1331results about "Pigs/moles" patented technology

The invention belongs to the technical field of petrochemical engineering pipeline monitoring, and discloses an intelligent detection and repair system and method for petrochemical engineering pipeline leakage, and the method comprises the following modules: a data collection module which comprehensively monitors the leakage condition and environmental parameters in a pipeline by deploying a high-precision and low-power-consumption multi-parameter sensor network; the data transmission module is responsible for safely and reliably transmitting the collected data to the cloud processing center; the data processing and analyzing module is used for cleaning, processing and analyzing the collected data and extracting feature information; the leakage identification module is used for identifying and judging leakage events based on various algorithms; the leakage positioning module is used for accurately determining a leakage position; and the leakage evaluation module is used for evaluating the leakage degree, type and potential risk.

The invention provides a snakelike metal pipeline internal detection robot and an application method, and belongs to the technical field of pipeline detection and maintenance. The robot mainly comprises two tank probe vehicles of the same structure and a snakelike joint body connected between the two tank probe vehicles. The tank probe vehicle integrates a crawler-type walking mechanism, a detection unit, an operation unit, a magnetic adsorption unit, a control unit and a power unit, can provide main driving force, is adsorbed on the wall of a metal pipe and executes detection operation. The snakelike joint body is composed of a plurality of joint sections connected through movable joints, the unique conical helical tooth meshing design of the snakelike joint body enables the joint sections to generate multi-degree-of-freedom deflection, and therefore the whole robot can flexibly adapt to bending changes of vertical, horizontal and various bent pipes, and stable snakelike winding movement is achieved. The problems that an existing pipeline robot is poor in adaptability to complex pipelines and single in function are solved, and long-distance and all-directional detection and multifunctional operation under the complex pipeline environment are achieved.

The invention discloses a pipeline robot positioning method, system and device based on an odometer wheel and an IMU and a medium, and relates to the technical field of robot positioning and pipeline detection. The method comprises the following steps: determining an initial attitude angle of the pipeline robot in a static state according to acceleration data and magnetic force data collected by an IMU (Inertial Measurement Unit); based on a compensated angular velocity obtained by denoising angular velocity data collected by an IMU by using a complementary filtering algorithm, updating an initial attitude angle by using an Euler angle method to obtain an attitude angle matrix, and performing optimal estimation by using a nonlinear state estimation algorithm; performing consistency verification on the pulse data of the plurality of odometer wheels, determining corresponding effective pulse data through weighted correction, and then determining a mileage increment; and based on the optimized attitude angle matrix, the mileage increment is projected to a navigation coordinate system so as to solve the real-time position coordinate of the pipeline robot. The problems that the pipeline robot is poor in trafficability and low in positioning precision when facing a complex pipe network can be solved.

A system includes a navigation apparatus and controller. The navigation apparatus includes a body assembly that includes a plurality of pneumatic or artificial muscles that are configured to interact with a sidewall of the conduit and move the body assembly through the conduit. The plurality of pneumatic or artificial muscles are independently actuated to steer the body assembly. The navigation apparatus also includes a sensor array coupled to the body assembly. The sensor array is positioned to interact with the sidewall of the conduit and provide signals as the body assembly moves through the interior cavity. The controller is communicatively coupled to the sensor array and configured to determine a characteristic of the conduit based on the signals provided by the sensor array.

This internal inspection device is for determining a length and inner diameter of a tubular good. The internal inspection device includes a first positioning sensor, a second positioning sensor spaced axially from the first positioning sensor, a displacement sensor the displacement of the internal inspection device inside the tubular good between two positions sensed by the respective positioning sensors, the internal inspection device further including a electronic arranged to computing the length of the tubular good by adding a distance measured by the displacement sensor and a predetermined length.

