A peristaltic pipeline robot for oilfield logging

Abstract

The present invention provides an oilfield logging peristaltic pipeline robot, which relates to the technical field of pipeline robots. The wall-grabbing module comprises a wall-grabbing mechanism, an auxiliary circular support mechanism, and a drive module. The wall-grabbing mechanism's sliding guide rail is mounted on a trumpet-shaped annular support frame. The radial portion of the sliding guide rail is provided with rectangular slots to enable linear motion of the support arm. The wall-grabbing motion module utilizes a helical drive, with a four-bar linkage arranged circumferentially around a threaded cylinder. The auxiliary circular support mechanism, consisting of a fixed disc, connecting rods, rollers, and a movable disc, is mounted between the wall-grabbing mechanism and the drive module. The drive module comprises a motor, a planetary reducer, and a coaxial reversing mechanism. The rotating portions of the auxiliary circular support mechanism and the wall-grabbing mechanism are connected to the coaxial reversing mechanism, allowing a single motor to control two motions. The present invention can propel logging instruments in horizontal and highly deviated wells to complete logging tasks. It features good centering, high efficiency, a simple structure, high driving force, fast motion speed, secure wall grip, and strong adaptability.

Description

Technical Field

[0001] The invention relates to an oilfield well logging peristaltic pipeline robot, belonging to the field of well logging robots. Background Art

[0002] As my country's economy continues to develop, energy consumption is also increasing. Petroleum resources are one of the important energy sources and are non-renewable. At this stage, dependence on them cannot be completely replaced by clean energy. They play a vital role in many areas of society. With the development of science and technology, horizontal oil wells have gradually become the mainstream as high-quality oil wells. Horizontal well logging, as one of the links, has the characteristics of difficult measurement, low transportation efficiency, and high risk factor. The traditional method of relying on gravity to drive the logging instrument can no longer meet the demand. The logging robots in the existing technology are mainly wheeled and telescopic. They drag the logging instrument through their own movement in the horizontal well to reach the designated position to start logging.

[0003] Of the two logging robots mentioned above, the wheeled type has the advantages of high speed and smooth movement. However, its disadvantages are that its traction is limited by the number of wheels, resulting in low output force. During movement, the rollers are prone to slipping due to prolonged contact with the well wall, resulting in poor obstacle clearance and environmental adaptability, resulting in low logging accuracy. The telescopic type has the advantages of high traction, intermittent contact with the pipe wall, strong obstacle clearance, and resistance to rollover during logging. However, its disadvantages are slow speed and difficulty navigating pipe bends. The high output force achieved through hydraulic drive requires hydraulic devices and circuits, making it unsuitable for long-distance operations. Furthermore, it requires design for pressure and temperature compensation.

[0004] Traditional peristaltic robots rely on pressure or friction to adhere to walls, have strong environmental adaptability, and are not prone to rollover during logging. However, they are slow and have low traction, making them poorly suited for oilfield logging. To address these issues, this application provides a composite oilfield logging peristaltic pipeline robot. Summary of the Invention

[0005] The present invention aims to provide an oilfield logging peristaltic pipeline robot to address the aforementioned problems of the prior art. It employs a three-stage inchworm-like motion, with two wall-grasping modules and a telescoping module as the main motion components, resulting in strong pipe wall anchoring capabilities and significant traction. An auxiliary circular support mechanism is installed between the wall-grasping and transmission mechanisms within the wall-grasping modules, enabling switching between continuous and compound motion modes according to specific downhole operating conditions, thereby increasing the robot's speed. A reduction motor provides traction, eliminating the problems of long-distance gas and liquid transmission and media leakage. Flexible joints are located at the junctions between the robot's modules, making the entire device suitable for use in curved pipes with large turning radii. This provides flexibility and improves logging efficiency.

[0006] The purpose of the present invention is achieved as follows: The present invention is a three-stage composite peristaltic robot, comprising a wall-grasping module, a telescopic module, and a flexible joint. The wall-grasping modules are two in number and symmetrically arranged at the front and rear ends of the robot. The modules comprise a wall-grasping mechanism, an auxiliary circular support mechanism, and a drive module. The wall-grasping mechanism is located at the front end of the wall-grasping module. A cross-shaped sliding guide is fixed to a trumpet-shaped annular support frame via bolts. The guide rail is provided with a square groove. Four "7"-shaped support arms with sliding blocks are installed in the square slots of the sliding guide rails via rectangular blocks. The inner side of the support arms is connected to four support rods via rotating pins. The other end of the support rod is provided with a threaded barrel, which cooperates with the lead screw.

