Oil and gas pipeline dredging robot

Abstract

The utility model relates to the technical field of pipeline dredging, and discloses an oil and gas pipeline dredging robot which comprises a pipeline body and further comprises a bionic foot bottom driving assembly arranged on the inner side of the pipeline body and making contact with the inner wall of the pipeline body. The rack is arranged on the bionic foot bottom driving assembly, and a mounting area is arranged in the rack; the pipeline side climbing frame is arranged on the rack, and the pipeline side climbing frame and the rack are arranged in a parallelogram shape; the variable-diameter crawler crawling piece is arranged on the pipeline side crawling frame and makes contact with the inner wall of the pipeline body; the driving assembly is arranged on the rack and connected with the variable-diameter crawler crawling piece, and the rack can be driven by the driving assembly to perform crawling displacement in the length direction of the pipeline body through the variable-diameter crawler crawling piece and the bionic foot bottom driving assembly. The oil and gas pipeline dredging robot can flexibly adapt to oil and gas pipelines with different diameters.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline dredging technical field, concretely is a kind of oil and gas pipeline dredging robot. BACKGROUND

[0002] Oil and gas pipeline as the important passage of energy transport, its unobstructed or not is directly related to the stability and security of energy supply, however, with the growth of pipeline operation time, various dirt, such as sediments, corrosion products, oil stains, etc. are gradually accumulated inside the pipeline, these dirt not only can reduce the conveying efficiency of pipeline, but also can cause pipeline blockage, corrosion aggravation and other problems, seriously threaten the safe operation of pipeline, therefore, the regular dredging work of oil and gas pipeline is particularly important.

[0003] Although the pipeline dredging robot on the market plays an important role in oil and gas pipeline maintenance, its application range has significant limitations, i.e. it can only be applied to a specific diameter of pipeline, which seriously limits the application range and flexibility of the dredging robot. Specifically, the diameters of different oil and gas pipelines are quite different, and the existing dredging robots are often optimized for a specific diameter of pipeline during design, which makes it difficult to adapt to other diameter of pipeline. Once encountering a pipeline with different diameter, the robot may not enter smoothly, or even if it enters, it cannot effectively carry out dredging operation, thereby greatly reducing the dredging efficiency and effect. In addition, with the continuous expansion and updating of oil and gas pipeline network, the diameter specification of new pipeline may also change. If the dredging robot cannot adapt to these changes, different robot models need to be developed for different diameter of pipeline, which undoubtedly increases the research and production cost, and also brings inconvenience to pipeline maintenance work. SUMMARY

[0004] (I) Technical problem solved

[0005] The utility model aims at providing a dredging robot that can flexibly adapt to different diameter of oil and gas pipeline, and provides an oil and gas pipeline dredging robot.

[0006] (II) Technical scheme

[0007] The technical scheme for solving the above technical problem of the utility model is as follows:

[0008] An oil and gas pipeline dredging robot, comprising a pipeline body, further comprising:

[0009] A bionic foot bottom driving assembly is arranged on the inner side of the pipeline body and in contact with the inner wall of the pipeline body.

[0010] A rack is arranged on the bionic foot bottom driving assembly, and an installation area is arranged in the rack.

[0011] The pipeline side climbing frame is arranged on the frame and is arranged in a parallelogram shape with the frame;

[0012] The variable diameter crawler is arranged on the pipeline side climbing frame and contacts the inner wall of the pipeline body;

[0013] A drive assembly is provided on the frame and is interconnected with the variable diameter crawler member, wherein the drive assembly can drive the frame to crawl along the length of the pipeline body through the variable diameter crawler member and the bionic foot bottom drive assembly;

[0014] The variable diameter dredging component is arranged on the frame and can move synchronously with the displacement of the frame to clean the oil and gas on the inner wall of the pipeline body.

[0015] On the basis of the above technical solution, the present invention can also be improved as follows.

[0016] Furthermore, the pipeline side climbing frame includes:

[0017] There are six mounting bases divided into three groups, each of which is located on three sides of the frame;

[0018] The side rods are hinged on the mounting bases, wherein each mounting base is provided with two side rods, and the side rods can rotate with the mounting base as a base point;

[0019] A synchronization rod is provided through two adjacent side rods; and

[0020] The cross bar is arranged on the outside of two adjacent synchronous bars, wherein the two side bars on the same cross section form a U-shape with the cross bar.

