Description:TECHNICAL FIELD
The present disclosure relates generally to pipeline inspection. More particularly, the present disclosure relates to a pipeline inspection crawler.
BACKGROUND
Pipelines are crucial passageway for a variety of fluids. Passage for prolonged duration of the fluids and other solid wastes in the pipeline may cause damage to the pipeline. Damage in the pipeline may affect flow of fluids and solids that pass through the pipeline. Therefore, the pipelines need to be inspected, while the fluids and solids flows through them. Traditional systems of pipeline inspection require a robot that is moved within the pipeline. The robot is traversed through the pipeline for inspecting the pipeline. While moving inside the pipeline, various components of the robot may get damaged due to certain reasons, for example, various components may come in contact with the sewer fluid that may damage the components.
Various components of the robot need to be repaired for which they are to be ejected out or removed from the robot. The removal of various components is a cringe-worthy task for an operator that consumes a lot of time. Further, upon repairing, the components are assembled which again require a considerable peculiarity and time.
Therefore, there exists a need for an efficient pipeline inspection robot for pipeline inspection that is capable of solving aforementioned problems of the conventional inspection systems.
SUMMARY
In view of the foregoing, a pipeline inspection crawler is disclosed. The pipeline inspection crawler includes a housing. The housing includes first and second motors that are disposed within the housing such that each of the first and second motors is adapted to generate a rotational force. The housing further includes first and second transmission assemblies that are coupled to the first and second motors, respectively, such that the first and second motors are adapted to transmit the rotational force to the first and second transmission assemblies, respectively. Each transmission assembly of the first and second transmission assemblies includes first and second set of gears, respectively, such that each gear of the first and second set of gears includes a bearing that is disposed at a centre of each gear of the first and second set of gears and a plate that is removably disposed within the housing such that the plate supports a plurality of electronic components.
In some embodiments, the plate is removably disposed within the housing.
In some embodiments, the first motor is stacked on the second motor.
In some embodiments, the plate further includes first and second sides such that the one or more electronic components are disposed on the first and second sides.
In some embodiments, the pipeline inspection crawler further includes an imaging device and a pantograph mechanism. The pantograph mechanism is disposed on the housing and coupled to the imaging device such that the pantograph mechanism is adapted to adjust a position of the imaging device within a pipeline.
In some embodiments, the first and second transmission assemblies further include first and second bevel gears, respectively, such that the first and second bevel gears includes a bearing that is disposed at a centre of the first and second bevel gears.
In some embodiments, the first bevel gear is coupled to the first motor such that the first motor transmits the rotational force to the first bevel gear.
In some embodiments, the second bevel gear is coupled to the second motor such that the second motor transmits the rotational force to the second bevel gear.
In some embodiments, the first bevel gear is adapted to, upon receipt of the rotational force, transmit the rotational force to the first set of gears.
In some embodiments, the second bevel gear is adapted to, upon receipt of the rotational force, transmit the rotational force to the second set of gears.

BRIEF DESCRIPTION OF DRAWINGS
The above and still further features and advantages of embodiments of the present disclosure becomes apparent upon consideration of the following detailed description of embodiments thereof, especially when taken in conjunction with the accompanying drawings, and wherein:
FIG. 1A illustrates a perspective exploded view of a pipeline inspection crawler, in accordance with an embodiment herein;
FIG. 1B illustrates a top view of the crawler, in accordance with an embodiment herein;
FIG. 2A illustrates a perspective view of the first and second motors, in accordance with an embodiment herein;
FIG. 2B illustrates a perspective view of the first and second motors, in accordance with an embodiment herein;
FIG. 3 illustrates a perspective view of the internal components of the housing, in accordance with an embodiment herein;
FIG. 4A illustrates a perspective view of the plate, in accordance with an embodiment herein;
FIG. 4B illustrates a perspective view of the plate, in accordance with an embodiment herein;
FIG. 5 illustrates a front view of the pantograph mechanism of the crawler of FIG. 1A and FIG. 1B, in accordance with an embodiment herein; and
FIG. 6 illustrates a perspective view of the imaging device of the crawler of FIG. 1A and FIG. 1B, in accordance with an embodiment herein.
