Pipeline robot system

Abstract

The invention provides a pipeline robot system. The device comprises a traction module and an operation module, the traction module is used for holding the outer side of a pipeline, and the operation module is used for penetrating the inner side of the pipeline. Wherein the traction module comprises a traction frame, and a first magnetic device and a walking mechanism which are arranged on the traction frame; the walking mechanism and the first magnetic device are arranged on the traction frame around a circumferential array of the pipeline; the operation module comprises an operation frame, wheel assemblies arranged around the circumferential array of the operation frame so as to abut against different circumferential positions of the inner wall of the pipeline at the same time, and second magnetic devices arranged around the circumferential array of the operation frame so as to attract the first magnetic devices. The two ends of the operation frame are used for assembling the operation assemblies. According to the pipeline robot system provided by the invention, the driving force of the operation module is provided by the traction module, so that the phenomenon that the operation module slips in the pipeline can be avoided, and the operation module can walk and move in the pipeline more conveniently and flexibly.

Description

Technical Field

[0001] This application belongs to the technical field of pipeline operation equipment, and more specifically, relates to a pipeline robot system. Background Art

[0002] In the scenario of operating inside a pipeline (such as gas-liquid pipelines like crude oil pipelines and natural gas pipelines), such as pipeline internal inspection and foreign object cleaning operations, a pipeline robot needs to enter the pipeline interior and move along the pipeline interior to the operation area.

[0003] Generally, the movement of a pipeline robot inside a pipeline is driven by pressing the walking mechanism against the inner sidewall of the pipeline and using friction. However, in actual operation scenarios, on the one hand, due to the smoothness of the inner side of gas-liquid pipelines, the walking mechanisms of conventional pipeline robots are prone to slipping inside the pipeline, thus affecting the movement efficiency and operation efficiency of the pipeline robot; on the other hand, since the robot is completely inside the pipeline and a power module needs to be set inside the robot, it not only makes the self-weight of the robot inside the pipeline heavier, thereby increasing the driving energy consumption, but also the configuration of a large-capacity power module affects the number of segments and length of the robot inside the pipeline, resulting in limited movement and lack of flexibility of the robot inside the pipeline. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a pipeline robot system to solve the technical problems that existing pipeline robots are prone to slipping and lack flexibility inside the pipeline.

[0005] To achieve the above purpose, the technical solution adopted in the embodiments of this application is to provide a pipeline robot system, which includes a traction module and an operation module. The traction module is used to be sleeved outside the pipeline, and the operation module is used to penetrate inside the pipeline. The traction module is used to drive the operation module to travel inside the pipeline, where: the traction module includes a traction frame, a first magnetic device, and a walking mechanism that are all arranged on the traction frame; the walking mechanism and the first magnetic device are arranged in an array around at least a partial circumferential area of the pipeline on the traction frame; the operation module includes an operation frame, a wheel assembly arranged in a circumferential array around the operation frame to simultaneously abut against different circumferential positions of the pipeline inner wall, and a second magnetic device arranged in a circumferential array around the operation frame to attract the first magnetic device. The operation frame is used to assemble operation equipment.

[0006] Optionally, the friction coefficient of the friction component of the walking mechanism in contact with the pipeline is greater than the friction coefficient of the friction component of the wheel assembly in contact with the pipeline.

[0007] Optionally, the towing frame is in a fully enclosed or semi-enclosed ring frame shape or tubular column shape; and / or, the towing frame can be diameter-varied according to the outer diameter of the pipeline to expand or contract; and / or, the working frame can be diameter-varied in the radial direction to expand or contract, so that each of the wheel assemblies can tightly abut against the inner wall of the pipeline with different pipe diameters.

[0008] Optionally, the traveling mechanisms are arranged at at least two different axial positions at the same circumferential position of the towing frame; the first magnetic device is arranged between the two traveling mechanisms at different axial positions at the same circumferential position.