[0021] Furthermore, the variable diameter crawler crawler includes:

[0022] A drive rod is provided through the mounting seat and can rotate axially inside the mounting seat, wherein the number and distribution of the drive rods are adapted to the mounting seat, and a first track wheel is fixedly installed on the outer side of the drive rod;

[0023] The second track wheels are rotatably arranged on the outside of the synchronization rod, and the number and distribution position of the second track wheels are adapted to the synchronization rod, wherein two first track wheels and two second track wheels are correspondingly arranged on the three sides of the frame;

[0024] There are three crawler tracks, which are respectively distributed on three sides of the frame and are connected to and in contact with the adjacent first crawler wheels and second crawler wheels; and

[0025] The electric push rod is hinged to the three sides of the frame at the fixed end and to the side rod at the lifting end. The lifting of the electric push rod is used to adjust the distance between the cross rod and the frame to adapt to oil and gas pipelines of different diameters.

[0026] Further, the driving assembly comprises:

[0027] The driving motor is fixedly installed on the frame and located in the installation area;

[0028] The synchronous belt assembly is arranged on the output end of the driving motor and connected with the driving rod;

[0029] The driving face gear is two in number and fixedly installed on the two side ends of the upper driving rod; and

[0030] The driven face gear is two in number and fixedly installed on the ends of the front and rear driving rods, wherein the driven face gears are mutually meshed with the adjacent driving face gears.

[0031] Further, the variable-diameter dredging assembly comprises:

[0032] The dredging motor is fixedly installed on the inner side of the frame and located in the installation area of the frame;

[0033] The base is fixedly installed on the output end of the dredging motor and can be axially rotated under the driving of the dredging motor;

[0034] The dredging support arm is hinged to the surface of the base and is not less than three in number and is equidistantly distributed in a ring shape around the center of the base;

[0035] The cleaning brush is detachably connected to the side surface of the dredging support arm away from the base;

[0036] The inclined support rod is hinged to the dredging support arm at one end and can be rotated on the surface of the dredging support arm;

[0037] The mounting shell is arranged on the other end of the inclined support rod, wherein the mounting shell and the inclined support rod are hinged to each other;

[0038] The transmission motor is fixedly installed on the mounting shell and has an output end facing one side of the base;

[0039] The lead screw has one end fixedly installed on the output end of the transmission motor and the other end connected with the base through a bearing;

[0040] The transmission member is arranged on the lead screw and connected with the inclined support rod, wherein the transmission member is displaced along the length direction of the lead screw under the driving of the transmission motor to adjust the included angle between the dredging support arm and the base to adapt to oil and gas pipelines of different diameters.

[0041] Further, the transmission member comprises:

[0042] a threaded seat threadedly connected to the outer side of the screw rod;

[0043] an adjusting rod, one end of which is hingedly connected to the threaded seat, and the other end is hingedly connected to the diagonal support rod, the number and distribution position of which are adapted to the diagonal support rod;

[0044] a guide rod, which is fixedly installed on the surface of the base and is arranged perpendicular to the base, and one end of the guide rod away from the base penetrates the threaded seat; and

[0045] a reset spring, which is sleeved on the outer side of the guide rod, and one end of which is in contact with the threaded seat, the reset spring being located between the threaded seat and the base.

[0046] Further, the inner side of the mounting shell is fixedly installed with an infrared range finder, and a plurality of exposed holes are further processed on the surface of the mounting shell.

[0047] (Three) beneficial effects

[0048] Compared with the prior art, the technical scheme of the present application has the following beneficial technical effects:

