading wheel with walk on the wheel, the chain is fixed on the backing plate, walk the portion connection of walking and have actuating mechanism.

Through adopting above-mentioned technical scheme, place the organism in the pipeline, drive the backing plate through actuating mechanism and rotate around leading wheel and walking wheel, can make the organism advance in the pipeline, when the organism in-process of advancing runs into the bellied barrier of pipeline inner wall, bellied barrier can promote the backing plate, make the backing plate to walking the wheel and exert pressure, and then promote the buffer board and rotate, the buffer board rotates and to compress the elastic component, it changes to walk the relative position of wheel and organism simultaneously, and then can make the shape of the loop configuration that a plurality of backing plates enclose change, in order to stepping down bellied barrier, make the organism can be smooth cross bellied barrier in the pipeline.

Optionally, the driving mechanism includes a driving shaft rotatably supported on the machine body, and further includes a driving sprocket fixed on the driving shaft, the driving sprocket is engaged with the chain, and the driving shaft is connected with a power assembly.

Through adopting above-mentioned technical scheme, the drive shaft rotates the back under power component's effect, can drive driving sprocket and rotate, because driving sprocket and chain mesh mutually, consequently driving sprocket can drive the backing plate and remove along the annular route.

Optionally, the driving mechanism further includes a driving bevel gear fixed on the driving shaft, a transmission shaft rotatably supported inside the machine body, and a driving bevel gear fixed on the transmission shaft, and the driving bevel gear is engaged with the driving bevel gear; the transmission shaft is connected with a power mechanism.

Through adopting above-mentioned technical scheme, power unit drives the transmission shaft and rotates and can drive transmission bevel gear and rotate, because transmission bevel gear and drive bevel gear mesh mutually, and drive bevel gear fixes on the drive shaft, therefore the transmission shaft rotates and to drive the drive shaft and rotate.

Optionally, the driving mechanism further comprises a driving part installed in the machine body, the driving part is connected with a driving bevel gear and can drive the driving bevel gear to rotate, a connecting bevel gear is fixed on the transmission shaft, and the driving bevel gear is meshed with the connecting bevel gear.

Through adopting above-mentioned technical scheme, the driving piece drives the rotation of drive bevel gear, and then can drive and connect bevel gear and rotate, because connect bevel gear and fix on the transmission shaft, consequently the driving piece starts and can realize driving transmission shaft pivoted purpose.

Optionally, a connecting sleeve is fixedly arranged on the buffer plate, a connecting shaft is rotatably connected to the connecting sleeve, the elastic part is a buffer hydraulic cylinder, the buffer hydraulic cylinder is connected between the two connecting shafts on the buffer frame, the cylinder barrel of the buffer hydraulic cylinder is rotatably connected to one connecting shaft, and the end of the piston rod of the buffer hydraulic cylinder is rotatably connected to the other connecting shaft.

Through adopting above-mentioned technical scheme, can drive buffering pneumatic cylinder after the buffer board rotates and take place to stretch out and draw back, make buffering pneumatic cylinder absorb or release elastic potential energy to can play absorbing effect.

Optionally, the shooting unit comprises an installation arm rotatably supported on the body, a mounting frame fixed on the installation arm, and a camera rotatably connected to the mounting frame, and a driving device for driving the installation arm to rotate is arranged on the body.

Through adopting above-mentioned technical scheme, the installation arm rotates, the camera rotates to be connected and can make the camera rotate on two dimensions on the mounting bracket, and the visual angle is wider when the camera is shot.

Optionally, a driving shaft is fixedly arranged on the mounting arm, the driving shaft is rotatably supported on the machine body, a power part is fixedly arranged on the machine body, the power part is connected with a power gear and can drive the power gear to rotate, a transmission gear is fixedly arranged on the driving shaft, and the power gear is meshed with the transmission gear.

Through adopting above-mentioned technical scheme, power piece drives power gear and rotates and can drive gear to rotate, because drive gear fixes on the driving shaft, therefore drive gear rotates and can drive the driving shaft and rotate, and then realizes driving the installation arm pivoted purpose.

Optionally, the mounting bracket is rotatably supported by an installation shaft, the camera is fixed to the installation shaft, the installation shaft is connected with a driving assembly, the driving assembly comprises a driving motor, a driving gear and a reversing gear, the driving motor is fixed to the mounting bracket, the driving gear is fixed to an output shaft of the driving motor, the reversing gear is fixed to the installation shaft, and the driving gear is meshed with the reversing gear.