[0007] One side of the stationary disc of the auxiliary support mechanism is fixed to the rear end of the support frame of the wall-grabbing mechanism by bolts, and one side of the movable disc is installed on the reversing large bevel gear at the front end of the driving module. One end of the eight auxiliary support rods is connected to the four rollers and the rotating joint through a pin shaft, and the other ends of the four auxiliary support rods are circumferentially installed on the other side of the stationary disc, and the other ends of the other four auxiliary support rods are circumferentially arranged on the other side of the movable disc. The rotation of the movable disc drives the support rods to extend outward.

[0008] The drive module includes a motor, a planetary gear set, a coaxial reversing mechanism, a torque overload protector and a drive housing, the front end face of the drive housing is mounted on the stationary disc of the auxiliary support mechanism by bolts, the coaxial reversing mechanism includes two small bevel gears, a reversing large bevel gear and a large bevel gear shaft, the drive housing has two shaft end covers symmetrically arranged around the circumference, the small bevel gear is internally connected to a rotating pin shaft and is fixed to the shaft end cover by screws, the front side of the large bevel gear shaft is connected to the wall-grabbing mechanism lead screw, the fixed end of the torque overload protector is provided with an opening, the rear end is mounted on the reversing large bevel gear shaft by a set screw, the front end cooperates with the movable disc of the auxiliary support mechanism, the rear end of the large bevel gear shaft is connected to the planetary carrier of the planetary gear set, the above-mentioned two large bevel gears are vertically engaged with the small bevel gear, and the center gear shaft of the planetary gear set is connected to the motor shaft through a disc coupling.

[0009] The telescopic module includes a telescopic cylinder, a telescopic motor and an electric push rod. Four circular holes are distributed circumferentially at one end of the telescopic cylinder, and four square holes are distributed circumferentially at the other end. There are four telescopic motors, which are arranged circumferentially at one end of the cylindrical telescopic cylinder. There are four electric push rods, which are installed at one end of the square hole of the telescopic cylinder.

[0010] The flexible joint includes a universal joint, a connecting frame and a flexible part. There are six universal joints. The universal joint is connected to the connecting frame through a rotating pin. The flexible joint is connected to the universal joint through a rotating pin. One end of the flexible joint is connected to the tail end of the motor housing of the wall grabbing module, and the other end is connected to one end of the circular hole of the telescopic cylinder of the telescopic module. One end of another flexible joint is connected to the top of the electric push rod of the telescopic module, and the other end is connected to the load end of the well logging instrument.

[0011] Compared with the prior art, the beneficial effects of the present invention are: the present invention is composed of multiple modules connected to each other, and flexible joints are arranged at the connections, so that the entire robot can adapt to pipes with a smaller radius. The flexible parts of the flexible joints have certain tensile, compressive and torsional strengths, and rely on the relative rotation of the universal joint and the connecting frame to enable it to bend in any direction in space. The flexible parts can be twisted to a certain angle and limited by deformation after mutual contact, thereby increasing the flexibility of the robot.

[0012] The present invention utilizes an auxiliary support mechanism. When the end of a logging robot is lowered by a cable in vertical and shallow-angle wells, the mechanism's rollers engage the inner wall, keeping the robot aligned with the pipe axis. This prevents collision and friction between the robot's body and the well wall. Rolling friction, instead of sliding friction, accelerates the robot's lowering. In highly deviated and horizontal wells, the alternating action of the wall-grasping mechanism and the auxiliary support mechanism ensures the robot's centering, while also reducing frictional resistance and the required thrust.

[0013] The inputs of the auxiliary support mechanism and the wall grabbing mechanism are coaxial. Using a coaxial reversing mechanism, a single motor controls both motions, saving on motors and reducing the weight of the logging robot. A torque overload protector eliminates the issue of asynchrony between the wall grabbing mechanism and the auxiliary support mechanism.