To facilitate understanding, like reference numerals have been used, where possible, to designate like elements common to the figures.
DETAILED DESCRIPTION
Various embodiments of the present disclosure provide a system to determine a pipeline inspection crawler. The following description provides specific details of certain embodiments of the disclosure illustrated in the drawings to provide a thorough understanding of those embodiments. It should be recognized, however, that the present disclosure can be reflected in additional embodiments and the disclosure may be practiced without some of the details in the following description.
The various embodiments including the example embodiments are now described more fully with reference to the accompanying drawings, in which the various embodiments of the disclosure are shown. The disclosure may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure is thorough and complete, and fully conveys the scope of the disclosure to those skilled in the art. In the drawings, the sizes of components may be exaggerated for clarity.
It is understood that when an element or layer is referred to as being “on,” “connected to,” or “coupled to” another element or layer, it can be directly on, connected to, or coupled to the other element or layer or intervening elements or layers that may be present. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items.
The subject matter of example embodiments, as disclosed herein, is described specifically to meet statutory requirements. However, the description itself is not intended to limit the scope of this disclosure. Rather, the inventor/inventors have contemplated that the claimed subject matter might also be embodied in other ways, to include different features or combinations of features similar to the ones described in this document, in conjunction with other technologies. Generally, the various embodiments including the example embodiments relate to a pipeline inspection crawler.
As mentioned, there remains a need for an efficient pipeline inspection robot or crawler that is capable of solving the problems of conventional robot. Accordingly, the present disclosure provides a pipeline inspection crawler that is provided with a plate that holds various electronic components. The plate allows easy removal and assembly of the electronic components of the pipeline inspection crawler.
FIG. 1A illustrates a perspective exploded view of a pipeline inspection crawler 100 (hereinafter referred to and designated as “the crawler 100”), in accordance with an embodiment herein. The crawler 100 may be adapted to propel or crawl within a pipeline. Specifically, the crawler 100 may be adapted to propel or crawl to conduct internal inspection of the pipeline. The pipeline may have a diameter that may be in a range between 250 milli-meters (mm) and 1000 mm. The pipeline may be one of, a water filled pipeline and a sewer filled pipeline. The crawler 100 may be easily maneuvered within the pipeline. Specifically, the crawler 100 may be easily maneuvered with the pipeline that may have an internal pressure of about 5 bar.
The crawler 100 may include a housing 102, an imaging device 104, a pantograph mechanism 106, and a plurality of wheels 108a-108d (hereinafter collectively referred to and designated as “the wheels 108”). The housing 102 may include first and second motors 110 and 112, first and second transmission assemblies 114 and 116, and a plate 118. The first and second motors 110 and 112, the first and second transmission assemblies 114 and 116, and the plate 118 collectively may be referred to as internal components of the housing 102. The housing 102 may provide assembly of the internal components in a modular way. Specifically, the internal components may be easily removed from the housing 102. In other words, the internal components may be easily accessible that may advantageously allow repair of the internal components, if required.
In some embodiments, the housing 102 may be made up of a material including, but not limited to, stainless steel, plastic, and the like. Embodiments of the present disclosure are intended to include and/or otherwise cover any type of known and later developed materials for the housing 102, without deviating from the scope of the present disclosure.
In some embodiments, the first and second transmission assemblies 114 and 116 may be enclosed within a transmission case 120. The transmission case 120 may prevent ingress of fluid (e.g., sewer fluid) in the first and second transmission assemblies 114 and 116. The transmission case 120 may therefore advantageously protect the first and second transmission assemblies 114 and 116 from the fluid. The transmission case 120 may be provided with a plurality of seal rings that may ensure waterproofing of the first and second transmission assemblies 114 and 116.
