Variable-diameter and variable-speed pipeline robot and control method thereof

Abstract

The invention provides a variable-diameter and variable-speed pipeline robot and a control method thereof, and belongs to the field of oil and gas pipeline detection and maintaining.The variable-diameter and variable-speed pipeline robot comprises a robot body and annular petal passive propelling assemblies arranged at the two ends of the robot body; the annular flap passive propulsion assembly comprises a posture adjusting flap layer and a propulsion flap layer arranged in the posture adjusting flap layer; the propelling petal layer comprises a plurality of propelling petals and an inner driving motor for driving the propelling petals to rotate; the posture adjusting petal layer comprises a plurality of posture adjusting petals and an outer driving motor used for driving the posture adjusting petals to rotate along the tangent line of the outer wall of the robot body. The propelling petals and the posture adjusting petals are arranged in a staggered manner; and the external driving motor drives the posture adjusting petals to rotate, so that the distance between the adjacent posture adjusting petals is changed from zero to a preset value. Through mutual cooperation of the posture adjusting petal layer and the propelling petal layer, large-range change of the diameter of the posture adjusting petal passive propelling assembly is achieved, and the posture adjusting petal passive propelling assembly is suitable for large-range variable-diameter pipelines.

Description

Technical Field

[0001] The present application relates to the technical field of oil and gas pipeline detection and maintenance, and in particular to a variable diameter and variable speed pipeline robot and a control method thereof. Background Art

[0002] With the rapid development of underground pipeline network construction, pipeline robots are widely used in the construction and maintenance of underground pipeline networks, such as pipeline flaw detection, pipeline cleaning, pipeline inspection and pipeline repair, with their advantages of high intelligence and unmanned operation. These pipelines have highly dangerous and complex unknown environmental characteristics such as space limitations, liquid accumulation, the presence of harmful gases and limited visible light, which brings great risks to manual entry into pipeline inspection. The inspection and maintenance of underground pipeline networks are of great significance to ensuring resource supply, environmental protection, improving urban disaster resistance, promoting economic growth, promoting urban development, maintaining urban operation safety and promoting scientific and technological innovation.

[0003] As the main equipment for oil and gas pipeline inspection, the ring-mounted flap pressure-driven pipeline robot can complete the inspection and flaw detection of general oil and gas pipelines, but its speed control ability is limited and its adaptability to special geometric environments and variable diameter pipelines is weak. Although the self-driven pipeline robot can achieve precise control of the running speed in the pipeline and adapt to the complex pipeline geometric environment, its anti-blocking ability is weak in the complex closed pipeline environment, the detection distance is short (less than 1000 meters), and the speed is slow (less than 1 meter / second), which significantly reduces the quality and efficiency of pipeline inspection. Passive oil and gas pipeline inspection robots have problems such as poor obstacle crossing performance and active steering ability, low speed control accuracy, and poor adaptability to different pipe diameters. It can be seen that the existing pipeline robots are difficult to deal with variable diameter pipelines in long-distance oil and gas pipelines, especially pipelines with large diameter changes. Summary of the invention

[0004] In view of the technical problems existing in the background technology, the present application provides a variable diameter and variable speed pipeline robot and a control method thereof. The variable diameter and variable speed pipeline robot has a compact structure and strong adaptability. Through the mutual coordination of the posture adjustment petal layer and the propulsion petal layer, the variable diameter range of the variable diameter and variable speed pipeline robot is expanded, thereby better adapting to variable diameter pipelines, especially pipelines with a large range of diameter changes.

[0005] In a first aspect, an embodiment of the present application provides a variable-diameter and variable-speed pipeline robot, including a robot body and annular flap passive propulsion components arranged at both ends of the robot body; the annular flap passive propulsion components include a posture adjustment flap layer and a propulsion flap layer arranged inside the posture adjustment flap layer; the propulsion flap layer includes a plurality of propulsion flaps and an inner drive motor for driving the propulsion flaps to rotate; the posture adjustment flap layer includes a plurality of posture adjustment flaps and an outer drive motor for driving the posture adjustment flaps to rotate along the tangent of the outer wall of the robot body; the propulsion flaps and the posture adjustment flaps are arranged in a staggered manner; the outer drive motor drives the posture adjustment flaps to rotate, so that the distance between adjacent posture adjustment flaps changes from zero to a preset value.

[0006] In the technical solution of the embodiment of the present application, first, the different pressures received by the annular flap passive propulsion components located at both ends of the robot body are utilized to form a pressure difference, driving the variable-diameter and variable-speed pipeline robot to passively advance in the pipeline; by arranging the propulsion flap layer and the posture adjustment flap layer, the inner drive motor can drive a plurality of propulsion flaps to expand from close contact to a preset position, and at the same time enable the outer drive motor to drive the posture adjustment flaps to expand from close contact to a preset position, realizing a large-range change in the diameter of the annular flap passive propulsion components to adapt to a large-range variable-diameter pipeline, enabling the annular flap passive propulsion components to closely fit the inside of pipelines with different diameters, realizing bypass-like speed control and adapting to different pipelines, and better controlling the speed of the variable-diameter and variable-speed pipeline robot.

[0007] In some embodiments, the propulsion flaps rotate along the tangent of the outer wall of the robot body.

[0008] In this embodiment, by reasonably setting the rotation direction of the propulsion flaps, the propulsion flaps can rotate within a preset angle range, and then cooperate with the posture adjustment flaps to realize the smooth diameter change of the variable-diameter and variable-speed pipeline robot.

[0009] In some embodiments, the posture adjustment flap layer and the propulsion flap layer are coaxially arranged, and a boss facing the posture adjustment flap layer is provided on the axis between the posture adjustment flap layer and the propulsion flap layer. The distance from the outer edge of the boss to the axis gradually increases, and the propulsion flap layer rotates along the axis.

