Pipeline robot

Abstract

The invention belongs to the field of robots, particularly relates to a pipeline robot, and provides the following scheme aiming at the problems that an existing robot cannot adapt to pipeline environments with different pipe diameters and complex bending, the movement and operation efficiency of the robot in a pipeline are limited, and the operation range is narrowed. Two sliding rails are symmetrically and fixedly arranged at the bottom of the supporting plate. A displacement walking mechanism is arranged on the two sliding rails and used for walking of the robot in the pipeline, and an unfolding and supporting assembly is arranged on the displacement walking mechanism and used for carrying out contact supporting on the pipeline wall. Through the combination of the displacement walking mechanism and the unfolding and supporting assembly, the robot can walk in a pipeline more flexibly and stably and can adapt to pipeline environments with different pipe diameters and complex bends, the moving and operation efficiency of the robot in the pipeline can be effectively improved, the maintenance or detection operation range is expanded, and the maintenance and detection efficiency is improved. And the overall working stability and safety are enhanced.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a pipeline robot. Background Technology

[0002] With the rapid development of technology, pipeline robots are now widely used to replace manual labor in high-risk, confined spaces such as inside pipelines. A pipeline robot is a highly integrated automated system that combines mechanical drive, electronic sensing, and instrumentation. It is specifically designed to autonomously walk, navigate, locate, and perform various precision tasks inside or outside pipelines.

[0003] However, existing pipeline robots still face significant technical barriers in practical application and promotion. Firstly, regarding the adaptability of their mobile mechanisms, most mainstream models rely on traditional wheeled or tracked drive architectures. This design exhibits extremely poor geometric adaptability when faced with common pipe diameter abrupt changes (such as a sudden reduction from DN300 to DN150) and complex pipeline topologies with multiple right-angle bends or U-shaped turns. Lacking active radial extension or flexible adaptive adjustment mechanisms, robots are prone to loss of grip due to excessive radial clearance when traversing these complex sections, or severe posture disturbances or even structural rollovers due to localized stress concentration. This unstable motion not only severely restricts their travel speed in long-distance pipelines, leading to low operational efficiency, but also forces a reduction in the robot's dwell time in specific areas, significantly decreasing the effective detection coverage and posing significant safety risks to the continuity of overall operations and data integrity.

[0004] Secondly, regarding the reliability of the sealing and protection system, the sealing design of existing pipeline robots generally suffers from a structural contradiction of "paying one thing while sacrificing another." To ensure both waterproof and dustproof ratings and the mobility of the drive joints, existing radial seals often employ small-section O-rings or gaskets. In high-pressure water flow, high-humidity environments, or complex media containing mud, sand, or oil, these seals are constantly subjected to high-load dynamic friction and compression. With accumulated operating time, the seals are prone to irreversible plastic deformation, surface cracking, or elastic modulus decay, leading to seal failure. Once the sealing barrier is breached, external moisture, corrosive liquids, or solid particles can penetrate unimpeded, causing fatal damage to the core servo motors, precision reducer gear sets, and high-sensitivity photoelectric sensors. This can result in short circuits and signal distortion, or even complete machine failure, significantly reducing the equipment's mean time between failures (MTBF) and market competitiveness.

[0005] To address the two major pain points of poor mobility and unreliable sealing performance, this invention proposes a pipeline robot. This solution aims to completely solve the problem of attitude instability under complex pipe conditions through an innovative biomimetic support structure and active compliant control algorithm. Simultaneously, by introducing novel self-compensating sealing materials and a composite sealing structure, an indestructible protective barrier is constructed, thereby comprehensively improving the operational performance and service life of the pipeline robot. Summary of the Invention

[0006] This invention provides a pipeline robot that solves the shortcomings of existing technologies, which cannot adapt to pipeline environments with different pipe diameters and complex bends, thus limiting the robot's movement and operational efficiency within the pipeline and reducing its operational range.