[0014] The telescopic mechanism utilizes four ball screw electric push rods, significantly increasing movement speed and output force, ensuring consistent power input within the horizontal well. Simultaneous power input through the four push rods within the curved pipe adapts to the bending moment within the curved pipe and minimizes damage to the mechanism. The push rods are secured within the telescopic cylinder, which utilizes a honeycomb design to maximize its volume utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 A partial cross-sectional view of the wall grabbing module of the present invention;

[0017] Figure 3A partial cross-sectional view of the telescopic module of the present invention;

[0018] Figure 4 Schematic diagram of the flexible joint structure of the present invention;

[0019] Figure 5 This is a cross-sectional view of the wall grabbing mechanism of the present invention;

[0020] Figure 6 This is a cross-sectional view of the auxiliary support mechanism of the present invention;

[0021] Legend: 1. Wall-grabbing mechanism; 2. Drive module; 3. Flexible joint; 4. Logging instrument; 5. Telescopic module; 6. Auxiliary support mechanism; 11. Spiral sleeve; 12. Support rod; 13. Rotating pin; 14. Screw; 15. Support frame; 16. Bearing front cover; 17. Sliding guide rail; 18. Rectangular slider; 19. Support arm; 21. Motor; 22. Motor housing; 23. Transmission housing; 24. Planetary gear set; 25. Reversing mechanism Structural housing; 26. Large bevel gear shaft; 27. Small bevel gear; 28. Torque overload protector; 29. Reversing large bevel gear; 31. Connecting frame; 32. Universal joint; 33. Flexible part; 51. Electric push rod; 52. Coupling; 53. Braking device; 54. Telescopic motor; 55. Telescopic cylinder; 56. End cover; 61. Stationary disc; 62. Roller; 63. Rotary joint; 64. Auxiliary support rod; 65. Movable disc; 66. Sliding sleeve. DETAILED DESCRIPTION

[0022] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0023] See also Figure 1-6, an oilfield logging peristaltic pipeline robot, including a wall grabbing mechanism 1, a driving module 2, a logging instrument 3, a flexible joint 4, a telescopic module 5, and an auxiliary support mechanism 6. The sliding guide rail 17 of the wall grabbing mechanism 1 is fixedly installed on the support frame 15 by bolts, and the sliding guide rail 17 is provided with four rectangular slots, and four rectangular sliders 18 are respectively screwed to four support arms 19 and installed in the rectangular slots of the sliding guide rail 17. The anchoring and relaxation with the pipe wall are achieved by the up and down movement of the support arms 19. The end of the support frame is connected to one side of the stationary disc 61 by bolts; one end of the sixteen support rods 12 is evenly distributed on the four support arms 19 through a rotating pin 13 to form a parallelogram mechanism, and the other end of the support rod 12 is connected to the spiral sleeve 11, and the spiral sleeve 11 cooperates with the lead screw 14 to achieve axial movement. The sliding sleeve 66 and the movable disc 65 are located on the other side of the fixed disc 61. The sliding sleeve 66 is installed on the movable disc 65 by means of a set screw. One side of the movable disc 65 is connected to one end of four auxiliary support rods 64. One end of the other four auxiliary support rods is installed in the circumferential direction of the other side of the fixed disc 61 through a pin shaft. The other end of the eight auxiliary support rods is connected to the rotary joint 63. The rotary joint 63 is equipped with a roller 62. The fixed disc 61 is connected to the reversing mechanism housing 25 by screws. The movable disc 65 and the torque overload protector 28 are installed on the reversing large bevel gear 29. The reversing large bevel gear 29 and the torque overload protector 28 are fixed by set screws. The overload protector 28 cooperates with the trapezoidal tooth profile of the movable disc 65; the reversing mechanism housing 25 is provided with two holes on the cylindrical shape for connecting the small bevel gear 27, and the two small bevel gears 27 are engaged with the reversing large bevel gear 29 and the large bevel gear shaft 26; the large bevel gear shaft 26 is splined to the planetary carrier of the planetary gear set 24; the ring gear of the planetary gear set 24 is plugged into and installed inside the transmission housing 23, one side of the transmission housing 23 is connected to the reversing mechanism housing 25 by bolts, and the other side of the transmission housing 23 is connected to the motor housing 22, the motor 21 is fixedly installed inside the motor housing 22 with screws, and the end motor housing 22 is fastened to the connecting frame 31 with bolts.