[0009] Optionally, at least part of the traveling mechanisms include crawler assemblies, and at least part of the traveling mechanisms include crawler assemblies and power devices drivingly connected to the crawler assemblies.

[0010] Optionally, the shortest vertical distance between the part of the crawler assembly in contact with the outer wall of the pipeline and the towing frame can be variably set.

[0011] Optionally, the wheel assembly includes a plurality of friction wheels; the friction wheels are arranged at different axial positions at the same circumferential position on the working frame, and the second magnetic device is arranged on the working frame and between the two friction wheels at different axial positions at the same circumferential position.

[0012] Optionally, the working frame includes a diameter-variation driving device arranged on the axis of the working frame, a plurality of link mechanisms arranged in a circumferential array and driven by the diameter-variation driving device, and movable plates arranged on the outermost side in the radial direction and connected to the link mechanisms. A plurality of the movable plates are arranged in a circumferential array, and each movable plate is provided with the wheel assembly; the link mechanism is used to drive the movable plate to expand or contract in the radial direction.

[0013] Optionally, the diameter-variation driving device includes a rotating motor, a lead screw arranged axially, and two nuts rotatably arranged at different axial positions on the lead screw and rotating in opposite directions; part of the link mechanism connects one of the nuts, the working frame and the movable frame, and part of the link mechanism connects the other nut and the movable frame; preferably, a reset member is sleeved outside the lead screw and between the two nuts, and the reset member is used to push the two nuts away from each other.

[0014] Optionally, working equipment is assembled on the towing frame.

[0015] The pipeline robot system provided by the embodiment of the present application has at least the following beneficial effects:

[0016] By setting a traction module and an operation module, the traction module and the operation module are magnetically adsorbed through a magnetic device, and the power of the operation module is externalized. Thus, when the traction module moves, it can drive the operation module to move inside the pipeline. In this way, the driving force of the operation module is provided by the traction module. On the one hand, even if the wheel assembly on the operation module slips with the inner wall of the pipeline, the operation module can still move smoothly inside the pipeline. On the other hand, there is no need to configure a large-capacity power supply on the operation module to supply power for walking, which can reduce the length, volume and self-weight of the operation module, so that the movement of the operation module inside the pipeline is more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 Schematic diagram of the pipeline robot system in operation in some embodiments of the present application;

[0019] Figure 2 Stereogram of the traction module holding the outer wall of the pipeline in some embodiments of the present application;

[0020] Figure 3 Stereogram of the traction module in some embodiments of the present application;

[0021] Figure 4 and Figure 5 Stereogram of the operation module in some embodiments of the present application;

[0022] Figure 6 and Figure 7 Front view of the operation module in different embodiments of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clear, the following further details the present application in conjunction with the drawings and embodiments.

[0024] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0025] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element.

[0026] When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0027] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the present application.

[0028] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0029] In the description of the present application, "a plurality of" means two or more, unless otherwise specifically defined.

[0030] Please refer to Figures 1 to 7 together, and now a pipeline robot system provided by an embodiment of the present application will be described.

[0031] Referring to Figures 1 to 4 it can be understood that the pipeline robot system described in the embodiment of the present application includes a traction module 100 and an operation module 200. Among them, the traction module 100 is used to hold on the outer wall of the pipeline 300 and can actively travel along the outer wall of the pipeline 300; the operation module 200 is disposed inside the pipeline 300, and the traction module 100 is used to drive the operation module 200 to travel inside the pipeline 300, and the driving method is magnetic drive.

[0032] Specifically, referring to Figure 1 and Figure 3 the traction module 100 includes a traction frame 110 and a first magnetic device 120 and a traveling mechanism 130 disposed on the traction frame 110. Among them, at least part of the traveling mechanism 130 is connected to an external power supply device and a control device through a wire, or a power module and a wireless communication device are further disposed on the traction module 100 for supplying power to and controlling the traveling mechanism 130.