FIG. 1B illustrates a top view of the crawler 100, in accordance with an embodiment herein. The first and second motors 110 and 112 may be disposed within the housing 102. Specifically, the first motor 110 may be stacked on the second motor 112 and thereby may advantageously provide a robust motor assembly. Each of the first and second motors 110 and 112 may be adapted to generate a rotational force along a rotational axis. Since, the first and second motors 110 and 112 are stacked one above the other, therefore, a rotational axis of the first motor 110 is parallel to a rotational axis of the second motor 112. The first and second transmission assemblies 114 and 116 may be coupled to the first and second motors 110 and 112, respectively. In other words, the first transmission assembly 114 may be coupled to the first motor 110. The second transmission assembly 116 may be coupled to the second motor 112. The first and second motors 110 and 112 may be adapted to transmit the rotational force to the first and second transmission assemblies 114 and 116. In other words, the first motor 110 may be adapted to transmit the rotational force to the first transmission assembly 114. The second motor 112 may be adapted to transmit the rotational force to the second transmission assembly 114.
The pantograph mechanism 106 may be disposed on the housing 102. The imaging device 104 may be coupled to the pantograph mechanism 106. Specifically, one end of the pantograph mechanism 106 may be coupled to the housing 102 and the imaging device 104 may be coupled to another end of the pantograph mechanism 106. The pantograph mechanism 106 may be adapted to adjust a position of the imaging device 104 within the pipeline.
The wheels 108 may be coupled to the first and second transmission assemblies 114 and 116. Specifically, the first and second wheels 108a and 108b may be coupled to the first transmission assembly 114. The third and fourth wheels 108c and 108d may be coupled to the second transmission assembly 116. The first and second transmission assemblies 114 and 116 may be adapted to, upon receipt of the rotational force from the first and second motors 110 and 112, transmit the rotational force to the wheels 108. Specifically, the first transmission assembly 114 may be adapted to transmit the rotational force to the first and second wheels 108a and 108b. The second transmission assembly 116 may be adapted to transmit the rotational force to the third and fourth wheels 108c and 108d. The wheels 108, upon receipt of the rotational force, may be adapted to propel the crawler 100. Since, the first and second wheels 108a and 108b receive the rotational force from the first transmission assembly 114 and the third and fourth wheels 108c and 108d receive the rotational force from the second transmission assembly 116, therefore, the wheels 108 exhibit a differential drive. The differential drive of the wheels 108 may advantageously facilitate the crawler 100 to exhibit an efficient turn and maneuvering in the pipeline.
The plate 118 may be removably disposed within the housing 102. In other words, the plate 118 may be separately accessible and removable as an independent sub-assembly. Specifically, the plate 118 may be disposed in the housing 102 such that the plate 118 is easy to be removed from the housing 102. The plate 118 may be adapted to support a plurality of electronic components 402 (as shown later in FIG. 4A and FIG. 4B) (hereinafter referred to and designated as “the electronic components 402”). In other words, the electronic components 402 may be disposed or coupled to the plate 118. The removability of the plate 118 may advantageously provide access to the electronic components 402, which allows easy repair of the electronic components 402. The plate 118 may therefore, advantageously provide hassle free connections of the electronic components 402. The plate 118 may further advantageously facilitate touch-free connections of the electronic components 402. The plate 118 may advantageously ensure separation between the electronic components 402 and a plurality of mechanical components such as the first and second motors 110 and 112 and the first and second transmission assemblies 114 and 116. The plate 118 may advantageously allow easy assembling of the electronic components 402, upon repairing.
In some exemplary embodiments, the first transmission assembly 114 may be removed from the housing 102, in order to access the plate 118. In some other exemplary embodiments, the second transmission assembly 116 may be removed from the housing 102, in order to access the plate 118.