[0010] In this embodiment, a boss facing the posture adjustment flap layer is provided on the axis between the posture adjustment flap layer and the propulsion flap layer, and it is ensured that the distances from the outer edges of the boss to the axis are different. During the rotation of the propulsion flap layer along the axis, different positions of the outer edge of the boss contact the posture adjustment flap layer to adapt to the expansion or contraction of the posture adjustment flap layer.

[0011] In some embodiments, a plurality of the propulsion flaps are respectively connected to different inner drive motors; a plurality of the posture adjustment flaps are connected to the same outer drive motor.

[0012] In this embodiment, by setting the attitude adjustment flaps to be controlled by the same external drive motor, the same opening and closing states of different attitude adjustment flaps are ensured and they are made to fit the inner wall of the pipeline; by controlling the propulsion flaps with different internal drive motors, the opening and closing angles of the propulsion flaps in different parts can be freely adjusted to adapt to pipelines with different geometric structures.

[0013] In some embodiments, pressure sensors and speed sensors are provided on the outer side of the circumferential wall of the robot body.

[0014] In this embodiment, through the mutual cooperation of the pressure sensor and the speed sensor, fine control of the running speed is achieved.

[0015] In some embodiments, the pressure sensors are evenly distributed on the outer side of the circumferential wall of the robot body, and the number of the pressure sensors is 3 - 6.

[0016] In this embodiment, by reasonably setting the positions and the number of the pressure sensors, not only can the working environment of the variable - diameter and variable - speed pipeline robot be better obtained, but also the acquired pressure values are more representative. In some embodiments, the variable - diameter and variable - speed pipeline robot further includes a support assembly arranged around the robot body. The support assembly includes at least two groups of support frames, support wheels arranged at the ends of the support frames far from the robot body, and electric push rods for driving the retraction and extension of the support frames.

[0017] In this embodiment, by setting the support assembly, when the pipe diameter changes, the electric push rod adjusts the state of the support frame to control the friction force between the support wheel and the inner wall of the pipeline, and further precisely controls the running speed of the variable - diameter and variable - speed pipeline robot in the pipeline; the support assembly, as a cooperative variable - diameter unit, through the mutual cooperation with the annular flap passive propulsion assembly, utilizes the combination of the bypass control structure and the friction control structure to greatly improve the speed control range and accuracy of the variable - diameter and variable - speed pipeline robot, enabling it to always maintain the optimal operation speed under different flow rates and pipe wall conditions, which can not only ensure the accuracy of data collection and maintenance operations, but also improve the overall work efficiency.

[0018] In a second aspect, the embodiment of the present application provides a control method for the variable - diameter and variable - speed pipeline robot provided in the first aspect of the present application. When the pipe diameter changes, it includes the following steps: the external drive motor drives the attitude adjustment flaps to rotate and expand or contract along the tangent of the outer wall of the robot body to a preset position, and the internal drive motor drives the propulsion flaps to rotate and expand or contract to a preset position, so that both the propulsion flaps and the attitude adjustment flaps are in close contact with the inner wall of the pipeline; the propulsion flaps are arranged in a staggered manner between adjacent attitude adjustment flaps.

[0019] In the technical solution of the embodiment of the present application, a variable-diameter and variable-speed pipeline robot with a special structure is used. Through the mutual cooperation of the annular flap passive propulsion component and the support component, the variable-diameter and variable-speed pipeline robot can adapt to pipelines with a large size change range.

[0020] In some embodiments, when the variable-diameter and variable-speed pipeline robot changes speed, the following steps are included: the outer drive motor drives the posture adjustment flap to rotate along the tangent of the outer wall of the robot body, and the inner drive motor drives the propulsion flap to rotate, so that the contact pressure between the posture adjustment flap and the propulsion flap and the inner wall of the pipeline increases or decreases, realizing the deceleration or acceleration of the variable-diameter and variable-speed pipeline robot.

[0021] In this embodiment, through the mutual cooperation of the annular flap passive propulsion component and the support component, the speed control range and accuracy of the variable-diameter and variable-speed pipeline robot are greatly improved, and real-time and automatic speed regulation according to the actual working conditions of the pipeline is realized.

[0022] In some embodiments, when the variable-diameter and variable-speed pipeline robot turns, the following steps are included: the electric push rod adjusts the telescopic amount of the support frame, so that the pressure of the support components at different parts on the inner wall of the pipeline is the same, realizing the smooth turning of the variable-diameter and variable-speed pipeline robot.

[0023] In this embodiment, by adjusting the pressure of the support component on the inner wall of the pipeline, the variable-diameter and variable-speed pipeline robot can better adapt to turning.

[0024] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the following specifically illustrates the specific embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solution of the present application, the drawings used in the present application will be briefly introduced below. Obviously, the following described drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0026] Figure 1 It is a schematic structural diagram of the working state of the variable-diameter and variable-speed pipeline robot in the first form in the embodiment of the present application; Figure 2 is Figure 1 A schematic structural diagram of the working state of the variable-diameter and variable-speed pipeline robot without showing the outer shell; Figure 3 It is a schematic structural diagram of the working state of the variable-diameter and variable-speed pipeline robot in the second form in the embodiment of the present application; Figure 4 For Figure 3 it is a schematic structural diagram showing the working state of a variable-diameter and variable-speed pipeline robot without showing its outer shell; Figure 5 it is a schematic structural diagram of the annular flap passive propulsion assembly in an embodiment of the present application; Figure 6 it is a schematic structural diagram of the propulsion flap layer in an embodiment of the present application; Figure 7 it is a schematic structural diagram of the fully closed state of the propulsion flap layer and the posture adjustment flap layer; Figure 8 it is a schematic structural diagram of the fully closed state of the propulsion flap layer and the posture adjustment flap layer from another perspective; Explanation of reference numerals: 100 - variable-diameter and variable-speed pipeline robot; 1 - robot body; 2 - annular flap passive propulsion assembly; 3 - support assembly; 4 - distance sensor; 5 - pressure sensor; 6 - speed sensor; 7 - vision sensor; 11 - outer shell; 12 - rigid bracket; 21 - propulsion flap layer; 22 - posture adjustment flap layer; 23 - fixing block; 31a - first support frame, 31b - second support frame; 32a - first support wheel, 32b - second support wheel; 33a - first electric push rod, 33b - second electric push rod. Detailed implementation manners

[0027] Next, embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solution of the present application more clearly, so they are only examples and cannot be used to limit the protection scope of the present application.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above accompanying drawing descriptions are intended to cover non-exclusive inclusion.