[0049] The utility model discloses a bionic foot bottom drive assembly is set, makes the robot can keep stable contact and support in the pipeline of different diameters, this design imitates the walking mode of organism, through the flexible movement of foot to adapt to the change of pipeline inner wall, thereby ensure the stability and reliability of robot in the pipeline, secondly, the parallelogram setting of rack and pipeline side climb frame and the use of variable diameter crawler climbing piece further enhance the adaptability and flexibility of robot, and the parallelogram structure can keep the stability and balance of rack in the pipeline, and variable diameter crawler climbing piece can automatically adjust its shape and size according to the change of pipeline diameter, thereby ensure that the robot can smoothly climb in the pipeline of different diameters, this design not only improves the traffic capacity of robot, also reduces the wear and tear and damage to the pipeline inner wall, besides, the setting of drive assembly realizes the accurate control to the robot climbing movement, through the drive of drive assembly, the robot can carry out stable climbing displacement along the direction of pipeline length, thereby realizes the overall cleaning to the pipeline inner wall, and this accurate control ability not only improves the efficiency and effect of dredging operation, also reduces the labor intensity and safety risk of operator, finally, the setting of variable diameter dredging assembly makes the robot can carry out the targeted cleaning according to the pipeline inner wall of different diameters, and the dredging assembly can automatically adjust its position and angle according to the change of pipeline inner wall, thereby realizes the effective removal of oil and gas deposits, this design not only improves the pertinence and efficiency of dredging operation, also reduces the damage and damage to the pipeline inner wall, in conclusion, the oil and gas pipeline dredging robot passes through bionic foot bottom drive assembly, the parallelogram setting of rack and pipeline side climb frame, variable diameter crawler climbing piece, drive assembly and variable diameter dredging assembly etc. Innovative design, effectively solve the problem that the application range of existing dredging robot is limited, improve the adaptability and flexibility of dredging operation, provide strong guarantee for the maintenance and safe operation of oil and gas pipeline. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 It is whole connection structure schematic drawing of the utility model;

[0051] Figure 2 It is connection structure schematic drawing of rack and pipeline side climb frame of the utility model;

[0052] Figure 3 It is connection structure schematic drawing of variable diameter crawler climbing piece of the utility model;

[0053] Figure 4 It is connection structure schematic drawing of drive assembly of the utility model;

[0054] Figure 5 It is connection structure schematic drawing of variable diameter dredging assembly of the utility model;

[0055] Figure 6The utility model discloses Figure 3 The enlarged view of A in the middle part;

[0056] Figure 7 The utility model discloses a connection structure schematic diagram of installation shell and infrared range finder.

[0057] In the drawing: 1, pipeline body;2, bionic foot bottom drive assembly;3, rack;4, pipeline side climbing frame;41, mounting seat;42, side rod;43, synchronous rod;44, cross bar;5, variable diameter crawler climbing part;51, drive rod;52, first crawler wheel;53, second crawler wheel;54, walking crawler belt;55, electric push rod;6, drive assembly;61, drive motor;62, synchronous belt assembly;63, driving end face gear;64, driven end face gear;7, variable diameter dredging assembly;71, dredging motor;72, base;73, dredging support arm;74, cleaning brush;75, inclined bracing rod;76, mounting shell;77, transmission motor;78, screw rod;79, transmission part;791, threaded seat;792, adjusting rod;793, guide rod;794, reset spring;8, infrared range finder;9, exposed hole. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the utility model will be apparently and completely described below with reference to the drawings in the embodiments of the utility model. Apparently, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all the other embodiments obtained by the ordinary skill in the art without creative labor fall within the protection scope of the utility model.

[0059] In combination with Figures 1-7 The utility model discloses a oil gas pipeline dredging robot, including pipeline body 1, still include:

[0060] Bionic foot bottom drive assembly 2 sets up in the inside of pipeline body 1 and with the mutual contact of the inner wall of pipeline body 1;

[0061] Rack 3 sets up on bionic foot bottom drive assembly 2, and it is equipped with installation area in its inside;

[0062] Pipeline side climbing frame 4 sets up on rack 3 and is set up parallelogram between rack 3;

[0063] Variable diameter crawler climbing part 5 sets up on pipeline side climbing frame 4 and with the mutual contact of the inner wall of pipeline body 1;

[0064] A driving assembly 6 is arranged on the frame 3 and connected with the variable-diameter crawler 5, and the frame 3 can be driven to move along the length direction of the pipeline body 1 by the variable-diameter crawler 5 and the bionic foot bottom driving assembly 2 under the driving of the driving assembly 6.

[0065] A variable-diameter dredging assembly 7 is arranged on the frame 3 and moves synchronously with the frame 3 to clean the oil and gas on the inner wall of the pipeline body 1.

