Dredging robot suitable for small-pipe-diameter cable pipeline

Abstract

The invention belongs to the field of cable duct robots, and particularly relates to a dredging robot suitable for a small-pipe-diameter cable duct, the dredging robot comprises a working system and a walking system which are connected, and the walking system comprises a first air bag, a second air bag, a first spherical joint, a second spherical joint and a pneumatic telescopic mechanism; the first air bag is connected with one end of the pneumatic telescopic mechanism through the first spherical joint, and the other end of the pneumatic telescopic mechanism is connected with the second air bag through the second spherical joint. The robot makes contact with the pipeline through the air bag, pipeline damage is avoided, and the advantage of prolonging the service life of the pipeline is achieved; meanwhile, the robot is simple in structure, small in size and low in manufacturing cost.

Description

Technical Field

[0001] The invention belongs to the field of cable pipeline robots, and in particular relates to a cable pipeline dredging robot suitable for small-diameter pipelines. Background Art

[0002] The walking system of existing cable pipe clearing robots generally uses a wheeled mechanism to drive the robot to walk inside the pipe, and the front cleaning mechanism of the robot generally cannot clear fixed obstacles. However, for cable pipes with relatively small diameters (175~225mm), the power of the wheeled walking system is often insufficient and cannot meet the requirements of long-distance operation in cable pipes with small diameters.

[0003] Chinese patent application: CN110296294A discloses a combined pipeline cleaning and spraying robot, CN110541999A a hollow shaft pneumatic pipeline robot, CN112413285A a pipeline obstacle removal robot, and Chinese patent: CN110508572B discloses a multi-support wheeled peristaltic pipeline cleaning robot.

[0004] Although the above technology solves the problem of insufficient power of the walking system, the above technology still has the following problems: (1) The above-mentioned robots have complex structures, large volumes, and high manufacturing costs; (2) When the above-mentioned robot moves inside the pipeline, it is easy to damage the pipeline, resulting in a shortened service life of the pipeline; (3) The above obstacles were not cleared properly and the cleaning effect was poor.

[0005] In view of this, the present invention is proposed. Summary of the invention

[0006] In order to solve the technical problems existing in the prior art, the present invention provides a cable pipe clearing robot suitable for small diameter pipes. The robot of the present invention contacts the pipe through an airbag, thereby avoiding damage to the pipe and having the advantage of increasing the service life of the pipe. At the same time, the robot of the present invention has a simple structure, a small size and a low manufacturing cost.

[0007] The present invention includes the following technical solutions: The present invention provides a cable duct dredging robot suitable for small-diameter pipes, comprising a connected working system and a walking system, wherein the walking system comprises a first airbag, a second airbag, a first spherical joint, a second spherical joint and a pneumatic telescopic mechanism, wherein the first airbag is connected to one end of the pneumatic telescopic mechanism via the first spherical joint, and the other end of the pneumatic telescopic mechanism is connected to the second airbag via the second spherical joint; The pneumatic telescopic mechanism includes a first pneumatic structure, a second pneumatic structure, a first telescopic rod and a second telescopic rod; one end of the first telescopic rod is connected to the first spherical joint, and the other end is provided with a first boss, and the first boss is slidably set in the first inner cavity of the first pneumatic structure so that the first inner cavity forms a first air chamber and a second air chamber; one end of the second telescopic rod is connected to the second spherical joint, and the other end is provided with a second boss, and the second boss is slidably set in the second inner cavity of the second pneumatic structure so that the second inner cavity forms a third air chamber and a fourth air chamber; the first pneumatic structure is connected to the second pneumatic structure.

[0008] Furthermore, the pneumatic telescopic mechanism also includes a connecting structure, the connecting structure is provided with a third inner cavity, and two ends of the third inner cavity are respectively connected to the first pneumatic structure and the second pneumatic structure.