[0029] Referring to "embodiment" herein means that a specific feature, structure or characteristic described in connection with the embodiment may be included in at least one embodiment of this application. The phrase appears at various positions in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments.

[0030] In the description of the embodiments of the present application, the term "multiple" refers to two or more (including two). Similarly, "multiple groups" refers to two or more groups (including two groups), and "multiple pieces" refers to two or more pieces (including two pieces).

[0031] In the description of the embodiments of the present application, the orientation or positional relationship indicated by technical terms such as "length" and "circumferential direction" is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the embodiments of the present application.

[0032] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "connection", and "fixation" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can also be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0033] With the rapid development of the construction of underground pipe networks, pipeline robots are widely used in the construction and maintenance fields of underground pipe networks. Existing pipeline robots are difficult to handle variable-diameter pipelines in long-distance oil and gas pipelines, especially pipelines with a large range of diameter changes.

[0034] To solve the technical problem that pipeline robots are difficult to handle variable-diameter pipelines in long-distance oil and gas pipelines, the present application provides a variable-diameter and variable-speed pipeline robot and its control method. Among them, through the mutual cooperation of the posture adjustment flap layer and the propulsion flap layer, the distance between adjacent posture adjustment flaps can be changed from zero to a preset value, expanding the variable-diameter range of the variable-diameter and variable-speed pipeline robot, so that the annular flap passive propulsion assembly can be closely attached to the inner wall of pipelines with different diameters to adapt to pipelines with a large range of diameter changes.

[0035] Please refer to Figure 1 and Figure 3, a variable-diameter and variable-speed pipeline robot 100 provided by an embodiment of the present application, includes a robot body 1 and annular flap passive propulsion components 2 arranged at both ends of the robot body 1; the annular flap passive propulsion components 2 include a posture adjustment flap layer 22 and a propulsion flap layer 21 arranged inside the posture adjustment flap layer 22; the propulsion flap layer 21 includes a plurality of propulsion flaps and an inner drive motor for driving the propulsion flaps to rotate; the posture adjustment flap layer 22 includes a plurality of posture adjustment flaps and an outer drive motor for driving the posture adjustment flaps to rotate along the tangent of the outer wall of the robot body 1; the propulsion flaps and the posture adjustment flaps are arranged in a staggered manner; the outer drive motor drives the posture adjustment flaps to rotate, so that the distance between adjacent posture adjustment flaps changes from zero to a preset value. Specifically, during the operation of the variable-diameter and variable-speed pipeline robot 100 in the pipeline, when the pipe diameter becomes larger, the outer drive motor adjusts the angle of the posture adjustment flaps, so that a plurality of posture adjustment flaps expand to a preset position; then the inner drive motor adjusts the angle of the propulsion flaps, so that the propulsion flaps expand to a preset position to fill the gap between adjacent posture adjustment flaps, so that both the posture adjustment flaps and the propulsion flaps are in close contact with the inner wall of the pipeline. As Figure 7 and Figure 8 shown, when the pipe diameter becomes smaller, the inner drive motor adjusts the angle of the propulsion flaps, so that the propulsion flaps contract to a preset position or even contract until a plurality of propulsion flaps are completely closed (that is, there is no gap between adjacent propulsion flaps); the outer drive motor adjusts the angle of the posture adjustment flaps, so that a plurality of posture adjustment flaps contract to a preset position or even contract until a plurality of posture adjustment flaps are completely closed (that is, there is no gap between adjacent posture adjustment flaps), so that the posture adjustment flaps are in close contact with the inner wall of the pipeline. That is, the present application adjusts the state of the annular flap passive propulsion component 2 to enable it to freely change the diameter within a large range in the pipeline to adapt to the pipeline environment with large size changes.

[0036] In the technical solution of the embodiment of the present application, first, due to the different pressures received by the annular flap passive propulsion components 2 located at both ends of the robot body 1, a pressure difference is formed, driving the variable-diameter and variable-speed pipeline robot 100 to passively move forward in the pipeline, that is, the variable-diameter and variable-speed pipeline robot 100 moves forward through the passive propulsion method. By setting the propulsion flap layer 21 and the posture adjustment flap layer 22, when the pipe diameter increases, the propulsion flap layer 21 can fill the gap between adjacent posture adjustment flap layers 22, so as to greatly increase the diameter of the annular flap passive propulsion component 2 and increase the contact area and contact friction force between the annular flap passive propulsion component 2 and the pipe wall; at the same time, when the pipe diameter decreases, the propulsion flap layer 21 can contract so that the posture adjustment flaps completely contract, greatly reducing the diameter of the annular flap passive propulsion component 2, and making it fit the inner wall of the pipeline with an appropriate contact friction force, that is, the annular flap passive propulsion component 2 realizes bypass-like speed control and adapts to different pipelines by flexibly adjusting the opening and closing states of the propulsion flap layer 21 and the posture adjustment flap layer 22. In addition, the present application adopts the passive propulsion method, abandoning the traditional motor-driven active propulsion, eliminating the safety hazards of the power source in the oil and gas environment, and greatly improving the safety of the operation of the variable-diameter and variable-speed pipeline robot 100; at the same time, enhancing the adaptability and reliability of the variable-diameter and variable-speed pipeline robot 100 to the complex environment in the pipeline, and effectively improving the inspection efficiency.

[0037] Further, in the embodiment of the present application, the propulsion flaps rotate along the tangent of the outer wall of the robot body 1.

