A pipeline robot system

Abstract

The present application relates to the technical field of pipeline robots, and specifically, to a pipeline robot system, comprising a pipeline robot, a wire-taking vehicle and a host computer, wherein the host computer is communicatively connected to the wire-taking vehicle, a first connector is arranged at the tail of the pipeline robot, and a second connector adapted to the first connector is arranged at the end of the cable of the wire-taking vehicle; the first connector and the second connector are magnetic connectors; a first wireless communication module is arranged on the pipeline robot, and the second connector is provided with a first electromagnet, a second wireless communication module and a connecting terminal; the first electromagnet is used for magnetically attracting the first connector to electrically connect the first connector to the connecting terminal; the connecting terminal is used for supplying power to the pipeline robot; the second wireless communication module is used for communicating and connecting with the first wireless communication module after the pipeline robot is powered on; thereby improving work efficiency and simplifying operation procedures.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline robots, and in particular to a pipeline robot system. Background Art

[0002] For underground pipelines, pipeline robots are usually used to detect the damage degree and location inside the pipeline. At present, common pipeline robot systems include pipeline robots, cable take-up vehicles, and host computers. The cable take-up vehicle is connected to the host computer for cable take-up and release. The end of the cable is electrically connected to the pipeline robot through a connector, so that the cable take-up vehicle can power the pipeline robot through the cable, forward the control instructions of the host computer, and transmit the detection data collected by the pipeline robot to the host computer.

[0003] However, there are some problems with the existing pipeline robot system. First, the pipeline robot and the cable take-up vehicle are usually connected by aviation plugs, which cannot be automatically separated. Secondly, in actual operation, the take-up vehicle needs to be placed next to the wellhead, and the pipeline robot needs to be connected to the cable and sent into the underground pipeline. The upper computer controls the movement of the pipeline robot for inspection, and the take-up vehicle synchronously unwinds the cable. When the cable unwinding length reaches the limit or a section of the pipeline is inspected, the pipeline robot needs to retreat to the wellhead to take it out; after the entire pipeline robot system is transferred to the next wellhead, the above operation is repeated until all pipelines are inspected. This mode of operation has the following defects:

[0004] The pipeline robot's retreat process takes a long time, reducing the operating efficiency. When the wellhead is deep, it is inconvenient to pick up and put down the pipeline robot, and frequent pick-up and put-down operations of the pipeline robot consume a lot of time.

[0005] These problems lead to low overall operating efficiency and increase the time and labor costs of pipeline inspection. Therefore, there is an urgent need for an improved solution that can improve the operating efficiency of the pipeline robot system and simplify the operation process.

[0006] In view of the above problems, the existing technology needs to be improved urgently. Summary of the invention

[0007] The purpose of this application is to provide a pipeline robot system that can improve work efficiency and simplify operating procedures.

[0008] The present application provides a pipeline robot system, including a pipeline robot, a wire-taking vehicle and a host computer, wherein the host computer is communicatively connected to the wire-taking vehicle, a first connector is provided at the tail of the pipeline robot, and a second connector compatible with the first connector is provided at the end of the cable of the wire-taking vehicle; the first connector and the second connector are magnetic connectors; a first wireless communication module is provided on the pipeline robot, and the second connector is provided with a first electromagnet, a second wireless communication module and a connecting end; the first electromagnet is used to magnetically attract the first connector to electrically connect the first connector to the connecting end; the connecting end is used to supply power to the pipeline robot; the second wireless communication module is used to communicate and connect with the first wireless communication module after the pipeline robot is powered on.

[0009] During operation, when the pipeline robot completes the inspection of a section of pipeline and moves to the next wellhead, the pipeline robot and the cable can be automatically separated through the magnetic joint. The cable take-up vehicle then reels in the cable and transfers the cable take-up vehicle and the host computer to the next wellhead. The cable is extended into the wellhead and magnetically connected to the pipeline robot again to continue inspecting the next section of pipeline. This saves the time for the pipeline robot to retreat and the time for removing the pipeline robot from the wellhead, which can improve work efficiency and simplify the operating process.

[0010] Preferably, a protection box is provided at the tail of the pipeline robot, the first joint is arranged in the protection box, an opening is provided on the side of the protection box facing away from the head of the pipeline robot, at least one door leaf is hinged on the side of the opening, and the door leaf is used to close the opening.

[0011] The setting of the protection box provides a closed protection space for the first joint, and the opening can be closed in a non-working state, thereby preventing the first joint from being damaged or contaminated.

