Variable diameter and variable speed pipeline robot and control method thereof

Abstract

The present application provides a variable diameter and variable speed pipeline robot and its control method, which belongs to the field of oil and gas pipeline inspection and maintenance, wherein the variable diameter and variable speed pipeline robot includes a robot body and an annular petal passive propulsion assembly arranged at both ends of the robot body, the annular petal passive propulsion assembly includes a posture adjustment petal layer and a propulsion petal layer arranged inside the posture adjustment petal layer; the propulsion petal layer includes a plurality of propulsion petals and an internal drive motor for driving the propulsion petals to rotate; the posture adjustment petal layer includes a plurality of posture adjustment petals and an external drive motor for driving the posture adjustment petals to rotate along the tangent of the outer wall of the robot body; the propulsion petals and the posture adjustment petals are staggered; the external drive motor drives the posture adjustment petals to rotate so that the distance between adjacent posture adjustment petals changes from zero to a preset value. The present application realizes a wide range of changes in the diameter of the posture adjustment petal passive propulsion assembly through the mutual cooperation of the posture adjustment petal layer and the propulsion petal layer to adapt to a wide range of 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 construction, pipeline robots, with their highly intelligent and unmanned advantages, are widely used in underground pipeline construction and maintenance, such as pipeline flaw detection, cleaning, inspection, and repair. These pipelines present complex and unknown environmental characteristics, such as spatial limitations, liquid accumulation, the presence of hazardous gases, and limited visible light, which pose significant risks for manual entry inspection. The inspection and maintenance of underground pipelines are crucial for ensuring resource supply, protecting the environment, improving urban disaster resilience, promoting economic growth, advancing urban development, maintaining urban safety, and promoting scientific and technological innovation.

[0003] While pressure-driven pipeline robots with ring-mounted petals, the mainstay of oil and gas pipeline inspection, can perform general oil and gas pipeline inspection and flaw detection, they have limited speed control capabilities and are less adaptable to special geometries and variable-diameter pipelines. Self-propelled pipeline robots, while capable of precise speed control within the pipeline and adapting to complex pipeline geometries, suffer from weak anti-blocking capabilities, short detection ranges (less than 1000 meters), and slow speeds (less than 1 meter per second) in complex, closed pipeline environments, significantly reducing pipeline inspection quality and efficiency. Passive oil and gas pipeline inspection robots also suffer from poor obstacle clearance and active steering capabilities, low speed control accuracy, and poor adaptability to varying pipe diameters. This demonstrates that existing pipeline robots struggle to handle variable-diameter pipelines, particularly those with widely varying diameters, in long oil and gas pipelines. 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 the first aspect, an embodiment of the present application provides a variable-diameter and variable-speed pipeline robot, comprising a robot body and an annular petal passive propulsion assembly arranged at both ends of the robot body; the annular petal passive propulsion assembly comprises a posture adjustment petal layer and a propulsion petal layer arranged inside the posture adjustment petal layer; the propulsion petal layer comprises a plurality of propulsion petals and an internal drive motor for driving the propulsion petals to rotate; the posture adjustment petal layer comprises a plurality of posture adjustment petals and an external drive motor for driving the posture adjustment petals to rotate along the tangent of the outer wall of the robot body; the propulsion petals and the posture adjustment petals are staggered; the external drive motor drives the posture adjustment petals to rotate so that the distance between adjacent posture adjustment petals changes from zero to a preset value.

[0006] In the technical solution of the embodiment of the present application, the different pressures exerted on the annular petal passive propulsion assembly at both ends of the robot body are first utilized to form a pressure difference, thereby driving the variable diameter and variable speed pipeline robot to passively advance in the pipeline; by setting a propulsion petal layer and a posture adjustment petal layer, the internal drive motor can drive several 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 petal to expand from close contact to a preset position, thereby realizing a large range of changes in the diameter of the annular petal passive propulsion assembly to adapt to a large range of variable diameter pipelines, so that the annular petal passive propulsion assembly can fit tightly with the inside of pipelines of different diameters, realize bypass-like speed control and adapt to different pipelines, and better control the speed of the variable diameter and variable speed pipeline robot.

[0007] In some embodiments, the propulsion flap rotates along a tangent to the outer wall of the robot body.