[0007] This invention provides the following technical solution: A pipeline robot, comprising: A support plate, wherein two slide rails are symmetrically fixedly installed at the bottom of the support plate; The two slide rails are equipped with displacement walking mechanisms for the robot to move inside the pipe. The displacement walking mechanisms are equipped with support components for contact support against the pipe wall.

[0008] In one possible design, the moving mechanism includes a slide frame I and a slide frame II, which are slidably disposed at the bottom of the front and rear sides of two slide rails, respectively. A support frame I is fixedly disposed on one side of the top of the slide frame I, and a support frame II is fixedly disposed on one side of the top of the slide frame II. A displacement cylinder I and a displacement cylinder II are fixedly disposed at the bottom of the support plate, respectively. The output end of the displacement cylinder I is fixedly connected to the slide frame I, and the output end of the displacement cylinder II is fixedly connected to the slide frame II.

[0009] In one possible design, the support assembly includes two lower top arms I symmetrically and obliquely slidably disposed on two outer sides of the support frame I. A lower top rubber roller I is rotatably disposed at the bottom of each of the two lower top arms I. An upper top arm I is longitudinally slidably disposed in the middle of the outer side of the support frame I. An upper top rubber roller I is rotatably disposed at the top of the upper top arm I. Two lower top cylinders I and one upper top cylinder I are fixedly disposed on the inner side of the support frame I. The output ends of the two lower top cylinders I are fixedly connected to one side of each of the two lower top arms I, and the output end of the upper top cylinder I is fixedly connected to the bottom of the upper top arm I.

[0010] In one possible design, the support assembly further includes a support frame III fixedly disposed in the middle section of the support plate. Two lower support arms III are symmetrically and obliquely slidably disposed on one side of the support frame III. Lower support rubber rollers III are rotatably disposed at the bottom of each of the two lower support arms III. An upper support arm III is longitudinally slidably disposed in the middle section of the support frame III. An upper support rubber roller III is rotatably disposed at the top of the upper support arm III. Two lower support cylinders III and one upper support cylinder III are fixedly disposed on the other side of the support plate. The output ends of the two lower support cylinders III are fixedly connected to the two lower support arms III respectively. The output end of the upper support cylinder III is fixedly connected to the bottom of the upper support arm III.

[0011] In one possible design, the support assembly further includes two lower top arms II symmetrically and obliquely slidably disposed on two outer sides of the support frame II. The bottom of each of the two lower top arms II is rotatably provided with a lower top rubber roller II. An upper top arm II is longitudinally slidably disposed in the middle of the outer side of the support frame II. An upper top rubber roller II is rotatably disposed at the top of the upper top arm II. Two lower top cylinders II and one upper top cylinder II are fixedly disposed on the inner side of the support frame II. The output ends of the two lower top cylinders II are fixedly connected to one side of the two lower top arms II, and the output end of the upper top cylinder II is fixedly connected to the bottom of the upper top arm II.

[0012] In one possible design, the bottom of both carriage I and carriage II are symmetrically fixed with two ball wheels.

[0013] In one possible design, the top of the support plate is fixedly provided with two placement boxes, and each of the two placement boxes is fixedly provided with multiple control solenoid valves.

[0014] In one possible design, mounting brackets are fixedly installed on both sides of the two placement boxes.

[0015] In one possible design, the sealing ring comprises a three-layer composite structure.

[0016] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention.

[0017] The beneficial effects of this invention are as follows: The present invention enables flexible and precise positional movement through the setting of the displacement walking mechanism, allowing it to quickly adapt to different positional requirements, effectively improving the mobility and adaptability of the equipment or device in complex environments, and enabling it to quickly reach the target position to carry out work.

[0018] In this invention, by setting up the support assembly, the lower and upper cylinders drive the lower and upper arms respectively, causing the lower and upper rubber rollers to accurately contact and abut against the pipe wall, providing stable and reliable support for the robot inside the pipe. This ensures that the robot maintains its balance during movement and operation, avoiding tipping or deviation due to unstable center of gravity or external interference, and ensuring the smooth and safe conduct of maintenance or inspection tasks.