[0009] Furthermore, the first airbag and the second airbag are both annular airbags; the air path for connecting the first airbag, the first pneumatic structure of the second airbag and the second pneumatic structure is arranged in the inner annular cavity of the second airbag, the second spherical joint, the connecting structure, the first spherical joint and the inner annular cavity of the first airbag.

[0010] Furthermore, the working system is a milling cutter mechanism, and the milling cutter mechanism is connected to the first airbag via a third spherical joint.

[0011] Furthermore, a plurality of servo electric cylinders are arranged between the milling cutter mechanism and the first airbag.

[0012] Furthermore, three servo electric cylinders are provided, and the three servo electric cylinders are evenly arranged around the outside of the third spherical joint.

[0013] Furthermore, the working system is a cutting mechanism, the cutting mechanism is connected to the first airbag via a third spherical joint, and the cutting mechanism is used to cut cables in small-diameter cable ducts.

[0014] Furthermore, the cutting mechanism includes a main rotating motor, a magnetic push rod, an end grinding wheel, a first frustum grinding wheel, a second frustum grinding wheel, a first self-rotating motor and a second self-rotating motor, the third spherical joint is connected to the main rotating motor, the output shaft of the main rotating motor is connected to the magnetic push rod, the end of the magnetic push rod away from the main rotating motor is connected to the end grinding wheel, the two oppositely arranged push rods of the magnetic push rod are respectively connected to the first self-rotating motor and the second self-rotating motor, the first self-rotating motor is connected to the first frustum grinding wheel, and the second self-rotating motor is connected to the second frustum grinding wheel.

[0015] Furthermore, the working system is a repair mechanism, and the repair mechanism is used to repair the outer sheath of the cable.

[0016] By adopting the above technical solution, the present invention has the following advantages: 1. The robot of the present invention contacts the pipeline through the airbag, thereby avoiding pipeline damage and having the advantage of increasing the service life of the pipeline; at the same time, the robot of the present invention has a simple structure, a small size and a low manufacturing cost.

[0017] 2. The present invention sets a servo electric cylinder between the milling cutter mechanism and the first airbag, so that the robot of the present invention can adjust the direction of the milling cutter mechanism according to the position of the hard object when cleaning obstacles such as hard objects in the cable duct, thereby achieving a better cleaning effect.

[0018] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 The structure of a cable pipeline dredging robot suitable for small diameter pipes in an embodiment of the present invention is shown in FIG. Figure 1 ; Figure 2 for Figure 1 Sectional view along AA direction; Figure 3 for Figure 1 Schematic diagram of the local structure; Figure 4 It is a schematic diagram of the structure of the cutting mechanism used for cable cutting in an embodiment of the present invention; In the figure, 10-working system, 11-milling cutter mechanism, 111-milling cutter, 112-motor, 12-cutting mechanism, 121-main rotating motor, 122-magnetic push rod, 123-end grinding wheel, 124-first round table grinding wheel, 125-second round table grinding wheel, 126-first self-rotating motor, 127-second self-rotating motor, 20-travel system, 21-first airbag, 22-second airbag, 23-first spherical joint, 24-second spherical joint Section, 25-pneumatic telescopic mechanism, 251-first pneumatic structure, 2511-first air chamber, 2512-second air chamber, 252-second pneumatic structure, 2521-third air chamber, 2522-fourth air chamber, 253-first telescopic rod, 2531-first boss, 254-second telescopic rod, 2541-second boss, 255-connecting structure, 2551-third inner cavity, 30-third spherical joint, 40-servo electric cylinder, 50-cable. DETAILED DESCRIPTION

[0021] The following description provides many different embodiments or examples for implementing different features of the present invention. The components and arrangements described in the following specific examples are only used to simplify the present invention and are only used as examples, not to limit the present invention.

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] This embodiment provides a cable duct dredging robot suitable for small diameter pipes, such as Figure 1 The figure shows a connected working system 10 and a walking system 20, wherein the walking system 20 includes a first airbag 21, a second airbag 22, a first spherical joint 23, a second spherical joint 24 and a pneumatic telescopic mechanism 25, wherein the first airbag 21 is connected to one end of the pneumatic telescopic mechanism 25 via the first spherical joint 23, and the other end of the pneumatic telescopic mechanism 25 is connected to the second airbag 22 via the second spherical joint 24.

