A miniature self-organizing pipeline optical fiber traction robot

Abstract

The application discloses a micro self-organizing pipeline optical fiber traction robot which comprises a mechanical body and a self-organizing control system. The mechanical body mainly comprises a first four-bar mechanism at the upper end and a second four-bar mechanism at the lower end. The first four-bar mechanism comprises a first fixed plate, a first long connecting rod, a first short connecting rod, a first moving plate and a lower cam connected with the first moving plate through a ball joint. The second four-bar mechanism comprises a second fixed plate, a second long connecting rod, a second short connecting rod, a second moving plate and an upper cam connected with the second moving plate through a ball joint. The self-organizing control system comprises an infrared emission circuit, an infrared receiving circuit in infrared communication with the infrared emission circuit and an electromagnet circuit electrically connected with the infrared emission circuit. The robot has the characteristics of stable structure, small size and self-organization, and can realize multi-robot cooperation traction of optical fibers in small and medium-sized pipelines.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a miniature self-organizing fiber optic traction robot. Background Technology

[0002] Oil and gas pipelines are critical energy transportation channels, essential for ensuring the reliability of energy supply. To provide communication transmission services for these pipelines, an increasing number of oil and gas pipelines are using fiber optic cables laid in the same trenches as the pipelines. This technology enables pipeline operators to monitor pipeline operating status, transmit data, and transmit monitoring signals in real time, thereby improving pipeline safety and operational efficiency.

[0003] The security of fiber optic communication transmission systems largely depends on the security of the fiber optic cable lines. These lines are the infrastructure of the system, carrying the transmitted optical signals. Therefore, ensuring the integrity and security of the fiber optic cable lines is crucial for the normal operation of the fiber optic communication transmission system.

[0004] To facilitate the maintenance and management of optical fiber lines, robotics technology is widely used in the laying, maintenance, and fault detection of optical fiber lines. However, existing pipeline robots face some challenges and shortcomings in practical applications, such as large size, complex structure, and difficulty in handling and inspecting optical fiber cables in small and medium-sized pipelines. To address these issues, this invention discloses a miniature self-organizing pipeline optical fiber traction robot. Summary of the Invention

[0005] This invention discloses a miniature self-organizing fiber optic traction robot for pipelines, comprising a mechanical body and a self-organizing control system located at both ends of the mechanical body. The mechanical body includes a first four-bar linkage at its upper end, a second four-bar linkage at its lower end, a drive shaft, a cylindrical cam, an inner support rod, an outer support rod, a top cover, and a motor. The first four-bar linkage includes a first fixed plate, a first long link, a first short link, and a first movable plate connected by hinges, and a first movable plate and a lower cam connected by ball joints. The second four-bar linkage includes a second fixed plate, a second long link, a second short link, and a second movable plate connected by hinges, and a second movable plate and an upper cam connected by ball joints. The first and second four-bar linkages are driven by the cylindrical cam, and their movements are asynchronous.

[0006] Preferably, the cylindrical cam is positioned on the upper end of the first fixed plate and fixedly connected to the rotating shaft via a key. The rotating shaft is connected to the motor via a coupling. The top cover is fixedly connected to the motor via a motor slot. The first fixed plate is connected to the rotating shaft via a bearing. The second fixed plate is connected to the rotating shaft via a bearing and is positioned in the positioning groove in the middle of the cylindrical cam. The first guide rod of the first moving plate contacts the lower cam ball. The second moving plate contacts the upper cam ball via a second guide rod.

[0007] Preferably, the outer support rod is fixedly connected to the first fixed plate, the second fixed plate, and the top cover. The inner support rod is slidably connected to the first movable plate and the second movable plate, and fixedly connected to the first fixed plate and the top cover. The surface precision of the area corresponding to the stroke of the inner support rod and the first and second movable plates is high to ensure that the first and second movable plates can slide effectively up and down along the inner support rod.