[0012] Preferably, the door leaf is made entirely or partially of ferromagnetic material, and the first electromagnet can also absorb and pull the door leaf to open the door leaf.

[0013] This design cleverly utilizes the existing first electromagnet and gives it dual functions: on the one hand, it is used to connect with the first connector by magnetic attraction, and on the other hand, it is used to open the door leaf of the protection box. Through this design, there is no need to add an additional drive device specifically for opening the door leaf, which simplifies the system structure and reduces costs and complexity.

[0014] Preferably, a locking mechanism is provided on the top of the protection box, and the locking mechanism includes a slider, a latch, a first spring, a second spring, a cable and a first magnetic block;

[0015] Each of the door leaves is connected to the slider via a cable;

[0016] The slider can reciprocate along a straight line, and the first spring is used to provide a restoring force to the slider so that the slider drags the door leaf to close through the cable;

[0017] The second spring is connected to the latch and is used to provide elastic force to the latch so that one end of the latch is pressed against the slider. The slider is provided with a slot. When the door leaf is opened, the slider can be pulled by the cable to move so that the slot is aligned with the latch. The latch is used to extend into the slot when aligned with the slot to lock the slider.

[0018] The first magnetic block can move up and down and is connected to the latch through a rope. The first electromagnet can also absorb the first magnetic block to move the first magnetic block upward. When moving upward, the first magnetic block can pull the latch away from the slot, thereby releasing the lock of the slider.

[0019] Preferably, the locking mechanism further comprises a plurality of guide pulleys, and the pull cable and the rope are both wound around at least one of the guide pulleys.

[0020] Preferably, two door leaves are provided, and the two door leaves are hinged to the left and right sides of the opening respectively.

[0021] Preferably, the edge of the door leaf is provided with a soft rubber sealing layer and a brush.

[0022] Preferably, a buffer limit block is further provided at the edge of the opening, and the buffer limit block is used to abut against the inner side surface of the door leaf to buffer the door leaf when the door leaf closes the opening.

[0023] Preferably, the pipeline robot system further includes a telescopic connecting rod, a connecting ring is provided on the second joint, the end of the telescopic connecting rod can be detachably connected to the connecting ring, and the telescopic connecting rod is used to assist the second joint to be aligned and connected with the first joint.

[0024] Preferably, a trumpet-shaped guide portion is provided on the first joint.

[0025] Beneficial effect: The present application provides a pipeline robot system. When the pipeline robot completes the inspection of a section of pipeline and moves to the next wellhead, the pipeline robot and the cable can be automatically separated through a magnetic suction joint. The cable is then reeled in by the cable reel and the cable reel and the host computer are transferred to the next wellhead. The cable is extended into the wellhead and magnetically connected to the pipeline robot again, and the inspection of the next section of pipeline can continue. This saves the time for the pipeline robot to retreat and the time for removing the pipeline robot from the wellhead, which can improve work efficiency and simplify the operating process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the structure of the pipeline robot system provided for this application.

[0027] Figure 2 This is a schematic diagram of the structure of the pipeline robot.

[0028] Figure 3 This is a structural diagram of the wire-taking vehicle.

[0029] Figure 4 A top view of the locking mechanism.

[0030] Figure 5 for Figure 4 Magnified view of the S portion.

[0031] Figure 6 It is a structural schematic diagram of the telescopic connecting rod and the connecting ring.

[0032] Explanation of reference numerals: 1. Pipeline robot; 101. First joint; 1011. Guide; 102. First wireless communication module; 103. Protection box; 104. Door leaf; 105. Locking mechanism; 1051. Slider; 1052. Latch; 1053. First spring; 1054. Second spring; 1055. Cable; 1056. First magnetic block; 1057. Slot; 1058. Rope; 1059. Guide pulley; 106. Buffer limit block; 2. Reeling Car; 201, cable; 202, second connector; 203, first electromagnet; 204, second wireless communication module; 205, connection end; 206, frame; 207, winding roller; 208, drive motor; 209, connecting ring; 2091, locking groove; 2092, connecting shaft; 3, host computer; 4, telescopic connecting rod; 401, drive circuit board; 402, button module; 403, second electromagnet; 404, second magnetic block; 405, third spring; 406, locking hook. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0034] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0035] In urban underground pipeline systems, it is very important to regularly inspect and maintain the condition of pipelines to prevent leakage, blockage, etc. However, existing pipeline inspection technologies have many limitations, especially in terms of efficiency and ease of operation.