[0038] In the technical solution of the embodiment of the present application, by setting the rotation direction of the propulsion flaps to rotate along the tangent of the outer wall of the robot body 1, the propulsion flaps can rotate within a preset angle range, and then cooperate with the posture adjustment flaps to realize the smooth diameter change of the variable-diameter and variable-speed pipeline robot 100.

[0039] Further, in the embodiment of the present application, the posture adjustment flap layer 22 and the propulsion flap layer 21 are coaxially arranged, and a boss facing the posture adjustment flap layer 22 is provided on the axis between the posture adjustment flap layer 22 and the propulsion flap layer 21. The distance from the outer edge of the boss to the axis gradually increases, and the propulsion flap layer 21 rotates along the axis.

[0040] In the technical solution of the embodiment of the present application, by coaxially arranging the posture adjustment flap layer 22 and the propulsion flap layer 21, and setting a boss facing the posture adjustment flap layer 22 on the axis between the posture adjustment flap layer 22 and the propulsion flap layer 21, and ensuring that the distances from the outer edges of the bosses to the axis are different, during the rotation of the propulsion flap layer 21 along the axis, different positions of the outer edge of the boss contact the posture adjustment flap layer 22 to adapt to the expansion or contraction of the posture adjustment flap layer 22. That is, the rotation mode of the propulsion flap layer 21 can be diversified.

[0041] Further, in the embodiments of the present application, several propulsion flaps are respectively connected to different internal drive motors; several attitude adjustment flaps are connected to the same external drive motor.

[0042] In the technical solution of the embodiments of the present application, by setting the attitude adjustment flaps to be controlled by the same external drive motor, it is ensured that different attitude adjustment flaps have the same opening and closing states and are attached to the inner wall of the pipeline. By controlling the propulsion flaps with different internal drive motors, the opening and closing angles of the propulsion flaps at different positions can be freely adjusted to adapt to complex geometric structures such as elbows, T-shaped pipes, and slopes. At the same time, the force conditions of the propulsion flaps at different positions can be better adjusted to better adapt to the change of the pipe diameter. At the same time, when the pipe diameter changes, the speed of the variable diameter and variable speed pipeline robot 100 changes smoothly. Finally, the variable diameter and variable speed pipeline robot 100 can operate safely, efficiently, and adaptively in the oil and gas pipeline, which can not only accurately adapt to different pipe diameter changes and complex geometric conditions in the pipeline, but also adjust the traveling speed and the attitude of the variable diameter and variable speed pipeline robot 100 in real time according to the pipeline working conditions, improving the quality and efficiency of oil and gas pipeline detection and maintenance operations. In some embodiments, several attitude adjustment flaps can also be set to be connected to different external drive motors to control the attitude adjustment flaps at different positions.

[0043] Further, in the embodiments of the present application, as Figure 1 and Figure 3 shown, a pressure sensor 5 and a speed sensor 6 are provided on the outer side of the peripheral wall of the robot body 1. The pressure sensor 5 can monitor the magnitude of the oil pressure in the pipeline in real time; the speed sensor 6 can monitor the running speed of the variable diameter and variable speed pipeline robot 100 in the pipeline in real time.

[0044] In the technical solution of the embodiments of the present application, by setting the pressure sensor 5 to monitor the magnitude of the oil pressure in the pipeline in real time, the running speed of the variable diameter and variable speed pipeline robot 100 is indirectly controlled. By setting the speed sensor 6, the running speed of the variable diameter and variable speed pipeline robot 100 in the pipeline can be monitored in real time. At the same time, the change curves of the pressure value displayed by the pressure sensor 5 and the speed value displayed by the speed sensor 6 can be obtained. Through the mutual cooperation of the pressure sensor 5 and the speed sensor 6, the refined control of the running speed is realized.

[0045] Further, in the embodiments of the present application, the pressure sensors 5 are evenly distributed on the outer side of the peripheral wall of the robot body 1, and the number of the pressure sensors 5 is 3 - 6.

[0046] In the technical solution of the embodiment of the present application, by evenly distributing the pressure sensor 5 on the outer side of the peripheral wall of the robot body 1, more accurate pressure values can be obtained; at the same time, by setting the number of pressure sensors 5 to be multiple, multiple groups of pressure values can be detected, which can not only better obtain the working environment of the variable-diameter and variable-speed pipeline robot 100, but also make the obtained pressure values more representative.

[0047] Furthermore, in the embodiment of the present application, as Figure 1 and Figure 3 shown, the variable-diameter and variable-speed pipeline robot 100 further includes a distance sensor 4 and a vision sensor 7 arranged around the robot body 1. Specifically, when the pipe diameter changes, the distance sensor 4 detects the distance between the annular flap passive propulsion assembly 2 and the pipe wall, and then the posture adjustment flap layer 22 and the propulsion flap layer 21 of the annular flap passive propulsion assembly 2 expand or contract to an appropriate angle so that the posture adjustment flap and the propulsion flap are in close contact with the inner wall of the pipe. At the same time, by setting the vision sensor 7, the fitting condition of the posture adjustment flap and the propulsion flap with the inner wall of the pipe can be observed.

[0048] In the technical solution of the embodiment of the present application, by arranging the distance sensor 4 around the robot body 1 to accurately monitor the distance between the periphery of the annular flap passive propulsion assembly 2 and the inner wall of the pipe, it is convenient to accurately adjust the expansion angle of the propulsion flap and the posture adjustment flap so that the annular flap passive propulsion assembly 2 is in close fit with the inner wall of the pipe. At the same time, with the cooperation of the vision sensor 7, the fitting condition of the posture adjustment flap and the propulsion flap with the inner wall of the pipe is accurately observed, so as to realize the fine control of the diameter and running speed of the variable-diameter and variable-speed pipeline robot 100.

