A pipeline robot suitable for small-bore gathering pipelines
By employing an autonomous diameter-changing mechanism and wheel drive, the problem of poor adaptability of existing pipeline robots to different pipe diameters has been solved, achieving a simple and efficient pipeline adaptability and ensuring stable operation of the robot in pipelines of different diameters.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CHINA PETROLEUM & CHEMICAL CORP
- Filing Date
- 2025-07-11
- Publication Date
- 2026-07-14
AI Technical Summary
Existing pipeline robots suffer from problems such as complex structure, low energy efficiency, poor flexibility and reliability when adapting to pipelines of different diameters. In particular, the variable diameter mechanism is generally cumbersome in structure and has high drive power requirements.
The robot employs an autonomous diameter-changing mechanism, including a support column, a sliding component, a compression spring, and a support arm. Through the extension and retraction of the support arm, in conjunction with a wheel drive mechanism, the robot can achieve stable operation in pipes of different diameters.
It enables the robot to operate stably in pipes of different diameters, improves its adaptability, avoids problems such as unstable operation and jamming, and has a simple structure and high energy efficiency.
Smart Images
Figure CN224497959U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of pipeline robot technology, specifically to a pipeline robot suitable for small-diameter gathering and transportation pipelines. Background Technology
[0002] Pipeline robots, as an important technology in pipeline inspection and maintenance, have been widely applied due to the increasing demands for transportation safety and efficiency in the oil and gas industry. Especially in complex pipeline environments, pipeline robots offer a more efficient and safer alternative to traditional manual labor and mechanical equipment. Current pipeline robot technology mainly relies on various forms of motion, such as flowing, wheeled, tracked, peristaltic, walking, and serpentine movements. These robots can automatically move along the inner wall of pipelines and perform inspection and maintenance tasks through different driving principles and motion methods. However, due to the complex and varied geometry of pipelines and environmental conditions, existing pipeline robots face several challenges, particularly in adapting to pipelines of different diameters.
[0003] To enable pipeline robots to adapt to pipes of different diameters, adjustable diameter-changing mechanisms are typically employed. Existing diameter-changing mechanisms include spring-preloaded, worm gear, elevator, and lead screw-nut types. While these mechanisms can achieve pipe diameter adjustment, they generally suffer from several significant drawbacks. First, these mechanisms are relatively complex, increasing the size and weight of the mechanical system. Second, most diameter-changing mechanisms require substantial drive power, resulting in low energy efficiency and placing high demands on the drive system, thus affecting the robot's flexibility and reliability during efficient operation. Chinese patent CN207213495U discloses an underwater pipeline robot, comprising multiple motion unit segments connected by retractable metal hoses. Each motion unit segment has a thruster at its head and tail. Each motion unit includes a cavity with multiple grooves on its outer surface. A reciprocating slider is fitted within each groove. The slider is hinged to one end of a push rod, the other end of which is hinged to a push rod connecting rod. One end of the push rod connecting rod is hinged to one end of the groove, the other end of which is hinged to one end of a wheel mounting rod, the other end of which is hinged to one end of a connecting rod, and the other end of the connecting rod is hinged to the other end of the groove. A spring is also provided between the slider and the end of the groove. A wheel is mounted on the wheel mounting rod. This pipeline robot has a complex structure and a limited range of applications.
[0004] Therefore, while existing variable diameter designs meet the requirements of pipe diameter changes, they often face problems such as low efficiency and complex structure. There is an urgent need to find simpler and more efficient solutions to improve the overall performance of pipeline robots. Utility Model Content
[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a pipeline robot suitable for small-diameter gathering and transportation pipelines.
[0006] The technical solution of this utility model is: a pipeline robot suitable for small-diameter gathering and transportation pipelines, including an autonomous diameter changing mechanism, a wheel drive mechanism and a battery compartment. Two sets of the autonomous diameter changing mechanisms are respectively installed at the front and rear ends of the battery compartment, and the two are arranged symmetrically.
[0007] The autonomous diameter-changing mechanism includes a support column, a fixing member, a sliding member, and a compression spring. The inner end of the support column is provided with a connector, which is connected to the battery compartment through the connector. The sliding member is slidably fitted onto the support column, and the fixing member is fixed onto the support column and located between the connector and the sliding member. The compression spring is fitted onto the support column, with its two ends abutting against the fixing member and the sliding member, respectively. Multiple sets of support arms are connected in a circumferential array between the connector and the sliding member. Each support arm includes a long arm and a short arm that are hinged together. The other end of the long arm is hinged to the connector, and the other end of the short arm is hinged to the sliding member.
[0008] The wheel drive mechanism is installed at the hinge between the long arm and the short arm.
[0009] Preferably, the battery compartment includes a matching body and a cover, which are connected by set screws.
[0010] Preferably, the support column is a triangular prism with an extension flange connected to its outer end.
[0011] Preferably, the support arm is provided in three sets, and the short arm is an L-shaped rod.