[0008] Preferably, both the first and second fixing plates are solid equilateral triangles. A movable hinge is located at the midpoint of each side of the upper surface, and two through holes are symmetrically arranged near each vertex for mounting the outer and inner support rods. Infrared receiving modules are symmetrically arranged near the three vertices of the lower surface of the first fixing plate. A boss and a traction ring are positioned in the gaps on the lower surface of the first fixing plate. The height of the boss on the lower surface of the first fixing plate exceeds the height of the electronic components to prevent compression. The traction ring is used to pull the communication optical fiber. Both the first fixing plate and the boss are magnetic components.

[0009] Preferably, both the first movable plate and the second movable plate are hollow equilateral triangles, with a movable hinge at the midpoint of each side and a through hole at each vertex for mounting an inner support rod. A first guide rod is located at the midpoint of the inner side of one side of the first movable plate. A second guide rod is located at the midpoint of the inner side of one side of the second movable plate. The heads of both the first and second guide rods are spherical.

[0010] Preferably, the cylindrical cam is divided into an upper cam and a lower cam, with a through hole for connecting the rotating shaft arranged at its axial center, and a positioning groove provided in the middle. The first moving plate reciprocates up and down along the cylindrical cam axis under the drive of the lower cam. The second moving plate reciprocates up and down along the cylindrical cam axis under the drive of the upper cam. The groove trajectories on the upper and lower cams are opposite, causing the first and second moving plates to move asynchronously. That is, when the first moving plate moves upward, the second moving plate moves downward.

[0011] Preferably, a motor slot is provided at the center of the top cover for fixing the motor. Infrared emitting modules are symmetrically arranged near the three vertices of the upper surface of the top cover, an electromagnet is arranged in the middle, and bosses are arranged in the gaps. A power supply and a main control board are arranged on the lower surface of the top cover. The height of the bosses on the upper surface of the top cover exceeds the height of the electronic components to avoid compressing the electronic components.

[0012] To enable robot movement, the lengths of each moving component must meet specific constraints. Assume the line segment AE connects the center of gravity of the first fixed plate to its hinge point, line segment BC connects the center of gravity of the first moving plate to its hinge point, line segment CD connects the two hinge points of the first short link, and line segment ED connects the two hinge points of the first long link, as shown in Figure 7. Figure 7 As shown, this mechanism is an evolution of a four-bar linkage, with four bars: a sliding bar BC of length b, a rocker arm CD of length c, a rocker arm DE of length d, and a non-standard bar BAE. The non-standard bar BAE consists of a fixed bar AE of length a and a bar AB of length e. The length of bar AB is variable. Point B is a sliding joint, and points C, D, and E are transverse joints. Draw a perpendicular line from C to line segment AE, intersecting at point F. Connect points C and E. Triangle CFE is a right triangle, and the length of line segment CE is... The length of the joystick CD needs to meet the following constraints:

[0013]

[0014] The present invention proposes a miniature self-organizing fiber optic traction robot. Its working principle is as follows: a motor drives a rotating shaft to rotate, which in turn drives a cylindrical cam to rotate. The cylindrical cam pushes a first guide rod and a second guide rod to move up and down. Since the trajectories of the grooves on the upper and lower cams are opposite, the first and second guide rods move in opposite directions. The first and second guide rods respectively drive a first moving plate and a second moving plate to move up and down along the axis of the cylindrical cam. The first moving plate drives a first short link and a first long link to swing. The second moving plate drives a second short link and a second long link to swing. When the motor rotates from left to right, the rotating shaft rotates from left to right, and the cylindrical cam rotates from left to right. The upper cam of the cylindrical cam drives the second guide rod to move upward, and the swing angle of the second long link decreases. The lower cam of the cylindrical cam drives the first guide rod to move downward, and the swing angle of the first long link increases.