[0049] Furthermore, in the embodiment of the present application, the variable-diameter and variable-speed pipeline robot 100 further includes a support assembly 3 arranged around the robot body 1, as Figure 1 and Figure 2As shown in the figure, the support assembly 3 includes at least two sets of symmetrically arranged first support frames 31a, first support wheels 32a provided at the ends of the first support frames 31a, and first electric push rods 33a for driving the retraction and extension of the first support frames 31a (each first electric push rod 33a controls the corresponding first support frame 31a). Specifically, the first support frame 31a has an I-shaped structure and includes two cross bars and a connecting rod connecting the two cross bars. The first support wheels 32a are provided at the ends of the two cross bars away from the robot body 1. One end of the first electric push rod 33a is connected to the robot body 1, and the other end is connected to the connecting rod. The cross bar is a telescopic structure, so that the length of the cross bar is adjustable; a bearing is provided at the connection between the cross bar and the robot body 1, so that the angle of the cross bar is adjustable. The change range of the angle between the cross bar and the robot body 1 is 20° - 80°. During the operation of the variable-diameter and variable-speed pipeline robot 100 in the pipeline, when the pipe diameter becomes larger, the first electric push rod 33a works to make the first support frame 31a extend or change the angle of the first support frame 31a, so that the first support wheel 32a is in close contact with the inner wall of the pipeline; when the pipe diameter becomes smaller, the first electric push rod 33a works to make the first support frame 31a contract or change the angle of the first support frame 31a, so that the first support wheel 32a is in close contact with the inner wall of the pipeline. At the same time, the thrust of the electric push rod can adjust the friction force between the first support wheel 32a and the inner wall of the pipeline, so as to achieve fine speed control.

[0050] Further, in this embodiment, as Figure 3 and Figure 4As shown, the support assembly 3 includes at least two sets of symmetrically arranged second support frames 31b, second support wheels 32b disposed at one end of the second support frames 31b away from the robot body 1, and second electric push rods 33b for driving the retraction and extension of the second support frames 31b (each second electric push rod 33b controls the corresponding second support frame 31b). Specifically, the second support frame 31b includes a cross-shaped rod (a through hole is provided on one of the rods of the cross-shaped rod, and the other rod passes through the through hole to form a cross-shaped structure) and a connecting rod disposed at one end of the cross-shaped rod away from the robot body 1 and hinged to the cross-shaped rod. The connecting rod is parallel to the outer wall away from the robot body 1. A second support wheel 32b is provided at one end of the cross-shaped rod away from the robot body 1. The telescopic end of the second electric push rod 33b is hinged to one of the rods of the cross-shaped rod provided with the through hole, and the other end of the second electric push rod 33b is fixedly connected to the robot body 1. During the operation of the variable-diameter and variable-speed pipeline robot 100 in the pipeline, when the pipe diameter becomes larger, the second electric push rod 33b contracts, causing one of the rods of the cross-shaped rod provided with the through hole to move away from the robot body 1, thereby causing the entire second support frame 31b to extend, that is, the connecting rod hinged to the cross-shaped rod moves away from the robot body 1, making the second support wheel 32b in close contact with the inner wall of the pipeline; when the pipe diameter becomes smaller, the second electric push rod 33b extends, causing one of the rods of the cross-shaped rod provided with the through hole to move closer to the robot body 1, thereby causing the entire second support frame 31b to shorten, that is, the connecting rod hinged to the cross-shaped rod moves closer to the robot body 1, making the second support wheel 32b in close contact with the inner wall of the pipeline. At the same time, the thrust magnitude of the second electric push rod 33b can adjust the friction force between the second support wheel 32b and the inner wall of the pipeline, thereby achieving fine speed control.

[0051] In the technical solution of the embodiment of the present application, by providing the support assembly 3, the overall weight of the variable-diameter and variable-speed pipeline robot 100 can be supported in the pipeline, and its position in the pipeline can be adjusted. By providing the first electric push rod 33a and the second electric push rod 33b, according to the change of the pipe diameter, the shapes of the first support frame 31a and the second support frame 31b are adjusted, so as to adjust the contact tightness between the first support wheel 32a and the second support wheel 32b and the inner wall of the pipeline, and finally control the friction force between the first support wheel 32a and the second support wheel 32b and the inner wall of the pipeline, thereby accurately regulating the running speed of the variable-diameter and variable-speed pipeline robot 100 in the pipeline, that is, the support assembly 3 can adaptively adjust the telescopic of the first electric push rod 33a and the second electric push rod 33b to adapt to different pipe diameters and adjust the overall attitude of the variable-diameter and variable-speed pipeline robot 100. The support assembly 3 has a simple structure, and different first support frames 31a and second support frames 31b do not affect each other, and can better adapt to the change of the pipe diameter. The support assembly 3, as a cooperative variable-diameter unit, through the mutual cooperation of the annular flap passive propulsion assembly 2 and the support assembly 3, realizes the combination of the bypass control structure and the friction control structure, greatly improving the speed control range and accuracy of the variable-diameter and variable-speed pipeline robot 100, realizing real-time and automatic speed regulation according to the actual working conditions of the pipeline, enabling the robot to always maintain the best working speed under different flow rates and pipe wall conditions, which can not only ensure the accuracy of data collection and maintenance operations, but also improve the overall work efficiency. At the same time, the speed change process is smooth, that is, through the mutual cooperation of the annular flap passive propulsion assembly 2 and the support assembly 3, it can quickly and accurately adapt to pipelines with different pipe diameters, ensuring that the variable-diameter and variable-speed pipeline robot 100 can smoothly pass through complex oil and gas pipeline networks without being frequently blocked due to changes in pipe diameter, greatly improving the operation efficiency.