[0033] Among them, the traction frame 110 can be in a frame shape, for example, it can be a frame shape with a rectangular, annular, circular, or polygonal cross-section; the traction frame 110 can be in a hollow tubular shape, for example, it can be a tubular shape with a rectangular, annular, circular, or polygonal cross-section, and specifically it is not limited thereto.

[0034] The traveling mechanism 130 and the first magnetic device 120 are arranged in an array around at least a partial circumferential region of the pipeline 300 on the traction frame 110. In the setting mode where the traction frame 110 is in a frame shape, the traveling mechanism 130 and the first magnetic device 120 are arranged inside the frame of the traction frame 110; in the setting mode where the traction frame 110 is in a pipe column shape, the traveling mechanism 130 and the first magnetic device 120 are arranged inside the hollow of the pipe column of the traction frame 110. By arranging each traveling mechanism 130 and the first magnetic device 120 in this way, each traveling mechanism 130 can be closely attached to the outer wall of the pipeline 300 to hold the entire traction module 100 outside the pipeline 300, and the first magnetic device 120 can be as close as possible to the outer wall of the pipeline 300.

[0035] Furthermore, for the traveling mechanism 130, at the same axial position of the traction frame 110, the traveling mechanisms 130 are arranged in an equal-angle array. For example, they can be arranged in an array at intervals of 45°, 60°, 90° or other angles, and the number of arrays can be 2, 3, 4, etc. Moreover, the number of arrays of the traveling mechanisms 130 at the same axial position is at least 3 to ensure that the traction module 100 can stably hold on the outer wall of the pipeline 300; for the first magnetic device 120, at the same circumferential position of the traction frame 110, the number of the first magnetic devices 120 arranged is at least 2. In some embodiments, the central angle between some adjacent two first magnetic devices 120 is the same as the central angle between adjacent two traveling mechanisms 130.

[0036] Reference Figure 1 、 Figures 4 to 7 The operation module 200 includes an operation frame 210, a wheel assembly 220 and a second magnetic device 230. Among them, the operation frame 210 is used to assemble operation equipment, and the operation equipment includes, but is not limited to, pipeline operation equipment such as detection, grasping, obstacle clearing, cutting, welding, etc. The operation equipment can be arranged at both ends of the operation frame 210 to realize the operation on the inner wall or the pipe wall of the pipeline 300.

[0037] It can be understood that a power module and a communication module can be independently arranged on the operation module 200. The power module is used to supply power to the operation equipment, or wires connected to external power and communication equipment can be connected to the operation equipment assembled thereon.

[0038] Reference Figures 4 to 7, multiple groups of wheel assemblies 220 are arranged in a circumferential array around the operation frame 210, and each group of wheel assemblies 220 can simultaneously abut against different circumferential positions on the inner wall of the pipeline 300 so that the operation module 200 can be fixed inside the pipeline 300 or the operation module 200 can travel along the inner wall of the pipeline 300. For example, at the same circumferential position, the wheel assemblies 220 are arranged in an array with central angles of 45°, 60°, 90°, etc., and the number of wheel assemblies 220 arranged in the array at the same circumferential position is at least 3 to ensure that the operation module 200 can be stably held inside the pipeline 300.

[0039] Similarly, multiple groups of second magnetic devices 230 are also arranged in an equal-angle array around the circumferential direction of the operation frame 210. It should be noted that the central angle between at least some adjacent two second magnetic devices 230 is the same as the central angle between at least some adjacent two first magnetic devices 120. In this way, at least in a certain state where the traction module 100 and the operation module 200 cooperate with each other, at least two pairs of first magnetic devices 120 and second magnetic devices 230 can be directly opposite to each other on the inner and outer sides of the pipe wall of the pipeline 300 to adsorb each other, thereby improving the stability of the magnetic force traction of the traction module 100 on the operation module 200.

[0040] In some embodiments, both the first magnetic device 120 and the second magnetic device 230 can be permanent magnets, such as neodymium magnets; in other embodiments, the first magnetic device 120 can also be arranged as an electromagnet to generate an electromagnetic induction magnetic field by energization, and the second magnetic device 230 can be a permanent magnet, such as a neodymium magnet.

