Self-adaptive pipe diameter adjusting type petroleum oil pipe intelligent cleaning robot

Abstract

The invention belongs to the technical field of pipeline inner wall cleaning, and particularly relates to a self-adaptive pipe diameter adjusting type petroleum oil pipe intelligent cleaning robot which comprises a shell, and the shell is composed of a left shell body and a right shell body which are the same in structure. According to the supporting mechanism, a bidirectional threaded rod linkage structure hinged through a universal joint is adopted, and an electromagnetic cylinder and a moving block are matched to cooperatively control supporting legs to stretch out and draw back dynamically, so that the device is adaptive to different pipe diameters and bent pipe forms, and the device can be stably attached in a round pipe, an oval pipe or a bent pipe; the driving mechanism is based on bevel gear transmission and is combined with a radial pressure compensation mechanism to realize the multidirectional moving capability of vertical climbing and horizontal propelling; the exploration mechanism is integrated with a two-degree-of-freedom holder, and the cleaning process is monitored in real time through axial looking and radial pitching scanning in cooperation with self-adaptive light supplement; the cleaning mechanism innovatively integrates a rotary cutting drill bit, an adjustable blade set and a high-speed brush roller, the operation radius is dynamically adjusted through an extension rod, and stubborn scaling crushing, pipe wall scraping and chipping sweeping are synchronously completed.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline inner wall cleaning, and particularly to an intelligent cleaning robot for petroleum oil pipes with adaptive pipe diameter adjustment. Background Art

[0002] A pipeline is a device for transporting gases, liquids, or fluids with solid particles. Usually, after the fluid is pressurized by a blower, compressor, pump, boiler, etc., it flows from the high-pressure part of the pipeline to the low-pressure part. It can also be transported by the pressure or gravity of the fluid itself. When the pipeline is used to transport petroleum, since there are certain impurities in the petroleum, the impurities will accumulate and precipitate over a long time, and then form stains. The stains will precipitate on the inner wall of the pipeline, reducing the inner diameter of the pipeline and decreasing the oil output of the pipeline. Therefore, it is necessary to clean the inner wall of the pipeline.

[0003] However, the current pipeline cleaning operation faces multiple technical bottlenecks: Firstly, traditional cleaning equipment highly depends on manual operation, resulting in a high labor intensity for operators; Secondly, in the scenario of ultra-long-distance pipelines, limited by the length of the tool arm and mechanical rigidity, there are always operation blind spots in the central area cleaning; Moreover, restricted by the confined space of the pipeline, operators can neither directly visually detect the cleaning quality nor easily obtain the working state of the end effector in real time, resulting in a significant reduction in the accuracy and controllability of the pipeline inner wall cleaning process.

[0004] Therefore, those skilled in the art have proposed an intelligent cleaning robot for petroleum oil pipes with adaptive pipe diameter adjustment. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides an intelligent cleaning robot for petroleum oil pipes with adaptive pipe diameter adjustment to solve the problems in the prior art that firstly, traditional cleaning equipment highly depends on manual operation, resulting in a high labor intensity for operators; secondly, in the scenario of ultra-long-distance pipelines, limited by the length of the tool arm and mechanical rigidity, there are always operation blind spots in the central area cleaning; moreover, restricted by the confined space of the pipeline, operators can neither directly visually detect the cleaning quality nor easily obtain the working state of the end effector in real time, resulting in a significant reduction in the accuracy and controllability of the pipeline inner wall cleaning process, etc.

[0006] An intelligent cleaning robot for oil pipes with adaptive pipe diameter adjustment, including a housing. The housing is composed of two left shells and right shells with the same structure. The structures of the left shell and the right shell both include two groups of bearing seats. Fixed plates are fixedly connected to the outer surfaces of the two groups of bearing seats. The two fixed plates are fixedly connected by four groups of connecting rods, a universal joint. The left shell and the right shell are movably connected through the universal joint, support legs and wheel bodies. Three groups of support legs are circumferentially and equidistantly arranged on both the left and right sides of the housing. The inner ends of the support legs far from the housing are rotatably connected with wheel bodies through pins. A support mechanism is arranged inside the housing, and the support mechanism is used to adjust the opening and closing of the support legs. A driving mechanism is arranged on the outer surface of the support legs, and the driving mechanism is used to drive the wheel bodies to rotate. An exploration mechanism is arranged on the right side of the housing, and the exploration mechanism is used to detect the internal environment of the oil pipe. A cleaning mechanism is arranged on the right side of the exploration mechanism, and the cleaning mechanism is used to clean the inside of the oil pipe.