[0052] Furthermore, in this embodiment, by providing the speed sensor 6, not only can the running speed of the variable-diameter and variable-speed pipeline robot 100 in the pipeline be monitored in real time; at the same time, according to the changes in the data monitored by the speed sensor 6, the mutual cooperation between the annular flap passive propulsion assembly 2 and the support assembly 3 can be indirectly reflected. It can be understood that when the frictional force between the annular flap passive propulsion assembly 2 and the support assembly 3 and the pipe wall increases, the running speed of the variable-diameter and variable-speed pipeline robot 100 in the pipeline will decrease. At this time, the pressure difference change received by the annular flap passive propulsion assemblies 2 located at both ends of the robot body 1 will increase the running speed of the variable-diameter and variable-speed pipeline robot 100 in the pipeline. The influence of these two opposite effects on the running speed is finally directly monitored by the speed sensor 6, that is, the frictional force between the annular flap passive propulsion assembly 2 and the support assembly 3 and the pipe wall is adjusted through the speed value obtained from the speed sensor 6, so that the variable-diameter and variable-speed pipeline robot 100 runs at an appropriate speed. In addition, when the speed sensor 6 is not provided, the change trend graph of the pressure sensor 5 and the speed can be obtained through a large number of previous experiments. When speed adjustment is required, the corresponding speed value can be obtained by monitoring the data on the pressure sensor 5.

[0053] Furthermore, in the embodiment of the present application, as Figure 1 shown, the inclination angle of the first support frame 31a faces the advancing direction of the variable-diameter and variable-speed pipeline robot 100, Figure 1 and the direction of the arrow in

[0054] is the advancing direction of the variable-diameter and variable-speed pipeline robot 100; the total length of the first support frame 31a (referring to the length of each cross bar) is not less than 2 / 3 of the total length of the body of the variable-diameter and variable-speed pipeline robot 100.

[0055] Further, in the embodiment of the present application, the variable-diameter and variable-speed pipeline robot 100 further includes a main control unit. The inner drive motor, the outer drive motor, the distance sensor 4, the pressure sensor 5, the speed sensor 6, the vision sensor 7, the first electric push rod 33a, and the second electric push rod 33b are all electrically connected to the main control unit. The main control unit is an external controller. When the pipe diameter changes, the distance sensor 4 detects the distance between the annular flap passive propulsion assembly 2 and the pipe wall and feeds it back to the main control unit, and the main control unit controls the adjustment flap layer 22 and the propulsion flap layer 21 of the annular flap passive propulsion assembly 2 to open at an appropriate angle so as to contact the pipe wall.

[0056] In the technical solution of the embodiment of the present application, by setting the main control unit, the automated control of different components can be achieved.

[0057] Further, in the embodiment of the present application, as Figure 2 and Figure 4 shown, the robot body 1 includes a housing 11 and a rigid bracket 12 disposed inside the housing 11. Specifically, the distance sensor 4, the pressure sensor 5, and the speed sensor 6 are disposed on the outer wall of the housing 11.

[0058] In the technical solution of the embodiment of the present application, by arranging the rigid bracket 12 inside the housing 11, the rigid bracket 12 has a high strength, thereby improving the strength of the robot body 1 and increasing the service life of the variable-diameter and variable-speed pipeline robot 100.

[0059] Further, in the embodiment of the present application, as Figure 5 and Figure 6 shown, the annular flap passive propulsion assembly 2 further includes a fixing block 23. A plurality of propulsion flaps of the propulsion flap layer 21 and a plurality of adjustment flaps of the adjustment flap layer 22 are rotatably connected to the fixing block 23, and the inner drive motor and the outer drive motor are disposed inside the fixing block 23.

[0060] Further, in the embodiment of the present application, the robot body 1 further includes one or more of a pipeline detection unit, a pipeline cleaning unit, a pipeline repair unit, an energy supply unit, and a fluid kinetic energy conversion unit connected to the housing 11. Specifically, different units all adopt standard allogeneic isomorphic docking interfaces, and energy and communication interfaces are left on the docking interfaces, and different segments can be replaced according to requirements before detection.

[0061] In the technical solution of the embodiment of the present application, by providing functional units such as a pipeline detection unit, a pipeline cleaning unit, a pipeline repair unit, an energy supply unit, and a fluid kinetic energy conversion unit, the multi-functionality of the variable-diameter and variable-speed pipeline robot 100 is realized. By providing an energy supply unit, that is, a battery is built into the variable-diameter and variable-speed pipeline robot 100 to supply power to the pressure sensor 5, the speed sensor 6, and the vision sensor 7; by providing a fluid kinetic energy conversion unit, that is, a propeller is added outside the robot body 1 (a generator is provided inside the robot body 1, and the propeller is connected to the generator). When the variable-diameter and variable-speed pipeline robot 100 operates in the pipeline, the oil pressure drives the propeller to rotate, thereby driving the generator to generate electricity for supplying power to the pressure sensor 5, the speed sensor 6, the vision sensor 7, etc.

[0062] In a second aspect, the embodiment of the present application provides a control method for the variable-diameter and variable-speed pipeline robot 100 provided in the first aspect of the present application. When the variable-diameter and variable-speed pipeline robot 100 is in a non-working state, the propulsion flap layer 21, the attitude adjustment flap layer 22, and the support assembly 3 are in a contracted position, so that the annular flap passive propulsion assembly 2 and the support assembly 3 are in a minimum diameter state, and the motor is pre-started to maintain an initial pre-tightening force; When the pipe diameter changes, the control method of the variable-diameter and variable-speed pipeline robot 100 includes the following steps: S1. The distance sensors 4 circumferentially arranged on the robot body 1 detect the distances between the annular flap passive propulsion assembly 2 and the support assembly 3 and the inner wall of the pipeline, and feed back the monitoring data to the main control unit; S2. The main control unit calculates the adjustment amounts of the annular flap passive propulsion assembly 2 and the support assembly 3 according to the distance, and transmits signals to the inner drive motor, the outer drive motor, and the first electric push rod 33a or the second electric push rod 33b; the inner drive motor and the outer drive motor rotate to the target position, and the first electric push rod 33a or the second electric push rod 33b extends to the target position, so that the attitude adjustment flap layer 22 (if the propulsion flap layer 21 is opened, the propulsion flap layer 21 also contacts the inner wall of the pipeline), the first support wheel 32a or the second support wheel 32b contact the inner wall of the pipeline; S3. The pressure sensor 5 monitors the oil pressure change in the pipeline in real time; when the pressure value monitored by the pressure sensor 5 tends to be stable and the speed sensor 6 monitors that the variable-diameter and variable-speed pipeline robot 100 operates at an appropriate speed, each group of motion structures triggers the electromagnetic brake to lock, realizing the positioning of each component, and the variable-diameter and variable-speed pipeline robot 100 operates at this speed continuously.