A deep pipe product hole lining pasting device comprises a pipe fitting supporting displacement unit, a lining pasting unit, a gluing unit, a cantilever conveying unit, a supporting device and a base, the pipe fitting supporting displacement unit comprises an adjustable supporting mechanism, a chuck, a rotary driving mechanism and an axial adjusting mechanism, and the adjustable supporting mechanism is installed on the base through a guide rail sliding block; the rotary driving mechanism is installed at the tail end of the base and used for bearing the chuck, and the axial adjusting mechanism is fixed to the middle of the base and connected with the adjustable supporting mechanism. The cantilever conveying unit comprises a transplanting mechanism and a cantilever mechanism, the cantilever mechanism is installed on a transplanting mechanism platform, and the transplanting mechanism is installed at the front end of the base; the lining pasting unit comprises a swing mechanism, a lining supporting mechanism and a clamping jaw used for being matched with the supporting device. According to the device, automatic pasting, supporting solidification and gap glue supplementing of linings in medium-diameter deep pipe products can be achieved, the problem that manual operation is difficult is solved, and the automation degree and the production efficiency are effectively improved.

The invention belongs to the technical field of outer pipeline obstacle-crossing carrying robots, aims to complete the detection task of the whole circumference of the surface of an outer pipeline in a narrow working space, and discloses an outer pipeline obstacle-crossing carrying robot in a complex environment, which comprises a self-adaptive clamping unit, a middle motor joint bending obstacle-crossing unit and a combined wheel type moving unit, the self-adaptive clamping units are connected to the front portion and the rear portion of the middle motor joint bending obstacle crossing unit, the combined wheel type moving unit is connected with the self-adaptive clamping units, a connecting rod body serves as a power source for active clamping of a single-side arm through a worm and gear, and the robot conducts inchworm type axial movement through the middle motor joint bending obstacle crossing unit. Front-back movement and directional rotation are carried out through the combined wheel type moving unit. The device can adapt to space inclined and bent pipeline structures, has the capacity of treating obstacles such as pipe diameter abrupt change, pipeline hanging brackets and bosses, and has certain load capacity.

The invention relates to a trenchless pipeline repairing device and a repairing method thereof.The trenchless pipeline repairing device comprises a charging barrel, a repairing disc and a connecting pipe, the repairing disc comprises a first protective cover, a second protective cover, a driving assembly, a flow dividing pipe, output pipes, a spray head and a first loading plate, the flow dividing pipe is rotationally connected and communicated with the connecting pipe, and the multiple output pipes evenly communicate with the side wall of the flow dividing pipe at intervals; the nozzle is communicated with the output end of the output pipe, the first loading plate is fixedly connected with the nozzle, the first protective cover and the second protective cover are arranged at the two ends of the flow dividing pipe correspondingly and fixedly connected with the flow dividing pipe, and the driving assembly is arranged on the connecting pipe and the second protective cover and used for driving the flow dividing pipe to rotate. The first loading plate is used for feeding the repairing agent in the material barrel into the repairing disc and located on the edge of an inner cavity formed by the first protective cover and the second protective cover. The method has the advantages that the repairing effect of sufficient filling is guaranteed, and meanwhile the repairing efficiency is improved.

The invention belongs to the technical field of pipeline cleaning equipment, and provides a pipeline inner wall cleaning robot which comprises a front mechanism, a middle structure and a sweeping structure which are sequentially connected, and a driving structure is mounted on the outer surface of the middle structure; the front mechanism comprises a front support, the front support is connected with the middle structure through a universal joint, a plurality of first buffering structures are arranged on the outer side of the front support at equal intervals, and a direction wheel set is arranged at the ends, away from the front support, of the first buffering structures. Steering of the front support and the middle structure is achieved through the universal joint, and then the robot can walk in a bent pipeline; a plurality of first buffer structures are arranged on the outer side of the front support at equal intervals, and direction wheel sets are arranged at the ends, away from the front support, of the first buffer structures. The first buffer structure can stretch out and draw back so that the direction wheel set can make contact with the inner walls of the pipelines of different diameters, and then the device adapts to the pipelines of different diameters.