In some embodiments, the electronic components 402 may include, but not limited to, a printed circuit board (PCB), a light emitting diode (LED) driver, a motor driver, a video balun, a power unit, a regulator circuit, a protection circuit, and the buck unit. Embodiments of the present disclosure are intended to include and/or otherwise cover any type of electronic component that may aid or facilitate in one or more functionalities of the crawler 100, without deviating from the scope of the present disclosure.
In some embodiments, the plate 118 may be sealed in a pressure proof assembly by way of a plurality of rotary shaft seals (O-rings) and O-rings (not shown).
Although, FIG. 1A illustrates that the first motor 110 is stacked above the second motor 112, however, the present disclosure is not limited to it. Embodiments of the present disclosure are intended to include and/or otherwise cover stacking of the second motor 112 above the first motor 110, while interchanging the functionality of the first motor 110 with the functionality of the second motor 112.
FIG. 2A illustrates a perspective view of the first and second motors 110 and 112, in accordance with an embodiment herein. Specifically, FIG. 2A shows a first bevel gear 202 of the first transmission assembly 114. The first bevel gear 202 may be coupled to the first motor 110. Specifically, the first bevel gear 202 may be coupled to the first motor 110 such that the first motor 110 transmits the rotational force to the first bevel gear 202. The first bevel gear 202 may be adapted to rotate upon receipt of the rotational force from the first motor 110.
FIG. 2B illustrates a perspective view of the first and second motors 110 and 112, in accordance with an embodiment herein. Specifically, FIG. 2B shows a second bevel gear 204 of the second transmission assembly 116. The second bevel gear 204 may be coupled to the second motor 112. Specifically, the second bevel gear 204 may be coupled to the second motor 112 such that the second motor 112 transmits the rotational force to the second bevel gear 204. The second bevel gear 204 may be adapted to rotate upon receipt of the rotational force from the second motor 112.
The first and second bevel gears 202 and 204 may include a bearing 206. The bearing 206 may be disposed at the centre of the first and second bevel gears 202 and 204. The bearing 206 may advantageously add flexibility in the arrangement of the first and second bevel gears 202 and 204. Further, the bearing 206 may advantageously facilitate smooth rotation of the first and second bevel gears 202 and 204.
FIG. 3 illustrates a perspective view of the internal components of the housing 102, in accordance with an embodiment herein. The first and second transmission assemblies 114 and 116 may further include a first set of gears 302a-302f (hereinafter collectively referred to and designated as “the first gears 302”) and a second set of gears 304a-304f (hereinafter collectively referred to and designated as “the second gears 304”), respectively. In other words, the first transmission assembly 114 may further include the first gears 302 and the second transmission assembly 116 may further include the second gears 304. Each gear of the first and second gears 302 and 304 may include the bearing 206. The bearing 206 may be disposed at the centre of each gear of the first and second gears 302 and 304.
In some embodiments, the bearing 206 may be one of, a deep-groove ball bearing, an angular contact bearing, a self-aligning ball bearing, a thrust ball bearing, a cylindrical roller bearing, a tapered roller bearing, and the like.
The first bevel gear 202 may be adapted to, upon receipt of the rotational force from the first motor 110, transmit the rotational force to the first gears 302. The first gears 302 may be adapted to rotate upon receipt of the rotational force from the first bevel gear 202. The second bevel gear 204 may be adapted to, upon receipt of the rotational force from the second motor 112, transmit the rotational force to the second gears 304. The second gears 304 may be adapted to rotate upon receipt of the rotational force from the second bevel gear 204. The bearing 206 may advantageously add flexibility in the arrangement of the first and second gears 302 and 304. The bearing 206 may advantageously make the first and second transmission assemblies 114 and 116 thinner and robust that may facilitate better space utilization for the first and second transmission assemblies 114 and 116 in the housing 102. Further, the bearing 206 may advantageously facilitate smooth rotation of the first and second gears 302 and 304. The first and second gears 302 and 304, upon rotation may be adapted to rotate the wheels 108. Specifically, the first gears 302 may be adapted to rotate the first and second wheels 108a and 108b. The second gears 304 may be adapted to rotate the third and fourth wheels 108c and 108d. The wheels 108, upon rotation, may be adapted to propel the crawler 100 within the pipeline.