[0008] In this embodiment, by reasonably setting the rotation direction of the propulsion petal, the propulsion petal can rotate within a preset angle range, and then cooperate with the posture adjustment petal to achieve 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, and the distance between the outer edge of the boss and 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 outer edge of the boss is at different distances from the axis. 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, several of the propulsion flaps are respectively connected to different internal drive motors; and several of the posture adjustment flaps are connected to the same external 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 state of different attitude adjustment flaps is ensured, and they are made to fit the inner wall of the pipe; 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 pipes with different geometric structures.

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

[0014] In this embodiment, the pressure sensor and the speed sensor cooperate with each other to achieve refined control of the operating speed.

[0015] In some embodiments, 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.

[0016] In this embodiment, by properly arranging the position and number of pressure sensors, not only can the working environment of the variable-diameter and variable-speed pipeline robot be better understood, but the pressure values ​​obtained are also more representative. In some embodiments, the variable-diameter and variable-speed pipeline robot further comprises a support assembly disposed around the robot body, the support assembly comprising at least two sets of support frames, support wheels disposed at the ends of the support frames away from the robot body, and an electric push rod for driving the support frames to retract and extend.

[0017] In this embodiment, by setting a support component, when the pipe diameter changes, the electric push rod adjusts the state of the support frame, controls the friction between the support wheel and the inner wall of the pipe, and thus accurately controls the running speed of the variable-diameter and variable-speed pipeline robot in the pipe; the support component acts as a collaborative variable-diameter unit, and through mutual coordination with the annular petal passive propulsion component, 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, so that it can always maintain the optimal 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 overall work efficiency.

[0018] In the second aspect, an 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, the method includes the following steps: the external drive motor drives the posture adjustment flap to rotate, 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 flap to rotate, expand or contract to a preset position, so that the propulsion flap and the posture adjustment flap are tightly fitted to the inner wall of the pipe; the propulsion flap is staggered between adjacent posture 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 utilized, and the mutual coordination of the annular petal passive propulsion component and the support component is achieved, so that the variable diameter and variable speed pipeline robot can adapt to pipelines with a large range of size changes.

[0020] In some embodiments, when the variable diameter and variable speed pipeline robot changes speed, the following steps are included: the external drive motor drives the posture adjustment flap to rotate along the tangent of the outer wall of the robot body, and the internal 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, thereby achieving deceleration or acceleration of the variable diameter and variable speed pipeline robot.

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

[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 extension and contraction of the support frame so that the support components at different positions exert the same pressure on the inner wall of the pipeline, thereby enabling the variable-diameter and variable-speed pipeline robot to turn smoothly.

[0023] In this embodiment, the pressure of the support assembly on the inner wall of the pipeline is adjusted so that the variable diameter and variable speed pipeline robot can better adapt to turns.

[0024] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To more clearly illustrate the technical solution of this application, the following is a brief introduction to the drawings used in this application. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be derived from these drawings without inventive effort.

[0026] Figure 1 This is a structural diagram of the working state of the first form of the variable diameter and variable speed pipeline robot in the embodiment of the present application;

[0027] Figure 2 for Figure 1 The schematic diagram of the working state of the variable diameter and variable speed pipeline robot is not shown in the figure;

[0028] Figure 3This is a structural diagram of the working state of the second form of the variable diameter and variable speed pipeline robot in the embodiment of the present application;

[0029] Figure 4 for Figure 3 The schematic diagram of the working state of the variable diameter and variable speed pipeline robot is not shown in the figure;

[0030] Figure 5 This is a schematic structural diagram of the annular petal passive propulsion assembly in an embodiment of the present application;

[0031] Figure 6 This is a schematic diagram of the structure of the propulsion petal layer in the embodiment of the present application;

[0032] Figure 7 This is a schematic diagram of the structure of the propulsion petal layer and the posture adjustment petal layer in a fully closed state;

[0033] Figure 8 This is a schematic diagram of the structure of the propulsion petal layer and the posture adjustment petal layer in a completely closed state from another perspective;

[0034] Explanation of the accompanying drawings: 100 - variable diameter and variable speed pipeline robot; 1 - robot body; 2 - annular petal passive propulsion assembly; 3 - support assembly; 4 - distance sensor; 5 - pressure sensor; 6 - speed sensor; 7 - visual sensor; 11 - housing; 12 - rigid bracket; 21 - propulsion petal layer; 22 - posture adjustment petal layer; 23 - fixed 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 DESCRIPTION

[0035] The following 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 more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art 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-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0037] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0038] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0039] In the description of the embodiments of the present application, the orientation or positional relationship indicated by technical terms such as "length" and "circumference" is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the embodiments of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the embodiments of the present application.

