Self-adjusting type pipeline robot and working method in pipeline thereof

Abstract

The invention discloses a self-adjusting type pipeline robot and a working method in a pipeline thereof. The self-adjusting type pipeline robot comprises a first main body, a second main body, a camera and a control chip. The first main body comprises a first adjusting unit, a first rotating base, a fourth motor and a third installing base. The second main body comprises a second adjusting unit and a second rotating base. The first rotating base and the second rotating base are connected through hinges. The fourth motor is fixed to the third installing base and drives the first rotating base.When the diameter of the pipeline changes, the first adjusting unit and the second adjusting unit adapt to the change of the pipe diameter; when the pipeline is bent, the fourth motor drives the firstrotating base to rotate, when the first main body can rotate around a hinge shaft of a first hinge block and a hinge shaft of a second hinge block, adaption to bending of the pipeline is achieved, the bent pipeline is entered, and the fourth motor stops rotating; and along with the main body entering the bent pipeline, the angle between the first main body and the second main body is adjusted constantly until the second main body enters the pipeline completely. The self-adjusting type pipeline robot can adjust the pose and the size automatically according to the bending and pipe diameter changing situation of the pipeline, and suitability of the pipeline robot is reinforced.

Description

technical field [0001] The invention belongs to the field of pipeline robots, and in particular relates to a self-adjusting pipeline robot and its working method in pipelines. Background technique [0002] In the process of oil and gas transmission and sewer sewage discharge, a large number of pipeline projects are involved. With the increase of pipeline laying length, problems such as foreign body blockage and welding leaks are highlighted. The current pipe robot is suitable for pipes with uniform pipe diameter and large bend radius. It has the disadvantages of single work target, high requirements for the working environment, and poor adaptability, and cannot meet complex pipe environments such as sudden pipe bends or pipe diameter changes. [0003] Therefore, in order to adapt to the complex pipeline environment, a self-adjusting pipeline robot is required to meet the needs of different pipeline environments and improve the efficiency of pipeline maintenance and sewage di...

AI Technical Summary

Problems solved by technology

The current pipe robot is suitable for pipes with uniform pipe diameter and large bend radius. It has disadvantages such as single work target, high requ

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