[0024] The telescopic module 4 includes an electric push rod 51, a coupling 52, a brake device 53, a telescopic motor 54, a telescopic cylinder 55 and an end cover 56. The flange at the front end of the electric push rod 51 is fixedly mounted on one side of the outer wall of the telescopic cylinder 55 by screws. The front end of the telescopic cylinder 55 is installed with an end cover 56 to facilitate the sealing of the telescopic module 5. The ball screw inside the electric push rod 51 is connected to the coupling 52, and the other end of the coupling is installed on the brake device 53. The brake device 53 is connected to the telescopic motor 54 by screws. The end of the telescopic motor 54 is installed on the inner side of the bottom of the telescopic cylinder 55 and is fixed to the wall of the telescopic cylinder 55 with screws. The telescopic cylinder wall 55 is installed on the connecting frame 31 by screws. The front ends of the push rods of the four electric push rods 51 are installed with flanges, and the flanges are fixedly mounted on the inside of the connecting frame 31 by screws.

[0025] The flexible joint 3 includes a connecting frame 31, a universal joint 32 and a flexible part 33. The two connecting frames are respectively connected to the three universal joints 32 through rotating pins. The two ends of the three flexible parts 33 are respectively connected to the two centrally symmetrical universal joints 32 through rotating pins. The three flexible joints 3 are respectively located between the end of the driving module 2 and the end of the telescopic module 5, between the front end of the telescopic module 5 and the end of the logging instrument 4, and between the end of the driving module 2 and the front end of the logging instrument. The connecting frame 31 of the first flexible joint 3 is connected to the motor housing 22 in the driving module 2 by screws, and the connecting frame 31 is connected to the outer wall of the telescopic cylinder 55 of the telescopic module 5 by screws; the rear end connecting frame 31 of the second flexible joint 3 is connected to the front end flange of the electric push rod 51, and the front end connecting frame 31 is connected to the rear end outer wall of the logging instrument 4; the rear end connecting frame 31 of the third flexible joint 3 is connected to the front end outer wall of the logging instrument 4, and the front end connecting frame 31 is connected to the motor housing 22 of the front wall grabbing module by screws.

[0026] The working principle of the present invention is as follows: when in use, the cable enters through the sensor channel between the four support arms 19 in the wall-grabbing mechanism 1, and passes through the flanges of the reversing mechanism housing 25, the transmission housing 23 and the motor housing 22, which greatly saves space. The four channels respectively control two drive modules 2, a telescopic module 5 and a logging instrument 4.

[0027] The power output by the motor 21 of the front and rear end drive modules 2 is transmitted to the sun gear of the planetary gear set 24 through the disc coupling. The sun gear rotates at high speed, and the planetary carrier outputs the power to the large bevel gear shaft 26 through the front end spline. Part of the power is transmitted from the large bevel gear shaft 26 to the reverse large bevel gear 29 through the meshing small bevel gear 27. The reverse large bevel gear 29 is fixedly connected to the torque overload protector 28 by a set screw. The power is transmitted to the torque overload protector 28. Through the cooperation between the torque overload protector 28 and the movable disc 65, the movable disc 65 has power.

[0028] When the motor 21 is reversed, the movable disc 65 rotates forward, the auxiliary support rod 64 extends, and drives the roller 62 to move, thereby achieving the fit between the roller and the inner wall of the pipe, and converting the sliding friction into rolling friction. At the same time, another part of the power is transmitted through the connection between the large bevel gear shaft 26 and the screw rod 14. The rotation of the screw rod 14 drives the nut sleeve 11 to move linearly. The axial movement of the nut sleeve 11 pulls one end of the support rod 12 to move backward. Since the rod cannot be compressed, the other end of the support rod 12 pulls the support arm 19 connected to the rectangular slider 18 along the slide The movable guide rail 17 moves radially inward to achieve relaxation; when the motor 21 rotates forward, the movable disc 65 rotates in the opposite direction, the auxiliary support rod 64 is retracted, and the roller is retracted. At the same time, the large bevel gear shaft 26 is connected to the screw rod 14 and rotates in the same direction. The rotation of the screw rod 14 drives the nut sleeve 11 to move. The nut sleeve 11 moves along the axis to push one end of the support rod 12 forward. Since the rod cannot be compressed, the other end of the support rod 12 pushes the support arm 19 connected to the rectangular slider 18 to move radially outward along the sliding guide rail 17 to achieve anchoring with the pipe wall;