[0040] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0041] With the rapid development of underground pipeline construction, pipeline robots are widely used in the construction and maintenance of underground pipelines. Existing pipeline robots have difficulty in handling variable-diameter pipelines in long-distance oil and gas pipelines, especially pipelines with large diameter changes.

[0042] In order to solve the technical problem that pipeline robots have difficulty coping with variable-diameter pipelines in long-distance oil and gas pipelines, the present application provides a variable-diameter and variable-speed pipeline robot and a control method thereof, wherein, through the mutual coordination of the attitude adjustment petal layer and the propulsion petal layer, the distance between adjacent attitude adjustment petals can be changed from zero to a preset value, thereby expanding the diameter variation range of the variable-diameter and variable-speed pipeline robot, and enabling the annular petal passive propulsion component to fit tightly with the inner wall of pipelines of different diameters to adapt to pipelines with a wide range of variable diameters.

[0043] Please refer to Figure 1 and Figure 3, a variable diameter and variable speed pipeline robot 100 provided in an embodiment of the present application includes a robot body 1 and an annular petal passive propulsion assembly 2 arranged at both ends of the robot body 1; the annular petal passive propulsion assembly 2 includes a posture adjustment petal layer 22 and a propulsion petal layer 21 arranged inside the posture adjustment petal layer 22; the propulsion petal layer 21 includes a plurality of propulsion petals and an internal drive motor for driving the propulsion petals to rotate; the posture adjustment petal layer 22 includes a plurality of posture adjustment petals and an external drive motor for driving the posture adjustment petals to rotate along the tangent of the outer wall of the robot body 1; the propulsion petals and the posture adjustment petals are staggered; the external drive motor drives the posture adjustment petals to rotate so that the distance between adjacent posture adjustment petals changes from zero to a preset value. Specifically, when the variable diameter and variable speed pipeline robot 100 is running in the pipeline, when the diameter of the pipeline increases, the external drive motor adjusts the angle of the attitude adjustment flaps to expand several attitude adjustment flaps to the preset position; then the internal drive motor adjusts the angle of the propulsion flaps to expand the propulsion flaps to the preset position, filling the gaps between adjacent attitude adjustment flaps, so that the attitude adjustment flaps and the propulsion flaps are in close contact with the inner wall of the pipeline. Figure 7 and Figure 8 As shown, when the pipe diameter decreases, the internal drive motor adjusts the angle of the propulsion flaps, causing them to retract to a preset position or even until several propulsion flaps are completely closed (i.e., there is no gap between adjacent propulsion flaps); the external drive motor adjusts the angle of the attitude adjustment flaps, causing several attitude adjustment flaps to retract to a preset position or even until several attitude adjustment flaps are completely closed (i.e., there is no gap between adjacent attitude adjustment flaps), so that the attitude adjustment flaps are in close contact with the inner wall of the pipe. In other words, by adjusting the state of the annular flap passive propulsion component 2, the present application allows it to freely change diameter within a large range within the pipe to adapt to pipe environments with large size changes.

[0044] In the technical solution of the embodiment of the present application, the pressure difference between the annular flap passive propulsion assembly 2 at both ends of the robot body 1 is first used to form a pressure difference, which drives the variable diameter and variable speed pipeline robot 100 to passively advance in the pipeline, that is, the variable diameter and variable speed pipeline robot 100 advances by passive propulsion. By providing the propulsion flap layer 21 and the attitude adjustment flap layer 22, the propulsion flap layer 21 can fill the gap between the adjacent attitude adjustment flap layers 22 when the pipe diameter increases, thereby significantly increasing the diameter of the annular flap passive propulsion assembly 2 and increasing the contact area and contact friction between the annular flap passive propulsion assembly 2 and the pipe wall; at the same time, the propulsion flap layer 21 can contract when the pipe diameter decreases, thereby causing the attitude adjustment flap to fully contract, significantly reducing the diameter of the annular flap passive propulsion assembly 2, so that it fits the inner wall of the pipe with appropriate contact friction, that is, the annular flap passive propulsion assembly 2 can achieve bypass-like speed control and adapt to different pipes by flexibly adjusting the opening and closing states of the propulsion flap layer 21 and the attitude adjustment flap layer 22. In addition, the present application adopts a 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, it enhances the adaptability and reliability of the variable diameter and variable speed pipeline robot 100 to the complex environment inside the pipeline, and effectively improves the inspection efficiency.