[0036] Initial pipeline inspections mostly relied on manual labor, using simple tools and equipment. With technological advances, pipeline robots have been introduced into this field, which can go deep into underground pipelines for detailed inspections and data collection. However, traditional pipeline robot systems use aviation plugs for connection, which is significantly inconvenient in operation. When the cable length reaches the limit or the inspection of a section of pipeline is completed, the pipeline robot needs to be taken out of the wellhead and moved to the next wellhead and put back in. This operation process is time-consuming and labor-intensive, especially when the wellhead is deep, which is more inconvenient and also reduces the overall operation efficiency.

[0037] To solve these problems, this application proposes an innovative pipeline robot system.

[0038] Please refer to Figure 1-Figure 6 As shown, the present application provides a pipeline robot system, including a pipeline robot 1, a wire-taking vehicle 2 and a host computer 3, the host computer 3 is communicatively connected with the wire-taking vehicle 2, a first connector 101 is arranged at the tail of the pipeline robot 1, and a second connector 202 adapted to the first connector 101 is arranged at the end of the cable 201 of the wire-taking vehicle 2; the first connector 101 and the second connector 202 are magnetic connectors; a first wireless communication module 102 is arranged on the pipeline robot 1, and the second connector 202 is provided with a first electromagnet 203, a second wireless communication module 204 and a connecting terminal 205; the first electromagnet 203 is used for magnetically attracting the first connector 101 so that the first connector 101 is electrically connected to the connecting terminal 205; the connecting terminal 205 is used for supplying power to the pipeline robot 1; the second wireless communication module 204 is used for communicating and connecting with the first wireless communication module 102 after the pipeline robot 1 is powered on.

[0039] During operation, when the pipeline robot 1 completes the inspection of a section of pipeline and moves to the next wellhead, the pipeline robot 1 and the cable 201 can be automatically separated through the magnetic joint, and then the cable take-up vehicle 2 reels up the cable 201 and transfers the cable take-up vehicle 2 and the host computer 3 to the next wellhead, and the cable 201 is extended into the wellhead and magnetically connected to the pipeline robot 1 again, and the inspection of the next section of pipeline can continue; thereby saving the time for the pipeline robot 1 to retreat and the time for taking the pipeline robot 1 out of the wellhead, which can improve work efficiency and simplify the operation process.

[0040] This pipeline robot system solves the problem of automatic connection and separation. The magnetic suction connector uses magnetic force to achieve quick connection. When separation is required, it is easy to achieve separation by simply controlling the first electromagnet 203 to cut off the power. Among them, the connection terminal 205 can be in the form of an elastic contact point to ensure that it can be reliably electrically connected to the first connector 101 during the magnetic suction process. In order to improve the waterproof performance, a sealing ring can be set around the connection terminal 205.

[0041] The selection of the wireless communication module is also very important. Considering the particularity of the pipeline environment, a communication method with strong anti-interference ability and good penetration ability is selected. When the first electromagnet 203 is energized, it attracts the first connector 101, so that the connecting end 205 contacts the first connector 101, thereby powering the pipeline robot 1. Once the pipeline robot 1 is powered on, the first wireless communication module 102 will start and establish a connection with the second wireless communication module 204 to achieve data transmission.

[0042] Among them, the wire take-up vehicle 2 is a prior art, and its structure is as follows Figure 3 As shown, the vehicle mainly includes a frame 206, a winding roller 207 arranged in the frame 206, and a driving motor 208 for driving the winding roller 207 to rotate.

[0043] In some preferred embodiments, see Figure 2 A protection box 103 is provided at the tail of the pipeline robot 1, and the first joint 101 is provided in the protection box 103. An opening is provided on the side of the protection box 103 facing away from the head of the pipeline robot 1, and at least one door leaf 104 is hinged on the side of the opening, and the door leaf 104 is used to close the opening.

[0044] The protection box 103 is provided to provide a closed protection space for the first connector 101 , and the opening can be closed in a non-working state (a state where the first connector 101 and the second connector 202 are separated), thereby preventing the first connector 101 from being damaged or contaminated.

[0045] There are also many possible designs for the door leaf 104. A single leaf design can be adopted, that is, a large door leaf covers the entire opening; or a double leaf design can be adopted, with two door leaves 104 hinged on the left and right sides of the opening. The material of the door leaf 104 can be a lightweight, high-strength alloy material to reduce weight and improve durability. The surface of the door leaf 104 can be coated with a waterproof and anti-corrosion coating to enhance its protection in harsh environments.