[0024] The robot of this embodiment realizes creeping walking through the cooperation of the first airbag 21, the second airbag 22 and the pneumatic telescopic structure. Figure 1As shown, the second airbag 22 is inflated to tighten and fix it on the wall of the small-diameter cable duct, and the pneumatic telescopic mechanism 25 is controlled to extend by means of inflation and deflation, pushing the other structures except the second airbag 22 to move to the left side as shown in the figure; then the first airbag 21 is inflated to tighten and fix it on the wall of the small-diameter cable duct, the second airbag 22 is deflated and loosened, and the pneumatic telescopic mechanism 25 is controlled to shorten by means of inflation and deflation, pushing the second airbag 22 to move to the left side as shown in the figure; this is repeated to achieve peristaltic walking.

[0025] During the peristaltic movement, the first airbag 21 and the second airbag 22 are used to be tensioned and fixed on the pipe wall, and are in flexible contact with the pipe wall, which can avoid damage to the pipe wall and increase the service life of the pipe.

[0026] The pneumatic telescopic mechanism 25 is a structure that realizes telescopic movement by charging and discharging air, in order to further reduce the complexity and manufacturing cost of the walking system 20; at the same time, in order to increase the distance of a peristaltic walking and improve the peristaltic walking efficiency; Figure 2 As shown, the pneumatic telescopic mechanism 25 includes a first pneumatic structure 251, a second pneumatic structure 252, a first telescopic rod 253 and a second telescopic rod 254; one end of the first telescopic rod 253 is connected to the first spherical joint 23, and the other end is provided with a first boss 2531, the first boss 2531 is slidably set in the first inner cavity of the first pneumatic structure 251 so that the first inner cavity forms a first air chamber 2511 and a second air chamber 2512; one end of the second telescopic rod 254 is connected to the second spherical joint 24, and the other end is provided with a second boss 2541, the second boss 2541 is slidably set in the second inner cavity of the second pneumatic structure 252 so that the second inner cavity forms a third air chamber 2521 and a fourth air chamber 2522; the first pneumatic structure 251 is connected to the second pneumatic structure 252.

[0027] The specific peristaltic mode of such a structure can be, for example Figure 2 As shown, during peristaltic walking, the second airbag 22 tensions the tube wall, and inflates the second air chamber 2512 and the third air chamber 2521, so that the other structures except the second airbag 22 peristalsize to the left; then the first airbag 21 inflates to tension the tube wall, the second airbag 22 is deflated and released, and the first air chamber 2511 and the fourth air chamber 2522 are inflated, so that the second airbag 22 peristalsizes to the left. This method has a higher peristaltic walking efficiency.

[0028] It should be noted that the pneumatic telescopic mechanism 25 can also achieve peristaltic walking only through the first pneumatic structure 251 and the first telescopic rod 253; it can also achieve peristaltic walking only through the second pneumatic structure 252 and the second telescopic rod 254; it is just that the pneumatic telescopic mechanism 25 achieves peristaltic walking through the first pneumatic structure 251, the second pneumatic structure 252, the first telescopic rod 253 and the second telescopic rod 254, which has a higher walking efficiency.

[0029] In some embodiments, Figure 1 As shown, the pneumatic telescopic mechanism 25 further includes a connecting structure 255 , and the connecting structure 255 is provided with a third inner cavity 2551 , and the first pneumatic structure 251 and the second pneumatic structure 252 are arranged in the third inner cavity 2551 .

[0030] The inflation and deflation of the first airbag 21, the second airbag 22 and the pneumatic telescopic mechanism 25 can be directly connected to the external air circuit. However, when the dredging robot is used in a small-diameter cable 50 pipeline, the external air circuit will form resistance to the walking of the dredging robot, reducing the walking efficiency; and the external air circuit is easy to rub against the wall of the small-diameter cable pipeline during the walking process of the dredging robot, resulting in easy damage to the air circuit, reducing the service life of the dredging robot.