[0045] Furthermore, in the embodiment of the present application, the propulsion flap rotates along the tangent of the outer wall of the robot body 1 .

[0046] In the technical solution of the embodiment of the present application, by setting the rotation direction of the propulsion petal to rotate along the tangent of the outer wall of the robot body 1, the propulsion petal can rotate within a preset angle range, and then cooperate with the posture adjustment petal to achieve smooth diameter change of the variable diameter and variable speed pipeline robot 100.

[0047] Furthermore, in an 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, and the distance between the outer edge of the boss and the axis gradually increases, and the propulsion flap layer 21 rotates along the axis.

[0048] In the technical solution of 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, and the outer edge of the boss is ensured to be at different distances from the axis. 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. In other words, the rotation mode of the propulsion flap layer 21 can be diversified.

[0049] Furthermore, in an embodiment of the present application, several propulsion flaps are respectively connected to different internal drive motors; and several posture adjustment flaps are connected to the same external drive motor.

[0050] In the technical solution of the embodiment of the present application, by setting the posture adjustment flaps to be controlled by the same external drive motor, the same opening and closing state of different posture adjustment flaps is 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 at different locations can be freely adjusted to adapt to complex geometric structures such as bends, T-shaped pipes, and climbing. At the same time, the force conditions of the propulsion flaps at different positions can be better adjusted to better adapt to changes in pipe diameter. At the same time, the speed of the variable diameter and variable speed pipeline robot 100 changes smoothly when the pipe diameter changes, ultimately achieving safe, efficient, and adaptive operation of the variable diameter and variable speed pipeline robot 100 in the oil and gas pipeline. It can not only accurately adapt to different pipe diameter changes and complex geometric conditions in the pipeline, but also can adjust the travel speed and posture of the variable diameter and variable speed pipeline robot 100 in real time according to the pipeline working conditions, thereby improving the quality and efficiency of oil and gas pipeline inspection and maintenance operations. In some embodiments, several posture adjustment flaps can also be set to be connected to different external drive motors to achieve control of posture adjustment flaps at different locations.

[0051] Furthermore, in the embodiments of the present application, Figure 1 and Figure 3 As 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 oil pressure in the pipe in real time; the speed sensor 6 can monitor the running speed of the variable diameter and variable speed pipeline robot 100 in the pipe in real time.

[0052] In the technical solution of the embodiment of the present application, a pressure sensor 5 is provided to monitor the oil pressure in the pipe in real time, thereby indirectly controlling the operating speed of the variable-diameter and variable-speed pipeline robot 100. A speed sensor 6 is provided to monitor the operating speed of the variable-diameter and variable-speed pipeline robot 100 in the pipe in real time, and a curve 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, refined control of the operating speed is achieved.

[0053] Furthermore, in the embodiment 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.

[0054] In the technical solution of the embodiment of the present application, by evenly distributing the pressure sensors 5 on the outer side of the peripheral wall of the robot body 1, a more accurate pressure value can be obtained; at the same time, the number of pressure sensors 5 is set to multiple, so that multiple groups of pressure values ​​can be detected, which not only can better obtain the working environment of the variable-diameter and variable-speed pipeline robot 100, but also the obtained pressure values ​​are more representative.

[0055] Furthermore, in the embodiments of the present application, Figure 1 and Figure 3 As shown, the variable-diameter, variable-speed pipeline robot 100 also includes distance sensors 4 and visual sensors 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. Subsequently, the attitude adjustment flap layer 22 and the propulsion flap layer 21 of the annular flap passive propulsion assembly 2 expand or contract to the appropriate angle, bringing the attitude adjustment flap and the propulsion flap into close contact with the pipe inner wall. Simultaneously, the visual sensor 7 enables observation of the contact between the attitude adjustment flap and the propulsion flap and the pipe inner wall.

[0056] In the technical solution of the embodiment of the present application, a distance sensor 4 is arranged around the robot body 1 to accurately monitor the distance between the periphery of the annular flap passive propulsion component 2 and the inner wall of the pipe, so as to facilitate accurate adjustment of the expansion angle of the propulsion flap and the posture adjustment flap so that the annular flap passive propulsion component 2 fits tightly against the inner wall of the pipe. At the same time, through the cooperation of the visual sensor 7, the fit between the posture adjustment flap and the propulsion flap and the inner wall of the pipe is accurately observed, thereby realizing fine control of the diameter and running speed of the variable diameter and variable speed pipeline robot 100.