[0012] Preferably, the angle between the long arm and the short arm is in the range of 15°≤θ≤60°.
[0013] Preferably, the wheel drive mechanism includes a motor and a drive wheel mounted on a long arm, and the output shaft of the motor is connected to the axle of the drive wheel for transmission.
[0014] Preferably, the wheel drive mechanism further includes a matching motor mounting compartment and a motor mounting plate. The motor mounting compartment is fixed on the long arm and connected to the motor mounting plate by set screws. The motor is installed inside the motor mounting compartment.
[0015] Preferably, the drive wheel axle passes through the motor mounting compartment, and a drive wheel is installed at each end; the two drive wheels are located on both sides of the motor mounting compartment.
[0016] Compared with the prior art, this utility model has the following advantages:
[0017] This robot has a simple structure. Through multiple sets of support arms in its autonomous diameter-changing mechanism, and sliding components that can slide on the central support column, combined with the elastic action of compression springs, it can automatically and flexibly adjust the extension degree of the support arms according to changes in pipe diameter. Whether the pipe is large or small diameter, the robot can adjust its structure to ensure that the drive wheels on the support arms fit tightly against the inner wall of the pipe, ensuring stable operation in pipes of different diameters.
[0018] The three sets of support arms are arranged in a circular array. This layout makes the robot more evenly stressed during the process of changing diameter and running in pipes of different diameters. It effectively avoids problems such as unstable operation or even jamming caused by uneven stress, and greatly improves the robot's adaptability to pipes of different diameters.
[0019] The robot is equipped with extension flanges at both ends, which facilitates the expansion of the robot's functions. Attached Figure Description
[0020] Figure 1 This is a three-dimensional structural diagram of the present invention;
[0021] Figure 2 This is the front view of the present invention;
[0022] Figure 3 This is a schematic diagram of the self-regulating diameter mechanism;
[0023] Figure 4 This is a two-dimensional structural diagram of the present invention applied to a 150mm pipe;
[0024] Figure 5 This is a two-dimensional structural diagram of the present invention applied to a 100mm pipe;
[0025] Figure 6 This is a schematic diagram of the battery compartment.
[0026] In the diagram: 1. Battery compartment, 2. Support column, 3. Connector, 4. Sliding component, 5. Fixing component, 6. Compression spring, 7. Long arm, 8. Short arm, 9. Drive wheel, 10. Extension flange, 11. Cabin, 12. Cabin cover, 13. Motor mounting compartment, 14. Motor mounting plate. Detailed Implementation
[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments. Example 1
[0028] Reference Figure 1-2 As shown, a pipeline robot suitable for small-diameter gathering and transportation pipelines includes an autonomous diameter changing mechanism, a wheel drive mechanism, and a battery compartment 1. Two sets of autonomous diameter changing mechanisms are respectively installed at the front and rear ends of the battery compartment 1, and the two are arranged symmetrically.
[0029] The self-adjusting diameter mechanism includes a support column 2, a fixing member 5, a sliding member 4, and a compression spring 6. The inner end of the support column 2 is provided with a connector 3, which is connected to the battery compartment 1 through the connector 3. The sliding member 4 is slidably fitted on the support column 2. The fixing member 5 is fixed on the support column 2 and is located between the connector 3 and the sliding member 4. The compression spring 6 is fitted on the support column 2, and its two ends abut against the fixing member 5 and the sliding member 4 respectively. Three sets of support arms are connected in a circumferential array between the connector 3 and the sliding member 4. The support arms include a long arm 7 and a short arm 8 that are hinged together. The other end of the long arm 7 is hinged to the connector 3, and the other end of the short arm 8 is an L-shaped rod that is hinged to the sliding member 4.
[0030] The wheel drive mechanism is installed at the hinge between the long arm 7 and the short arm 8, and there are six sets in total. The wheel drive mechanism includes a motor and a drive wheel 9 mounted on the long arm 7. The output shaft of the motor is connected to the axle of the drive wheel 9 for transmission. The drive wheel 9 is a polyurethane wheel.
[0031] like Figure 4 As shown, when the robot is in a 150mm diameter pipe, the radial pressure exerted by the inner wall of the pipe on the polyurethane wheel is relatively small. The preload of the compression spring 6 pushes the sliding member 4 to move away from the battery compartment 1, causing the long arm 7 and the short arm 8 to extend outward, so that the included angle between them reaches 60°, and the outer diameter of the robot expands to 150mm. During the above expansion process, the three sets of support arms expand synchronously to ensure uniform force distribution. Subsequently, the battery in the battery compartment 1 powers the motor, and the motor drives the polyurethane wheel to rotate through the output shaft, enabling the robot to pass through the small-diameter pipe at a constant speed, with stable operation and no deviation.