[0066] The oil and gas pipeline dredging robot mainly comprises the pipeline body 1 and a plurality of key assemblies in the pipeline body 1. First, the bionic foot bottom driving assembly 2 is arranged on the inner side of the pipeline body 1 and tightly contacts the inner wall of the pipeline body 1, which simulates the walking mechanism of a living being and enables the robot to maintain stable support and movement ability in a pipeline with different diameters and complex shapes. The frame 3 is stably installed on the bionic foot bottom driving assembly 2, and a special mounting area is arranged in the frame 3 to accommodate and fix other key assemblies, which not only enhances the structural strength of the robot but also provides flexible mounting and expansion space. The pipeline side climbing frame 4 is further arranged on the frame 3 and is arranged in a parallelogram structure with the frame 3. The parallelogram structure enables the robot to maintain balance and stability when moving in the pipeline and effectively prevents side turning or instability caused by changes in the diameter of the pipeline. The variable-diameter crawler 5 is installed on the pipeline side climbing frame 4 and tightly contacts the inner wall of the pipeline body 1. The variable-diameter crawler 5 can automatically adjust its shape and size according to the change in the diameter of the pipeline, thereby ensuring smooth climbing of the robot in a pipeline with different diameters. The driving assembly 6 is arranged on the frame 3 and connected with the variable-diameter crawler 5. The variable-diameter crawler 5 and the bionic foot bottom driving assembly 2 work cooperatively to drive the frame 3 to stably move along the length direction of the pipeline body 1 under the driving of the driving assembly 6. This design not only improves the movement speed and efficiency of the robot but also ensures accurate navigation and positioning ability of the robot in the pipeline. Finally, the variable-diameter dredging assembly 7 is arranged on the frame 3 and moves synchronously with the frame 3. The variable-diameter dredging assembly 7 can perform targeted cleaning work on the inner wall of a pipeline with different diameters. During movement of the robot, the variable-diameter dredging assembly 7 continuously contacts and cleans the oil and gas deposits on the inner wall of the pipeline, thereby ensuring the cleanliness and smoothness of the inner wall of the pipeline.

[0067] In a preferred embodiment, the pipeline side climbing frame 4 can further comprise:

[0068] The mounting seats 41 are six in number and are divided into three groups and arranged on three side surfaces of the frame 3.

[0069] Side rods 42 are hinged to the mounting seats 41, wherein two side rods 42 are arranged on each mounting seat 41, and the side rods 42 can rotate around the mounting seats 41 as the pivot;

[0070] Synchronous rods 43 are arranged through the adjacent two side rods 42; and

[0071] Cross rods 44 are arranged outside the adjacent two synchronous rods 43, and the two side rods 42 on the same cross section and the cross rods 44 form a shape of a Chinese character, the mounting seats 41 are six in number and are equally divided into three groups, and are firmly arranged on the three sides of the rack 3, which not only enhances the connection strength between the pipeline side climbing frame 4 and the rack 3, but also provides a stable support basis for the pipeline side climbing frame 4, the side rods 42 are hinged to the mounting seats 41, and two side rods 42 are arranged on each mounting seat 41, and the side rods 42 can flexibly rotate around the mounting seats 41 as the pivot, which can automatically adjust the shape and size of the pipeline side climbing frame 4 according to the change of the pipeline diameter, so as to ensure that the robot can maintain stable support and climbing ability in the pipeline with different diameters, the synchronous rods 43 are arranged through the adjacent two side rods 42, which can connect and synchronize the movement of the side rods 42, in order to ensure that the synchronous rods 43 will not be separated from the side rods 42, the surface of the side rods 42 is processed with through holes, and the synchronous rods 43 are located inside the through holes, in addition, the synchronous rods 43 can be arranged in the shape of an H-shaped section, which not only enhances the structural strength, but also further prevents the synchronous rods 43 from falling off, finally, the cross rods 44 are arranged outside the adjacent two synchronous rods 43, and the two side rods 42 on the same cross section and the cross rods 44 form a shape of a Chinese character, which not only enhances the overall stability and strength of the pipeline side climbing frame 4, but also provides an additional support point for the pipeline side climbing frame 4, and further improves the climbing ability and stability of the robot in the pipeline.