Through adopting above-mentioned technical scheme, driving motor drives the driving gear and rotates and can drive the reversing gear and rotate to drive the installation axle and rotate, realize driving camera pivoted purpose, make the camera can shoot at wider visual angle.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the machine body is placed in a pipeline, the base plates are driven by the driving mechanism to rotate around the guide wheels and the walking wheels, so that the machine body can move in the pipeline, when the machine body encounters a raised barrier on the inner wall of the pipeline in the moving process, the raised barrier can push the base plates, the base plates apply pressure to the walking wheels, the buffer plates are further pushed to rotate, the elastic parts can be compressed by the rotation of the buffer plates, meanwhile, the relative positions of the walking wheels and the machine body are changed, the shape of an annular structure formed by the surrounding of the plurality of base plates can be further changed, the raised barrier is abducted, and the machine body can smoothly cross the raised barrier in the pipeline;

2. the drive shaft rotates the back under power component's effect, can drive sprocket and rotate, because drive sprocket and chain mesh mutually, consequently drive sprocket can drive the backing plate and move along annular route.

Drawings

Fig. 1 is a schematic overall structure diagram of an embodiment of the present application.

FIG. 2 is a cross-sectional view of the machine body, showing the running gear and the drive mechanism.

Fig. 3 is a partial structural view at a in fig. 2, in order to show the structure of the buffer frame.

Fig. 4 is a partial schematic view of the structure at B in fig. 2, in order to show the driving mechanism.

Description of reference numerals: 1. a body; 11. mounting grooves; 12. installing a sleeve; 121. a limit bearing; 2. a running part; 21. a buffer frame; 211. hinging a shaft; 212. a buffer plate; 213. a positioning sleeve; 214. a connecting sleeve; 215. a connecting shaft; 216. a buffer hydraulic cylinder; 217. a support sleeve; 218. supporting the wheel pair; 2181. a support shaft; 2182. a running wheel; 22. a guide mechanism; 221. a guide shaft; 222. a guide wheel; 23. a crawler belt; 231. a chain; 232. a base plate; 3. a shooting unit; 31. mounting an arm; 311. a drive shaft; 312. a transmission gear; 32. a power member; 321. a power gear; 33. a mounting frame; 331. installing a shaft; 332. an accommodating chamber; 34. a camera; 35. a drive assembly; 351. a drive motor; 352. a driving gear; 353. a reversing gear; 4. a drive mechanism; 41. a drive shaft; 42. a drive sprocket; 43. a drive bevel gear; 44. a drive shaft; 45. a drive bevel gear; 46. a drive member; 47. a drive bevel gear; 48. connected with a bevel gear.

Detailed Description

The present application is described in further detail below with reference to figures 1-4.

The embodiment of the application discloses a multi-joint pipeline robot. Referring to fig. 1, articulated pipeline robot includes organism 1, walk capable portion 2 and shoot unit 3, and be used for driving to walk capable portion 2 actuating mechanism 4, wherein, organism 1 is cylinder cavity shell-shaped structure, be provided with on organism 1's the lateral wall and be no less than three mounting groove 11, in this embodiment, mounting groove 11 has been seted up threely, mounting groove 11 is rectangular shape groove and has the lateral wall of rectangle, mounting groove 11 arranges along organism 1's axis direction, and link up to two terminal surfaces of organism 1, mounting groove 11 evenly sets up along the circumferencial direction equiangular interval of organism 1 outer wall.

Referring to fig. 2 and 3, the number of the running parts 2 is the same as that of the installation grooves 11, in the present embodiment, three running parts 2 are provided, one running part 2 is provided in each installation groove 11, each running part 2 includes a plurality of buffer frames 21, and in the present embodiment, two buffer frames 21 are provided for each running part 2; every buffer frame 21 all includes two articulated shafts 211 of mutual parallel arrangement of fixing on the mounting groove 11 lateral wall, still includes two buffer plate 212, and two buffer plate 212 all are fixed with a position sleeve 213 for a cylindrical section of thick bamboo and both ends all establish the opening about a plane symmetry setting in the middle of two articulated shafts 211 on every buffer plate 212, and two position sleeve 213 establish respectively on two articulated shafts 211 to make two buffer plate 212 rotate to be connected on two articulated shafts 211.