[0019] The present invention combines a displacement walking mechanism and a support component, which not only makes the robot walk more flexibly and stably in the pipeline and can adapt to different pipe diameters and complex curved pipe environments, effectively avoiding problems such as shaking and tipping caused by movement or external force, but also effectively improves the robot's movement and operation efficiency in the pipeline, expands the scope of maintenance or inspection operations, and enhances the overall stability and safety of the work.

[0020] The problem of sealing rings peeling off due to huge differences in thermal expansion coefficients under drastic temperature changes has been successfully solved. Each layer undertakes a clear and complementary function and produces a synergistic effect. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall front view structure of a pipeline robot provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the overall side view structure of a pipeline robot provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the overall bottom view structure of a pipeline robot provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the overall front displacement structure of a pipeline robot provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the overall mid-section displacement structure of a pipeline robot provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the overall rear displacement structure of a pipeline robot provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the overall front structure of a pipeline robot provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the overall mid-section structure of a pipeline robot provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the overall rear structure of a pipeline robot provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of a sealing structure for a pipeline robot provided in an embodiment of the present invention; Figure 11This is a schematic diagram of the cross-sectional structure of the sealing ring provided in an embodiment of the present invention.

[0022] Figure label: 1. Support plate; 2. Slide rail; 3. Placement box; 4. Slide I; 5. Support frame I; 6. Displacement cylinder I; 7. Slide II; 8. Support frame II; 9. Displacement cylinder II; 10. Ball wheel; 11. Support frame III; 12. Lower top arm I; 13. Lower top rubber roller I; 14. Lower top cylinder I; 15. Lower top arm II; 16. Lower top rubber roller II; 17. Lower top cylinder II; 18. Lower top arm III; 19. Lower top rubber roller III; 20. Lower top cylinder III; 21. Upper top arm I; 22. Upper top rubber roller I; 23. Upper top cylinder I; 24. Upper top arm II; 25. Upper top rubber roller II; 26. Upper top cylinder II; 27. Upper top arm III; 28. Upper top rubber roller III; 29. ​​Upper top cylinder III; 30. Mounting frame. Detailed Implementation

[0023] The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0024] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connection" and "installation" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. Furthermore, "connection" can be a direct connection or an indirect connection through an intermediate medium. "Fixed" means that the devices are connected to each other and their relative positional relationship remains unchanged after the connection. The directional terms mentioned in the embodiments of the present invention, such as "inner," "outer," "top," and "bottom," are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0025] In this embodiment of the invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" and "second" may explicitly or implicitly include one or more of that feature.

[0026] In this embodiment of the invention, "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0027] References to "one embodiment" or "some embodiments" as used in this specification mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of the invention. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless otherwise specifically emphasized. Example

[0028] Reference Figure 1-9 A pipeline robot, comprising: The robot includes a support plate 1, a displacement and walking mechanism, a support assembly, a ball wheel 10, a placement box 3, and a mounting frame 30. The support plate 1 serves as the basic load-bearing component of the entire robot. Two slide rails 2 are symmetrically fixed at its bottom, providing a sliding track for the displacement and walking mechanism.

[0029] The displacement and walking mechanism is specifically set on two slide rails 2. It includes slide frame I4 and slide frame II7, which are slidably set at the bottom of the front and rear sides of the two slide rails 2 respectively. A support frame I5 is fixedly set on the top side of slide frame I4, and a support frame II8 is fixedly set on the top side of slide frame II7. At the bottom of the support plate 1, displacement cylinder I6 and displacement cylinder II9 are fixedly set respectively. The output end of displacement cylinder I6 is fixedly connected to slide frame I4, and the output end of displacement cylinder II9 is ​​fixedly connected to slide frame II7. By controlling the extension and retraction of displacement cylinder I6 and displacement cylinder II9, slide frame I4 and slide frame II7 can be driven to slide on slide rail 2, thereby realizing the initial movement of the robot in the pipeline.