[0072] In a preferred embodiment of the utility model, the variable-diameter crawler climbing part 5 can be further configured as:

[0073] Driving rods 51 are arranged through the mounting seats 41, and can rotate axially on the inner side of the mounting seats 41, wherein the number and distribution position of the driving rods 51 are matched with the mounting seats 41, and the outer side of the driving rods 51 is fixedly installed with first crawler wheels 52;

[0074] Second crawler wheels 53 are arranged on the outer side of the synchronous rods 43, and the number and distribution position of the second crawler wheels 53 are matched with the synchronous rods 43, wherein two first crawler wheels 52 and two second crawler wheels 53 are correspondingly arranged on each of the three sides of the rack 3;

[0075] Walking crawlers 54 are arranged on the three sides of the rack 3, and are connected and contacted with the adjacent first crawler wheels 52 and second crawler wheels 53; and

[0076] The electric push rod 55 is hinged at the fixed end on the three sides of the frame 3 and is hinged at the lifting end on the side rod 42, wherein the distance between the cross rod 44 and the frame 3 is adjusted by the lifting of the electric push rod 55 to adapt to oil and gas pipelines of different diameters, the drive rods 51 are arranged in the mounting seat 41 in a penetrating mode, the number and distribution position of the drive rods 51 are matched with the mounting seat 41, the drive rods 51 can rotate axially in the inside of the mounting seat 41, and the design enables the first track wheels 52 to rotate along with the rotation of the drive rods 51, so that the walking track 54 is driven to move, the first track wheels 52 are fixedly installed on the outside of the drive rods 51, and the tight contact and effective transmission between the first track wheels 52 and the walking track 54 are ensured, the second track wheels 53 are installed on the outside of the synchronous rod 43 through bearings, the number and distribution position of the second track wheels 53 are matched with the synchronous rod 43, two first track wheels 52 and two second track wheels 53 are arranged on each of the three sides of the frame 3, and the design ensures that the walking track 54 can be stably supported and transmitted on each side of the frame 3, the number of the walking tracks 54 is three, and the walking tracks 54 are arranged on the three sides of the frame 3, the walking tracks 54 are connected and contacted with the adjacent first track wheels 52 and second track wheels 53, a continuous transmission chain is formed, when the drive rods 51 rotate, the first track wheels 52 drive the walking track 54 to move, and the second track wheels 53 support and guide the walking track 54, and the stable crawling movement of the robot in the pipeline is realized, in order to adapt to oil and gas pipelines of different diameters, the electric push rod 55 is introduced, the fixed end of the electric push rod 55 is hinged on the three sides of the frame 3, and the lifting end is hinged on the side rod 42, the distance between the cross rod 44 and the frame 3 can be flexibly adjusted through the lifting of the electric push rod 55, so that the overall shape and size of the pipeline side climbing frame 4 are changed, the variable-diameter track crawling device 5 can automatically adjust the shape and size according to the change of the pipeline diameter, and the stable crawling and efficient operation of the robot in the pipeline of different diameters are ensured.

[0077] The utility model discloses in a preferable embodiment can be further configured as;Driving assembly 6 includes:

[0078] Driving motor 61, fixed mounting is located in the mounting area on frame 3;

[0079] Synchronous belt assembly 62, setting is on the output of driving motor 61 with drive rod 51 is connected with each other;

[0080] Driving end face gear 63, number is two, respectively fixed mounting is located in the two sides end of upper drive rod 51, and

[0081] The driven face gear 64 is fixedly installed at the end of the front and rear driving rods 51, and the driven face gear 64 and the adjacent driving face gear 63 can be engaged with each other.

[0082] In a preferred embodiment, the variable-diameter dredging assembly 7 can be further configured as follows:

[0083] The dredging motor 71 is fixedly installed on the inner side of the frame 3 and located in the installation area of the frame 3.

[0084] The base 72 is fixedly installed on the output end of the dredging motor 71 and can rotate axially under the drive of the dredging motor 71.

[0085] The dredging support arm 73 is hinged to the surface of the base 72, and the number of the dredging support arms 73 is not less than three and is distributed in a ring shape at equal intervals around the center of the base 72.

[0086] The cleaning brush 74 is detachably connected to the side surface of the dredging support arm 73 away from the base 72.

[0087] The inclined strut 75 has one end hinged to the dredging support arm 73 and can rotate on the surface of the dredging support arm 73.

[0088] A mounting shell 76 is arranged on the other side end of the diagonal brace 75, wherein the mounting shell 76 and the diagonal brace 75 are hingedly connected to each other;

[0089] A transmission motor 77 is fixedly mounted on the mounting shell 76, and the output end of the transmission motor 77 faces one side of the base 72;

[0090] A lead screw 78 is fixedly mounted on one end of the output end of the transmission motor 77, and the other end is connected to the base 72 through a bearing;

[0091] A transmission member 79 is arranged on the lead screw 78 and connected to the diagonal brace 75, wherein the transmission member 79 is displaced along the length direction of the lead screw 78 under the driving of the transmission motor 77, so as to adjust the included angle between the dredging support arm 73 and the base 72, and adapt to oil and gas pipelines with different diameters.