[0007] Preferably, the support mechanism includes a motor seat fixedly connected to the outer surface of the left fixed plate. A stepping motor is fixedly installed on the outside of the motor seat. The output end of the stepping motor extends into the interior of the motor seat and is fixedly connected with an elastic coupling. A first threaded rod is arranged inside the left shell. The left end of the first threaded rod penetrates through the bearing seat and is fixedly connected with the elastic coupling. The right end of the first threaded rod also penetrates through the bearing seat and is fixedly connected with one side of the universal joint.

[0008] Preferably, a first moving block is arranged on the outer surface of the first threaded rod. The first moving block is threadedly connected with the first threaded rod through a first nut seat. The outer surface of the right fixed plate of the left shell is rotatably connected with three groups of the support legs. Three groups of first electromagnetic cylinders are circumferentially and equidistantly movably installed on the outer surface of the first moving block. The extending ends of the first electromagnetic cylinders are all movably connected with the support legs. A second threaded rod is arranged inside the right shell.

[0009] Preferably, the left end of the second threaded rod penetrates through the bearing seat and is fixedly connected with the other side of the universal joint. The right end of the second threaded rod extends into the interior of the bearing seat. A second moving block is arranged on the outer surface of the second threaded rod. The second moving block is threadedly connected with the second threaded rod through a second nut seat. Three groups of second electromagnetic cylinders are circumferentially and equidistantly movably installed on the outer surface of the right fixed plate of the right shell. The outer surface of the second moving block is rotatably connected with the other three groups of support legs. The extending ends of the second electromagnetic cylinders are all movably connected with the support legs.

[0010] Preferably, the driving mechanism includes a first bevel gear. The pin inside the support leg extends to the outside of the support leg and is fixedly connected with the first bevel gear. A first driving motor is fixedly installed on the outer surface of the support leg. The output end of the first driving motor is fixedly connected with a second bevel gear. The second bevel gear is meshed with the first bevel gear.

[0011] Preferably, the exploration mechanism includes a steering gear base fixedly connected to the left fixing plate on the right shell. A first steering gear is fixedly installed on the top of the steering gear base. The output end of the first steering gear is fixedly connected to a second steering gear. The output end of the second steering gear is fixedly connected to a pan-tilt head. A camera is quickly disassembled and assembled on the outside of the pan-tilt head. A supplementary light is arranged on the upper side of the camera and on the outer surface of the pan-tilt head.

[0012] Preferably, the cleaning mechanism includes an L-shaped mounting seat fixedly connected to the outer surface of the right bearing seat on the right shell. A second driving motor is fixedly installed on the horizontal plate of the L-shaped mounting seat. The output end of the second driving motor is fixedly connected to a turntable. A drill bit is fixedly connected to the outside of the turntable. The periphery inside the turntable is hollow. Two extension rods are rotatably connected to the inside of the turntable through pin shafts.

[0013] Preferably, two groups of electromagnetic cylinders three are also rotatably connected to the inside of the turntable. The extending ends of the electromagnetic cylinders three are all movably connected to the extension rods. The ends of the extension rods far from the turntable are all movably connected to movable shells. Six groups of blades are arranged on the outer surface of the movable shells. Four groups of brush rollers are rotatably connected to the inside of the movable shells.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. Through the design of the support mechanism of the present invention, the linkage structure of the bidirectional threaded rod articulated by the universal joint realizes the synchronous and symmetric adjustment of the left and right shells of the device. The coordinated action of the electromagnetic cylinder and the moving block enables the support legs to have dynamic telescopic ability, which can adapt to the bending forms of different pipe diameters or irregular pipes, and can not only stably fit the inner wall of the circular pipe, but also maintain effective adhesion at the elliptical deformed pipe section or the elbow joint.

[0016] 2. Through the design of the driving mechanism of the present invention, the power transmission by bevel gears is adopted, and combined with the radial pressure compensation mechanism provided by the support mechanism, it can not only climb vertically but also advance horizontally, forming a multi-directional moving ability.

[0017] 3. Through the design of the exploration mechanism of the present invention, a combined observation of axial panoramic scanning and radial pitching detection of the pipeline is realized. The cooperation of the supplementary light and the camera can not only detect the pipeline structure in front but also monitor the cleaning effect in real time, providing visual decision-making support for the operation process.