Referring to fig. 2 and 3, a connecting sleeve 214 is further fixedly arranged on the buffer plate 212, the connecting sleeve 214 is a cylinder with two open ends, the axis of the connecting sleeve 214 is parallel to the hinge shaft 211, a connecting shaft 215 passes through each connecting sleeve 214, the connecting shaft 215 is rotatably connected with the connecting sleeve 214, the buffer frame 21 further comprises a buffer hydraulic cylinder 216 connected between the two connecting shafts 215, the cylinder barrel of the buffer hydraulic cylinder 216 is rotatably connected to one connecting shaft 215, the end of the piston rod of the buffer hydraulic cylinder 216 is rotatably connected to the other connecting shaft 215, and when the buffer plate 212 rotates around the hinge shaft 211, the buffer hydraulic cylinder 216 can be driven to stretch and retract, so that the buffer hydraulic cylinder 216 has the effect of buffering vibration.

Referring to fig. 2 and 3, each of the buffer plates 212 is fixedly provided with a support sleeve 217, the support sleeve 217 is also a cylinder with two open ends, the axis of the support sleeve 217 is parallel to the axis of the hinge shaft 211, the connecting sleeve 214 and the support sleeve 217 on the same buffer plate 212 are respectively arranged on two sides of a plane defined by the axes of the two hinge shafts 211 on the same buffer frame 21, and the support sleeve 217 is closer to the opening of the mounting groove 11 than the connecting sleeve 214.

Referring to fig. 2 and 3, the buffer frame 21 further includes a supporting wheel pair 218 mounted on each supporting sleeve 217, the supporting wheel pair 218 includes a supporting shaft 2181 penetrating into the supporting sleeve 217, the supporting shaft 2181 is rotatably connected to the supporting sleeve 217, two ends of the supporting shaft 2181 respectively penetrate through openings at two ends of the supporting sleeve 217, the supporting wheel pair 218 further includes running wheels 2182 coaxially fixed at two ends of the supporting shaft 2181, and the running wheels 2182 are cylindrical structures and are used for supporting the machine body 1.

Referring to fig. 2 and 3, the running part 2 further includes a plurality of guide mechanisms 22, in this embodiment, two guide mechanisms 22 are provided, each guide mechanism 22 includes a guide shaft 221 fixed on the side wall of the installation groove 11, the guide shafts 221 are arranged parallel to the hinge shaft 211, the guide mechanism 22 further includes a guide wheel 222 rotatably connected to the guide shafts 221, and the guide wheel 222 is a cylindrical structure; the walking part 2 further comprises a crawler 23, the crawler 23 comprises a chain 231 and a plurality of base plates 232, the base plates 232 are of a rectangular structure, the base plates 232 are connected end to form a closed annular structure, two edges of adjacent base plates 232 are hinged to each other, the annular structure formed by the base plates 232 is coated on the guide wheels 222 and the walking wheels 2182 and is in a tightened state, and the chain 231 is fixed on the edges of the base plates 232 and forms a closed ring along a path surrounded by the base plates 232.

Referring to fig. 2 and 3, the driving mechanism 4 includes a driving shaft 41 rotatably supported in each mounting groove 11, the driving shaft 41 is disposed parallel to the hinge shaft 211, the driving mechanism 4 further includes a driving sprocket 42 coaxially fixed to the driving shaft 41, the driving sprocket 42 is disposed inside the circular path defined by the pad plates 232, and the driving sprocket 42 is engaged with the chain 231, the driving sprocket 42 can be rotated by driving the driving shaft 41 to rotate, since the driving sprocket 42 is engaged with the chain 231, the chain 231 can drive the circular path defined by the plurality of pad plates 232 to rotate, the machine body 1 is placed in the pipeline, the pad plates 232 are abutted against the inner wall of the pipeline, the pad plates 232 can drive the machine body 1 to travel in the pipeline by rotating, if there are raised obstacles on the inner wall of the pipeline, the raised portions can generate thrust to the pad plates 232, thereby pushing the buffer plates 212 to rotate around the hinge shaft 211, the relative position of the running wheels 2182 and the machine body 1 is changed, and the shape of the annular structure surrounded by the backing plates 232 is further changed, so that the machine body 1 can conveniently cross obstacles in a pipeline.

Referring to fig. 3 and 4, the end of the driving shaft 41 extends into the body 1 through the side wall of the mounting groove 11, the driving mechanism 4 further includes a driving bevel gear 43 coaxially fixed on a portion of the driving shaft 41 located in the body 1, and a transmission shaft 44 rotatably supported in the body 1, the transmission shaft 44 being disposed along a radial direction of the cross section of the body 1, in this embodiment, three transmission shafts 44 are provided, the three transmission shafts 44 are disposed at equal intervals, each transmission shaft 44 is adjacent to one driving bevel gear 43, the driving mechanism 4 further includes a driving bevel gear 45 coaxially fixed on each transmission shaft 44, and the three driving bevel gears 45 are engaged with the three driving bevel gears 43, respectively.