[0092] In a preferred embodiment, the transmission member 79 can further comprise:

[0093] A threaded seat 791 is threadedly connected to the outside of the lead screw 78.

[0094] adjusting rods 792, one end of which is hinged to the threaded seat 791, and the other end of which is hinged to the inclined support rods 75, the number and distribution of the adjusting rods 792 being matched with the inclined support rods 75;

[0095] guide rods 793, which are fixedly installed on the surface of the base 72 and are arranged perpendicularly to the base 72, one end of the guide rods 793 penetrating the threaded seat 791; and

[0096] reset springs 794, which are sleeved outside the guide rods 793 and one end of which is in contact with the threaded seat 791, the reset springs 794 being located between the threaded seat 791 and the base 72, the threaded seat 791 being threadedly connected to the outside of the lead screw 78, so that the threaded seat 791 can move in the length direction of the lead screw 78 along with the rotation of the lead screw 78, when the transmission motor 77 is started and drives the lead screw 78 to rotate, the threaded seat 791 moves along the lead screw 78, one end of the adjusting rod 792 is hinged to the threaded seat 791, and the other end is hinged to the inclined support rod 75, the hinge mode enabling the adjusting rod 792 to swing along with the movement of the threaded seat 791, thereby pushing or pulling the dredging support arm 73 through the inclined support rod 75 to adjust the included angle between the dredging support arm 73 and the base 72, the number and distribution of the adjusting rods 792 being matched with the inclined support rods 75, so as to ensure that each inclined support rod 75 can be accurately adjusted through the corresponding adjusting rod 792, the guide rod 793 is fixedly installed on the surface of the base 72 and is arranged perpendicularly to the base 72, one end of the guide rod 793 penetrating the threaded seat 791, providing a stable guide for the movement of the threaded seat 791, which not only enhances the structural stability of the transmission member 79, but also ensures the accuracy of the threaded seat 791 during movement, the reset spring 794 is sleeved outside the guide rod 793 and one end of which is in contact with the threaded seat 791, in the reset process, the reset spring 794 uses its elastic potential to push the threaded seat 791 back to the initial position in combination with the use of the threaded seat 791, thereby achieving the reset effect of the dredging support arm 73 and the inclined support rod 75, which not only improves the automation level of the transmission member 79, but also provides a strong guarantee for the stability and reliability of the transmission member 79 in long-term work.

[0097] The utility model discloses a further configuration in a preferable embodiment can, the inner side fixed mounting of installation shell 76 has infrared range finder 8, wherein still processing has a plurality of exposed holes 9 on the surface of installation shell 76, and installation shell 76 is as the part of oil gas pipeline dredging robot variable diameter dredging assembly 7, and the inner side fixed mounting has infrared range finder 8, and infrared range finder 8 utilizes infrared technology to measure the diameter of the inner wall of oil gas pipeline at the position of robot, and this measurement process is crucial for robot to adapt to the pipeline environment of different diameters, and ensures that cleaning brush 74 is closely attached to the inner wall of pipeline, when infrared range finder 8 works, a beam of infrared signal will be emitted, and the signal will be reflected back after meeting the inner wall of pipeline, and is received by infrared range finder 8, by calculating the time difference between signal emission and reception, infrared range finder 8 can accurately measure the pipeline diameter at the current position of robot, in order to ensure that infrared range finder 8 can normally work, processing has a plurality of exposed holes 9 on the surface of installation shell 76, and the design of these exposed holes 9 considers the working requirement of infrared range finder 8, ensures that infrared signal can be emitted and received smoothly, and will not be blocked by installation shell 76 itself, simultaneously, the number and position of exposed hole 9 are also carefully calculated to reduce the interference to infrared signal emission and reception to the greatest extent, when infrared range finder 8 measures the pipeline diameter, it will transmit this signal to dredging and crawling mechanism, and the dredging mechanism will adjust through the respective variable diameter mechanism such as variable diameter crawler 5 and the related components in variable diameter dredging assembly 7 according to the measured pipeline diameter, so that robot can closely attach to the inner wall of pipeline, and ensure that cleaning brush 74 can effectively clean the pipeline, simultaneously, the crawling mechanism will also make corresponding adjustment according to the measured pipeline diameter, ensures that robot can stably and smoothly walk in the pipeline, after adjustment is completed, robot will self-lock the current parameter setting, ensures that can keep stable working state in subsequent dredging operation, then, robot can start formal walking and dredging operation, in this process, infrared range finder 8 will continuously monitor the change of pipeline diameter, and makes fine adjustment through variable diameter mechanism when necessary, to ensure that robot can always adapt to different pipeline environment.