[0018] 4. Through the design of the cleaning mechanism of the present invention, it integrates rotary cutting, crushing, scraping, and cleaning, realizes the adjustment of the dynamic working radius of the extension rod, and the movable shell has a combined application of blades and brush rollers, which can not only remove stubborn scale but also sweep away loose residues, further improving the practicability of the device. Description of the Drawings

[0019] Figure 1Schematic diagram of the overall three-dimensional structure of the present invention;

[0020] Figure 2 Schematic diagram of the three-dimensional structure of the outer shell of the present invention;

[0021] Figure 3 Schematic diagram of the three-dimensional structure of a part of the support mechanism of the present invention;

[0022] Figure 4 Schematic diagram of the three-dimensional structure of the remaining part of the support mechanism of the present invention;

[0023] Figure 5 Schematic diagram of the three-dimensional structure of the driving mechanism of the present invention;

[0024] Figure 6 Schematic diagram of the three-dimensional structure of the exploration mechanism of the present invention;

[0025] Figure 7 Schematic diagram of the three-dimensional structure of the cleaning mechanism of the present invention;

[0026] Figure 8 Schematic diagram of the three-dimensional structure of the extension rod of the present invention;

[0027] Figure 9 For the present invention Figure 8 Partial enlarged structure schematic diagram at position A in.

[0028] In the figure:

[0029] 1. Outer shell; 101. Bearing seat; 102. Fixed plate; 103. Connecting rod; 2. Universal joint; 3. Support leg; 4. Wheel body; 5. Support mechanism; 501. Motor seat; 502. Stepper motor; 503. Elastic coupling; 504. First threaded rod; 505. First moving block; 506. First nut seat; 507. First electromagnetic cylinder; 508. Second threaded rod; 509. Second moving block; 510. Second nut seat; 511. Second electromagnetic cylinder; 6. Driving mechanism; 601. First bevel gear; 602. First driving motor; 603. Second bevel gear; 7. Exploration mechanism; 701. Servo seat; 702. First servo; 703. Second servo; 704. Cloud platform; 705. Camera; 706. Fill light; 8. Cleaning mechanism; 801. L-shaped mounting seat; 802. Second driving motor; 803. Turntable; 804. Drill bit; 805. Extension rod; 806. Third electromagnetic cylinder; 807. Movable shell; 808. Blade; 809. Brush roller. Specific embodiments

[0030] The following further describes in detail the embodiments of the present invention in conjunction with the drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0031] Example 1:

[0032] As shown in the appended Figure 1 to the appended Figure 9 As shown, the present invention provides an intelligent cleaning robot for petroleum tubing with adaptive pipe diameter adjustment, including a housing 1. The housing 1 is composed of two left and right housings with the same structure. The structures of the left and right housings both include two groups of bearing seats 101. Fixed connection plates 102 are fixedly connected to the outer surfaces of the two groups of bearing seats 101. The two connection plates 102 are fixedly connected by four groups of connecting rods 103. A universal joint 2, the left and right housings are movably connected by the universal joint 2. Support legs 3 and wheel bodies 4. Three groups of support legs 3 are circumferentially and equidistantly arranged on both the left and right sides of the housing 1. The inner ends of the support legs 3 far away from the housing 1 are rotatably connected with wheel bodies 4 through pins. A support mechanism 5, the support mechanism 5 is arranged inside the housing 1, and the support mechanism 5 is used to adjust the opening and closing of the support legs 3. A driving mechanism 6, the driving mechanism 6 is arranged on the outer surface of the support legs 3, and the driving mechanism 6 is used to drive the wheel bodies 4 to rotate. An exploration mechanism 7, the exploration mechanism 7 is arranged on the right side of the housing 1, and the exploration mechanism 7 is used to detect the internal environment of the tubing. A cleaning mechanism 8, the cleaning mechanism 8 is arranged on the right side of the exploration mechanism 7, and the cleaning mechanism 8 is used to clean the inside of the tubing.

[0033] As can be seen from the above, when the device needs to be used, first, the opening and closing degree of the support legs 3 is adjusted through the support mechanism 5, so that the wheel bodies 4 inside the support legs 3 are attached to the inner walls of pipes with different inner diameters, thereby supporting the entire device. Then, the driving mechanism 6 is used to drive the wheel bodies 4 to rotate, and then the device is driven to move inside the pipe through the wheel bodies 4. Then, the exploration mechanism 7 is used to detect the moving direction of the pipe or check the cleaning condition of the inner wall of the pipe by the device. Finally, the cleaning mechanism 8 is used to clean the stains on the inner wall of the pipe, so as to meet the cleaning of the inner walls of pipes with different inner diameters, and improve the practicability and applicability of the device.