[0057] 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, such as Figure 1 and Figure 2As shown, the support assembly 3 includes at least two symmetrically arranged first support frames 31a, first support wheels 32a disposed at the ends of the first support frames 31a, and first electric push rods 33a for driving the first support frames 31a to retract and extend (each first electric push rod 33a controls the corresponding first support frame 31a). Specifically, the first support frames 31a are I-shaped, including two crossbars and a connecting rod connecting the two crossbars. The first support wheels 32a are disposed at the ends of the two crossbars 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 crossbar is a retractable structure, allowing its length to be adjusted. Bearings are provided at the connection between the crossbar and the robot body 1, allowing for adjustable angles. The angle between the crossbar and the robot body 1 varies from 20° to 80°. When the variable-diameter, variable-speed pipeline robot 100 operates within a pipeline, when the pipe diameter increases, the first electric push rod 33a activates, causing the first support frame 31a to extend or change its angle, thereby bringing the first support wheel 32a into close contact with the inner wall of the pipeline. When the pipe diameter decreases, the first electric push rod 33a activates, causing the first support frame 31a to contract or change its angle, thereby bringing the first support wheel 32a into close contact with the inner wall of the pipeline. Simultaneously, the thrust of the electric push rod adjusts the friction between the first support wheel 32a and the inner wall of the pipeline, thereby achieving precise speed control.

[0058] Furthermore, in this embodiment, Figure 3 and Figure 4As shown, the support assembly 3 includes at least two groups of symmetrically arranged second support frames 31b, second support wheels 32b arranged at the 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 frames 31b include cross rods (one of the cross rods is provided with a through hole, and the other rod passes through the through hole to form a cross structure) and a connecting rod arranged at the end of the cross rod away from the robot body 1 and hinged to the cross rod. The connecting rod is parallel to the outer wall away from the robot body 1. The end of the cross rod away from the robot body 1 is provided with a second support wheel 32b. The telescopic end of the second electric push rod 33b is hinged to a rod provided with a through hole in the cross rod. The other end of the second electric push rod 33b is fixedly connected to the robot body 1. When the variable-diameter, variable-speed pipeline robot 100 operates within a pipeline, if the pipe diameter increases, the second electric push rod 33b contracts, causing one of the cross-bars with a through hole to move away from the robot body 1. This in turn causes the entire second support frame 31b to extend, meaning the connecting rod hinged to the cross-bars moves away from the robot body 1, bringing the second support wheel 32b into close contact with the inner wall of the pipeline. If the pipe diameter decreases, the second electric push rod 33b extends, causing one of the cross-bars with a through hole to move toward the robot body 1. This in turn causes the entire second support frame 31b to shorten, meaning the connecting rod hinged to the cross-bars moves toward the robot body 1, bringing the second support wheel 32b into close contact with the inner wall of the pipeline. Simultaneously, the thrust of the second electric push rod 33b can adjust the friction between the second support wheel 32b and the inner wall of the pipeline, thereby achieving precise speed control.

[0059] In the technical solution of the embodiment of the present application, by providing a 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 a first electric push rod 33a and a second electric push rod 33b, the shapes of the first support frame 31a and the second support frame 31b are adjusted according to the change in pipe diameter, thereby adjusting the contact tightness between the first support wheel 32a and the second support wheel 32b and the inner wall of the pipeline, and ultimately controlling the friction between the first support wheel 32a and the second support wheel 32b and the inner wall of the pipeline, thereby precisely 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 extension and contraction of the second electric push rod 33b to adapt to different pipe diameters and adjust the overall posture of the variable-diameter and variable-speed pipeline robot 100. The support assembly 3 has a simple structure, and the different first support frames 31a and second support frames 31b do not affect each other, which can better adapt to changes in pipe diameter. The support component 3 serves as a collaborative variable-diameter unit. Through the mutual coordination of the annular petal passive propulsion component 2 and the support component 3, a combination of a bypass control structure and a friction control structure is utilized, which greatly improves the speed control range and accuracy of the variable-diameter and variable-speed pipeline robot 100, and realizes real-time and automatic speed regulation based on the actual working conditions of the pipeline, so that the robot always maintains the optimal 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. At the same time, the speed change process is smooth, that is, through the mutual coordination of the annular petal passive propulsion component 2 and the support component 3, it can quickly and accurately adapt to pipelines of different diameters, ensuring that the variable-diameter and variable-speed pipeline robot 100 can pass smoothly in a complex oil and gas pipeline network without being frequently obstructed by changes in pipe diameter, thereby greatly improving operating efficiency.