In some embodiments, the housing 102 may include a first axle 306 and a second axle 308. The wheels 108 may be mounted on the first and second axles 306 and 308. Specifically, the first and third wheels 108a and 108c may be mounted on the first axle 306 and the second and fourth wheels 108b and 108d may be mounted on the second axle 308. The first and second axles 306 and 308 may include a D shaped cut profile that may facilitate better radial locking and easier assembly of a wheel hub of each wheel of the wheels 108.
In some embodiments, the wheels 108 may include a tread portion. The tread portion may be tapered that may facilitate each wheel of the wheels 108 to achieve more tangential contact with an internal curvature of the pipeline. The tread portion may therefore, improve traction of the wheels 108, when the crawler 100 moves within the pipeline. In some examples, the tread portion may include a linear tread pattern with an optimum tread profile. The linear tread pattern may facilitate improved grip in the pipeline. The linear tread pattern may advantageously facilitate smooth rotation of the wheels 108 in the pipeline that may overcome an effect of one of, sludge, mud, and stones in the pipeline.
In some embodiments, each gear of the first and second gears 302 and 304 may be a spur gear. Embodiments of the present disclosure are intended to include and/or otherwise cover any type of the first and second gears 302 and 304, without deviating from the scope of the present disclosure.
FIG. 4A illustrates a perspective view of the plate 118, in accordance with an embodiment herein. Specifically, FIG. 4A shows a first side 404 of the plate 118. FIG. 4B illustrates a perspective view of the plate 118, in accordance with an embodiment herein. Specifically, FIG. 4B shows a second side 406 of the plate 118.
The electronic components 402 may be disposed on the first and second sides 404 and 406. The first side 404 of the plate 118 may be adapted to support a first set of components 408a-408f of the electronic components 402. The second side 406 of the plate 118 may be adapted to support a second set of components 410a-410f of the electronic components 402.
In some embodiments, the plate 118 may be made up of a material including, but not limited to, a metal, a plastic, and the like. Embodiments of the present disclosure are intended to include and/or otherwise cover any type of known and later developed material for the plate 118, without deviating from the scope of the present disclosure.
In some embodiments, the first set of components 408 may include, but not limited to, the printed circuit board (PCB), the LED driver, the motor driver, and the video balun. In some embodiments, the second set of components 410 may include, but not limited to, the regulator circuit, the protection circuit, and the buck unit.
FIG. 5 illustrates a front view of the pantograph mechanism 106 of the crawler 100 of FIG. 1A and FIG. 1B, in accordance with an embodiment herein. The pantograph mechanism 106 may include a plurality of links 502a-502d (hereinafter collectively referred to and designated as “the links 502”), a motor 504, a lead screw 506, a nut 508, a slider 510, a guide rod 512, and a flange 514.
In some embodiments, the nut 508 may be made up of a material including, but not limited to, a brass, a steel, a plastic, and the like. Embodiments of the present disclosure are intended to include and/or otherwise cover any type of known and later developed materials for the nut 508, without deviating from the scope of the present disclosure.
The plurality of links 502 may be four links. The first link 502a may be coupled to the slider 510 and the flange 514. Specifically, one end of the first link 502a may be coupled to the slider 510 and another end of the first link 502a may be coupled to the flange 514. The first link 502a may further be coupled to the second link 502b. The second and third links 502b and 502c may be arranged in a parallel relation to each other. The second and third links 502b and 502c may be coupled to the flange 514. Specifically, one end of the second and third links 502b and 502c may be coupled to the flange 514 and another end of the second and third links 502b and 502c may be coupled to the fourth link 502d. The fourth link 502d may be coupled to the imaging device 104.