[0034] Embodiment 2:

[0035] As shown in the appended Figure 3 to the appended Figure 4As shown in the figure, this embodiment is basically the same as the previous one. The difference is that the support mechanism 5 includes a motor base 501 fixedly connected to the outer surface of the left fixed plate 102. A stepping motor 502 is fixedly installed on the outside of the motor base 501. The output end of the stepping motor 502 extends into the interior of the motor base 501 and is fixedly connected to an elastic coupling 503. Inside the left housing, there is a first threaded rod 504. The left end of the first threaded rod 504 passes through the bearing block 101 and is fixedly connected to the elastic coupling 503. The right end of the first threaded rod 504 also passes through the bearing block 101 and is fixedly connected to one side of the universal joint 2. A first moving block 505 is arranged on the outer surface of the first threaded rod 504. The first moving block 505 is threadedly connected to the first threaded rod 504 through a first nut seat 506. The outer surface of the right fixed plate 102 of the left housing is rotatably connected to three groups of support legs 3. Three electromagnetic cylinders 507 are circumferentially and equidistantly movably installed on the outer surface of the first moving block 505. The extending ends of the electromagnetic cylinders 507 are all movably connected to the support legs 3. Inside the right housing, there is a second threaded rod 508. The left end of the second threaded rod 508 passes through the bearing block 101 and is fixedly connected to the other side of the universal joint 2. The right end of the second threaded rod 508 extends into the interior of the bearing block 101. A second moving block 509 is arranged on the outer surface of the second threaded rod 508. The second moving block 509 is threadedly connected to the second threaded rod 508 through a second nut seat 510. Three electromagnetic cylinders 511 are circumferentially and equidistantly movably installed on the outer surface of the right fixed plate 102 of the right housing. The outer surface of the second moving block 509 is rotatably connected to the other three groups of support legs 3. The extending ends of the electromagnetic cylinders 511 are all movably connected to the support legs 3.

[0036] As can be seen from the above, when it is necessary to adjust the support legs 3 for pipes with different inner diameters so that the wheel body 4 fits the inner wall of the pipe, first, turn on the stepping motor 502. The stepping motor 502 drives the elastic coupling 503 to rotate. The elastic coupling 503 drives the first threaded rod 504 to rotate. When the first threaded rod 504 rotates, it drives the first moving block 505 to move through the first nut seat 506, thereby shortening the relative distance between the electromagnetic cylinder 507 and the support leg 3, and thus slowly opening the support legs 3 of the left housing. It should be noted that when the first threaded rod 504 rotates, it drives the universal joint 2 to rotate, and the universal joint 2 drives the second threaded rod 508 to rotate synchronously. The second threaded rod 508 drives the second moving block 509 to move through the second nut seat 510, driving the support legs 3 of the right housing and the electromagnetic cylinder 511 to shorten the relative distance, so that the support legs 3 of the right housing slowly open. At the same time, through the design of the electromagnetic cylinder 507 and the electromagnetic cylinder 511, the opening and closing of the support legs 3 can be separately controlled, enabling the device to meet pipes of different shapes. And due to the characteristics of the universal joint 2, the left housing and the right housing can be bent to a certain extent, further expanding the applicability of the device.

[0037] Embodiment 3:

[0038] As shown in the attached Figure 5As shown in the figure, this embodiment is basically the same as the previous one, except that the driving mechanism 6 includes a first bevel gear 601. The pin shaft inside the support leg 3 extends to the outside of the support leg 3 and is fixedly connected to the first bevel gear 601. A first driving motor 602 is fixedly installed on the outer surface of the support leg 3. The output end of the first driving motor 602 is fixedly connected to a second bevel gear 603. The second bevel gear 603 is meshed with the first bevel gear 601.

[0039] As can be seen from the above, when the device needs to be driven to move in the pipeline, the first driving motor 602 is turned on. The first driving motor 602 drives the second bevel gear 603 to rotate, and then drives the engaged first bevel gear 601 to rotate. When the first bevel gear 601 rotates, it drives the pin shaft fixedly connected to the wheel body 4 to rotate. With the internal support force provided by the support mechanism 5, when the wheel body 4 rotates, the device can be driven to move forward or backward in the pipeline.