[0060] Furthermore, in this embodiment, by providing a speed sensor 6, not only can the operating speed of the variable-diameter and variable-speed pipeline robot 100 in the pipeline be monitored in real time, but changes in the data monitored by the speed sensor 6 can also provide indirect feedback on the synergistic effect of the annular flap passive propulsion assembly 2 and the support assembly 3. It is understandable that when the friction between the annular flap passive propulsion assembly 2 and the support assembly 3 and the pipe wall increases, the operating speed of the variable-diameter and variable-speed pipeline robot 100 in the pipe will be reduced. At this time, the pressure difference experienced by the annular flap passive propulsion assembly 2 at both ends of the robot body 1 will increase the operating speed of the variable-diameter and variable-speed pipeline robot 100 in the pipe. The impact of these two opposing forces on the operating speed is ultimately directly monitored by the speed sensor 6. That is, the friction between the annular flap passive propulsion assembly 2 and the support assembly 3 and the pipe wall is adjusted based on the speed value obtained by the speed sensor 6, so that the variable-diameter and variable-speed pipeline robot 100 can operate at an appropriate speed. In addition, when the speed sensor 6 is not provided, a trend diagram of the pressure sensor 5 and the speed can be obtained through a large number of preliminary tests. When speed adjustment is required, the corresponding speed value can be obtained by monitoring the data on the pressure sensor 5.

[0061] Furthermore, in the embodiments of the present application, Figure 1 As shown, the inclination angle of the first support frame 31a is toward the direction in which the variable diameter and variable speed pipeline robot 100 moves forward. Figure 1 The middle arrow points to the forward direction of the variable-diameter and variable-speed pipeline robot 100 ; the total length of the first support frame 31 a (referring to the length of each cross bar) is not less than 2 / 3 of the total length of the variable-diameter and variable-speed pipeline robot 100 .

[0062] In the technical solution of the embodiment of the present application, by setting the inclination angle of the first support frame 31a toward the direction of advance of the variable-diameter and variable-speed pipeline robot 100, the friction between the first support wheel 32a and the inner wall of the pipe during advance is increased, allowing for more precise speed control. By rationally controlling the total length of the first support frame 31a, the forces acting on the variable-diameter and variable-speed pipeline robot 100 are balanced during operation, preventing damage to the first support frame 31a due to sudden changes in force during operation, and thus preventing the variable-diameter and variable-speed pipeline robot 100 from tipping over during turns.

[0063] Furthermore, in an embodiment of the present application, the variable diameter and variable speed pipeline robot 100 also includes a main control unit. The internal drive motor, the external drive motor, the distance sensor 4, the pressure sensor 5, the speed sensor 6, the visual 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. The main control unit controls the posture adjustment flap layer 22 and the propulsion flap layer 21 of the annular flap passive propulsion assembly 2 to open to an appropriate angle so that they contact the pipe wall.

[0064] In the technical solution of the embodiment of the present application, by setting a main control unit, braking control of different components can be achieved.

[0065] Furthermore, in the embodiments of the present application, Figure 2 and Figure 4 As 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.

[0066] In the technical solution of the embodiment of the present application, a rigid bracket 12 is provided in the shell 11 , and the rigid bracket 12 has 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 .

[0067] Furthermore, in the embodiments of the present application, Figure 5 and Figure 6 As shown, the annular petal passive propulsion assembly 2 also includes a fixed block 23, and several propulsion petals of the propulsion petal layer 21 and several attitude adjustment petals of the attitude adjustment petal layer 22 are rotationally connected to the fixed block 23, and the internal drive motor and the external drive motor are arranged inside the fixed block 23.

[0068] Furthermore, in this embodiment of the present application, the robot body 1 also includes one or more of a pipeline inspection 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, the different units all utilize standard heterogeneous but homogeneous docking interfaces, with power and communication ports provided on the docking interfaces, allowing for replacement of different segments as needed prior to inspection.

[0069] In the technical solution of the embodiment of the present application, the multifunctionality of the variable-diameter and variable-speed pipeline robot 100 is achieved 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. By providing the energy supply unit, a battery is built into the variable-diameter and variable-speed pipeline robot 100 to power the pressure sensor 5, the speed sensor 6, and the visual sensor 7. By providing the fluid kinetic energy conversion unit, a propeller is added to the exterior of 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, which is used to power the pressure sensor 5, the speed sensor 6, the visual sensor 7, and the like.