[0015] Preferably, the self-organizing control system comprises an infrared emitting circuit, an infrared receiving circuit, and an electromagnet circuit; the infrared emitting circuit and the infrared receiving circuit communicate via infrared signals; and the electromagnet circuit and the infrared receiving circuit are electrically connected.

[0016] Preferably, the infrared emitting circuit includes a power supply, a voltage regulator circuit, a variable resistor, a transistor, an infrared emitting module, a fixed resistor, and a main control board. The voltage regulator circuit can provide voltages of different amplitudes according to actual needs. The control terminal of the transistor is electrically connected to the main control board through the fixed resistor. The input terminal of the transistor is electrically connected to the variable resistor. The output terminal of the transistor is electrically connected to the infrared emitting module. By loading different control programs onto the main control board, the infrared emitting module can be controlled to emit infrared signals of different frequencies. The variable resistor is used to adjust the current of the infrared emitting circuit. The infrared receiving circuit includes a power supply, a voltage regulator circuit, an infrared receiving module, and a main control board; the main control board is electrically connected to the voltage regulator circuit. The main control board is electrically connected to the infrared receiving module to detect in real time whether the infrared receiving module receives an infrared signal. The electromagnet circuit includes a power supply, a voltage regulator circuit, and a self-locking switch.

[0017] Preferably, the infrared emitting module emits infrared signals in real time. When the infrared receiving module receives the infrared signal, it transmits the signal to the main control board. After the main control board analyzes the infrared signal, it outputs a control signal to close the self-locking switch. The electromagnet generates magnetic force, attracting the protrusion on the top of the other robot's top cover, thus allowing the two robots to combine.

[0018] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

[0019] The beneficial effects of this invention are as follows:

[0020] The robot of this invention has a stable structure and small size, making it suitable for small and medium-sized pipelines. Since the first and second fourth-bar linkages of this invention are driven by the same cylindrical cam, and the upper and lower cam movements of the cylindrical cam are asynchronous, the motion mechanism of this invention is ingenious and simple.

[0021] The robot of this invention utilizes the principles of infrared communication and the characteristics of electromagnets. It consists of an infrared transmitting circuit, an infrared receiving circuit, and an electromagnet circuit, forming a self-organizing control system that enables self-organization among different robots. Attached Figure Description

[0022] Figure 1 An oblique view of a miniature self-organizing fiber optic traction robot;

[0023] Figure 2 A three-dimensional view of the first fixed plate of a miniature self-organizing fiber optic traction robot;

[0024] Figure 3A three-dimensional view of the second fixed plate of a miniature self-organizing fiber optic traction robot;

[0025] Figure 4 A three-dimensional view of the first moving plate of a miniature self-organizing fiber optic traction robot;

[0026] Figure 5 A top surface view of the top cover of a miniature self-organizing fiber optic traction robot;

[0027] Figure 6 A view of the lower surface of the top cover of a miniature self-organizing fiber optic traction robot;

[0028] Figure 7 A schematic diagram of the motion mechanism of a miniature self-organizing fiber optic traction robot.

[0029] Figure 8 A three-dimensional view of a cylindrical cam for a miniature self-organizing fiber optic traction robot;

[0030] Figure 9 This is a three-dimensional view of a cylindrical cam drive for a miniature self-organizing fiber optic traction robot.

[0031] Figure 10 A schematic diagram of the self-organizing control system of a miniature self-organizing pipeline fiber optic traction robot;

[0032] In the diagram: 1 First fixed plate, 2 First long connecting rod, 3 First short connecting rod, 4 First moving plate, 5 Second fixed plate, 6 Second long connecting rod, 7 Second short connecting rod, 8 Second moving plate, 9 Drive shaft, 10 Cylindrical cam, 11 Inner support rod, 12 Outer support rod, 13 Top cover, 14 Motor, 15 Infrared receiving module, 16 Boss, 17 Traction ring, 18 Electromagnet, 19 Infrared emitting module, 20 Main control board, 21 Power supply. Detailed Implementation