[0046] The hinged connection between the door leaf 104 and the opening can be a conventional hinge structure, or a more advanced hidden hinge can be used to improve the overall aesthetics and waterproof performance. The selection of hinges should take into account corrosion resistance and service life, and stainless steel or engineering plastic materials can be used.

[0047] In some embodiments, the door leaf 104 is made entirely or partially of ferromagnetic material, and the first electromagnet 203 can also absorb and pull the door leaf 104 to open the door leaf 104 .

[0048] This design cleverly utilizes the existing first electromagnet 203 and gives it dual functions: on the one hand, it is used to connect with the first connector 101 by magnetic attraction, and on the other hand, it is used to open the door leaf 104 of the protection box 103. With this design, there is no need to add an additional drive device specifically for opening the door leaf 104, which simplifies the system structure and reduces costs and complexity.

[0049] In a specific implementation, the door leaf 104 can be made of a variety of material combinations. For example, the main body of the door leaf 104 can be made of a lightweight material (such as plastic or aluminum alloy), and a ferromagnetic material is embedded in the edge or specific area of ​​the door leaf 104. This design can ensure sufficient magnetic response while ensuring the lightweight of the door leaf 104. The ferromagnetic material can be selected from silicon steel sheets, pure iron or nickel-iron alloy, etc. These materials have good magnetic permeability and low hysteresis loss.

[0050] In some embodiments, see Figure 2 , Figure 4 , Figure 5 A locking mechanism 105 is disposed on the top of the protection box 103, and the locking mechanism 105 includes a slider 1051, a latch 1052, a first spring 1053, a second spring 1054, a cable 1055 and a first magnetic block 1056;

[0051] Each door leaf 104 is connected to a slider 1051 via a cable 1055;

[0052] The slider 1051 can move back and forth along a straight line (for example Figure 5 In the embodiment of the present invention, the first spring 1053 is used to provide a reset force to the slider 1051 so that the slider 1051 can drag the door leaf 104 to close through the cable 1055;

[0053] The second spring 1054 is connected to the latch 1052 and is used to provide elastic force to the latch 1052 so that one end of the latch 1052 is pressed against the slider 1051. The slider 1051 is provided with a slot 1057. When the door leaf 104 is opened, the slider 1051 can be pulled by the cable 1055 to move so that the slot 1057 is aligned with the latch 1052. The latch 1052 is used to extend into the slot 1057 when aligned with the slot 1057 to lock the slider 1051 (in Figure 5 In the embodiment, the latch 1052 can move in the left-right direction, and the second spring 1054 provides an elastic force in the left-right direction to press one end of the latch 1052 against the slider 1051, but the moving direction of the latch 1052 is not limited thereto);

[0054] The first magnetic block 1056 can move up and down and is connected to the latch 1052 through a rope 1058. The first electromagnet 203 can also absorb the first magnetic block 1056 to move the first magnetic block 1056 upward. When moving upward, the first magnetic block 1056 can pull the latch 1052 away from the slot 1057, thereby unlocking the slider 1051.

[0055] This technical solution realizes the automatic opening and locking functions of the door leaf 104 of the protection box 103 of the pipeline robot 1 through the locking mechanism 105, which can not only protect the first joint 101, but also facilitate the connection with the second joint 202, and realize the control switch at the same time, thereby improving the automation degree and operational convenience of the system.

[0056] The slider 1051 of the locking mechanism 105 can be made of a variety of materials and shapes. For example, the slider 1051 can be a cuboid or a cylinder made of a metal material (such as aluminum alloy, stainless steel, etc.) or an engineering plastic (such as nylon, polytetrafluoroethylene, etc.). The size of the slider 1051 can be adjusted according to the size of the protection box 103. The slider 1051 can be set on a slide rail or in a slide groove to ensure the stability of its reciprocating movement in a straight line direction.

[0057] The cable 1055 can be made of high-strength and wear-resistant materials such as steel wire rope, nylon rope or kevlar rope. One end of the cable 1055 is connected to the door leaf 104 by welding, riveting or snapping, and the other end is connected to the slider 1051 by passing through a small hole and fixing it, or using a special rope fixing device.

[0058] The latch 1052 can be a metal rod with a cylindrical or square cross-section, and the material can be stainless steel or hard alloy, and the length is determined according to the size of the slider 1051 and the slot 1057. The end of the latch 1052 can be made into a cone or an inclined surface to facilitate insertion into the slot 1057. The latch 1052 can be set in a slide slot to ensure the stability of its reciprocating movement in the linear direction.