Referring to fig. 2 and 4, the driving mechanism 4 further includes a driving member 46 installed in the machine body 1, in this embodiment, the driving member 46 is a motor, the motor is fixed on the inner wall of the machine body 1, the driving mechanism 4 further includes a drive bevel gear 47 coaxially fixed on an output shaft of the motor, the drive bevel gear 47 is coaxially disposed with the machine body 1, in addition, the driving mechanism 4 further includes a connecting bevel gear 48 coaxially fixed on each transmission shaft 44, the three connecting bevel gears 48 are simultaneously engaged with the drive bevel gear 47, the starting motor can drive the drive bevel gear 47 to rotate, and further drive the connecting bevel gear 48 to rotate, each driving shaft 41 is driven to rotate by the transmission of the drive bevel gear 45 and the drive bevel gear 43, so that the driving sprocket 42 drives the backing plate 232 to move around the annular path.

Referring to fig. 1, the shooting unit 3 includes an installation arm 31, the installation arm 31 is a cylindrical rod-shaped structure, the installation arm 31 is coaxially disposed with the machine body 1, an installation sleeve 12 is fixedly disposed on one end surface of the machine body 1, the installation sleeve 12 is coaxially and fixedly disposed with the machine body 1, an opening is disposed at an end portion, deviating from the machine body 1, of the installation sleeve 12, the installation arm 31 is disposed in the installation sleeve 12 in a penetrating manner, a gap is disposed between the installation arm 31 and the installation sleeve 12, a limit bearing 121 is disposed in the gap between the installation sleeve 12 and the installation arm 31, in the present embodiment, the limit bearing 121 is a cylindrical roller bearing, an inner ring of the limit bearing 121 is fixed on the installation arm 31, an outer ring of the limit bearing 121 is fixed on an inner wall of the installation sleeve 12, and the installation arm 31 is rotatably supported in the installation sleeve 12.

Referring to fig. 1 and 2, a driving shaft 311 is fixedly disposed at an end of the mounting arm 31 close to the machine body 1, the driving shaft 311 and the mounting arm 31 are coaxially disposed, the driving shaft 311 penetrates through the end of the machine body 1 and extends into the machine body 1, a power element 32 is fixedly disposed on an inner wall of the machine body 1, in this embodiment, the power element 32 is a motor, a power gear 321 is fixed on an output shaft of the motor, a transmission gear 312 is coaxially fixed on the driving shaft 311, the power gear 321 is engaged with the transmission gear 312, the motor is started to drive the power gear 321 to rotate, the transmission gear 312 can be driven to rotate, the transmission gear 312 can drive the driving shaft 311 to rotate, and further, the purpose of driving the mounting arm 31 to rotate is achieved.

Referring to fig. 1, a U-shaped mounting frame 33 is fixedly disposed at an end of the mounting arm 31 away from the machine body 1, a mounting shaft 331 is rotatably supported in the mounting frame 33, a camera 34 for taking a picture of the inside of the pipeline is fixed on the mounting shaft 331, an accommodating cavity 332 is formed in the mounting frame 33, a driving assembly 35 is connected to the mounting shaft 331, the driving assembly 35 includes a driving motor 351, a driving gear 352 and a reversing gear 353, the driving motor 351 is fixed in the accommodating cavity 332, the driving gear 352 is coaxially fixed on an output shaft of the driving motor 351, the reversing gear 353 is coaxially fixed on the mounting shaft 331, the driving gear 352 is engaged with the reversing gear 353, and the driving gear 352 can be driven to rotate by the output shaft of the driving motor 351, and then the reversing gear 353 is driven to rotate, so as to drive the mounting shaft 331 to rotate, thereby realizing the purpose of changing the shooting direction of the camera 34.

The implementation principle of the multi-joint pipeline robot in the embodiment of the application is as follows: place organism 1 in the pipeline, start actuating mechanism 4's motor, a plurality of backing plates 232 that can drive walking portion 2 surround the circular path cyclic movement, backing plate 232 supports and can drive organism 1 along the pipeline removal that waits to overhaul on the inner wall of organism 1, when organism 1 meets bellied barrier in the pipeline, bellied barrier can play the impetus to backing plate 232, thereby make backing plate 232 to walking wheel 2182 production pressure, in order to promote buffer plate 212 and rotate around articulated shaft 211, make the relative position of walking wheel 2182 and organism 1 change, and then can make the shape of the annular structure that a plurality of backing plates 232 enclose change, in order to give way bellied barrier, make organism 1 can be smooth cross the bellied barrier in the pipeline.