[0033] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0034] In the description of this invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", "first", "second", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0035] See Figure 1-10A miniature self-organizing fiber optic traction robot for pipelines includes a mechanical body and a self-organizing control system located at both ends of the mechanical body. The mechanical body includes a first four-bar linkage at its upper end, a second four-bar linkage at its lower end, a drive shaft 9, a cylindrical cam 10, an inner support rod 11, an outer support rod 12, a top cover 13, and a motor 14. The first four-bar linkage includes a first fixed plate, a first long link, a first short link, and a first movable plate connected by hinges, and a first movable plate and a lower cam connected by ball joints. The second four-bar linkage includes a second fixed plate, a second long link, a second short link, and a second movable plate connected by hinges, and a second movable plate and an upper cam connected by ball joints. The first and second four-bar linkages are driven by cylindrical cams, and their movements are asynchronous.

[0036] A cylindrical cam 10 is positioned on the upper end of the first fixed plate 1 and is fixedly connected to the rotating shaft via a key. The rotating shaft is connected to the motor 14 via a coupling. The top cover 13 is fixedly connected to the motor 14 via a motor slot. The first fixed plate 1 is connected to the rotating shaft via a bearing. The second fixed plate 5 is connected to the rotating shaft via a bearing and is positioned in the positioning groove in the middle of the cylindrical cam 10. The first guide rod of the first moving plate 4 contacts the lower cam ball. The second moving plate 8 contacts the upper cam ball via a second guide rod.

[0037] like Figure 1 As shown, the outer support rod 12 is fixedly connected to the first fixed plate 1, the second fixed plate 5, and the top cover 13. The inner support rod 11 is slidably connected to the first movable plate 4 and the second movable plate 8, and fixedly connected to the first fixed plate 1 and the top cover 13. The surface precision of the area corresponding to the stroke of the inner support rod 11 and the first movable plate 4 and the second movable plate 8 is high to ensure that the first movable plate 4 and the second movable plate 8 can slide effectively up and down along the inner support rod 11.

[0038] like Figure 2-3 As shown, both the first fixing plate 1 and the second fixing plate 5 are solid equilateral triangles. A movable hinge is located at the midpoint of each side of the upper surface, and two through holes are symmetrically arranged near each vertex for mounting the outer support rod 12 and the inner support rod 11. Infrared receiving modules 15 are symmetrically arranged near the three vertices of the lower surface of the first fixing plate 1. A boss 16 and a traction ring 17 are located in the gaps on the lower surface of the first fixing plate 1. The height of the boss 16 on the lower surface of the first fixing plate 1 exceeds the height of the electronic components to prevent compression. The traction ring 17 is used to pull the communication optical fiber. Both the first fixing plate 1 and the boss 16 are magnetic components.

[0039] like Figure 4As shown, the first movable plate 4 and the second movable plate 8 are both hollow equilateral triangles. A hinge is located at the midpoint of each side, and a through hole is located at each vertex for mounting the inner support rod 11. A first guide rod is located at the midpoint of the inner side of one side of the first movable plate 4. A second guide rod is located at the midpoint of the inner side of one side of the second movable plate 8. The heads of both the first and second guide rods are spherical.

[0040] like Figure 8-9 As shown, the cylindrical cam 10 is divided into an upper cam and a lower cam, with a through hole for connecting the rotating shaft at its axial center and a positioning groove in the middle. The first moving plate 4 reciprocates up and down along the axis of the cylindrical cam 10 under the drive of the lower cam. The second moving plate 8 reciprocates up and down along the axis of the cylindrical cam 10 under the drive of the upper cam. The groove trajectories on the upper and lower cams are opposite, causing the first moving plate 4 and the second moving plate 8 to move asynchronously. That is, when the first moving plate 4 moves upward, the second moving plate 8 moves downward.