[0030] The support assembly is mounted on the displacement and walking mechanism to provide contact support to the pipe wall, facilitating subsequent displacement and walking of the robot. This support assembly consists of several parts: At support frame I5, there are two lower top arms I12 symmetrically and obliquely sliding on the outer sides of support frame I5. The bottom of each lower top arm I12 is rotatably equipped with a lower top rubber roller I13. An upper top arm I21 is longitudinally slidably arranged in the middle of the outer side of support frame I5. An upper top rubber roller I22 is rotatably arranged at the top of upper top arm I21. Two lower top cylinders I14 and one upper top cylinder I23 are fixedly arranged on the inner side of support frame I5. The output ends of the two lower top cylinders I14 are fixedly connected to one side of the two lower top arms I12, and the output end of the upper top cylinder I23 is fixedly connected to the bottom of the upper top arm I21. When support is needed, the lower top cylinders I14 push the lower top arms I12 to move obliquely downward, so that the lower top rubber roller I13 contacts the pipe wall. At the same time, the upper top cylinder I23 pushes the upper top arm I21 to move upward, so that the upper top rubber roller I22 also contacts and abuts against the pipe wall, thereby achieving support for the pipe wall. A support frame Ⅲ11 is fixedly installed in the middle section of the support plate 1 between the two placement boxes 3. Two lower top arms Ⅲ18 are symmetrically and obliquely slidably installed on one side of the support frame Ⅲ11. Lower top rubber rollers Ⅲ19 are rotatably installed at the bottom of the two lower top arms Ⅲ18. An upper top arm Ⅲ27 is longitudinally slidably installed in the middle section of the support frame Ⅲ11. An upper top rubber roller Ⅲ28 is rotatably installed at the top of the upper top arm Ⅲ27. Two lower top cylinders Ⅲ20 and one upper top cylinder Ⅲ29 are fixedly installed on the other side of the support plate 1. The output ends of the two lower top cylinders Ⅲ20 are fixedly connected to the two lower top arms Ⅲ18 respectively. The output end of the upper top cylinder Ⅲ29 is fixedly connected to the bottom of the upper top arm Ⅲ27. Its working principle is similar to the support structure at the support frame Ⅰ5. The contact and separation of the rubber roller with the pipe wall are controlled by the extension and retraction of the cylinder. At support frame II8, there are two lower support arms II15 symmetrically and obliquely sliding on the two outer sides of support frame II8. The bottom of each lower support arm II15 is rotatably equipped with a lower support rubber roller II16. An upper support arm II24 is longitudinally slidably arranged in the middle of the outer side of support frame II8. An upper support rubber roller II25 is rotatably arranged on the top of upper support arm II24. Two lower support cylinders II17 and one upper support cylinder II26 are fixedly arranged on the inner side of support frame II8. The output ends of the two lower support cylinders II17 are fixedly connected to one side of the two lower support arms II15, and the output end of the upper support cylinder II26 is fixedly connected to the bottom of the upper support arm II24. Similarly, the contact between the rubber roller and the pipe wall is controlled by the cylinder to provide support for the robot. Example

[0031] Based on Embodiment 1, Embodiment 2 further includes, referring to Figure 1 , Figure 2 , Figure 3 and Figure 8The bottom of both slide I4 and slide II7 is symmetrically fixed with two ball wheels 10. These ball wheels 10 are in contact with the bottom of the pipe and play a role in auxiliary support and reducing friction during the robot's retrieval or placement, making the robot move more smoothly.

[0032] The top of the support plate 1 has two fixed placement boxes 3. Each of the two placement boxes 3 has multiple control solenoid valves fixedly installed inside. These control solenoid valves are used to control the operation of all cylinders respectively. By controlling the on and off and the opening degree of the solenoid valves, the extension and retraction of each cylinder can be precisely controlled, thereby realizing the coordinated movement of each part of the robot.