[0070] In a second aspect, an 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 petal layer 21 and the attitude adjustment petal layer 22 and the support assembly 3 are in a retracted position, so that the annular petal passive propulsion assembly 2 and the support assembly 3 are in a minimum diameter state, and the motor is pre-started to maintain the initial preload;

[0071] When the pipe diameter changes, the control method of the variable diameter and variable speed pipeline robot 100 includes the following steps:

[0072] S1, the distance sensor 4 arranged circumferentially on the robot body 1 detects the distance between the annular petal passive propulsion component 2 and the support component 3 and the inner wall of the pipe, and feeds the monitoring data back to the main control unit;

[0073] S2. The main control unit calculates the adjustment amount of the annular flap passive propulsion assembly 2 and the support assembly 3 based on the distance, and transmits the signal 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 posture adjustment flap layer 22 (if the propulsion flap layer 21 is opened, the propulsion flap layer 21 also contacts the inner wall of the pipe) and the first support wheel 32a or the second support wheel 32b contacts the inner wall of the pipe;

[0074] S3, the pressure sensor 5 monitors the oil pressure changes 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 detects 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, thereby achieving the positioning of each component, and the variable-diameter and variable-speed pipeline robot 100 continues to run at this speed.

[0075] In the technical solution of the embodiment of the present application, a variable-diameter and variable-speed pipeline robot 100 with a special structure is utilized, and the mutual coordination of the annular petal passive propulsion component 2 and the support component 3 is achieved, so that the variable-diameter and variable-speed pipeline robot 100 can adapt to pipelines with a large range of size changes.

[0076] Furthermore, 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 a command, the external drive motor drives the posture adjustment flap to rotate along the tangent of the outer wall of the robot body 1, and the internal drive motor drives the propulsion flap to rotate, so that the contact pressure between the posture 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, thereby achieving 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:

[0077] 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, the first electric push rod 33a or the second electric push rod 33b extends or contracts to the target position, so that the posture adjustment flap layer 22 (if the propulsion flap layer 21 is opened, the propulsion flap layer 21 also contacts the inner wall of the pipe) and the first support wheel 32a or the second support wheel 32b are away from the inner wall of the pipe or in closer contact with the inner wall of the pipe;

[0078] S2' and the visual sensor 7 monitor the degree of fit or distance between the posture adjustment petals, the propulsion petals, and the first support wheel 32a or the second support wheel 32b and the pipeline; when the speed sensor 6 detects 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 (i.e., the posture adjustment petal layer 22, the propulsion petal layer 21, the first electric push rod 33a or the second electric push rod 33b), thereby achieving the positioning of each component, and the variable-diameter and variable-speed pipeline robot 100 continues to run at this speed. That is, when deceleration or acceleration is required, based on the preset detection requirements of the results of pipeline environment detection (defect detection, obstacle detection, pipe diameter detection, etc.) and the feedback results of the visual sensor 7, the main control unit controls the first electric push rod 33a or the second electric push rod 33b to increase or decrease the pressure of the variable-diameter and variable-speed pipeline robot 100 on the inner wall of the pipeline, and at the same time rotates the inner drive motor and the outer drive motor to the target position. The speed sensor 6 is used 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 detects that the variable-diameter and variable-speed pipeline robot 100 has decelerated to a preset range, each group of motion structures triggers the electromagnetic brake to lock, thereby achieving the positioning of each component, and the variable-diameter and variable-speed pipeline robot 100 continues to run at this speed.

[0079] In the technical solution of the embodiment of the present application, a variable-diameter and variable-speed pipeline robot 100 with a special structure is utilized. Through the mutual coordination of the annular petal passive propulsion component and the support component 3, the speed control range and accuracy of the variable-diameter and variable-speed pipeline robot 100 are greatly improved, and real-time and automatic speed control according to the actual working conditions of the pipeline is realized.

[0080] Furthermore, in an 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 extension and contraction amount of the first support frame 31a or the second support frame 31b, so that the support components 3 at different positions exert the same pressure on the inner wall of the pipeline, thereby achieving a 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 support components 3 at different positions of the robot body 1 are subjected to different pressures, and 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 support components 3 at different positions exert the same pressure on the inner wall of the pipeline, thereby achieving a smooth change in the running speed of the variable-diameter and variable-speed pipeline robot 100. In order to better monitor the pressure exerted on the support assembly 3 at different positions of the robot body 1, an additional pressure detector electrically connected to the main control system can be provided (it is actually also a pressure sensor, and is named as a pressure detector to distinguish it from the pressure sensor 5). The pressure detector can detect the pressure exerted by the support assembly 3 and the annular petal passive propulsion assembly 2 on the inner wall of the pipe, thereby obtaining the friction force between the support assembly 3 and the annular petal passive propulsion assembly 2 and the inner wall of the pipe; through the mutual coordination of the visual sensor 7 and the pressure sensor 5, the degree of fit between the posture adjustment petal, the propulsion petal and the pipe can be better monitored.