[0029] In vertical shafts and low-angle wells, the front and rear motors are reversed, the auxiliary supporting mechanism 6 is in working state, the wall-grasping mechanism 1 is in a relaxed state, and the telescopic module 5 is in the initial position. Due to the wall-supporting effect of the auxiliary supporting mechanism 6, the robot is in a centered state to avoid the collision between the logging instrument 4 and the pipe wall. At the same time, the sliding friction between the logging instrument 4 and the pipe wall, which originally relied on gravity to descend, is improved to the rolling friction between the roller 62 and the pipe wall, which greatly reduces the resistance, increases the running speed, and delays the time of entering the high-angle well.

[0030] In horizontal wells and highly deviated wells, the main movement form is the cooperation between the wall grabbing mechanism 1 and the telescopic module 5, which is a three-stage movement.

[0031] Preparation stage: the rear end motor 21 rotates forward, driving the support arm 19 to move radially outward to achieve anchoring with the inner wall of the pipeline. The telescopic module 5 is in the initial position, and the front end motor 21 still maintains the state of the vertical shaft and the small-angle well. The support arm 19 of the front end wall grasping mechanism 1 is in a relaxed state, and the front end auxiliary support mechanism 6 is in a working state, fitting with the inner wall of the pipeline.

[0032] Working stage: When the rear end motor 21 is rotating in the forward direction and the support arm 19 generates sufficient friction with the inner wall of the pipe, the pressure sensor on the support arm 19 controls the rear end motor 21 to stop working, and the spiral sleeve 11 self-locks on the screw rod 14. At this time, the four telescopic motors 54 of the telescopic module 5 simultaneously drive the electric push rod 51, thereby pushing the logging instrument 4 and the front end telescopic module 5 forward. Due to the presence of the auxiliary support mechanism 6 in the front end wall grabbing module, the required thrust is reduced. When the specified stroke is reached, the displacement sensor installed on the frame 31 controls the telescopic motor 54 to stop rotating and controls the brake device 53 to engage. At this time, the front end motor 21 rotates in the forward direction and the wall grabbing machine Structure 1 grabs the wall, the auxiliary supporting mechanism 6 retracts, the rear end motor 21 reverses, the auxiliary supporting mechanism 6 expands, the wall grabbing mechanism 1 retracts, the front end wall grabbing mechanism 1 is anchored, and the rear end auxiliary supporting mechanism 6 works. After the action is completed, the four telescopic motors 54 control the electric push rod 51 to return, pulling the rear end wall grabbing module to move. When the electric push rod 51 reaches the initial position, the internal sensor of the electric push rod 51 controls the telescopic motor 54 to stop rotating, and causes the brake device 53 to brake. The rear end motor 21 receives the instruction and starts to rotate forward, controlling the support arm 19 to grab the wall. After the supporting force reaches the requirement, the front end motor 21 reverses to control the auxiliary supporting mechanism to expand, completing a cycle of action.

[0033] In summary, the present invention discloses an oilfield logging peristaltic pipeline robot, which relates to the field of pipeline robot technology and includes two wall-grabbing modules, a telescopic module, and three flexible joints. The wall-grabbing module includes a wall-grabbing mechanism, an auxiliary circular support mechanism, and a drive module. The sliding guide rail of the wall-grabbing mechanism is installed on a trumpet-shaped annular support frame. The radial part of the sliding guide rail is provided with a rectangular slot to enable the support arm to move linearly. The wall-grabbing motion module adopts a spiral transmission, and a four-bar linkage is arranged around the circumference of the threaded cylinder. The end of the connecting rod is connected to the "7-shaped" support arm. The auxiliary circular support mechanism is composed of a fixed disc, a connecting rod, a roller, and a movable disc, and is installed between the wall-grabbing mechanism and the drive module. The drive module includes a motor, a planetary reducer, and a coaxial reversing mechanism. The rotating parts of the auxiliary circular support mechanism and the wall-grabbing mechanism are connected to the coaxial reversing mechanism so that one motor controls two movements. The telescopic mechanism is internally divided into two parts, relying on an internal guide rail with an external limiter. The power part is driven by a motor and a ball screw mechanism. The flexible joints enable the robot to have a large bending state and are used for connecting modules. The logging robot of the present invention can push the logging instrument in horizontal wells and highly deviated wells to complete the logging task, and has the characteristics of good centering, high efficiency, simple structure, large driving force, fast movement speed, firm wall grip and strong adaptability.