[0059] The first magnetic block 1056 can be made of strong magnetic materials such as neodymium iron boron, and can be cylindrical or rectangular in shape. The specific size can be set according to actual needs.

[0060] The coordinated work of these components enables the locking mechanism 105 to effectively control the opening and closing and locking of the door leaf 104. During the opening process of the door leaf 104, the cable 1055 pulls the slider 1051 to move until the slot 1057 is aligned with the latch 1052. Under the action of the second spring 1054, the latch 1052 is automatically inserted into the slot 1057 to lock the slider 1051, thereby keeping the door leaf 104 open. When the door leaf 104 needs to be closed, the first electromagnet 203 (or other magnet) is used to absorb the first magnetic block 1056, and the latch 1052 is pulled away from the slot 1057 by the rope 1058 to release the slider 1051 lock, so that the first spring 1053 applies a closing force to the door leaf 104 through the slider 1051 and the cable 1055, and the door leaf 104 is closed. This design not only realizes the automatic opening and locking of the door leaf 104, but also cooperates with the designs of the protection box 103, the first joint 101 and the second joint 202, thereby improving the automation level and operational convenience of the entire system.

[0061] In some embodiments, see Figure 4 , Figure 5 The locking mechanism 105 further includes a plurality of guide pulleys 1059 , and the pull cable 1055 and the rope 1058 are both wound around at least one guide pulley 1059 .

[0062] The guide pulley 1059 can change the movement direction of the cable 1055 and the rope 1058, so that a complex transmission path can be realized in a limited space, thereby optimizing the spatial layout of the locking mechanism 105. Secondly, the guide pulley 1059 can reduce the friction between the cable 1055 and the rope 1058 and other components, reduce the movement resistance, and improve the transmission efficiency. Thirdly, through the guidance of the guide pulley 1059, it can ensure that the cable 1055 and the rope 1058 remain in a tensioned state during the movement, avoid slack or knotting, and improve the reliability of the system.

[0063] The locking mechanism 105 may also include a protective shell (such as Figure 2 As shown in FIG. 1 , the slider 1051, the latch 1052, the first spring 1053, the second spring 1054, the first magnetic block 1056 and the rope 1058 are all arranged in the protective shell to prevent these components from being contaminated and corroded. The protective shell can be made of plastic or other non-ferromagnetic materials.

[0064] In some embodiments, Figure 2 As shown, two door leaves 104 are provided, and the two door leaves 104 are hinged to the left and right sides of the opening respectively.

[0065] Preferably, a soft rubber sealing layer and a brush can be provided at the edge of the door leaf 104. The soft rubber sealing layer and the brush are provided at the edge of the door leaf 104 to improve the waterproofness and sealing effect of the pipeline robot system. The soft rubber sealing layer can form a tight fit with the edge of the opening when the door leaf 104 is closed, effectively blocking the intrusion of water and other impurities. The brush can further enhance the sealing effect, and can also remove dust and impurities that may be attached to the edge of the opening. This design significantly improves the sealing performance of the protection box 103 through the dual protection of the soft rubber sealing layer and the brush.

[0066] The soft rubber sealing layer can be made of a variety of materials and structures. For example, soft and water-resistant materials such as silicone, chloroprene rubber or EPDM rubber can be used. The thickness of the soft rubber sealing layer can be adjusted according to actual needs. In order to increase the sealing effect, the soft rubber sealing layer can be designed into a lip shape or a multiple sealing structure.

[0067] The brushes can be made of nylon, polypropylene or natural bristles. The density and length of the brushes can be optimized according to the actual application environment. The brushes can be arranged in a straight line or in a wavy pattern to increase the contact area with the edge of the opening.

[0068] The combination of the soft rubber sealing layer and the brush can be arranged in a variety of ways. For example, the soft rubber sealing layer can be arranged on the inner side of the edge of the door leaf 104, and the brush can be arranged on the outer side; or the soft rubber sealing layer and the brush can be arranged alternately to form multiple protections. This combination can not only provide a better sealing effect, but also adapt to different working environments and conditions.

[0069] In some preferred embodiments, see Figure 2 A buffer limit block 106 is also provided at the edge of the opening. The buffer limit block 106 is used to abut against the inner side surface of the door leaf 104 to buffer the door leaf 104 when the door leaf 104 closes the opening.