The embodiments of the present invention are preferred embodiments of the present application, and the scope of protection of the present application is not limited by the embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. A multi-joint pipeline robot, characterized in that: the multifunctional photographing device comprises a machine body (1), a walking part (2) and a photographing unit (3), wherein at least three mounting grooves (11) are formed in the machine body (1), and one walking part (2) is mounted in each mounting groove (11);

the walking part (2) comprises a plurality of buffer frames (21), each buffer frame (21) comprises two buffer plates (212), and the buffer plates (212) are rotatably connected to the machine body (1); the buffer frame (21) further comprises an elastic piece connected between the two buffer plates (212) and a supporting wheel pair (218) arranged on each buffer plate (212), wherein the supporting wheel pair (218) comprises a walking wheel (2182), and the walking wheel (2182) is rotatably connected with the buffer plates (212);

walk capable portion (2) and still include guiding mechanism (22) and track (23), guiding mechanism (22) are connected including rotating leading wheel (222) on organism (1), track (23) include chain (231) and a plurality of backing plate (232), and a plurality of backing plate (232) end to end connection form confined loop configuration, and articulated each other between adjacent backing plate (232), the loop configuration cladding of backing plate (232) formation are in leading wheel (222) with walk on road wheel (2182), chain (231) are fixed walk on backing plate (232), walk capable portion (2) and be connected with actuating mechanism (4).

2. The articulated pipeline robot of claim 1, wherein: the driving mechanism (4) comprises a driving shaft (41) which is rotatably supported on the machine body (1) and further comprises a driving chain wheel (42) which is fixed on the driving shaft (41), the driving chain wheel (42) is meshed with the chain (231), and the driving shaft (41) is connected with a power assembly.

3. The articulated pipeline robot of claim 2, wherein: the driving mechanism (4) further comprises a driving bevel gear (43) fixed on the driving shaft (41), a transmission shaft (44) rotatably supported in the machine body (1), and a transmission bevel gear (45) fixed on the transmission shaft (44), wherein the transmission bevel gear (45) is meshed with the driving bevel gear (43); the transmission shaft (44) is connected with a power mechanism.

4. The articulated pipeline robot of claim 3, wherein: the driving mechanism (4) further comprises a driving piece (46) installed in the machine body (1), the driving piece (46) is connected with a driving bevel gear (47) and can drive the driving bevel gear (47) to rotate, a connecting bevel gear (48) is fixed on the transmission shaft (44), and the driving bevel gear (47) is meshed with the connecting bevel gear (48).

5. The articulated pipeline robot of any one of claims 1-4, wherein: the buffer plate (212) is fixedly provided with a connecting sleeve (214), the connecting sleeve (214) is connected with a connecting shaft (215) in a rotating mode, the elastic piece is a buffer hydraulic cylinder (216), the buffer hydraulic cylinder (216) is connected between the two connecting shafts (215) on the same buffer frame (21), the cylinder barrel of the buffer hydraulic cylinder (216) is connected to one connecting shaft (215) in a rotating mode, and the end portion of the piston rod of the buffer hydraulic cylinder (216) is connected to the other connecting shaft (215) in a rotating mode.

6. The articulated pipeline robot of any one of claims 1-4, wherein: shooting unit (3) including rotate the support installation arm (31) on organism (1), still including fixing mounting bracket (33) on installation arm (31) to and rotate camera (34) of connecting on mounting bracket (33), be provided with on organism (1) and be used for driving installation arm (31) pivoted drive arrangement.

7. The articulated pipeline robot of claim 6, wherein: the mounting arm (31) is fixedly provided with a driving shaft (311), the driving shaft (311) is rotatably supported on the machine body (1), a power part (32) is fixedly arranged on the machine body (1), the power part (32) is connected with a power gear (321) and can drive the power gear (321) to rotate, a transmission gear (312) is fixedly arranged on the driving shaft (311), and the power gear (321) is meshed with the transmission gear (312).

8. The articulated pipeline robot of claim 6, wherein: the utility model discloses a camera, including mounting bracket (33), camera, installation axle (331), driving assembly (351), reversing gear (353), driving motor (352), installation axle (331) are connected with drive assembly (35), and drive assembly (35) include driving motor (351), driving gear (352) and reversing gear (353), and driving motor (351) are fixed on mounting bracket (33), and driving gear (352) are fixed on the output shaft of driving motor (351), and reversing gear (353) are fixed on installation axle (331), driving gear (352) and reversing gear (353) intermeshing.