Claims

1. An oilfield logging peristaltic pipeline robot, characterized by: The invention comprises a telescopic module, a wall-grabbing module and a flexible joint, wherein the wall-grabbing module comprises a well logging instrument, a wall-grabbing mechanism, an auxiliary circular support mechanism and a driving module, wherein the wall-grabbing mechanism is located at the front end of the wall-grabbing module, and a cross-shaped sliding guide rail is fixed to a horn-type annular support frame by bolts, and the sliding guide rail is provided with a square groove for installing a support arm with a rectangular slider, and the support arm is installed in the square slot of the sliding guide rail through a rectangular block, and the inner side of the support arm is connected to four support rods through a rotating pin shaft, and a spiral sleeve is installed at the end of the support rod, and the spiral sleeve cooperates with the lead screw; one side of the stationary disc of the auxiliary circular support mechanism is fixed by bolts The rear end of the support frame is fixed to the wall-grabbing mechanism, and one side of the movable disc is installed on the reversing large bevel gear at the front end of the driving module. One end of the eight auxiliary support rods is connected to the four rollers and the rotating joint through a pin shaft. The other ends of the four auxiliary support rods are circumferentially installed on the other side of the fixed disc, and the other ends of the other four auxiliary support rods are circumferentially arranged on the other side of the movable disc. The rotation of the movable disc drives the auxiliary support rods to extend outward; the driving module includes a motor, a planetary gear set, a coaxial reversing mechanism, a torque overload protector and a driving housing, and the front end face of the driving housing is installed on the fixed disc of the auxiliary support mechanism by bolts; The coaxial reversing mechanism includes two small bevel gears, a reversing large bevel gear and a large bevel gear shaft. Two shaft end covers are symmetrically arranged on the driving housing. The small bevel gear is internally connected to a rotating pin shaft and is fixed to the shaft end cover by screws. The front side of the large bevel gear shaft is connected to the lead screw of the wall-grabbing mechanism. The fixed end of the torque overload protector is provided with an opening, and the rear end is mounted on the reversing large bevel gear by a set screw. The front end cooperates with the movable disc of the auxiliary support mechanism. The rear end of the large bevel gear shaft is connected to the planetary carrier of the planetary gear set. The two small bevel gears are meshed with the reversing large bevel gear and the large bevel gear shaft. The central gear shaft of the planetary gear set is connected to the shaft of the motor through a disc coupling.

2. The oilfield logging peristaltic pipeline robot according to claim 1, characterized in that: The robot adopts a modular layout, with two wall-grasping modules, one telescopic module, and three flexible joints.

3. The oilfield logging peristaltic pipeline robot according to claim 1 or 2, characterized in that: The telescopic module includes a telescopic cylinder, a telescopic motor and an electric push rod. One end of the telescopic cylinder is provided with four circular holes for connecting the telescopic motor, and the other end is provided with four square holes for connecting the electric push rod. The end of the telescopic motor is fixed to the telescopic cylinder by a fixing plate through bolts. The flange of the electric push rod is fixed to the square end of the telescopic cylinder by bolts, and the outer end cover is fixed to the circular ring at the square end of the telescopic cylinder by bolts. The top end of the electric push rod is provided with a thread connected to a flange containing an internal thread, and then fixed to the connecting frame of the flexible joint by bolts.

4. The oilfield logging peristaltic pipeline robot according to claim 1 or 2, characterized in that: One end of the torque overload protector is provided with right-angled trapezoidal teeth, and the outer end of the movable disc is provided with the same right-angled trapezoidal teeth. The torque overload protector cooperates with the movable disc through tooth meshing; the fixed end of the torque overload protector is provided with an opening, the rear end is installed on the reversing large bevel gear through a set screw, and the front end cooperates with the movable disc of the auxiliary support mechanism.

5. The oilfield logging peristaltic pipeline robot according to claim 1 or 2, characterized in that: The surfaces of the support arms of the wall-grabbing mechanism are all covered with volcanic pits, and the support frame is provided with four cable holes located between the support arms.

Images