[0033] Mounting brackets 30 are fixedly installed on both sides of the two placement boxes 3. The mounting brackets 30 can be used to install equipment such as cameras and cleaning devices. When it is necessary to inspect the inside of the pipe, a camera can be installed on the mounting bracket 30 to observe the inside of the pipe in real time. When it is necessary to clean the pipe, a cleaning device can be installed on the mounting bracket 30 to clean the debris inside the pipe. Alternatively, a camera and a cleaning device can be installed on the mounting bracket 30 at the same time.

[0034] However, as is well known to those skilled in the art, the working principles and wiring methods of displacement cylinder I6, displacement cylinder II9, lower cylinder I14, lower cylinder II17, lower cylinder III20, upper cylinder I23, upper cylinder II26 and upper cylinder III29 are commonplace and belong to conventional methods or common knowledge. They will not be described in detail here. Those skilled in the art can make any selections according to their needs or convenience.

[0035] The accompanying drawings in this application are for illustrative purposes only. The dimensions and shapes of the components shown are not actual limitations but are merely schematic representations. In actual implementation, the components can be reasonably configured and adjusted according to specific needs and actual conditions.

[0036] The working principle and usage process of this technical solution are as follows: First, place the pipeline robot connected with power cables and air pipes into the pipeline that needs to be repaired or inspected (before this, a camera or cleaning device can be installed on the robot's mounting frame 30). The air pipe is connected to the control solenoid valve to provide air supply to all cylinders on the robot. At this time, the robot contacts the bottom of the pipeline through two ball wheels 10 that are symmetrically fixed at the bottom of the slide I4 and slide II7. When the robot needs to move into the pipe, the control solenoid valve first controls the two lower cylinders II17 and the upper cylinder II26 to work. The output ends of the two lower cylinders II17 simultaneously push the two lower arms II15 and the lower rubber rollers II16 rotatably mounted at their bottom to move diagonally downward. At the same time, the output end of the upper cylinder II26 pushes the upper arm II24 and the upper rubber roller II25 rotatably mounted at its top to move upward, so that the two lower rubber rollers II16 and the upper rubber roller II25 contact and abut against the pipe wall. At the same time, the control solenoid valve also controls the two lower cylinders III20 and the upper cylinder III29 to work. The output ends of the two lower cylinders III20 simultaneously push the two lower arms III18 and the lower rubber rollers III19 at their bottom to move diagonally downward. At the same time, the output end of the upper cylinder III29 pushes the upper arm III27 and the upper rubber roller III28 at its top to move upward, so that the two lower rubber rollers III19 and the upper rubber roller III28 contact and abut against the pipe wall, thus supporting the position of the robot. Subsequently, the control solenoid valve controls the displacement cylinder I6 to start. The output end of the displacement cylinder I6 pushes the slide frame I4 and its support frame I5, which are slidably set at the bottom of the front and rear sides of the slide rail 2, to move forward. When the slide frame I4 moves to its maximum stroke, the control solenoid valve controls the two lower top cylinders I14 and the upper top cylinder I23 to work. The output ends of the two lower top cylinders I14 simultaneously push the two lower top arms I12 and the lower top rubber rollers I13 at their bottom to move obliquely backward and downward. At the same time, the output end of the upper top cylinder I23 pushes the upper top arm I21 and the upper top rubber roller I22, which is rotatably set at its top, to move upward, so that the two lower top rubber rollers I13 and the upper top rubber roller I22 contact and abut against the pipe wall. At this time, the output ends of the two lower top cylinders Ⅲ20 and the upper top cylinder Ⅲ29 are retracted, which drives the two lower top arms Ⅲ18 and the upper top arm Ⅲ27 to retract, so that the two lower top rubber rollers Ⅲ19 and the upper top rubber rollers Ⅲ28 are released from contact and abutment with the pipe wall. Then, the displacement cylinders Ⅰ6 and Ⅱ9 are activated simultaneously, so that the output end of the displacement cylinder Ⅰ6 retracts and the output end of the displacement cylinder Ⅱ9 extends synchronously, thereby driving the support plate 1 and the two placement boxes 3 and other components that are fixedly set on the top to move towards the support frame Ⅰ5. After the support plate 1 is moved into place, the output ends of the two lower top cylinders Ⅲ20 and the upper top cylinder Ⅲ29 are extended again, pushing the two lower top arms Ⅲ18 and the upper top arm Ⅲ27 to extend, so that the lower top rubber rollers Ⅲ19 and the upper top rubber rollers Ⅲ28 on them continue to contact and abut against the pipe wall. At this time, the output ends of the two lower top cylinders Ⅱ17 and the upper top cylinders Ⅱ26 are retracted, which drives the two lower top arms Ⅱ15 and the upper top arm Ⅱ24 to retract, so that the two lower top rubber rollers Ⅱ16 and the upper top rubber rollers Ⅱ25 are released from contact and abutment against the pipe wall. At this time, the displacement cylinder Ⅱ9 is activated, and its output end retracts, driving the slide Ⅱ7 to slide on the slide rail 2, thereby driving the support frame Ⅱ8 and its components to move towards the placement box 3. Repeating the above steps allows the robot to move deeper into the pipe like a crawler. When the robot completes its assigned task and needs to be retrieved, reverse control can be performed, or all cylinders can be retracted to return the robot to its initial state (e.g., ...). Figure 1 As shown in the figure, make the ball wheel 10 at the bottom of the robot contact the bottom of the pipe, and then pull the power cable and air pipe at the same time to pull the robot out of the pipe.

