Diameter changeable pipeline cleaning robot having parallel four-bar mechanism

Abstract

The invention relates to a diameter-variable tube washing robot with parallel four-rod device, wherein it is formed by several same tube washing devices, that connected by flexible springs; each unit is formed by support, flexible panel and washing head; the support is formed by several parallel four-rod devices around the central axle; via torsion spring, the parallel four-rod device will open, and the rolling wheel on the swing rod will contact the inner wall of tube, to support the whole tube washing device; when meeting obstacle, the four-rod device will overcome torsion spring to contract; the washing head is mounted on the connecting rod of four-rod device, to contact the inner wall of tube via spring; the flexible panel on the back swing rod can block the inner fluid, to generate pushing force, and move the support forwards. The invention can avoid additive powder and clean any tubes.

Description

Technical field: [0001] The invention relates to a pipeline cleaning robot with variable diameter and without additional power source, in particular to a variable diameter pipeline cleaning robot with a parallel four-bar mechanism, which is mainly used for online oil, natural gas, water pipeline cleaning operations, etc., belongs to The field of mechanical transmission technology. Background technique: [0002] Pipeline is an important carrier for long-distance oil and gas transportation. For many years, the deposition of impurities in the pipe, corrosion and heavy pressure have affected the efficiency and safety of pipeline operation. A pipeline robot is a device that can walk along a pipeline, carry one or more sensors and operate machinery. At present, there have been some achievements in the research on the walking mechanism of pipeline robots, such as the walking mechanism of the crawler-type pipeline robot with adjustable height (invention patent: CN21744227A); the cr...

AI Technical Summary

Problems solved by technology

Most of the existing pipeline robots that have been developed are based on the fact that there is no medium in the pipeline. In reality, the pipelines used in large quantities are filled with medium. Due to technological requirements, many oil and gas pipelines cannot be stopped at will for maintenance, and The power of this type of pipeline robot movement is provided by its own power equipment (such as an electric motor). For hundreds of kilometers of oil and gas pipelines, energy supply is quite troublesome.

In addition, for long-distance pipelines, due to pipeline welding construction or process reasons, there are some variable-diameter pipelines, curved pipelines, welding branch pipelines, etc. The reason, the above-mentioned pipeline robot has not been popularized and used

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