[0070] First, the buffer limit block 106 can reduce the impact force when the door leaf 104 is closed, and prevent the door leaf 104 from being damaged due to rapid closing. Secondly, the buffer limit block 106 can limit the closing position of the door leaf 104, ensuring that the door leaf 104 can accurately close the opening and improve the sealing effect. Furthermore, the buffer limit block 106 can increase the stability of the door leaf 104 when it is closed, and prevent the door leaf 104 from shaking or shifting during the closing process. By setting the buffer limit block 106 at the edge of the opening, the technical solution effectively solves the problems of impact, inaccurate positioning and instability that may be encountered when the door leaf 104 is closed. This design not only extends the service life of the door leaf 104, but also improves the sealing performance of the protection box 103, thereby better protecting the first joint 101 inside the pipeline robot 1. At the same time, the setting of the buffer limit block 106 also makes the opening and closing operation of the door leaf 104 more stable and controllable, improving the reliability and durability of the entire system.

[0071] The buffer stop block 106 can be made of a variety of materials and structural designs. For example, it can be made of elastic materials such as rubber, silicone or polyurethane, which have good buffering performance and wear resistance. The shape of the buffer stop block 106 can be cylindrical, square or with a curved surface to adapt to different designs of the door leaf 104. In the installation position, the buffer stop block 106 can be set at the edges of the opening, especially on the opposite side of the hinge of the door leaf 104 (such as Figure 2 The size and hardness of the buffer stopper 106 can be optimized according to the weight and switching frequency of the door leaf 104.

[0072] In some preferred embodiments, see Figure 3 , Figure 6 The pipeline robot system also includes a telescopic connecting rod 4, a connecting ring 209 is provided on the second joint 202, the end of the telescopic connecting rod 4 can be detachably connected to the connecting ring 209, and the telescopic connecting rod 4 is used to assist the second joint 202 to align and connect with the first joint 101.

[0073] The functions of the telescopic connecting rod 4 are mainly reflected in providing a guiding function, increasing the operating distance, improving the connection efficiency and enhancing the connection stability. By adopting the technical means of the telescopic connecting rod 4, the problem of aligning and connecting the second joint 202 with the first joint 101 is effectively solved. This design not only improves the connection efficiency between the pipeline robot 1 and the wire-reeling vehicle 2 (especially when the depth of the wellhead is large, the telescopic connecting rod 4 can greatly improve the connection efficiency), but also enhances the reliability of the connection. At the same time, due to the detachable nature of the telescopic connecting rod 4, the telescopic connecting rod 4 can be removed after the connection between the second joint 202 and the first joint 101 is completed, thereby avoiding the telescopic connecting rod 4 hindering the movement of the pipeline robot 1. The retractability of the telescopic connecting rod 4 ensures its applicability to wellheads of different depths.

[0074] In addition, before the second joint 202 is separated from the first joint 101, the telescopic connecting rod 4 can be extended into the wellhead and connected to the connecting ring 209. After the second joint 202 is separated from the first joint 101, the telescopic connecting rod 4 is used to drive the second joint 202 to use the first electromagnet 203 to absorb the first magnetic block 1056 of the locking mechanism 105 to close the door leaf 104 (to prevent the first joint 101 from being contaminated by sewage and debris in the pipeline before the second joint 202 is connected to the first joint 101 again), and then the telescopic connecting rod 4 is taken out, and the wire-taking vehicle 2 is used to take up the wire. After the wire-taking vehicle 2 is transferred, the telescopic connecting rod 4 is connected to the connecting ring 209 again, and the second joint 202 is driven to extend into the wellhead, and the first electromagnet 203 is used to absorb and pull the door leaf 104 to open the door leaf 104, and then the second joint 202 is assisted to align and connect with the first joint 101, and finally the telescopic connecting rod 4 is taken out. Thereby, the convenience of joint connection and opening and closing the door leaf 104 is improved.

