Soft robot for natural gas small diameter pipeline inspection
A pipeline inspection and small-caliber technology, which is applied in the field of soft robots for natural gas small-diameter pipeline inspection, and can solve problems such as gas leakage, complicated connection methods, and easy-to-wear pipelines
Active Publication Date: 2019-09-27
SHANGHAI UNIV
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Problems solved by technology
In the actual inspection, there are a large number of small-diameter pipelines with a nominal diameter of DN25 or less, and the connection methods are complicated, and because the space is too small, it is difficult for inspection equipment to reach the inside of the pipeline, which brings hidden dangers to the safety of small-diameter natural gas pipelines
[0003] At present, the energy supply mode of most pipeline robots is batteries or DC motors. Obviously, for small pipelines, the batteries or DC motors of pipeline robots are relatively large, and it is difficult to enter small pipelines for detection
In addition, there is easy friction between the current rigid pipeline robot and the small-diameter natural gas pipeline wall, which is easy to wear the pipeline, causing gas leakage in the pipeline and causing an explosion
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[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0026] The purpose of the present invention is to provide a soft robot for natural gas small-diameter pipeline detection to solve the problems in the prior art. It has the advantages of small size, simple structure and autonomous movement, and can detect small-diameter natural gas pipelines Avoid situations where friction with the pipe wall causes pipe wear.
[0027] In order to make the above objects, features and advantages of the present invention more comp...
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The invention discloses a soft robot for natural gas small diameter pipeline inspection, and belongs to the technical field of natural gas small diameter pipeline inspection. The soft robot comprises a rear driving unit, a middle steering unit, a front steering head unit, a gas source and a controller. The rear driving unit, the middle steering unit and the front steering head unit are sequentially connected. The gas source is connected with the rear driving unit, the middle steering unit and the front steering head unit. Radial and axial deformation occurs after the rear driving unit is inflated. Bending deformation occurs after the middle steering unit is inflated. Radio deformation occurs after the front steering head unit is inflated, and the front steering head unit is used for detecting the leakage of the natural gas small diameter pipeline. The controller is electrically connected with the gas source so that the defects that the existing rigid pipeline robot is large in volume and cannot detect the small diameter pipeline and is liable to wear the pipeline can be overcome, the small diameter pipeline can be detected and the situation of pipeline wear caused by the friction with the pipeline wall can be avoided.
Description
technical field [0001] The invention relates to the technical field of small-diameter natural gas pipeline detection, in particular to a soft robot for detection of small-diameter natural gas pipelines. Background technique [0002] With the public's increasing attention to the safety and environmental protection of small-bore natural gas pipelines, the safety inspection of small-bore natural gas pipelines, especially leak detection, is becoming more and more important. In the actual inspection, there are a large number of small-bore pipelines with a nominal diameter of DN25 or less, and the connection methods are complicated, and because the space is too small, it is difficult for inspection equipment to reach the inside of the pipeline, which brings hidden dangers to the safety of small-bore natural gas pipelines. [0003] At present, the energy supply mode of most pipeline robots is batteries or DC motors. Obviously, for small pipelines, the volume of batteries or DC moto...
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IPC IPC(8): G01M3/00G01N21/95B25J11/00
CPCB25J11/00G01M3/00G01N21/95
Inventor 徐佳杨扬邵文韫钟宋义李小毛彭艳蒲华燕罗均谢少荣杨毅
Owner SHANGHAI UNIV