[0063] In the technical solution of the embodiment of the present application, by using the variable-diameter and variable-speed pipeline robot 100 with a special structure, through the mutual cooperation of the annular flap passive propulsion assembly 2 and the support assembly 3, the variable-diameter and variable-speed pipeline robot 100 can adapt to pipelines with a relatively large size change range.

[0064] Further, in the embodiment of the present application, when the variable-diameter and variable-speed pipeline robot 100 needs to change speed (at this time, the diameter of the pipeline remains unchanged), the main control unit issues an instruction, the outer drive motor drives the attitude adjustment flap to rotate along the tangent of the outer wall of the robot body 1, and the inner drive motor drives the propulsion flap to rotate, so that the contact pressure between the attitude adjustment flap, the propulsion flap and the first support wheel 32a or the second support wheel 32b and the inner wall of the pipeline increases or decreases, realizing the deceleration or acceleration of the variable-diameter and variable-speed pipeline robot 100. Specifically, the control method of the variable-diameter and variable-speed pipeline robot 100 includes the following steps: S1': The main control unit controls the inner drive motor, the outer drive motor and the first electric push rod 33a or the second electric push rod 33b to work. The inner drive motor and the outer drive motor rotate to the target position, and the first electric push rod 33a or the second electric push rod 33b extends or contracts to the target position, so that the attitude adjustment flap layer 22 (if the propulsion flap layer 21 is opened, the propulsion flap layer 21 also contacts the inner wall of the pipeline), the first support wheel 32a or the second support wheel 32b is away from the inner wall of the pipeline or contacts the inner wall of the pipeline more closely; S2': The vision sensor 7 monitors the fitting degree or the distance of the attitude adjustment flap, the propulsion flap and the first support wheel 32a or the second support wheel 32b from the pipeline. When the speed sensor 6 monitors that the variable-diameter and variable-speed pipeline robot 100 is running at an appropriate speed, each group of motion structures triggers the electromagnetic brake to lock (that is, locks the attitude adjustment flap layer 22, the propulsion flap layer 21, the first electric push rod 33a or the second electric push rod 33b), realizing the positioning of each component, and the variable-diameter and variable-speed pipeline robot 100 runs at this speed continuously. That is, when deceleration or acceleration is required, according to the preset detection requirements based on the results of pipeline environment detection (referring to defect detection, obstacle detection, pipe diameter detection, etc.) and the results feedback by the vision sensor 7, the main control unit controls the first electric push rod 33a or the second electric push rod 33b to work so that the pressure of the variable-diameter and variable-speed pipeline robot 100 on the inner wall of the pipeline increases or decreases, and at the same time rotates the inner drive motor and the outer drive motor to the target position, uses the speed sensor 6 to detect the speed of the variable-diameter and variable-speed pipeline robot 100 and feeds the data back to the main control unit. When the speed sensor 6 monitors that the variable-diameter and variable-speed pipeline robot 100 decelerates to the preset range, each group of motion structures triggers the electromagnetic brake to lock, realizing the positioning of each component, and the variable-diameter and variable-speed pipeline robot 100 runs at this speed continuously.

[0065] In the technical solution of the embodiment of the present application, by using the variable-diameter and variable-speed pipeline robot 100 with a special structure, through the mutual cooperation of the annular flap passive propulsion assembly and the support assembly 3, the speed control range and accuracy of the variable-diameter and variable-speed pipeline robot 100 are greatly improved, and the real-time and automatic speed regulation according to the actual working conditions of the pipeline is realized.

[0066] Further, in the embodiment of the present application, when the variable-diameter and variable-speed pipeline robot 100 needs to turn, the first electric push rod 33a or the second electric push rod 33b adjusts the telescopic amount of the first support frame 31a or the second support frame 31b, so that the pressures of the support assemblies 3 at different positions on the inner wall of the pipeline are the same, realizing the smooth turning of the variable-diameter and variable-speed pipeline robot 100. Specifically, the control method of the variable-diameter and variable-speed pipeline robot 100 includes the following steps: When the pipeline turns, the pressures received by the support assemblies 3 at different positions of the robot body 1 are different. The main control system adjusts the first electric push rod 33a or the second electric push rod 33b at different positions to work, so that the pressures of the support assemblies 3 at different positions on the inner wall of the pipeline are the same, thereby realizing the smooth change of the running speed of the variable-diameter and variable-speed pipeline robot 100. In order to better monitor the pressure magnitudes received by the support assemblies 3 at different positions of the robot body 1, a pressure detector (which is actually a pressure sensor, and is named a pressure detector to distinguish it from the pressure sensor 5) electrically connected to the main control system can be additionally provided. The pressure detector can detect the pressures of the support assembly 3 and the annular flap passive propulsion assembly 2 on the inner wall of the pipeline, so as to obtain the friction force magnitudes between the support assembly 3 and the annular flap passive propulsion assembly 2 and the inner wall of the pipeline. Through the mutual cooperation of the visual sensor 7 and the pressure sensor 5, the fitting degree between the posture adjustment flap and the propulsion flap and the pipeline can be better monitored.

[0067] In the technical solution of the embodiment of the present application, by setting the pressure detector, the pressure conditions received by the support assemblies 3 at different positions can be detected in real time. When the pipeline turns, the telescopic amounts of the first electric push rod 33a or the second electric push rod 33b at different positions are adjusted in time according to the data detected by the pressure detector, so that the pressures of the support assemblies 3 at different positions on the inner wall of the pipeline are the same, thereby enabling the variable-diameter and variable-speed pipeline robot 100 to adapt to the turning situation.