[0075] In some embodiments, see Figure 6The telescopic connecting rod 4 is provided with a driving circuit board 401, a button module 402, a second electromagnet 403, a second magnetic block 404, a third spring 405 and a plurality of locking hooks 406; the locking hook 406 is swingably connected to the end of the telescopic connecting rod 4, and can be swung into the telescopic connecting rod 4 and out of the telescopic connecting rod 4; the second magnetic block 404 can reciprocate along the axial direction of the telescopic connecting rod 4, the locking hook 406 is hinged to the second magnetic block 404, and the third spring 405 is hinged to the second magnetic block 40 4, and is used to provide a reset force to the second magnetic block 404 so that the second magnetic block 404 drags the locking hook 406 to swing out of the telescopic connecting rod 4; the second electromagnet 403 and the key module 402 are both electrically connected to the driving circuit board 401, and the key module 402 is used to control the driving circuit board 401 to supply power to the second electromagnet 403, and the second electromagnet 403 is used to absorb the second magnetic block 404 after power is turned on, so that the second magnetic block 404 drags the locking hook 406 to swing back into the telescopic connecting rod 4;

[0076] A locking groove 2091 for locking with the locking hook 406 is formed on the inner side of the connecting ring 209 .

[0077] The driving circuit board 401, the button module 402 and the second electromagnet 403 provided in the telescopic connecting rod 4 form a control system, and the extension and retraction of the locking hook 406 can be controlled by button operation. The second magnetic block 404, the third spring 405 and the locking hook 406 constitute a mechanical structure, and the locking hook 406 is in an extended state by default through the elastic force of the third spring 405, and the locking hook 406 can be retracted by the suction force of the second electromagnet 403. This design enables the locking hook 406 to be extended and engaged with the locking groove 2091 of the connecting ring 209 when necessary to achieve reliable connection; when disassembly is required, the locking hook 406 is retracted by button operation, so as to facilitate quick disassembly. This technical solution realizes fast, reliable connection and convenient disassembly between the telescopic connecting rod 4 and the connecting ring 209 through the ingenious combination of electromagnetic control and mechanical structure. This design not only improves the stability of the connection, but also greatly improves the convenience of operation. At the same time, due to the use of electromagnetic control, the operation is more precise and controllable.

[0078] The number of the locking hooks 406 can be adjusted according to actual needs. Generally, 3-6 locking hooks 406 can provide sufficient connection stability. The locking hooks 406 can be designed in an arc shape or a V-shape so as to better fit with the locking groove 2091 on the inner side of the connecting ring 209. The outer periphery of the second magnetic block 404 is hinged to the locking hooks 406, so that each locking hook 406 can move synchronously. The elastic coefficient of the third spring 405 can be selected according to the weight of the locking hook 406 and the required ejection force.

[0079] Specifically, a plurality of through grooves are provided on the peripheral wall at the end of the telescopic connecting rod 4, each through groove is provided with a pin shaft, and a waist hole is provided on the locking hook 406. Each locking hook 406 is inserted into a corresponding through groove, and each pin shaft passes through the waist hole of the corresponding locking hook 406; therefore, when the second magnetic suction block 404 reciprocates along the axial direction of the telescopic connecting rod 4, the locking hook 406 can swing around the corresponding pin shaft, and be received into the through groove or extended out of the through groove.

[0080] Among them, when the telescopic connecting rod 4 is used to perform joint docking and switch control of the door leaf 104, in order to ensure that the first electromagnet 203 in the second joint 202 can be powered on and off in time (for example, powered on when the door leaf 104 is adsorbed and pulled to open, and powered off when the door leaf 104 is opened; powered on when the first joint 101 and the second joint 202 are connected; powered on when the door leaf 104 is closed by adsorbing the first magnetic block 1056 by the first electromagnet 203), a third wireless communication module can be set on the driving circuit board 401, and the key module 402 includes a remote control button for controlling the power on and off of the first electromagnet 203, the third wireless communication module is used to communicate with the second wireless communication module 204, and the driving circuit board 401 is also used to generate a power on and off command when the remote control button is pressed and send it to the second wireless communication module 204 through the third wireless communication module, so that the wire take-up vehicle 2 can control the power on and off of the first electromagnet 203. Thereby, the convenience of operation can be improved.

[0081] Further, see Figure 6 The connecting ring 209 is provided with a connecting shaft 2092 extending in the radial direction, and the connecting shaft 2092 is rotatably connected to the second joint 202, so that the second joint 202 can swing up and down relative to the telescopic connecting rod 4. When in use, the angle between the second joint 202 and the telescopic connecting rod 4 can be adjusted according to actual needs to further improve the applicability. In addition, when the first electromagnet 203 is used to absorb the first magnetic block 1056 to close the door leaf 104, the angle of the second joint 202 can be adjusted so that the first electromagnet 203 is downwardly aligned with the first magnetic block 1056 to ensure reliable absorption of the first magnetic block 1056.