[0037] like Figure 10 As shown, the placement box 3 adopts a grooved compression seal, with the cover plate and sealing ring fitting together with the box body to achieve a waterproof seal for the placement box 3. Figure 11 As shown, the sealing ring has a composite structure, comprising an inner layer, a middle layer, and an outer layer. The inner layer is made of wide-temperature silicone rubber, which has excellent elasticity and a coefficient of thermal expansion typically between 250 and 310. The middle layer is a composite material with a special modified silicone rubber or flexible polysiloxane-imide hybrid material as the matrix, filled with silane-surface-treated sheet-like boron nitride and nano-alumina, and doped with a special amine-functionalized silane coupling agent and a small amount of TPU micropowder. Its coefficient of thermal expansion is between 120 and 180. The middle layer itself is still an elastomer with a certain degree of flexibility, which can absorb and dissipate some of the shear strain energy caused by thermal mismatch. The middle layer is designed with a hardness (Shore A) between the soft silicone rubber of the inner layer and the hard PEEK of the outer layer, has a thermal conductivity >1.0 W / (m·K), and has excellent adhesion to silicone rubber and plasma-treated PEEK surfaces. The outer layer is a modified PEEK coating with a coefficient of thermal expansion of approximately 40-60, close to that of metal. Its dimensions are extremely stable; under the same temperature change of 250°C, the outer layer's dimensional change is only about 1.0-1.5%. The coefficient of thermal expansion of the sealing ring forms a gradient distribution from the inside out. The inner layer provides basic elasticity and wide temperature adaptability, ensuring no embrittlement at -50°C and good resilience at 200°C, which is the mechanical basis of the seal. The intermediate layer's coefficient of thermal expansion lies between the inner and outer layers, forming a gradient transition and greatly alleviating interfacial thermal stress caused by temperature changes—a key technology to prevent delamination. Thermally conductive fillers can quickly transfer frictional heat and external high temperatures from the surface to the inner layer and metal grooves, preventing heat accumulation that could lead to softening of the outer PEEK layer or overheating and aging of the inner silicone layer, thus improving overall thermal stability. The outer layer provides an extremely low and stable coefficient of friction, reducing wear and frictional power consumption and preventing the "stick-slip" phenomenon. The outer layer has excellent chemical resistance, abrasion resistance and high temperature resistance, directly resisting the erosion of external media and mechanical wear, and protecting the inner elastomer.