The motor 504 may be coupled to the lead screw 506. The motor 504 may be adapted to provide a rotational force to the lead screw 506. The lead screw 506 may be adapted to rotate upon receipt of the rotational force. Specifically, the lead screw 506 may be adapted to rotate in a clock-wise direction. The nut 508 may be disposed on the lead screw 506. Specifically, the lead screw 506 may be inserted within the nut 508. The rotation of the lead screw 506 may be adapted to advance the nut 508. Specifically, the rotation of the lead screw 506 may be adapted to move the nut 508 towards the flange 514. The nut 508 may be coupled to the slider 510. The advancement or movement of the nut 508 may be adapted to move the slider 510 towards the flange 514. The slider 510 may be coupled to the guide rod 512. Specifically, the guide rod 512 may be inserted within the slider 510 such that the slider 510 guides or slides over the guide rod 512. The movement of the slider 510 towards the flange 514 may be adapted to move the first link 502a towards the flange 514. The first link 502, upon moving towards the flange 514, may be adapted to facilitate an angular displacement in the second link 502b. The angular displacement in the second link 502b may be adapted to facilitate an upward movement of the third and fourth links 502c and 502d. The third and fourth links 502c and 502d, upon exhibiting the upward movement, may be adapted to move the imaging device 104 in an upward direction in the pipeline i.e., away from the housing 102 of the crawler 100 in the pipeline. To facilitate downward movement of the imaging device 104, the motor 504 may be adapted to rotate the lead screw 506 in a counter-clockwise direction. The lead screw 506, upon rotation in the counter-clockwise direction, may be adapted to move the slider 510 towards the motor 504 and thereby facilitating the imaging device 104 to exhibit a downward movement in the pipeline. This way, the pantograph mechanism 106 may facilitate adjustment in the position of the imaging device 104 in the pipeline.
FIG. 6 illustrates a perspective view of the imaging device 104 of the crawler 100 of FIG. 1A and FIG. 1B, in accordance with an embodiment herein. The imaging device 104 may include a case 602, a camera 604, a plurality of light emitting diodes (LEDs) 606a-606c (hereinafter collectively referred to and designated as “the LEDs 606”), and a lid 608. The camera 604 and the LEDs 606 may be disposed within the case 602. The lid 608 may be adapted to cover an opening of the case 602 and thereby closing the case 602. The camera 604 may be adapted to capture one or more images within the pipeline. Specifically, the camera 604 may be adapted to capture the one or more images of an interior of the pipeline. The LEDs 606 may be adapted to illuminate the interior of the pipeline. Specifically, the LEDs 606 may be adapted to illuminate the interior of the pipeline, while the camera 604 captures the one or more images. The one or more images may be transmitted to the electronic components 402. In some examples, the one or more images may be transmitted to the PCB that may process the one or more images to retrieve the environment conditions within the pipeline.
In some embodiments, the one or more images may be transmitted to the electronic components 402 via a plurality of cables. The case 602 may include a plurality of cable glands that may facilitate passage or insertion of the plurality of cables in the case 602. The plurality of cable glands may be properly sealed with a plurality of seal rings. The plurality of seal rings may advantageously prevent ingress of the fluid (e.g., sewer fluid) in the case 602 that may prevent damage of the camera 604 and the LEDs 606.
In some embodiments, one LED of the LEDs may be disposed out of the case 602. Specifically, one LED of the LEDs may be disposed on the case 602.
Thus, the pipeline inspection crawler 100 may provide following advantages that may be derived from the structural and functional aspects of the pipeline inspection crawler 100: -
- The removable coupling of the plate 118 may allow easy accessibility to the plurality of electronic components 402.
- The plate 118 may provide hassle-free connections of the plurality of electronic components 402.
- The plate 118 may allow easy assembling of the electronic components 402, upon repairing.