[0041] In some embodiments, the traveling mechanism 130 and the wheel assembly 220 can be friction wheels 221, or the traveling mechanism 130 can be a crawler mechanism. Preferably, the friction coefficient of the friction component of the traveling mechanism 130 in contact with the pipeline 300 is greater than the friction coefficient of the friction component of the wheel assembly 220 in contact with the pipeline 300. In this way, the traction module 100 can stably travel along the outer wall of the pipeline 300 without slipping and other phenomena, and the wheel assembly 220 only needs to be responsible for tracking and rolling.

[0042] Reference Figure 1 and Figure 2 , during the use process, the traction module 100 is held on the outer wall of the pipeline 300, and at the same time, the operation module 200 is inserted into the pipeline 300, and the circumferential position of the operation module 200 inside the pipeline 300 is adjusted so that at least two second magnetic devices 230 on the operation module 200 can be directly opposite to at least two first magnetic devices 120 on the traction module 100 to stably adsorb, and the operation module 200 is driven by driving the traveling mechanism of the traction module 100 to move forward.

[0043] By setting the pipeline robot system in such a way that the driving force of the operation module 200 is provided by the traction module 100, that is, the power of the operation module 200 is externalized. In this way, there are at least the following advantages:

[0044] In terms of the walking stability of the operation module 200, since the wheel assembly 220 on the operation module 200 is only used for supporting the operation frame 210 inside the pipeline 300, even if there is a slipping phenomenon between the wheel assembly 220 on the operation module 200 and the inner wall of the pipeline 300, it does not affect the movement of the operation module 200 inside the pipeline 300.

[0045] In terms of the structure and volume of the operation module 200, since there is no exact need to configure a large-capacity battery for walking power supply on the operation module 200, compared with the pipeline robots in the related art that are equipped with multiple large-capacity battery modules to achieve long-range walking and moving, the self-weight and volume (such as length or diameter) of the operation module 200 in this embodiment can be better controlled, making the walking and moving of the operation module 200 inside the pipeline more lightweight and flexible.

[0046] In some embodiments, the traction frame 110 is in the shape of a fully enclosed ring frame, a semi-enclosed ring frame, a fully enclosed pipe column, a semi-enclosed pipe column, etc., and is not specifically limited thereto.

[0047] Based on any of the above embodiments of the traction frame 110, the traction frame 110 can be variably sized according to the outer diameter of the pipeline 300 to expand or contract, so that the traction module 100 can adapt to more pipelines 300 with different pipe diameters. For example, the traction frame 110 can be set to be in the shape of multiple mutually rotatable hinges in the circumferential direction, and the included angle between adjacent hinges is changed to change the pipe diameter that the traction frame 110 can hold; or, referring to Figures 1 to 3 , the structural members of the traveling mechanism 130 assembled on the traction frame 110 can move radially so that each traveling mechanism 130 can closely adhere to the outer wall of the pipeline 300.

[0048] Referring to Figures 1 to 3 , based on any of the above embodiments, the traveling mechanism 130 and the second magnetic device 230 on the traction module 100 can be set in the following ways, that is:

[0049] At least two different axial positions at the same circumferential position of the traction frame 110 are provided with traveling mechanisms 130, that is, the traveling mechanisms 130 are arranged in an axial array at the same circumferential position. For example, in the same axis, the number of the traveling mechanisms 130 provided can be 2 groups, 3 groups, etc.; by arranging the traveling mechanisms 130 in this way, the traveling mechanisms 130 can stably hold the traction frame 110 outside the pipeline 300. Corresponding to the arrangement mode of the traveling mechanisms 130, the first magnetic device 120 is arranged between two traveling mechanisms 130 located at different axial positions.

