A pipeline robot suitable for detection of multi-branch pipeline network

Abstract

The invention relates to a pipeline robot suitable for the detection of multi-branch pipeline networks. The pipeline robot comprises at least two sections of driving knuckles and at least one section of turning knuckle, wherein the adjacent two driving knuckles are connected through the turning knuckle; a front end cover is fixed to the front end surface of the driving knuckle positioned at the foremost end, and a sensor is mounted in the central position of the front end cover; a rear end cover is fixed to the rear end surface of the driving knuckle positioned at the rearmost end, and a universal spherical hinge is mounted in the central position of the rear end cover; each driving knuckle comprises a main rack, a driving mechanism and a telescopic mechanism, a plurality of driving mechanisms are uniformly mounted on the side wall of each main rack at intervals, the telescopic mechanisms are mounted in the main racks, and the driving mechanisms can be withdrawn into the main racks through the telescopic mechanisms; and the turning knuckle can drive the driving knuckle which is positioned in front of the turning knuckle and is connected with the turning knuckle to turn. The pipeline robot has the advantages that the pipeline robot can actively and freely turn; and a plurality of driving knuckles and turning knuckles can be connected according to actual conditions, so that the carrying capability of the pipeline robot is increased, and the detection requirements of pipeline networks with complicated branches and pipelines with different pipeline diameters are met.

Description

technical field [0001] The invention relates to the technical field of pipeline robots, in particular to a pipeline robot suitable for multi-branch pipeline network detection. Background technique [0002] Pipeline is an important part of the national lifeline project and the main artery of national energy. Its safe operation has a great impact on the national economic development. In order to ensure the safety of the pipeline, after the pipeline has been in operation for a period of time, it needs to be inspected to find potential safety hazards in time. [0003] The pipeline robot is the main driving device for pipeline inspection, and it crawls along the pipeline with inspection equipment to complete the inspection work of the pipeline. With the continuous development of the scale of my country's oil, gas and water supply pipelines, the structure of the pipeline network is becoming more and more complex. In particular, there are a large number of branch pipelines in the ...

AI Technical Summary

Problems solved by technology

Patent 2007100500568, 2012104818937 The machine body adopts an overall design, the cornering ability is poor, and it can only crawl along a single pipeline path with a large turning radius; The flexible connection can passively steer along the pipeline, which improves the cornering ability. However, this connection is a passive steering connection, and it can only crawl along a single pipeline path, and cannot realize active steering in a multi-branch pipeline network.

Through research and analysis, it is found that most of the existing pipeline robots are passive steering. When encountering branch pipelines, they cannot actively steer and cannot meet the detection requirements of complex branch pipeline networks.

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