[0041] like Figure 5-6 As shown, a motor slot is located at the center of the top cover 13 for fixing the motor 14. Infrared emitting modules 19 are symmetrically arranged near the three vertices of the upper surface of the top cover 13, an electromagnet 18 is located in the center, and a boss 16 is located in the gap. A power supply 21 and a main control board 20 are located on the lower surface of the top cover 13. The height of the boss 16 on the upper surface of the top cover 13 exceeds the height of the electronic components to prevent them from being compressed.

[0042] To enable robot movement, the lengths of each moving component must meet specific constraints. Assume the line connecting the center of gravity of the first fixed plate 1 to its hinge point is line segment AE; the line connecting the center of gravity of the first moving plate 4 to its hinge point is line segment BC; the line connecting the two hinge points of the first short link 3 is line segment CD; and the line connecting the two hinge points of the first long link 2 is line segment ED. Figure 7 As shown. According to Figure 7 As shown, this mechanism is an evolution of a four-bar linkage, with four bars: a sliding bar BC of length b, a rocker arm CD of length c, a rocker arm DE of length d, and a non-standard bar BAE. The non-standard bar BAE consists of a fixed bar AE of length a and a bar AB of length e. The length of bar AB is variable. Point B is a sliding joint, and points C, D, and E are transverse joints. Draw a perpendicular line from C to line segment AE, intersecting at point F. Connect points C and E. Triangle CFE is a right triangle, and the length of line segment CE is... The length of the joystick CD needs to meet the following constraints:

[0043] The present invention proposes a miniature self-organizing fiber optic traction robot. Its working principle is as follows: a motor 14 drives a rotating shaft to rotate, which in turn drives a cylindrical cam 10 to rotate. The cylindrical cam 10 pushes a first guide rod and a second guide rod to move up and down. Since the trajectories of the grooves of the upper and lower cams are opposite, the movement directions of the first and second guide rods are opposite. The first and second guide rods respectively drive a first moving plate 4 and a second moving plate 8 to move up and down along the axis of the cylindrical cam 10. The first moving plate 4 drives a first short connecting rod 3 and a first long connecting rod 2 to swing. The second moving plate 8 drives a second short connecting rod 7 and a second long connecting rod 6 to swing. Figure 1 As shown, when motor 14 rotates from left to right, the shaft rotates from left to right, and cylindrical cam 10 rotates from left to right. The upper cam of the cylindrical cam drives the second guide rod to move upward, and the swing angle of the second long rocker arm decreases. The lower cam of the cylindrical cam drives the first guide rod to move downward, and the swing angle of the first long connecting rod 2 increases.

[0044] like Figure 10 As shown, the self-organizing control system consists of an infrared emitting circuit, an infrared receiving circuit, and an electromagnet circuit; the infrared emitting circuit and the infrared receiving circuit communicate via infrared signals; the electromagnet circuit and the infrared receiving circuit are electrically connected.

[0045] The infrared emitting circuit includes a power supply 21, a voltage regulator circuit, a variable resistor, a transistor, an infrared emitting module 19, a fixed resistor, and a main control board 20. The voltage regulator circuit can provide voltages of different amplitudes according to actual needs. The control terminal of the transistor is electrically connected to the main control board 20 through the fixed resistor. The input terminal of the transistor is electrically connected to the variable resistor. The output terminal of the transistor is electrically connected to the infrared emitting module 19. By loading different control programs onto the main control board 20, the infrared emitting module 19 can be controlled to emit infrared signals of different frequencies. The variable resistor is used to adjust the current of the infrared emitting circuit. The infrared receiving circuit includes a power supply 21, a voltage regulator circuit, an infrared receiving module 15, and a main control board 20; the main control board 20 is electrically connected to the voltage regulator circuit. The main control board 20 is electrically connected to the infrared receiving module 15 to detect in real time whether the infrared receiving module 15 has received an infrared signal. The electromagnet 18 circuit includes a power supply 21, a voltage regulator circuit, and a self-locking switch.

