Pipeline cleaning robot capable of adapting to change of different pipeline diameters and method

Abstract

The invention discloses a pipeline cleaning robot capable of adapting to change of different pipeline diameters and a method. The pipeline cleaning robot comprises a radial walking mechanism, a powertransforming mechanism, a pipeline diameter self-adaption mechanism and a cleaning mechanism; the radial walking mechanism comprises a plurality of walking units which are distributed in the circumference of a main shaft of a robot body, and all the walking units are of the same structures; the power transforming mechanism transmits power located on a motor shaft of the main shaft of the robot body to each walking unit in a direction changing mode to realize direction changing and transmission of power; the pipeline diameter self-adaption mechanism comprises an adjusting mechanism and a connecting rod which is connected with the radial walking mechanism, and the adjusting mechanism drives the connecting rod to move, by changing the position of the adjusting mechanism on the main shaft, movement of the connecting rod is achieved, meanwhile, the adjusting mechanism drives the distance between the radial walking mechanism and the main shaft in the radial direction to achieve adaption of the pipeline diameters; and the cleaning mechanism is arranged at the front end of the main shaft and cleans different positions in the pipeline along with moving of the radial walking mechanism.

Description

technical field [0001] The invention relates to a pipeline cleaning robot and a method that can adapt to changes in different pipeline diameters. Background technique [0002] During the process of transporting liquid and gas, pipelines used for oil, natural gas, and even civil water and sewage often coke at high temperatures due to different temperatures, pressures, and physical and chemical interactions between the medium and the pipeline, resulting in the formation of oil, scale, and deposits. Corrosive substances, etc., reduce the effective transmission pipe diameter, reduce efficiency, increase material consumption and energy consumption, interrupt process flow, equipment failure, and safety accidents. Although these conditions can be improved to a certain extent by adding chemical agents, adopting reasonable technological process, and carrying out water quality treatment measures, it is impossible to completely avoid the generation of fouling. For a long time, 80% of ...

AI Technical Summary

Problems solved by technology

However, the adjustment process of the robot is complex and slow, and an infrared detection device is required to detect obstacles; each track wheel needs to be equipped with a motor, which makes the whole machine heavier, more complex in structure, and has a higher failure rate; the cleaning arm cannot completely cover the inner surface of the pipe, There are omissions in cleaning, poor alignment and low cleaning efficiency

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