The invention relates to the technical field of pipeline production, and aims to solve the technical problems of leak detection, high labor intensity of manual repair and the like. In order to solve the technical problem, the invention provides the pipeline robot and the method for detecting and repairing the defects of the inner wall of the pipeline. The pipeline robot comprises a robot body walking in a pipeline; the three-dimensional detection assembly is arranged at the front end of the robot body; a laser of the three-dimensional detection assembly emits a laser beam and forms a light ring on the inner wall of the to-be-detected pipeline; the 3D camera is used for shooting light rings; the lifting assembly is connected with the robot body and the three-dimensional detection assembly to drive the three-dimensional detection assembly to lift; the repairing assembly is arranged at the tail end of the robot body. A polishing brush of the repairing assembly is connected with a rotary power part so as to drive the polishing brush to rotate in the horizontal plane and the vertical plane. According to the invention, surface defects can be detected with high precision and high efficiency, detection and repair are integrated, and labor intensity is reduced.

The hose inner supporting device facilitating pipeline inner wall repairing comprises a main shaft, one end of the main shaft is provided with ultraviolet hardening equipment used for curing an inner pipe, the other end of the main shaft is provided with a detection assembly used for detecting damage and collapse, and the middle of the main shaft is provided with an inner diameter detection assembly; the inner diameter detection assembly comprises a first sleeve and a second sleeve which are arranged on the outer side of the main shaft in a sleeving mode, the inner diameter of the second sleeve is larger than the outer diameter of the main shaft, and a plurality of expansion arms are arranged on the outer side of the first sleeve in a circumferential array mode. When collapse resetting needs to be carried out, rotary hardening is carried out, finally, the whole inner diameter is consistent with the expected effect, later flow detection is facilitated, and the blocking risk is also reduced, and a first connecting rod, an annular rod and a second connecting rod are arranged to be expanded along with the inner diameter detection assembly so that an auxiliary rod can be located at the optimal position all the time; when the operating rod is needed, only the first motor needs to be started, and secondary inner diameter positioning is not needed.

The invention provides a pipeline detecting and cleaning robot, which belongs to the technical field of pipeline robots and comprises a main body, a first motor, an image acquisition detector and a cleaning assembly. Two supporting assemblies are arranged on the main body, each supporting assembly comprises a plurality of supporting rods evenly arranged in the circumferential direction of the main body in a surrounding mode, one ends of the supporting rods are connected with the main body, the other ends of the supporting rods are provided with walking wheels, the first motors are arranged on the supporting rods, the main body is driven to move in a pipeline by driving the walking wheels, and the image acquisition detector is arranged at the front end of the main body. The cleaning assembly is arranged at the front end of the main body and comprises a crushing wheel and a high-pressure water spray head, the crushing wheel is driven by a second motor arranged at the front end of the main body and used for crushing garbage, and a high-pressure water spray head pipe is arranged towards the front end of the main body and used for spraying high-pressure water to wash the garbage. The pipeline detecting and cleaning robot provided by the invention can replace manual work to detect and clean the pipeline, so that the safety and the convenience are greatly improved.

The invention relates to the technical field of pipeline robots, and discloses a probing robot for automatically recognizing defects of a drainage pipe culvert under the water operation condition. The movement mechanisms cling to the inner wall of the pipeline and are used for detecting the movement of the robot; the rotating mechanism is rotationally mounted on the peripheral side of the robot body; the pressure mechanisms are fixedly mounted on the outer wall of the rotating mechanism, attached to the inner wall of the pipeline and used for collecting pressure value related electric signals; the detection system is mounted in the robot body; the detection system comprises a signal processor module, a wireless transmission equipment module and an infrared camera module; the pressure mechanism, the rotating mechanism and the detection system are matched to realize accurate positioning of defect points on the inner wall of the pipeline. Through combination of mechanical contact type detection and kinematic model positioning, high-precision spatial positioning and identification of the inner wall of the pipeline are realized in a high-turbidity and full-pipe water-carrying environment, and data support is provided for subsequent pipeline maintenance and repair.