[0050] Reference Figure 3 , on the basis of any of the above embodiments, the traveling mechanism 130 can be arranged in the following ways, that is, the traveling mechanism 130 can only consist of the track assembly 131, or the traveling mechanism 130 is composed of the track assembly 131 and the friction wheel together. Further, it can be understood that only some of the track assemblies 131 have the active driving ability, some of the track assemblies 131 only have the passive moving ability, or all of the track assemblies 131 have the active driving ability. Among the track assemblies 131 with the active driving ability, some of the pulleys in the track assembly 131 are connected to the power device 132, and the power device 132 can be a DC motor.

[0051] In some embodiments, the material of the track 136 can be selected as a non-metallic material, such as a rubber material, so that the track 136 has a high friction coefficient.

[0052] Further, the shortest vertical distance between the part of the track assembly 131 in contact with the outer wall of the pipeline 300 and the traction frame 110 can be variably set. It can be understood that this setting mode of the track assembly 131 is applicable to various embodiments in which the traction frame 110 has variable diameter setting and non-variable diameter setting.

[0053] Specifically, in some embodiments, both the length and height of the track assembly 131 can be variably set. That is, reference Figure 3 , the track assembly 131 includes a mounting frame 135, a plurality of movable rods 133 movably arranged on the mounting frame 135, pulleys 134 rotatably arranged on each movable rod 133, and a track 136. Each movable rod 133 can be unfolded or retracted on the upper and lower sides of the mounting frame 135. The rotation driving modes of each movable rod 133 include, but are not limited to, driving modes such as a rotating motor, a combined structure of a linear moving mechanism and a connecting rod, etc.

[0054] For example, when the rotation driving mode of the movable rod 133 is a rotating motor, the rotating motor is arranged on the mounting frame 135 and its rotating shaft is fixedly connected to the movable rod 133; when the rotation driving mode of the movable rod 133 is a combination of a linear moving mechanism and a connecting rod, the linear moving mechanism is extended along the length direction of the mounting frame, and the two ends of each connecting rod are respectively rotatably connected to the driving end on the linear moving mechanism and the movable rod 133. When the driving end of the linear moving mechanism moves along the length direction of the mounting frame 135, the connecting rod pushes the movable rod 133 to expand or drives the movable rod 133 to retract.

[0055] When the movable rod 133 is unfolded, the annular height of the track 136 increases and the length of the annular ring decreases, and the diameter of the pipe that the traction frame 110 can hold is reduced; when the movable rod 133 is retracted, the annular height of the track 136 decreases and the length of the annular ring increases, and the diameter of the pipe that the traction frame 110 can hold is increased.

[0056] In other embodiments, a telescopic mechanism is connected between the track assembly 131 and the traction frame 110. By controlling the telescopic length of the telescopic mechanism to adjust the shortest vertical distance between the track assembly 131 and the traction frame 110, the diameter of the pipeline 300 that each track assembly 131 can hold can be increased or decreased.

[0057] refer to Figures 4 to 7 On the basis of any of the above embodiments, corresponding to the variable setting of the pipe diameter that the traction module 100 can hold, the working frame 210 can change its diameter in the radial direction to expand or contract, so that each wheel assembly 220 can move radially to closely abut the inner wall of the pipe 300 of different diameters.

[0058] It is understandable that each wheel assembly 220 includes a plurality of friction wheels 221, and friction wheels 221 are arranged at different axial positions at the same circumferential position on the work frame 210; for example, in some embodiments, each wheel assembly 220 includes two friction wheels 221 arranged in parallel in the transverse direction and at least two friction wheels 221 arranged in parallel in the axial direction. Corresponding to the arrangement of the first magnetic device 120 described above, the second magnetic device 230 is arranged between two friction wheels 221 at the same circumferential position of the work frame 210 and at different axial positions.

[0059] refer to Figures 4 to 7In a further embodiment, the working frame 210 can be set to change diameter in the radial direction in the following manner. That is, the working frame 210 includes a diameter-changing driving device 240 arranged on the axis of the working frame 210, a plurality of connecting rod mechanisms 250 arranged along a circumferential array and driven by the diameter-changing driving device 240, and a movable plate 260 arranged at the outermost radial side and connected to the connecting rod mechanism 250, a plurality of movable plates 260 are arranged along a circumferential array, and each movable plate 260 is provided with a wheel assembly 220; the connecting rod mechanism 250 is used to drive the movable plate 260 to expand or contract in the radial direction.