[0031] Therefore, in some embodiments, the first airbag 21 and the second airbag 22 are both annular airbags, so that the first airbag 21 and the second airbag 22 can not only ensure their own sealing properties, but also ensure that the air path can be set therein; the air path for connecting the first airbag 21, the second airbag 22, the first pneumatic structure 251 and the second pneumatic structure 252 is set in the inner annular cavity of the second airbag 22, the second spherical joint 24, the third inner cavity 2551 of the connecting structure 255, the first spherical joint 23 and the inner annular cavity of the first airbag 21.

[0032] It should be noted that the illustrated part provided by the present invention does not show the air path structure arranged in the inner annular cavity of the second airbag 22, the second spherical joint 24, the third inner cavity 2551 of the connecting structure 255, the first spherical joint 23 and the inner annular cavity of the first airbag 21; however Figure 3 , the internal structures of the second airbag 22, the second spherical joint 24, the connecting structure 255, the first spherical joint 23 and the first airbag 21 are shown, all of which have spaces for setting air paths therein.

[0033] Preferably, the gas circuit includes a first gas circuit, a second gas circuit, a third gas circuit, a fourth gas circuit, a fifth gas circuit and a sixth gas circuit, one end of which is arranged inside the dredging robot as described above, and the other end extends outside the dredging robot for connection with the gas source device. The first gas circuit is used to inflate and deflate the first airbag 21, the second gas circuit is used to inflate and deflate the second airbag 22, the third gas circuit is used to inflate and deflate the first air chamber 2511, the fourth gas circuit is used to inflate and deflate the second air chamber 2512, the fifth gas circuit is used to inflate and deflate the third air chamber 2521, and the sixth gas circuit is used to inflate and deflate the fourth air chamber 2522. This is more conducive to the control and regulation of inflation and deflation, and reduces the difficulty of inflation and deflation control.

[0034] In order to further reduce the difficulty of controlling the inflation and deflation, preferably, the first gas circuit, the second gas circuit, the third gas circuit, the fourth gas circuit, the fifth gas circuit and the sixth gas circuit are all provided with valves, and the valves are preferably solenoid valves.

[0035] In this embodiment, the working system 10 can be a milling cutter mechanism 11, a cutting mechanism 12, or a repairing mechanism. According to different usage conditions, a dredging robot with a working system 10 with different mechanisms can be selected for use; the milling cutter mechanism 11 can be used to clear obstacles such as hard objects in the pipeline, while the cutting mechanism 12 can be used to cut the cable 50 in the small diameter cable pipeline, and the repairing mechanism is used to repair the outer sheath of the cable 50.

[0036] Specifically, in some embodiments, the working system 10 is a milling cutter mechanism 11, and the milling cutter mechanism 11 is connected to the first airbag 21 via a third spherical joint 30. Figure 3 As shown, the milling cutter mechanism 11 includes a milling cutter 111 and a motor 112, wherein the milling cutter 111 is connected to the power output end of the motor 112, and the end of the motor 112 opposite to the power output end is connected to the third spherical joint 30. The motor 112 may be a hollow DC brushless motor 112.

[0037] When the position of obstacles such as hard objects on the wall of a small-diameter cable duct is uncertain or the obstacles are relatively small, in order to improve the obstacle clearing effect and efficiency of the milling cutter 111, in some embodiments, a plurality of servo electric cylinders 40 are arranged between the milling cutter mechanism 11 and the first airbag 21; the position of the milling cutter 111 can be adjusted by extending and retracting the servo electric cylinder 40.