[0046] Infrared transmitting module 19 emits infrared signals in real time. When infrared receiving module 15 receives the infrared signal, it transmits the signal to main control board 20. After the main control board 20 analyzes the infrared signal, it outputs a control signal to close the self-locking switch. Electromagnet 18 generates magnetic force, attracting the protrusion on the top of the other robot's top cover, thus allowing the two robots to combine.

[0047] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

[0048] The beneficial effects of this invention are as follows:

[0049] The robot of this invention has a stable structure and small size, making it suitable for small and medium-sized pipelines;

[0050] Since the first and second four-bar linkages of the present invention are driven by the same cylindrical cam, and the upper and lower cam movements of the cylindrical cam are asynchronous, the motion mechanism of the present invention is ingenious and simple.

[0051] The robot of this invention utilizes the principles of infrared communication and the characteristics of electromagnets. It consists of an infrared transmitting circuit, an infrared receiving circuit, and an electromagnet circuit, forming a self-organizing control system that enables self-organization among different robots.

Claims

1. A miniature self-organizing fiber optic traction robot for pipelines, comprising a mechanical body and a self-organizing control system located at both ends of the mechanical body; the mechanical body includes a first four-bar linkage at its upper end, a second four-bar linkage at its lower end, a drive shaft (9), a cylindrical cam (10), an inner support rod (11), an outer support rod (12), a top cover (13), and a motor (14); the first four-bar linkage includes a first fixed plate, a first long link, a first short link, a first movable plate connected by hinges, and a first movable plate and a lower cam connected by ball joints; the second four-bar linkage includes a second fixed plate, a second long link, a second short link, a second movable plate connected by hinges, and a second movable plate and an upper cam connected by ball joints; The first and second four-bar linkages are driven by a cylindrical cam, and their movements are asynchronous; the cylindrical cam (10) is placed on the upper end of the first fixed plate (1) and is fixedly connected to the rotating shaft by a key; the rotating shaft is connected to the motor (14) by a coupling; the top cover (13) is fixedly connected to the motor (14) through the motor slot; the first fixed plate (1) is connected to the rotating shaft by a bearing; the second fixed plate (5) is connected to the rotating shaft by a bearing and is placed in the positioning groove in the middle of the cylindrical cam (10); the first guide rod of the first moving plate (4) contacts the lower cam ball; the second guide rod of the second moving plate (8) contacts the upper cam ball; the outer support rod (12) is connected to the first fixed plate (1) and the second fixed plate (5) The top cover (13) is fixedly connected; the inner support rod (11) is slidably connected to the first moving plate (4) and the second moving plate (8), and is fixedly connected to the first fixed plate (1) and the top cover (13); the first fixed plate (1) and the second fixed plate (5) are both solid equilateral triangles, and each side of the upper surface is provided with a movable hinge at the midpoint, and two through holes are symmetrically provided near each vertex for configuring the outer support rod (12) and the inner support rod (11); infrared receiving modules (15) are symmetrically arranged near the three vertices of the lower surface of the first fixed plate (1); a boss (16) and a traction ring (17) are arranged in the gap position of the lower surface of the first fixed plate (1); the boss on the lower surface of the first fixed plate (1) (16) The height exceeds the height of the electronic components to avoid squeezing the electronic components; the first fixed plate (1) and the boss (16) are both magnetic elements; the first moving plate (4) and the second moving plate (8) are both hollow equilateral triangles, with a movable hinge at the midpoint of each side and a through hole at each vertex for configuring the inner support rod (11); a first guide rod is provided at the midpoint of the inner side of one side of the first moving plate (4); a second guide rod is provided at the midpoint of the inner side of one side of the second moving plate (8); the heads of the first guide rod and the second guide rod are both spherical; the cylindrical cam (10) is divided into an upper cam and a lower cam, with a through hole for connecting the rotating shaft arranged at its axial center, and a positioning groove is also provided in the middle position;The first moving plate (4) reciprocates up and down along the axis of the cylindrical cam (10) under the drive of the lower cam; the second moving plate (8) reciprocates up and down along the axis of the cylindrical cam (10) under the drive of the upper cam; the groove trajectories on the upper and lower cams are opposite, so that the first moving plate (4) and the second moving plate (8) move asynchronously; the top cover (13) has a motor slot at its center for fixing the motor (14), infrared emitting modules (19) are symmetrically arranged near the three vertices of the upper surface, an electromagnet (18) is arranged in the middle, a boss (16) is arranged in the gap, and a power supply (21) and a main control board (20) are arranged on the lower surface; the height of the boss (16) on the upper surface of the top cover (13) exceeds the height of the electronic components to avoid squeezing the electronic components.