- Stacking of the first motor 110 on the second motor 112, or vice-versa, may provide the robust motor assembly.
- The differential drive of the wheels 108 may facilitate easy maneuvering in the pipeline.
- The bearing 206 may add flexibility in the arrangement of the first and second bevel gears 202 and 204.
- The bearing 206 may add flexibility in the arrangement of the first and second gears 302 and 304.
The foregoing discussion of the present disclosure has been presented for purposes of illustration and description. It is not intended to limit the present disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the present disclosure are grouped together in one or more embodiments, configurations, or embodiments for the purpose of streamlining the disclosure. The features of the embodiments, configurations, or embodiments may be combined in alternate embodiments, configurations, or embodiments other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention the present disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive embodiments lie in less than all features of a single foregoing disclosed embodiment, configuration, or aspect. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate aspect of the present disclosure.
Moreover, though the description of the present disclosure has included description of one or more embodiments, configurations, or embodiments and certain variations and modifications, other variations, combinations, and modifications are within the scope of the present disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative embodiments, configurations, or embodiments to the extent permitted, including alternate, interchangeable and/or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and/or equivalent structures, functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.
, Claims:I/We claim(s)

1. A pipeline inspection crawler (100) comprising:
a housing (102) comprising:
first and second motors (110, 112) disposed within the housing (102) such that each of the first and second motors (110, 112) is adapted to generate a rotational force;
first and second transmission assemblies (114, 116) coupled to the first and second motors (110, 112), respectively, such that the first and second motors (110, 112) are adapted to transmit the rotational force to the first and second transmission assemblies (114, 116), respectively, each transmission assembly of the first and second transmission assemblies (114, 116) comprising:
first and second set of gears (302a-302f, 304a-304f), respectively, such that each gear of the first and second set of gears (302a-302f, 304a-304f) comprising a bearing (206) that is disposed at a centre of each gear of the first and second set of gears (302a-302f, 304a-304f); and
a plate (118) that is removably disposed within the housing (102) such that the plate (118) supports a plurality of electronic components (402).

2. The pipeline inspection crawler (100) as claimed in claim 1, wherein the plate (118) is removably disposed within the housing (102).

3. The pipeline inspection crawler (100) as claimed in claim 1, wherein the first motor (110) is stacked on the second motor (112).

4. The pipeline inspection crawler (100) as claimed in claim 1, wherein the plate (118) further comprising first and second sides (404, 406) such that the plurality of electronic components (402) is supported on the first and second sides (404, 406).

5. The pipeline inspection crawler (100) as claimed in claim 1, further comprising:
an imaging device (104);
a pantograph mechanism (106) that is disposed on the housing (102) and coupled to the imaging device (104) such that the pantograph mechanism (106) is adapted to adjust a position of the imaging device (104) within a pipeline.

6. The pipeline inspection crawler (100) as claimed in claim 1, wherein the first and second transmission assemblies (114, 116) further comprising first and second bevel gears (202, 204), respectively, such that the first and second bevel gears (202, 204) comprising a bearing (206) disposed at a centre of the first and second bevel gears (202, 204).

7. The pipeline inspection crawler (100) as claimed in claim 6, wherein the first bevel gear (202) is coupled to the first motor (110) such that the first motor (110) transmits the rotational force to the first bevel gear (202).

8. The pipeline inspection crawler (100) as claimed in claim 6, wherein the second bevel gear (204) is coupled to the second motor (112) such that the second motor (112) transmits the rotational force to the second bevel gear (204).

9. The pipeline inspection crawler (100) as claimed in claim 7, wherein the first bevel gear (202) is adapted to, upon receipt of the rotational force, transmit the rotational force to the first set of gears (302a-302f).

10. The pipeline inspection crawler (100) as claimed in claim 8, wherein the second bevel gear (204) is adapted to, upon receipt of the rotational force, transmit the rotational force to the second set of gears (304a-304f).