[0038] It should be noted that the control of the servo electric cylinder 40 can be realized by a controller, and the servo electric cylinder 40 is connected to the controller, and the controller controls the operation of the servo electric cylinder 40 to control the rotation direction and rotation angle of the milling cutter mechanism 11. The connecting cable 50 between the servo electric cylinder 40 and the controller is also preferably arranged in the dredging robot, and its arrangement is similar to that of the gas circuit, and also has the advantages of improving the walking efficiency of the dredging robot and increasing the service life of the dredging robot.

[0039] Similarly, the motor 112 is also connected to the controller.

[0040] It should be noted that the controller can obtain the position of the obstacle inside the small-diameter cable 50 by other means, and then control the servo cylinder 40 according to the position of the obstacle; for example, it can be obtained by detection by a robot equipped with a probe. Obtaining the obstacle situation inside the small-diameter cable 50 is a prior art for those skilled in the art and will not be described in detail here.

[0041] At the same time, it should be noted that the small-diameter robot of the present invention can also obtain obstacle conditions by setting a probe.

[0042] The position of the milling cutter 111 can be adjusted by one servo electric cylinder 40 or multiple servo electric cylinders 40, but the one-servo method has the problem of poor adjustment accuracy, and too many servo electric cylinders 40 will increase the cost. Therefore, in some embodiments, three servo electric cylinders 40 are provided, and the three servo electric cylinders 40 are evenly arranged around the outside of the third spherical joint 30.

[0043] When cleaning and maintaining a small-diameter cable 50 conduit, the cable 50 in the small-diameter cable 50 conduit needs to be dragged out. However, the cable 50 conduit may be stuck together, making it difficult to drag it out. Therefore, the cutting mechanism 12 of the present invention can cut and crush the bonded part of the cable 50.

[0044] like Figure 4As shown in the figure, it is a schematic diagram of the cutting mechanism 12 when being used for cutting the cable 50. The cutting mechanism 12 is connected to the cutting mechanism 12 via a third spherical joint 30. The cutting mechanism 12 includes a main rotating motor 121, a magnetic push rod 122, an end grinding wheel 123, a first frustum grinding wheel 124, a second frustum grinding wheel 125, a first self-rotating motor 126 and a second self-rotating motor 127. The third spherical joint 30 is connected to the main rotating motor 121. The output shaft of the main rotating motor 121 is connected to the magnetic push rod 122. One end of the magnetic push rod 122 away from the main rotating motor 121 is connected to the end grinding wheel 123. The two push rods arranged opposite to each other of the magnetic push rod 122 are respectively connected to the first self-rotating motor 126 and the second self-rotating motor 127. The first self-rotating motor 126 is connected to the first frustum grinding wheel 124, and the second self-rotating motor 127 is connected to the second frustum grinding wheel 125.

[0045] Among them, the magnetic push rod 122 is an existing product and can be purchased and used directly. By setting the magnetic push rod 122, the distance between the first frustum grinding wheel 124 and the second frustum grinding wheel 125 connected to the two push rods can be adjusted; the distance between the first frustum grinding wheel 124 and the second frustum grinding wheel 125 is determined according to the bonding size of the cable 50 and the size of the obstacle; this can improve the cutting and crushing efficiency.

[0046] The working principle of the cutting mechanism 12 is as follows: the main rotating motor 121 drives the magnetic push rod 122 to rotate, so that the end grinding wheel 123, the first frustum grinding wheel 124 and the second frustum grinding wheel 125 connected to the magnetic push rod 122 rotate around the magnetic push rod 122; at the same time, the first self-rotating motor 126 drives the first frustum grinding wheel 124 to rotate around the push rod, and the second rotating motor 112 drives the second frustum grinding wheel 125 to rotate around the push rod.

[0047] It should be noted that the cutting mechanism 12 of the present invention can be oriented in the axial direction of the small diameter cable duct or towards the wall of the small diameter cable duct, and can be selected and designed according to the specific use; when oriented towards the wall of the small diameter cable duct, it has higher efficiency when used to cut the cable 50.