[0040] Embodiment 4:

[0041] As shown in the attached Figure 6 figure, this embodiment is basically the same as the previous one, except that the exploration mechanism 7 includes a servo base 701 fixedly connected to the left fixing plate 102 on the right shell. A first servo 702 is fixedly installed on the top of the servo base 701. The output end of the first servo 702 is fixedly connected to a second servo 703. The output end of the second servo 703 is fixedly connected to a pan-tilt head 704. A camera 705 is quickly disassembled and assembled on the outside of the pan-tilt head 704. A supplementary light 706 is arranged on the upper side of the camera 705 and on the outer surface of the pan-tilt head 704.

[0042] As can be seen from the above, since the first servo 702 can rotate 360 degrees, the camera 705 above the pan-tilt head 704 driven by the second servo 703 can view the front and back directions in the pipeline. The second servo 703 can rotate 180 degrees and can drive the camera 705 above the pan-tilt head 704 to pitch. By using the combination of the first servo 702 and the second servo 703, the effect of the pipeline before and after cleaning can be observed. And through the illumination of the supplementary light 706, the staff can directly view the inside of the pipeline through the camera 705, improving the accuracy of the device for pipeline cleaning.

[0043] Embodiment 5:

[0044] As shown in the attached Figure 7 to the attached Figure 9As shown in the figure, this embodiment is basically the same as the previous one. The difference is that the cleaning mechanism 8 includes an L-shaped mounting seat 801 fixedly connected to the outer surface of the bearing seat 101 on the right side of the right housing. A second driving motor 802 is fixedly installed on the horizontal plate of the L-shaped mounting seat 801. The output end of the second driving motor 802 is fixedly connected to a turntable 803. A drill bit 804 is fixedly connected to the outside of the turntable 803. The periphery inside the turntable 803 is hollow. Two extension rods 805 are rotationally connected to the inside of the turntable 803 through pin shafts. Two groups of electromagnetic cylinders three 806 are also rotationally connected to the inside of the turntable 803. The extending ends of the electromagnetic cylinders three 806 are all movably connected to the extension rods 805. The ends of the extension rods 805 far from the turntable 803 are all movably connected to movable shells 807. Six groups of blades 808 are arranged on the outer surface of the movable shells 807. Four groups of brush rollers 809 are rotationally connected to the inside of the movable shells 807.

[0045] As can be seen from the above, when the device reaches the place where the pipeline needs to be cleaned, turn on the electromagnetic cylinder three 806. The electromagnetic cylinder three 806 drives the extension rod 805 to tilt, so that the two extension rods 805 are adapted to the inner wall of the pipeline. Then turn on the second driving motor 802. The second driving motor 802 drives the turntable 803 to rotate, and then drives the two extension rods 805 to rotate. The rotation of the extension rod 805 drives the movable shell 807 to rotate around the circumference of the turntable 803. It should be noted that when the turntable 803 rotates, it will drive the drill bit 804 to rotate. The drill bit 804 will break the obstacles existing in the pipeline. And the inner wall of the pipeline is scraped by the blades 808 inside the movable shell 807. The residues after the inner wall of the pipeline is scraped can be cleaned by the brush rollers 809, which further improves the applicability and practicability of the device.

[0046] The embodiments of the present invention are given for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. An intelligent cleaning robot for petroleum tubing with adaptive pipe diameter adjustment, characterized in that Comprising: A housing (1), the housing (1) being composed of two left and right housings with the same structure, and the structures of the left and right housings both include two sets of bearing seats (101). The outer surfaces of the two sets of bearing seats (101) are fixedly connected to fixing plates (102), and the two fixing plates (102) are fixedly connected by four sets of connecting rods (103); A universal joint (2), the left and right housings being movably connected by the universal joint (2); Support legs (3) and wheel bodies (4), three sets of support legs (3) being circumferentially and equidistantly arranged on both the left and right sides of the housing (1). The inner ends of the support legs (3) away from the housing (1) are all rotatably connected to wheel bodies (4) through pin shafts; A support mechanism (5), the support mechanism (5) being arranged inside the housing (1), and the support mechanism (5) being used to adjust the opening and closing of the support legs (3); A driving mechanism (6), the driving mechanism (6) being arranged on the outer surface of the support legs (3), and the driving mechanism (6) being used to drive the wheel bodies (4) to rotate; An exploration mechanism (7), the exploration mechanism (7) being arranged on the right side of the housing (1), and the exploration mechanism (7) being used to detect the internal environment of the oil pipe; A cleaning mechanism (8), the cleaning mechanism (8) being arranged on the right side of the exploration mechanism (7), and the cleaning mechanism (8) being used to clean the inside of the oil pipe.