[0098] The specific working principle of the oil gas pipeline dredging robot is as follows:

[0099] Place the oil gas pipeline dredging robot in the pipeline body 1 to be cleaned, at this time, the bionic foot bottom driving assembly 2 and the inner wall of the pipeline body 1 are in contact with each other, providing support for the preliminary positioning of the robot;

[0100] The diameter of the working pipe wall is detected by the infrared range finder 8, and the signal is transmitted to the dredging and crawling mechanism, the electric push rod 55 in the variable-diameter track crawler 5 will be lifted or retracted according to the change of the diameter of the pipeline, so as to adjust the distance between the cross bar 44 and the rack 3, ensure that the walking track 54 is always closely attached to the inner wall of the pipeline, and maintain a stable crawling state, then the driving assembly 6 is started, the driving motor 61 starts to work, and the power is transmitted to the driving rod 51 through the synchronous belt assembly 62, the driving rod 51 rotates axially on the mounting seat 41, drives the first track wheel 52 to rotate, at the same time, the second track wheel 53 rotates outside the synchronous rod 43, cooperates with the first track wheel 52, and through the contact between the walking track 54 and the inner wall of the pipeline body 1, a friction force is generated, which drives the rack 3 to crawl along the length direction of the pipeline body 1;

[0101] In the variable-diameter dredging assembly 7, the transmission motor 77 drives the screw rod 78 to rotate, the threaded seat 791 moves on the screw rod 78, the inclined support rod 75 is pushed or pulled through the adjusting rod 792, and then the included angle between the dredging support arm 73 and the base 72 is adjusted until the cleaning brush 74 is closely attached to the inner wall of the pipeline body 1, and then the operation of the transmission motor 77 is stopped, the dredging motor 71 drives the base 72 to rotate axially, drives the dredging support arm 73 and the cleaning brush 74 to rotate, and cleans the inner wall of the pipeline, when the robot crawls to the end of the pipeline or completes the cleaning task, the driving motor 61 and the dredging motor 71 are turned off, and the robot stops working, at this time, the robot can be maintained and maintained through the disassembly of the cleaning brush 74 and the like, so as to be used next time.

[0102] It should be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. In this document, the terms "comprises", "comprising", or any other variation thereof, will cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0103] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An oil and gas pipeline desilting robot, comprising a pipeline body (1), characterized in that: Also includes: A bionic foot sole driving component (2) is arranged on the inner side of the pipe body (1) and contacts the inner wall of the pipe body (1); A frame (3) is arranged on the bionic foot sole drive assembly (2), and has an installation area therein; The pipeline side climbing frame (4) is arranged on the frame (3) and is arranged in a parallelogram shape with the frame (3); A variable diameter crawler crawler (5) is arranged on the pipeline side crawler frame (4) and contacts the inner wall of the pipeline body (1); A drive assembly (6) is arranged on the frame (3) and is interconnected with the variable-diameter crawler (5), wherein the drive assembly (6) can drive the frame (3) to crawl along the length of the pipeline body (1) through the variable-diameter crawler (5) and the bionic foot drive assembly (2); The variable diameter dredging assembly (7) is arranged on the frame (3) and can move synchronously with the displacement of the frame (3) to clean the oil and gas on the inner wall of the pipeline body (1).

2. The oil and gas pipeline desilting robot according to claim 1, characterized in that: The pipeline side climbing frame (4) comprises: Six mounting seats (41) are equally divided into three groups and are respectively arranged on three sides of the frame (3); The side rods (42) are hinged on the mounting seat (41), wherein each mounting seat (41) is provided with two side rods (42), and the side rods (42) can rotate with the mounting seat (41) as a base point; a synchronization rod (43) extending through two adjacent side rods (42); and The cross bar (44) is arranged outside two adjacent synchronous bars (43), wherein the two side bars (42) and the cross bar (44) on the same cross section form a U-shaped shape.

