Pipe robot and control method for a pipe robot

By combining telescopic tube modules and anchoring modules, and utilizing SMA elastic element control, the problem of bidirectional movement of existing pipeline robots in complex pipeline environments has been solved, enabling flexible and efficient pipeline inspection and maintenance.

CN122345196APending Publication Date: 2026-07-07CHINA UNIV OF PETROLEUM (BEIJING)
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
CHINA UNIV OF PETROLEUM (BEIJING)
Filing Date
2026-06-02
Publication Date
2026-07-07

AI Technical Summary

Technical Problem

In existing technologies, pipeline robots driven by motors or pneumatics suffer from problems such as high equipment rigidity, poor adaptability to diameter changes, and complex drive systems, making it difficult to move flexibly in small-diameter pipelines. Some soft pipeline robots driven by shape memory alloys (SMA) can usually only move in one direction within the pipeline, which greatly reduces bidirectional movement and makes it impossible to meet the operational requirements in complex pipeline environments.

Method used

By combining telescopic tube modules, anchoring modules, power supply modules, and control modules, and controlling the corrugated pipe and SMA elastic elements, the pipeline robot can achieve bidirectional flexible movement.

Benefits of technology

It enables the pipeline robot to move flexibly in both directions within the pipeline, improving motion efficiency, adapting to complex pipeline environments, and enhancing operational efficiency and safety.

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Abstract

The application relates to the field of in-pipe detection, and relates to a pipeline robot and a control method thereof. The pipeline robot comprises: a telescopic pipe module, which comprises a bellows arranged telescopically in a pipeline, a first SMA elastic element, a first end fixing element and a second end fixing element located at two ends of the bellows and the first SMA elastic element; an anchoring module, which comprises a first anchoring unit and a second anchoring unit at two ends of the telescopic pipe module, both of which have an anchoring state and both of which comprise a woven mesh pipe, an SMA elastic assembly in the woven mesh pipe, a third end fixing element and a fourth end fixing element connected to two ends of the SMA elastic assembly, and in the anchoring state, the woven mesh pipe is contracted along an axial direction and closely attached to an inner circumferential wall of the pipeline; a power module located between the first anchoring unit and the telescopic pipe module; and a control module located between the second anchoring unit and the telescopic pipe module, which can control the power module to supply power to the first SMA elastic element and / or the SMA elastic assembly. The pipeline robot can move flexibly in the pipeline in two directions.
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