The invention relates to the technical field of drainage pipeline detection, and discloses an endoscopic detection device for a drainage pipeline, which comprises a detection assembly and a detection assembly, the detection assembly comprises a walking vehicle, the walking vehicle is provided with a detection head, and the tail part of the walking vehicle is connected with a wire; the positioning assembly is arranged on the wire and comprises a positioning piece, the positioning piece comprises a guide wheel located on the outer side of the wire, a fixing column is fixed in the guide wheel, a connecting plate is rotationally connected to the outer side of the fixing column, a connecting rod is fixed to the top of the connecting plate, and a winding wheel is arranged on the top of the connecting rod. The beneficial effects of the invention are that through the arrangement of the positioning assembly, the cable can be kept in a stable bending state and does not rub with the inner wall of the pipeline, thereby avoiding signal interruption or equipment short circuit caused by wear of an outer sheath of the cable, conductor fracture and cracking of an insulating layer, eliminating the influence of frictional resistance on the connection point of the detection head and the walking mechanism, and improving the detection precision. Detection interruption caused by disconnection of the two is avoided, and the detection process is continuous and stable.

The invention relates to the technical field of pipeline plugging, and provides a pipeline plugging robot which is characterized in that the open end of a first mounting cylinder is inserted in the axis direction of the open end of a second mounting cylinder, and the open end of the second mounting cylinder can synchronously enter a preset slot of the first mounting cylinder along with pushing of the insertion action; a nested structure that the second mounting cylinder wraps the open end of the first mounting cylinder is formed; at the moment, the outer wall of the first mounting cylinder is tightly attached to the inner wall of the second mounting cylinder; and the inner wall of the extrusion sleeve is synchronously and tightly attached to the outer wall of the second mounting cylinder, sealing constraint is further formed on the periphery of the second mounting cylinder, and a medium in the pipeline is prevented from entering the first mounting cylinder and the second mounting cylinder. In the rotating process of the anchoring motor, the first transmission assembly drives the slips to move in the radial direction of the second mounting cylinder, the slips can penetrate through the channels in a one-to-one correspondence mode in the moving process, and the closing plate is driven to achieve reinforced sealing of the channels.

The utility model belongs to the technical field of pipeline construction, and particularly relates to a positioning device of a pipeline detection head, which comprises an outer mounting frame, a hollow connecting rope is fixedly connected in the outer mounting frame, a limiting rod penetrates through the hollow connecting rope, and a connecting sleeve rope is wrapped on the outer side of the limiting rod. One end of the connecting sleeve rope is fixedly connected to the top of the hollow connecting rope, an electromagnetic adsorption plate is fixedly connected to the bottom of the hollow connecting rope, a probe mounting frame is arranged below the electromagnetic adsorption plate, a connecting seat is fixedly connected to the top of the probe mounting frame, and a mounting seat is fixedly connected to the top of the connecting seat; the top of the mounting seat is in threaded connection with an adsorption magnetic plate; the detection head is limited inside the pipeline outside the pipeline, so that a worker can intuitively and conveniently position the detector during construction operation, and meanwhile, the worker can conveniently adjust the position of the detection head.

A pig for use in a pipeline is provided for determining the material of the pipeline in the context of an inline inspection. The pig includes a position determination unit and at least one braking arrangement for immobilizing the pig at a certain position in the pipeline. The pig also includes an X-ray fluorescence sensor.