[0082] In some embodiments, see Figure 2 , a trumpet-shaped guide portion 1011 is provided on the first joint 101. Specifically, the guide portion 1011 is provided on the side of the first joint 101 facing away from the head of the pipeline robot 1, and is used to guide the second joint 202. Through the guide portion 1011, the second joint 202 does not need to be precisely aligned with the first joint 101, and under the action of magnetic force and the guiding action of the guide portion 1011, the second joint 202 can also be reliably connected to the first joint 101, thereby further improving the convenience of the connection operation between the second joint 202 and the first joint 101.

[0083] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0084] The above are only embodiments of the present application and are not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A pipeline robot system, comprising a pipeline robot (1), a wire take-up vehicle (2) and a host computer (3), wherein the host computer (3) is communicatively connected to the wire take-up vehicle (2), a first connector (101) is provided at the rear of the pipeline robot (1), and a second connector (202) adapted to the first connector (101) is provided at the end of a cable (201) of the wire take-up vehicle (2); characterized in that: The first connector (101) and the second connector (202) are magnetic connectors; the pipeline robot (1) is provided with a first wireless communication module (102), and the second connector (202) is provided with a first electromagnet (203), a second wireless communication module (204) and a connecting terminal (205); the first electromagnet (203) is used to magnetically attract the first connector (101) so that the first connector (101) and the connecting terminal (205) are electrically connected; the connecting terminal (205) is used to supply power to the pipeline robot (1); the second wireless communication module (204) is used to communicate with the first wireless communication module (102) after the pipeline robot (1) is powered on; A protection box (103) is provided at the rear of the pipeline robot (1), the first joint (101) is arranged in the protection box (103), an opening is provided on a side of the protection box (103) facing away from the head of the pipeline robot (1), at least one door leaf (104) is hingedly connected to a side of the opening, and the door leaf (104) is used to close the opening; The door leaf (104) is made entirely or partially of ferromagnetic material, and the first electromagnet (203) is also capable of attracting and pulling the door leaf (104) to open the door leaf (104); A locking mechanism (105) is provided on the top of the protection box (103), and the locking mechanism (105) comprises a slider (1051), a latch (1052), a first spring (1053), a second spring (1054), a pull cable (1055), and a first magnetic attraction block (1056); Each of the door leaves (104) is connected to the slider (1051) via a pull cable (1055); The slider (1051) is capable of reciprocating along a straight line, and the first spring (1053) is used to provide a restoring force to the slider (1051) so that the slider (1051) drags the door leaf (104) to close via the cable (1055); The second spring (1054) is connected to the latch (1052) and is used to provide elastic force to the latch (1052) so that one end of the latch (1052) is pressed against the slider (1051); a slot (1057) is provided on the slider (1051); when the door leaf (104) is opened, the slider (1051) can be pulled by the cable (1055) to move so that the slot (1057) is aligned with the latch (1052); the latch (1052) is used to extend into the slot (1057) when aligned with the slot (1057) to lock the slider (1051); The first magnetic block (1056) can move up and down and is connected to the latch (1052) via a rope (1058); the first electromagnet (203) can also absorb the first magnetic block (1056) to move the first magnetic block (1056) upward; when moving upward, the first magnetic block (1056) can pull the latch (1052) away from the slot (1057), thereby releasing the lock of the slider (1051).

2. The pipeline robot system according to claim 1, characterized in that: The locking mechanism (105) further comprises a plurality of guide pulleys (1059), and the pull cable (1055) and the rope (1058) are both wound around at least one of the guide pulleys (1059).

3. The pipeline robot system according to claim 1, characterized in that: Two door leaves (104) are provided, and the two door leaves (104) are hinged to the left and right sides of the opening respectively.

4. The pipeline robot system according to claim 1, characterized in that: The edge of the door leaf (104) is provided with a soft rubber sealing layer and a brush.

5. The pipeline robot system according to claim 1, characterized in that: The edge of the opening is also provided with a buffering limit block (106), and the buffering limit block (106) is used to abut against the inner side surface of the door leaf (104) to buffer the door leaf (104) when the door leaf (104) closes the opening.

6. The pipeline robot system according to claim 1, characterized in that: It also comprises a telescopic connecting rod (4), a connecting ring (209) being provided on the second joint (202), the end of the telescopic connecting rod (4) being detachably connected to the connecting ring (209), and the telescopic connecting rod (4) being used to assist the second joint (202) in aligning and connecting with the first joint (101).

7. The pipeline robot system according to claim 1, characterized in that: A trumpet-shaped guide portion (1011) is provided on the first joint (101).

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