[0081] In the technical solution of the embodiment of the present application, by setting up a pressure detector, the pressure conditions of the support components 3 at different positions can be detected in real time. When the pipeline turns, the extension and contraction amount 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 pressure of the support components 3 at different positions on the inner wall of the pipeline is the same, thereby enabling the variable-diameter and variable-speed pipeline robot 100 to adapt to the turning situation.

[0082] For details, 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 petals located at both ends of the robot body 1 to passively propel the assembly 2, thereby forming 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 several internal drive motors and the same external drive motor, the internal drive motor can drive several propulsion petals to expand from close contact to a preset position, while enabling the external drive motor to 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 assembly 2. The annular flap passive propulsion assembly 2 can fit tightly with the inside of pipes of different diameters, achieving bypass-like speed control and adapting to different pipes. By setting up the support assembly 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 assembly 3 acts as a collaborative variable diameter unit and cooperates with the annular flap passive propulsion assembly 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 optimal 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 overall work efficiency. In addition, the setting of the support assembly 3 can also achieve smooth changes in the speed of the variable diameter and variable speed pipeline robot 100 at the pipe bend.

[0083] It should be noted that the present application is not limited to the above-mentioned embodiments. The above-mentioned embodiments are merely examples, and any embodiments having substantially the same structure and effect as the technical concept within the scope of the present application are all included in the technical scope of the present application. In addition, without departing from the scope of the present application, any other embodiments that can be conceived by those skilled in the art and that combine 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 comprises a robot body and an annular petal passive propulsion assembly arranged at both ends of the robot body; the annular petal passive propulsion assembly comprises a posture adjustment petal layer and a propulsion petal layer arranged inside the posture adjustment petal layer; the propulsion petal layer comprises a plurality of propulsion petals and an internal drive motor for driving the propulsion petals to rotate; the posture adjustment petal layer comprises a plurality of posture adjustment petals and an external drive motor for driving the posture adjustment petals to rotate along the tangent of the outer wall of the robot body; the posture adjustment petals and the propulsion petals are staggered; the external drive motor drives the posture adjustment petals to rotate so that the distance between adjacent posture adjustment petals changes from zero to a preset value; The propulsion flap rotates along the tangent of the outer wall of the robot body; Several of the propulsion petals are respectively connected to different inner drive motors; several of the posture adjustment petals are connected to the same outer drive motor; The variable diameter and variable speed pipeline robot further includes a support assembly arranged around the robot body.

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

3. The variable diameter and variable speed pipeline robot according to claim 2, characterized in that: 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.

4. The variable diameter and variable speed pipeline robot according to claim 1, characterized in that: The support assembly includes at least two groups of support frames, support wheels arranged at the ends of the support frames away from the robot body, and an electric push rod for driving the support frames to retract and extend.

5. A control method for a variable diameter and variable speed pipeline robot according to any one of claims 1 to 4, characterized in that: When the pipe diameter changes, the following steps are included: The external drive motor drives the attitude adjustment petals to rotate, expand or contract to a preset position along the tangent of the outer wall of the robot body, and the internal drive motor drives the propulsion petals to rotate, expand or contract to a preset position, so that the propulsion petals and the attitude adjustment petals are tightly fitted to the inner wall of the pipe; the propulsion petals are staggered between adjacent attitude adjustment petals, and the propulsion petal layer can fill the gap between adjacent attitude adjustment petal layers when the pipe diameter increases.

6. The control method of the variable diameter and variable speed pipeline robot according to claim 5, 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 external drive motor drives the posture adjustment flap to rotate along the tangent of the outer wall of the robot body, and the internal 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, thereby realizing the deceleration or acceleration of the variable diameter and variable speed pipeline robot.

7. The control method of the variable diameter and variable speed pipeline robot according to claim 6, characterized in that: 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 extension and contraction of the support frame so that the support components at different positions exert the same pressure on the inner wall of the pipeline, thereby achieving smooth turning of the variable diameter and variable speed pipeline robot.

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