2. The miniature self-organizing pipeline fiber optic traction robot according to claim 1, characterized in that: Assume the length of the line connecting the center of gravity of the first fixed plate (1) and its hinge point is a, the length of the line connecting the center of gravity of the first moving plate (4) and its hinge point is b, the length of the line connecting the two hinge points of the first short link (3) is c, the length of the line connecting the two hinge points of the first long link (2) is d, the distance between the center of gravity of the first fixed plate (1) and the center of gravity of the first moving plate (4) is e, and the length of the first short link needs to satisfy the following constraint condition:

3. The miniature self-organizing pipeline fiber optic traction robot according to claim 1, characterized in that: The motor (14) drives the rotating shaft to rotate, the rotating shaft drives the cylindrical cam (10) to rotate, and the cylindrical cam (10) pushes the first guide rod and the second guide rod to move up and down; the trajectories of the grooves of the upper cam and the lower cam are opposite, and the movement directions of the first guide rod and the second guide rod are opposite; the first guide rod and the second guide rod respectively drive the first moving plate (4) and the second moving plate (8) to move up and down along the axis of the cylindrical cam (10); the first moving plate (4) drives the first short connecting rod (3) and the first long connecting rod (2) to swing; the second moving plate (8) drives the second short connecting rod (7) and the second long connecting rod (6) to swing; when the motor (14) rotates from left to right, the rotating shaft rotates from left to right, the cylindrical cam (10) rotates from left to right, the upper cam drives the second guide rod to move upward, the swing angle of the second long swing rod decreases, the lower cam drives the first guide rod to move downward, and the swing angle of the first long connecting rod (2) increases.

4. The miniature self-organizing pipeline fiber optic traction robot according to claim 1, characterized in that: The self-organizing control system consists of an infrared emitting circuit, an infrared receiving circuit, and an electromagnet circuit; the infrared emitting circuit and the infrared receiving circuit communicate via infrared signals; the electromagnet circuit and the infrared receiving circuit are electrically connected; the infrared emitting circuit includes a power supply (21), a voltage regulator circuit, a variable resistor, a transistor, an infrared emitting module (19), a fixed resistor, and a main control board (20); the voltage regulator circuit can provide voltages of different amplitudes according to actual needs; the control terminal of the transistor is electrically connected to the main control board (20) via a fixed resistor, the input terminal is electrically connected to the variable resistor, and the output terminal is electrically connected to the infrared emitting module (19); the infrared receiving ... fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a fixed resistor, a The circuit includes an infrared receiving module (15) and a main control board (20). The main control board (20) is electrically connected to the voltage regulator circuit and the infrared receiving module (15) to detect whether the infrared receiving module (15) receives an infrared signal in real time. The electromagnet circuit includes a power supply (21), a voltage regulator circuit, and a self-locking switch. The infrared transmitting module (19) transmits infrared signals in real time. When the infrared receiving module (15) receives an infrared signal, it transmits the infrared signal to the main control board (20). After the main control board (20) analyzes the infrared signal, it outputs a control signal to control the self-locking switch of the electromagnet circuit to close. The electromagnet (18) generates magnetic force to attract the protrusion on the top of the other robot's top cover, so that the two robots can combine.

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