3. The oil and gas pipeline desilting robot according to claim 2, characterized in that: The variable diameter crawler (5) comprises: A driving rod (51) is provided on the mounting seat (41) and is axially rotatable inside the mounting seat (41). The number and distribution of the driving rods (51) are adapted to the mounting seat (41). A first track wheel (52) is fixedly installed on the outer side of the driving rod (51). The second track wheels (53) are rotatably arranged on the outside of the synchronization rod (43), and the number and distribution position of the second track wheels are adapted to the synchronization rod (43), wherein two first track wheels (52) and two second track wheels (53) are correspondingly arranged on the three sides of the frame (3); There are three walking crawlers (54) respectively distributed on three sides of the frame (3), and connected to and in contact with the adjacent first crawler wheel (52) and the second crawler wheel (53); and The electric push rod (55) has a fixed end hinged on three sides of the frame (3) and a lifting end hinged on the side rod (42). The electric push rod (55) is driven to lift and lower to adjust the distance between the cross bar (44) and the frame (3) to adapt to oil and gas pipelines of different diameters.

4. The oil and gas pipeline desilting robot according to claim 3, characterized in that: The driving assembly (6) comprises: A drive motor (61) is fixedly mounted on the frame (3) and is located within the mounting area; A synchronous belt assembly (62) is provided on the output end of the driving motor (61) and is interconnected with the driving rod (51); Two active end face gears (63) are fixedly mounted on both side ends of the upper drive rod (51); and There are two driven end face gears (64) which are fixedly mounted on the ends of the front and rear driving rods (51) respectively, wherein the driven end face gears (64) and the adjacent driving end face gears (63) can mesh with each other.

5. The oil and gas pipeline desilting robot according to claim 1, characterized in that: The variable diameter dredging assembly (7) comprises: A dredging motor (71) is fixedly mounted on the inner side of the frame (3) and is located within the mounting area of ​​the frame (3); The base (72) is fixedly mounted on the output end of the silt cleaning motor (71) and can rotate axially when driven by the silt cleaning motor (71); The dredging support arms (73) are hinged on the surface of the base (72), and the number of the dredging support arms (73) is not less than three and is distributed in a circular manner with equal distances according to the center of the base (72); A cleaning brush (74) is detachably connected to a surface of the dredging support arm (73) on a side away from the base (72); A diagonal support rod (75), one end of which is hinged to the dredging support arm (73) and can rotate on the surface of the dredging support arm (73); A mounting shell (76) is provided on the other end portion of the diagonal support rod (75), wherein the mounting shell (76) and the diagonal support rod (75) are hingedly connected to each other; A transmission motor (77) is fixedly mounted on the mounting housing (76), with its output end facing one side of the base (72); A screw rod (78), one end of which is fixedly mounted on the output end of the transmission motor (77), and the other end of which is connected to the base (72) via a bearing; The transmission member (79) is arranged on the screw rod (78) and is connected to the diagonal support rod (75). When driven by the transmission motor (77), the transmission member (79) moves along the length direction of the screw rod (78), and the angle between the dredging support arm (73) and the base (72) can be adjusted to adapt to oil and gas pipelines of different diameters.

6. The oil and gas pipeline desilting robot according to claim 5, characterized in that: The transmission member (79) comprises: A threaded seat (791) is threadedly connected to the outer side of the screw rod (78); An adjusting rod (792), one end of which is hinged to the threaded seat (791), and the other end of which is hinged to the diagonal support rod (75), and the number and distribution position of the adjusting rod (792) are adapted to the diagonal support rod (75); A guide rod (793) is fixedly mounted on the surface of the base (72) and is perpendicular to the base (72), wherein an end of the guide rod (793) away from the base (72) passes through the threaded seat (791); and The return spring (794) is sleeved on the outer side of the guide rod (793), and one end of the return spring is in contact with the threaded seat (791). The return spring (794) is located between the threaded seat (791) and the base (72).

7. The oil and gas pipeline desilting robot according to claim 6, characterized in that: An infrared rangefinder (8) is fixedly mounted on the inner side of the mounting shell (76), wherein a plurality of exposed holes (9) are also processed on the surface of the mounting shell (76).

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