The invention discloses a pipeline robot, and belongs to the technical field of robots, the pipeline robot comprises a bending assembly and a plurality of moving assemblies, each moving assembly comprises a moving driving part, a radial adjusting part and a plurality of wheel sets, the moving driving part is in transmission connection with each wheel set, and the moving driving part is in transmission connection with each wheel set in the radial direction of a pipeline; the radial adjusting part is used for adjusting the maximum distance between each wheel set and the moving driving part, and the bending assembly is connected between the two moving assemblies. According to the pipeline robot, the radial adjusting piece can adjust the maximum distance between each wheel set and the moving driving piece in the radial direction of the pipeline, so that the pipeline robot can be matched with different pipeline inner diameters, the bending assemblies enable the two adjacent moving assemblies to be flexibly connected, the pipeline robot can smoothly pass through the bent position of the pipeline, and the pipeline robot can be used for machining the pipeline. And the trafficability of the pipeline robot is improved.

The invention discloses an internal detection robot cable take-up and pay-off device which comprises a bearing frame, a reel is rotationally installed on the bearing frame, shaft barrels are fixedly arranged at the two ends of the reel respectively, the two shaft barrels are rotationally installed on the bearing frame, one of the two shaft barrels is connected with the rotating end of an optical fiber sliding ring in an inserted mode, and the other end of the optical fiber sliding ring is connected with a cable. The fixed end of the optical fiber slip ring is fixedly arranged on the bearing frame, a pulley is arranged on the bearing frame above the reel along the axial direction of the reel in a sliding manner, and a first driving structure for driving the reel to rotate and a second driving structure for driving the pulley to slide on the bearing frame are arranged on the bearing frame. According to the cable winding and unwinding device for the internal detection robot, an active winding and unwinding structure is adopted, cables are wound and unwound in a vertical wire inlet and outlet mode, in the winding and unwinding process, the cables can be wound on a reel or unwound from the reel in sequence at a constant speed, and the working efficiency of the robot is improved.

The invention relates to the technical field of municipal old pipe network repair, and aims to solve the problems that a traditional excavation repair method is long in construction period and affects traffic and environment, and an existing ultraviolet light curing repair technology is not fine in process step and inaccurate in parameter control. The background technology shows that the municipal old pipe network maintenance demand is urgent in the urbanization process, the trenchless repair technology is concerned due to the fact that large-scale excavation is not needed, and the ultraviolet light curing repair technology is rapid in repair and reliable in quality, but the steps of pipeline pretreatment, material preparation and the like are lack of standardized processes. And improper control of key parameters such as curing temperature and time easily affects the performance of the lining pipe. On the basis, according to the non-excavation ultraviolet light curing repair construction method for the municipal old pipe network, through refined steps and strict parameter control, the repair effect and efficiency are improved, the influence on normal operation of a city is reduced, and an optimization scheme is provided for pipe network maintenance.

The utility model discloses a magnetic flux leakage internal detection device for the inner wall of a pipeline, and relates to the technical field of pipeline maintenance. The device comprises a supporting pipe, two lifting assemblies are symmetrically arranged on the outer surface of the supporting pipe, a magnet is arranged at the top end of each lifting assembly, a driving assembly is arranged in the supporting pipe, a detection assembly is arranged on one side of each magnet, and an elastic supporting assembly is arranged on one side of each magnet. The lifting assembly is driven by the driving assembly to ascend and descend, the magnets are driven by the lifting assembly to expand outwards, meanwhile, the detection assembly is driven by the magnets to ascend and descend together, and therefore when pipelines with different diameters are detected, only the driving assembly needs to be driven, and the detection efficiency is improved. The multiple magnets and the detection assemblies can be expanded according to pipelines of different specifications, so that the detection device can detect the pipelines of various specifications, meanwhile, the detection effect can be guaranteed, and the overall applicability of the device is improved.