[0068] Specifically, please refer to Figures 1 to 8According to one or more embodiments of the present application, the present application utilizes the different pressures on the annular petal passive propulsion component 2 located at both ends of the robot body 1 to form a pressure difference, thereby realizing the passive propulsion of the variable diameter and variable speed pipeline robot 100; by setting a propulsion petal layer 21 and a posture adjustment petal layer 22, and controlling the opening angles of the propulsion petals and the posture adjustment petals respectively through a plurality of internal drive motors and the same external drive motor, the internal drive motor can drive a plurality of propulsion petals to expand from close contact to a preset position, and at the same time, the external drive motor can drive the posture adjustment petals to expand from close contact to a preset position, thereby realizing a large range of diameter changes of the annular petal passive propulsion component 2. The ring-shaped flap passive propulsion component 2 can fit tightly with the inside of pipes of different diameters, realize bypass-like speed control and adapt to different pipes; by setting the support component 3, the friction between the variable diameter and variable speed pipeline robot 100 and the inner wall of the pipe is further increased. The support component 3 acts as a collaborative variable diameter unit, and cooperates with the ring-shaped flap passive propulsion component 2. Through the combination of the bypass control structure and the friction control structure, the speed control range and accuracy of the variable diameter and variable speed pipeline robot 100 are greatly improved, so that it can always maintain the best operating speed under different flow rates and pipe wall conditions, which can not only ensure the accuracy of data collection and maintenance operations, but also improve the overall work efficiency. In addition, the setting of the support component 3 can also realize the smooth change of the speed of the variable diameter and variable speed pipeline robot 100 at the pipe bend.

[0069] It should be noted that the present application is not limited to the above-mentioned embodiments. The above-mentioned embodiments are only examples, and the embodiments having the same structure as the technical idea and exerting the same effect within the scope of the technical solution of the present application are all included in the technical scope of the present application. In addition, without departing from the scope of the main purpose of the present application, various modifications that can be thought of by those skilled in the art to the embodiments and other methods of combining some of the constituent elements in the embodiments are also included in the scope of the present application.

Claims

1. A variable-diameter and variable-speed pipeline robot, characterized in that It includes a robot body and a ring-shaped flap passive propulsion assembly arranged at both ends of the robot body; the ring-shaped flap passive propulsion assembly includes an attitude adjustment flap layer and a propulsion flap layer arranged inside the attitude adjustment flap layer; the propulsion flap layer includes a plurality of propulsion flaps and an inner drive motor for driving the propulsion flaps to rotate; the attitude adjustment flap layer includes a plurality of attitude adjustment flaps and an outer drive motor for driving the attitude adjustment flaps to rotate along the tangent of the outer wall of the robot body; the attitude adjustment flaps and the propulsion flaps are arranged in a staggered manner; the outer drive motor drives the attitude adjustment flaps to rotate, so that the distance between adjacent attitude adjustment flaps changes from zero to a preset value.

2. The variable-diameter and variable-speed pipeline robot according to claim 1, wherein The propulsion flaps rotate along the tangent of the outer wall of the robot body.

3. The variable-diameter and variable-speed pipeline robot according to claim 1, wherein The attitude adjustment flap layer and the propulsion flap layer are coaxially arranged. There is a boss facing the attitude adjustment flap layer on the axis between the attitude adjustment flap layer and the propulsion flap layer. The distance from the outer edge of the boss to the axis gradually increases, and the propulsion flap layer rotates along the axis.

4. The variable-diameter and variable-speed pipeline robot according to claim 1, wherein A plurality of the propulsion flaps are respectively connected to different inner drive motors; a plurality of the attitude adjustment flaps are connected to the same outer drive motor.

5. The variable-diameter and variable-speed pipeline robot according to claim 1, characterized in that, A pressure sensor and a speed sensor are arranged on the outer side of the peripheral wall of the robot body.

6. The variable-diameter and variable-speed pipeline robot according to claim 5, wherein, The pressure sensors are evenly distributed on the outer side of the peripheral wall of the robot body, and the number of the pressure sensors is 3 - 6.

7. The variable-diameter and variable-speed pipeline robot according to claim 1, characterized in that, The variable-diameter and variable-speed pipeline robot further includes a support assembly arranged around the robot body. The support assembly includes at least two groups of support frames, support wheels arranged at the ends of the support frames far from the robot body, and electric push rods for driving the retraction and extension of the support frames.

8. A control method for a variable-diameter and variable-speed pipeline robot according to any one of claims 1-7, characterized in that, When the pipe diameter changes, it includes the following steps: The outer drive motor drives the attitude adjustment flaps to rotate and expand or contract along the tangent of the outer wall of the robot body to a preset position, and the inner drive motor drives the propulsion flaps to rotate and expand or contract to a preset position, so that both the propulsion flaps and the attitude adjustment flaps are in close contact with the inner wall of the pipeline; the propulsion flaps are arranged in a staggered manner between adjacent attitude adjustment flaps.

9. The control method of the variable-diameter and variable-speed pipeline robot according to claim 8, characterized in that, When the variable-diameter and variable-speed pipeline robot changes speed, the control method of the variable-diameter and variable-speed pipeline robot further includes the following steps: The outer drive motor drives the attitude adjustment flaps to rotate along the tangent of the outer wall of the robot body, and the inner drive motor drives the propulsion flaps to rotate, so that the contact pressure between the attitude adjustment flaps and the propulsion flaps and the inner wall of the pipeline increases or decreases, realizing the deceleration or acceleration of the variable-diameter and variable-speed pipeline robot.

10. The control method of the variable-diameter and variable-speed pipeline robot according to claim 8, wherein, When the variable-diameter and variable-speed pipeline robot turns, the control method of the variable-diameter and variable-speed pipeline robot further includes the following steps: The electric push rod adjusts the telescopic amount of the support frame, so that the pressure of the support assemblies at different positions on the inner wall of the pipeline is the same, realizing the smooth turning of the variable-diameter and variable-speed pipeline robot.

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