[0060] Specifically, the aforementioned variable diameter driving device 240 may have the following several implementations.

[0061] For example, refer to Figures 4 to 6 In some embodiments, the variable diameter driving device 240 includes a rotating motor, a screw rod 241 arranged along the axial direction, and two nuts 242 rotatably arranged at different axial positions on the screw rod 241 and rotating in opposite directions. Wherein, both ends of each movable plate 260 are connected to a connecting rod mechanism 250.

[0062] Specifically, the connecting rod mechanism 250 connected to one end of the movable plate 260 includes a first connecting rod 251 and a second connecting rod 252, and the two ends of the first connecting rod 251 are respectively rotatably connected to the work frame 210 and the movable plate 260, and the two ends of the second connecting rod 252 are respectively connected to the middle part of the first connecting rod 251 and the nut 242; the connecting rod mechanism 250 connected to the other end of the movable plate 260 includes a third connecting rod 253, and the two ends of the third connecting rod 253 are respectively rotatably connected to the nut 242 and the movable plate 260.

[0063] When the rotating motor drives the screw rod 241 to rotate around the axis, the two nuts 242 on the screw rod 241 move linearly in opposite directions. When the two nuts 242 move away from each other, the movable plate 260 is stretched open, that is, the linear distance between the movable plate 260 and the screw rod 241 increases. At this time, the operating module 200 can adapt to the pipe 300 with a larger diameter; when the two nuts 242 approach each other, the movable plate 260 is retracted, that is, the linear distance between the movable plate 260 and the screw rod 241 decreases. At this time, the operating module 200 can adapt to the pipe 300 with a smaller diameter.

[0064] Furthermore, a reset member 243 is sleeved outside the screw rod 241 and between the two nuts 242. The reset member 243 is used to push the two nuts 242 away from each other. Preferably, the reset member 243 is a torsion spring. The reset member 243 is used to spread the two nuts 242 apart so that the movable plate 260 is kept in radial movement toward the pipe wall, so that each friction wheel 221 on the movable plate 260 can be pressed against the pipe wall.

[0065] For example, refer toFigure 7 , in some other embodiments, the diameter-changing driving device 240 includes a rotating motor disposed on the axis of the operation module 200 and a diameter-changing disk 244 driven by the rotating motor to rotate around the axis of the operation frame 210.

[0066] In this embodiment, the operation frame 210 is in a ring frame shape, and the diameter-changing disk 244 is disposed inside the ring frame of the operation frame 210; the link mechanism 250 includes a link 254 rotatably disposed at one end on the diameter-changing disk, and the link mechanism 250 further includes a slider assembly 255 slidably disposed on the link 254. The slider assembly 255 is rotatably connected to the operation frame 210, and the other end of the link is rotatably connected to a movable plate 260. It should be noted that in this embodiment, each movable plate 260 is connected with at least two parallel link mechanisms 250 at the same axial position. At the same time, corresponding to the number of movable plates 260 at the same axial position, the link mechanisms 250 are circumferentially disposed on the diameter-changing disk 244 in a multiple relationship with the movable plates 260.

[0067] When the rotating motor drives the diameter-changing disk 244 to rotate forward, the diameter-changing disk 244 pulls each link 254 to rotate. Since the slider assembly 255 is rotatably disposed on the operation frame 210, the link 254 and the slider assembly 255 slide relative to each other, thereby pulling the movable plate 260 closer to the operation frame 210. At this time, the abutting diameter of the operation module 200 becomes smaller; when the rotating motor drives the diameter-changing disk 244 to rotate in the reverse direction, on the contrary, the abutting diameter of the operation module 200 becomes larger.