This invention relates to the field of pipeline robot technology, specifically a pipeline robot suitable for underground pipeline network inspection. It includes a housing, a detection component, a first underwater camera, a second underwater camera, and two fixing mechanisms; the two fixing mechanisms are symmetrically arranged; the housing is located between the two fixing mechanisms, and a first electric telescopic rod for driving one side of the cylinder to move along its length is installed inside the housing; a mounting shaft is rotatably mounted on the housing, and a second power component for driving the mounting shaft to rotate is installed inside the housing; the mounting shaft is connected to the other side of the cylinder; the detection component is mounted on the mounting shaft; the first and second underwater cameras are respectively mounted on the outer ends of the two side cylinders. This invention has good stability and can easily overcome obstacles inside pipelines.

The invention discloses a waterproof crawling robot. The robot comprises a driving mechanism, a supporting and adjusting mechanism, a camera shooting detection assembly, a slapping communication mechanism, a coupling unit and a control unit. The driving mechanism adopts four-wheel independent driving and differential steering; the supporting adjusting mechanism is of a crossed supporting rod structure. The slapping communication mechanism is composed of an eccentric cam and a firing pin or an electromagnetic releaser and a leaf spring firing pin, and mechanical pulses are transmitted to the pipe wall through an elastic cushion or a thin film resonant cavity of the coupling unit. The control unit carries out coordinated proceeding, detection and communication, a mute time slot is formed before and after slapping, acoustic signals are collected, and communication and echo ranging are achieved. According to the scheme, the strong rhythm pulse is used as a synchronous reference of communication and positioning, self-noise interference is effectively suppressed, stable communication and centimeter-level positioning are achieved in metal, full water and complex pipe networks, and the task completion rate is remarkably increased.

The invention provides a reducing pipeline robot based on Mecanum wheels. The reducing pipeline robot comprises a double-shaft steering engine, brushless motors arranged on the two sides of the double-shaft steering engine; the reducing Mecanum wheel comprises an outer hub disc, a guide rail optical axis, a middle hub disc, an inner hub disc, a lead screw and a stepping motor which are coaxially and sequentially connected. The reducing Mecanum wheel further comprises a hub composed of five reducing units of the same structure. The reducing unit is connected with the middle hub disc and the inner hub disc at the same time; the five variable-diameter units are unfolded or contracted to the same size at the same time to form hubs with different diameters, and the variable-diameter pipeline robot can work in pipelines with different diameters. Through the structure innovation and intelligent technology, full-scene efficient maintenance of the pipeline is achieved, and industry transformation and upgrading are promoted.

A robot sized and shaped for reception in a pipe, the robot including a chassis configured for movement of the robot in the pipe, a plurality of sensors including an inertial measurement unit (IMU), an encoder and a stereo vison camera associated with the robot, and a sensor fusion system operable to combine readings from the IMU, the encoder and the stereo vision camera to determine a position of the robot within the pipe, and wherein the sensor fusion system is operable to use machine learning in creating a digital twin of the pipe.

The underwater video detection device provided by the utility model freely advances in a drainage pipeline filled with water through the spiral roller, performs initial detection by using the high-definition camera, and sends shot image data to a database through the PLC control system for disease diagnosis and comparison. The system can feed back suspected disease points in real time, the angle of the camera is adjusted through the rotating shaft mechanism and the lifting support, and accurate shooting is ensured; the expansion fixing function of the transparent air bag ensures that the camera is stably fixed at the disease position for detailed shooting. The image data is evaluated by the disease model in the database, so that the accuracy and efficiency of pipeline inspection are improved. According to the design, real-time monitoring, accurate diagnosis and flexible adjustment are integrated, the intelligent level and automation capability of pipeline detection are greatly improved, manual intervention is reduced, the intelligence and accuracy of the detection process are improved, and the reliability of pipeline maintenance is enhanced.