2. The intelligent cleaning robot for petroleum tubing with adjustable pipe diameter adaptively according to claim 1, wherein, The support mechanism (5) includes a motor seat (501) fixedly connected to the outer surface of the left fixing plate (102). A stepping motor (502) is fixedly installed on the outside of the motor seat (501). The output end of the stepping motor (502) extends into the motor seat (501) and is fixedly connected to an elastic coupling (503). A first threaded rod (504) is arranged inside the left housing. The left end of the first threaded rod (504) penetrates through the bearing seat (101) and is fixedly connected to the elastic coupling (503). The right end of the first threaded rod (504) also penetrates through the bearing seat (101) and is fixedly connected to one side of the universal joint (2).

3. The adaptive pipe diameter adjustable intelligent cleaning robot for oil pipelines according to claim 2, characterized in that, A first moving block (505) is arranged on the outer surface of the first threaded rod (504). The first moving block (505) is threadedly connected to the first threaded rod (504) through a first nut seat (506). The outer surface of the right fixing plate (102) of the left housing is rotatably connected to three of the support legs (3). Three electromagnetic cylinders (507) are circumferentially and equidistantly movably installed on the outer surface of the first moving block (505). The extending ends of the electromagnetic cylinders (507) are all movably connected to the support legs (3). A second threaded rod (508) is arranged inside the right housing.

4. The intelligent cleaning robot for oil pipes with adjustable diameter adaptively according to claim 3, wherein The left end of the second threaded rod (508) penetrates through the bearing seat (101) and is fixedly connected to the other side of the universal joint (2). The right end of the second threaded rod (508) extends into the interior of the bearing seat (101). A second moving block (509) is arranged on the outer surface of the second threaded rod (508). The second moving block (509) is threadedly connected to the second threaded rod (508) through a second nut seat (510). Three sets of second electromagnetic cylinders (511) are equidistantly and movably installed on the outer circumference of the right-side fixing plate (102) of the right shell. The outer surface of the second moving block (509) is rotatably connected to another three sets of support legs (3). The extending ends of the second electromagnetic cylinders (511) and the support legs (3) are all movably connected.

5. The intelligent cleaning robot for petroleum tubing with adaptive pipe diameter adjustment according to claim 1, characterized in that, The driving mechanism (6) includes a first bevel gear (601). The pin shaft inside the support leg (3) extends to the outside of the support leg (3) and is fixedly connected to the first bevel gear (601). A first driving motor (602) is fixedly installed on the outer surface of the support leg (3). The output end of the first driving motor (602) is fixedly connected to a second bevel gear (603). The second bevel gear (603) is meshed with the first bevel gear (601).

6. The adaptive pipe diameter adjustable intelligent cleaning robot for oil pipelines according to claim 1, characterized in that, The exploration mechanism (7) includes a steering gear seat (701) fixedly connected to the left-side fixing plate (102) of the right shell. A first steering gear (702) is fixedly installed on the top of the steering gear seat (701). The output end of the first steering gear (702) is fixedly connected to a second steering gear (703). The output end of the second steering gear (703) is fixedly connected to a cloud platform (704). A camera (705) is quickly disassembled and assembled on the outside of the cloud platform (704). A supplementary light (706) is arranged on the upper side of the camera (705) and on the outer surface of the cloud platform (704).

7. The intelligent cleaning robot for petroleum tubing with adjustable pipe diameter adaptively according to claim 1, characterized in that, The cleaning mechanism (8) includes an L-shaped mounting seat (801) fixedly connected to the outer surface of the right-side bearing seat (101) of the right shell. A second driving motor (802) is fixedly installed on the horizontal plate of the L-shaped mounting seat (801). The output end of the second driving motor (802) is fixedly connected to a turntable (803). A drill bit (804) is fixedly connected to the outside of the turntable (803). The inside of the turntable (803) is hollow around. Two extension rods (805) are rotatably connected to the inside of the turntable (803) through a pin shaft.

8. The intelligent cleaning robot for petroleum tubing with adaptive pipe diameter adjustment according to claim 7, wherein Two sets of third electromagnetic cylinders (806) are also rotatably connected to the inside of the turntable (803). The extending ends of the third electromagnetic cylinders (806) are all movably connected to the extension rods (805). The ends of the extension rods (805) far from the turntable (803) are all movably connected to movable shells (807). Six sets of blades (808) are arranged on the outer surface of the movable shells (807). Four sets of brush rollers (809) are rotatably connected to the inside of the movable shells (807).

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