[0068] Based on the above embodiments, in addition to the operation equipment being assemblable on the operation frame 210, the operation equipment can also be assembled on the traction frame 110. Similarly, the operation equipment includes, but is not limited to, pipeline operation equipment such as detection, grasping, obstacle removal, cutting, and welding, so as to perform operations on the outer wall or the pipe wall of the pipeline 300.

[0069] The above are only the preferred embodiments of the present application and are not intended to limit the present application. In addition, any of the above embodiments / embodiments can be arbitrarily combined and should not be understood as a single limitation. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A pipeline robot system, characterized in that: It includes a traction module and an operation module, wherein the traction module is used to hold the outside of the pipeline, the operation module is used to penetrate the inside of the pipeline, and the traction module is used to drive the operation module to move inside the pipeline, wherein: The traction module comprises a traction frame, and a first magnetic device and a running mechanism both arranged on the traction frame; the running mechanism and the first magnetic device are arranged in an array around at least a part of the circumferential area of ​​the pipeline on the traction frame; The operation module includes an operation frame, a wheel assembly arranged in a circumferential array around the operation frame to simultaneously abut against different circumferential positions of the inner wall of the pipeline, and a second magnetic device arranged in a circumferential array around the operation frame to attract the first magnetic device; the operation frame is used to assemble operation equipment.

2. The pipeline robot system according to claim 1, characterized in that: The friction coefficient of the friction component on the walking mechanism that contacts the pipeline is greater than the friction coefficient of the friction component on the wheel assembly that contacts the pipeline.

3. The pipeline robot system according to claim 1, characterized in that: The traction frame is in the shape of a fully enclosed or semi-enclosed ring frame or a tubular column; and / or, the traction frame can change its diameter to expand or contract according to the outer diameter of the pipeline; and / or, the working frame can change its diameter in the radial direction to expand or contract, so that each of the wheel assemblies can tightly abut against the inner wall of the pipeline with different diameters.

4. The pipeline robot system according to any one of claims 1 to 3, characterized in that: The traveling mechanism is arranged at at least two different axial positions on the same circumferential position of the traction frame; and the first magnetic device is arranged between two traveling mechanisms at different axial positions on the same circumferential position.

5. The pipeline robot system according to claim 2, characterized in that: At least part of the traveling mechanism comprises a crawler track assembly, and at least part of the traveling mechanism comprises a crawler track assembly and a power device drivingly connected to the crawler track assembly.

6. The pipeline robot system according to claim 5, characterized in that: The shortest vertical distance between the portion of the crawler assembly that contacts the outer wall of the pipeline and the traction frame can be variably set.

7. The pipeline robot system according to any one of claims 1 to 3, characterized in that: The wheel assembly includes a plurality of friction wheels; the friction wheels are arranged at different axial positions at the same circumferential position on the working frame; the second magnetic device is arranged on the working frame and located between two friction wheels at different axial positions at the same circumferential position.

8. The pipeline robot system according to claim 3, characterized in that: The working frame includes a variable diameter driving device arranged on the axis of the working frame, a plurality of connecting rod mechanisms arranged along a circumferential array and driven by the variable diameter driving device, and a movable plate arranged at the radially outermost side and connected to the connecting rod mechanism. A plurality of movable plates are arranged along the circumferential array, and the wheel assembly is arranged on each movable plate; the connecting rod mechanism is used to drive the movable plate to expand or contract radially.

9. The pipeline robot system according to claim 8, characterized in that: The variable diameter driving device includes a rotating motor, a screw rod arranged along the axial direction, and two nuts rotatably arranged on the screw rod at different axial positions and with opposite rotation directions; part of the connecting rod mechanism connects one of the nuts, the working frame and the movable frame, and part of the connecting rod mechanism connects the other nut and the movable frame; preferably, a reset member is sleeved on the outside of the screw rod and located between the two nuts, and the reset member is used to push the two nuts away from each other.

10. The pipeline robot system according to claim 1, characterized in that: The traction frame is equipped with operating equipment.

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