[0048] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0049] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of multiple components or the interaction relationship of multiple components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cable duct dredging robot suitable for small-diameter pipes, comprising a connected working system (10) and a walking system (20), characterized in that: The walking system (20) comprises a first airbag (21), a second airbag (22), a first spherical joint (23), a second spherical joint (24) and a pneumatic telescopic mechanism (25), wherein the first airbag (21) is connected to one end of the pneumatic telescopic mechanism (25) via the first spherical joint (23), and the other end of the pneumatic telescopic mechanism (25) is connected to the second airbag (22) via the second spherical joint (24); The pneumatic telescopic mechanism (25) comprises a first pneumatic structure (251), a second pneumatic structure (252), a first telescopic rod (253) and a second telescopic rod (254); one end of the first telescopic rod (253) is connected to the first spherical joint (23), and the other end is provided with a first boss (2531); the first boss (2531) is slidably arranged in a first inner cavity of the first pneumatic structure (251) so that the first inner cavity forms a first air chamber (2511) and a second air chamber (2512); one end of the second telescopic rod (254) is connected to the second spherical joint (24), and the other end is provided with a second boss (2541); the second boss (2541) is slidably arranged in a second inner cavity of the second pneumatic structure (252) so that the second inner cavity forms a third air chamber (2521) and a fourth air chamber (2522); the first pneumatic structure (251) is connected to the second pneumatic structure (252).

2. A cable duct dredging robot suitable for small diameter pipes according to claim 1, characterized in that: The pneumatic telescopic mechanism (25) further comprises a connecting structure (255), wherein the connecting structure (255) is provided with a third inner cavity (2551), and wherein the first pneumatic structure (251) and the second pneumatic structure (252) are arranged inside the third inner cavity (2551).

3. A cable duct dredging robot suitable for small diameter pipes according to claim 2, characterized in that: The first airbag (21) and the second airbag (22) are both annular airbags; an air path for connecting the first airbag (21), the first pneumatic structure (251) of the second airbag (22), and the second pneumatic structure (252) is arranged in the inner annular cavity of the second airbag (22), the second spherical joint (24), the third inner cavity (2551) of the connecting structure (255), the first spherical joint (23), and the inner annular cavity of the first airbag (21).

4. The cable duct dredging robot suitable for small diameter pipes according to claim 1, characterized in that: The working system (10) is a milling cutter mechanism (11), and the milling cutter mechanism (11) is connected to the first airbag (21) via a third spherical joint (30).

5. The cable duct dredging robot suitable for small diameter pipes according to claim 4, characterized in that: A plurality of servo electric cylinders (40) are arranged between the milling cutter mechanism (11) and the first airbag (21).

6. The cable duct dredging robot suitable for small diameter pipes according to claim 5, characterized in that: Three servo electric cylinders (40) are provided, and the three servo electric cylinders (40) are evenly arranged around the outside of the third spherical joint (30).

7. The cable duct dredging robot suitable for small diameter pipes according to claim 1, characterized in that: The working system (10) is a cutting mechanism, the cutting mechanism is connected to the first airbag via a third spherical joint, and the cutting mechanism is used to cut cables in a small-diameter cable duct.

8. The cable duct dredging robot suitable for small diameter pipes according to claim 7, characterized in that: The cutting mechanism includes a main rotating motor, a magnetic push rod, an end grinding wheel, a first frustum grinding wheel, a second frustum grinding wheel, a first self-rotating motor and a second self-rotating motor. The third spherical joint is connected to the main rotating motor, the output shaft of the main rotating motor is connected to the magnetic push rod, the end of the magnetic push rod away from the main rotating motor is connected to the end grinding wheel, the two oppositely arranged push rods of the magnetic push rod are respectively connected to the first self-rotating motor and the second self-rotating motor, the first self-rotating motor is connected to the first frustum grinding wheel, and the second self-rotating motor is connected to the second frustum grinding wheel.

9. The cable duct dredging robot suitable for small diameter pipes according to claim 1, characterized in that: The working system (10) is a repair mechanism, and the repair mechanism is used to repair the outer sheath of the cable.

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