The invention relates to the technical field of robots, and discloses a self-adaptive pipe wall obstacle crossing quadruped bionic robot which comprises a robot body, a quadruped supporting leg assembly, an obstacle sensing assembly and a control system. The core innovation of the device is that a diversified adsorption system is integrated, and the device comprises an electric control permanent magnet adsorption foot end used for a ferromagnetic pipe wall and an adaptation assembly comprising a grinding assembly and a negative pressure adsorption assembly; the polishing assembly can conduct pretreatment on the dirty surface, the negative pressure adsorption assembly ensures reliable adsorption on the non-ferromagnetic pipe wall, and perfect attachment of a suction cup to any curved surface is achieved through the synergistic effect of a universal joint and an electric telescopic rod. The system has highly intelligent sensing and control capability, and by fusing information of the three-dimensional vision sensor, the laser radar, the inertial measurement unit and the joint torque sensor, the control system can not only accurately sense obstacles but also autonomously plan obstacle crossing gaits. The application range and the operation reliability of the pipeline robot are greatly improved.

The utility model relates to the technical field of pressure pipeline maintenance, in particular to a pressure pipeline deformation detection device which comprises a moving vehicle body, a first detection assembly and a second detection assembly, and the first detection assembly and the second detection assembly are arranged at the two ends of the moving vehicle body respectively in the moving direction of the moving vehicle body in a pressure pipeline; the first detection assembly comprises a supporting component, a displacement sensor, a detection component and a spring, the supporting component is arranged on the mobile vehicle body, the displacement sensor is arranged on the supporting component, and the detection component is slidably connected with the detection end of the displacement sensor; the spring is arranged between the detection component and the detection end of the displacement sensor along the moving direction of the detection component; the second detection assembly comprises a pull rope encoder and a limiting component, the pull rope encoder is arranged on the movable vehicle body, and one end of the pull rope encoder is connected with the limiting component. The pressure pipeline deformation detection device provided by the utility model can detect the deformation quantity of the inner wall of the pressure pipeline, is simple and convenient to operate, and saves time and labor.

The application belongs to the technical field of ultraviolet light curing pipeline repair, in particular to an adjusting structure for ultraviolet light curing pipeline repair, which comprises a supporting seat, four slide grooves are arranged in an annular array on the surface of the supporting seat, a supporting leg assembly is rotatably connected in the slide groove and is used for expanding and abutting against the inner wall of the pipeline, a traction rope is connected through the middle part of the supporting seat, the supporting leg assembly comprises a swing arm, the swing arm is hingedly connected to the slide groove through a shaft at one end, and a connecting seat is slidably connected to the other end of the swing arm, the connecting seat and the connecting rod are arranged, when the lining pipeline with variable diameter is adapted, the connecting rod at the bottom of the connecting seat will slide in the movable cavity, the gap between the connecting seat and the end of the swing arm can be adjusted, so that the lining pipeline with different inner diameters can be adapted without changing the deflection angle of the swing arm, the lining pipeline with variable diameter can be adapted, and the position of the ultraviolet lamp tube will not change, which will not affect the curing effect of the ultraviolet lamp tube on the lining pipeline.

The invention discloses a multifunctional variable-diameter nuclear waste conveying pipeline cleaning robot, and relates to the technical field of nuclear industry pipeline maintenance equipment.The multifunctional variable-diameter nuclear waste conveying pipeline cleaning robot comprises a walking module, a variable-diameter module, a cleaning module and a detection module, and all the modules are integrated on a machine body frame; a collaborative linkage design of a series elastic driver (a main driving end) and a bionic joint leg (a driven wheel end) is adopted as the core, the main driving end adapts to nuclear pipeline advancing impact through elastic buffering, and the driven wheel end adapts to a complex inner wall through flexible posture adjustment. The variable-diameter module is linked with a connecting rod to adjust the radius of the wheel set to realize pipe diameter self-adaption; the cleaning module integrates a rotating brush and a cavitation jet device to remove radioactive scales; the detection module carries a sensor and a camera to monitor the pipeline state. The robot can complete cleaning and monitoring of nuclear pipelines of multiple specifications, and stable and smooth operation of the robot in pipelines of different pipe diameters is guaranteed through linkage of the series elastic drivers and the bionic joint legs.