[0038] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. In the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A pipeline robot, characterized in that, include: Support plate (1), the bottom of which is symmetrically fixed with two slide rails (2); The two slide rails (2) are equipped with displacement walking mechanisms for the robot to walk in the pipe. The displacement walking mechanisms are equipped with support components for contact support of the pipe wall.

2. The pipeline robot according to claim 1, characterized in that: The moving mechanism includes a slide I (4) and a slide II (7) which are slidably disposed at the bottom of the front and rear sides of two slide rails (2). A support frame I (5) is fixedly disposed on the top side of the slide I (4), and a support frame II (8) is fixedly disposed on the top side of the slide II (7). A displacement cylinder I (6) and a displacement cylinder II (9) are fixedly disposed at the bottom of the support plate (1). The output end of the displacement cylinder I (6) is fixedly connected to the slide I (4), and the output end of the displacement cylinder II (9) is fixedly connected to the slide II (7).

3. A pipeline robot according to claim 2, characterized in that: The support assembly includes two lower top arms I (12) symmetrically and obliquely slidably on the outside of the support frame I (5). The bottom of each of the two lower top arms I (12) is rotatably equipped with a lower top rubber roller I (13). The middle section of the outer side of the support frame I (5) is longitudinally slidably equipped with an upper top arm I (21). The top of the upper top arm I (21) is rotatably equipped with an upper top rubber roller I (22). The inner side of the support frame I (5) is fixedly equipped with two lower top cylinders I (14) and one upper top cylinder I (23). The output ends of the two lower top cylinders I (14) are fixedly connected to one side of the two lower top arms I (12), and the output end of the upper top cylinder I (23) is fixedly connected to the bottom of the upper top arm I (21).

4. A pipeline robot according to claim 3, characterized in that: The support assembly also includes a support frame Ⅲ (11) fixedly installed in the middle section of the support plate (1). Two lower top arms Ⅲ (18) are symmetrically and obliquely slidably installed on one side of the support frame Ⅲ (11). The bottom of each of the two lower top arms Ⅲ (18) is rotatably provided with a lower top rubber roller Ⅲ (19). An upper top arm Ⅲ (27) is longitudinally slidably installed in the middle section of the support frame Ⅲ (11). An upper top rubber roller Ⅲ (28) is rotatably installed on the top of the upper top arm Ⅲ (27). Two lower top cylinders Ⅲ (20) and one upper top cylinder Ⅲ (29) are fixedly installed on the other side of the support plate (1). The output ends of the two lower top cylinders Ⅲ (20) are fixedly connected to the two lower top arms Ⅲ (18), and the output end of the upper top cylinder Ⅲ (29) is fixedly connected to the bottom of the upper top arm Ⅲ (27).

5. A pipeline robot according to claim 4, characterized in that: The support assembly also includes two lower top arms II (15) symmetrically and obliquely slidably on the two outer sides of the support frame II (8). The bottom of each of the two lower top arms II (15) is rotatably provided with a lower top rubber roller II (16). The middle section of the outer side of the support frame II (8) is longitudinally slidably provided with an upper top arm II (24). The top of the upper top arm II (24) is rotatably provided with an upper top rubber roller II (25). The inner side of the support frame II (8) is fixedly provided with two lower top cylinders II (17) and one upper top cylinder II (26). The output ends of the two lower top cylinders II (17) are fixedly connected to one side of the two lower top arms II (15), and the output end of the upper top cylinder II (26) is fixedly connected to the bottom of the upper top arm II (24).

6. A pipeline robot according to claim 2, characterized in that: The bottom of both slide I (4) and slide II (7) are symmetrically fixed with two ball wheels (10).

7. A pipeline robot according to claim 1, characterized in that: The top of the support plate (1) is fixedly provided with two placement boxes (3), and each of the two placement boxes (3) is fixedly provided with multiple control solenoid valves.

8. A pipeline robot according to claim 7, characterized in that: Mounting brackets (30) are fixedly installed on both sides of the two placement boxes (3).

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