[0032] like Figure 5 As shown, when the robot enters the 100mm small diameter pipe, the radial pressure exerted on the polyurethane wheel by the inner wall of the pipe increases, which in turn pushes the short arm 8 and the long arm 7 to retract inward, while driving the sliding member 4 to slide along the support column 2 towards the battery compartment 1 and compressing the compression spring 6. Example 2
[0033] As a preferred embodiment of this utility model, this embodiment designs the structure of the battery compartment 1 based on Embodiment 1, specifically as follows:
[0034] Reference Figure 6 As shown, the battery compartment 1 includes a matching body 11 and a cover 12, which are connected by set screws. Example 3
[0035] As a preferred embodiment of this utility model, this embodiment optimizes the structure of the autonomous diameter-changing mechanism based on Embodiment 1, specifically as follows:
[0036] In this embodiment, the support column 2 is a triangular prism with an extension flange 10 connected to its outer end. The extension flange 10 can easily connect to external testing equipment, communication cables, auxiliary tools, etc. By connecting different external devices, the robot can perform various functions such as pipeline inspection, cleaning, and repair, meeting the needs of different operating scenarios. Example 4
[0037] As a preferred embodiment of this utility model, this embodiment further defines the support arm based on Embodiment 1, specifically as follows:
[0038] In this embodiment, when the robot is working normally, the angle between its long arm 7 and short arm 8 is in the range of 15°≤θ≤60°. Example 5
[0039] As a preferred embodiment of this utility model, this embodiment adds a motor fixing compartment 13 based on embodiment one, specifically as follows:
[0040] Reference Figure 3 As shown, in this embodiment, the wheel drive mechanism further includes a matching motor mounting chamber 13 and a motor mounting plate 14. The motor mounting chamber 13 is fixed on the long arm 7 and is connected to the motor mounting plate 14 by set screws; the motor is installed inside the motor mounting chamber 13. The motor mounting chamber 13 and the motor mounting plate 14 together enclose the motor, forming a sealed shell to ensure the safety of the power system.
[0041] The drive wheel 9 has an axle that passes through the motor mounting compartment 13, and a drive wheel 9 is installed at each end of the drive wheel 9. The two drive wheels 9 are located on both sides of the motor mounting compartment 13, which improves the structural stability of the robot.
[0042] In summary, this robot has a simple structure. Through multiple sets of support arms in its autonomous diameter-changing mechanism, and a sliding component 4 that can slide on the central support column 2, combined with the elastic action of the compression spring 6, it can automatically and flexibly adjust the extension degree of the support arms according to changes in the pipe diameter. Whether the pipe is large or small in diameter, the robot can adjust its own structure to ensure that the drive wheels 9 on the support arms fit tightly against the inner wall of the pipe, thus ensuring stable operation in pipes of different diameters.
[0043] The three sets of support arms are arranged in a circular array. This layout makes the robot more evenly stressed during the process of changing diameter and running in pipes of different diameters. It effectively avoids problems such as unstable operation or even jamming caused by uneven stress, and greatly improves the robot's adaptability to pipes of different diameters.
[0044] Both ends of the robot are equipped with extension flanges 10, which facilitates the expansion of the robot's functions.
[0045] This utility model is not limited to the above-described embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this utility model, and the changed content still falls within the protection scope of this utility model.
Claims
1. A pipeline robot suitable for small-diameter gathering and transportation pipelines, comprising an autonomous diameter-changing mechanism and a wheel drive mechanism, characterized in that: It also includes a battery compartment, with two sets of the aforementioned autonomous diameter-changing mechanisms installed at the front and rear ends of the battery compartment, respectively, and the two are arranged symmetrically. The autonomous diameter-changing mechanism includes a support column, a fixing member, a sliding member, and a compression spring. The inner end of the support column is provided with a connector, which is connected to the battery compartment through the connector. The sliding member is slidably fitted onto the support column, and the fixing member is fixed onto the support column and located between the connector and the sliding member. The compression spring is fitted onto the support column, with its two ends abutting against the fixing member and the sliding member, respectively. Multiple sets of support arms are connected in a circumferential array between the connector and the sliding member. Each support arm includes a long arm and a short arm that are hinged together. The other end of the long arm is hinged to the connector, and the other end of the short arm is hinged to the sliding member. The wheel drive mechanism is installed at the hinge between the long arm and the short arm.
2. The pipeline robot suitable for small-diameter gathering and transportation pipelines according to claim 1, characterized in that: The battery compartment includes a matching body and a cover, which are connected by set screws.
3. A pipeline robot suitable for small-diameter gathering and transportation pipelines according to claim 1, characterized in that: The support column is a triangular prism with an expansion flange connected to its outer end.
4. A pipeline robot suitable for small-diameter gathering and transportation pipelines according to claim 1, characterized in that: The support arm is provided in three sets, and the short arm is an L-shaped rod.
5. A pipeline robot suitable for small-diameter gathering and transportation pipelines according to claim 1, characterized in that: The angle between the long arm and the short arm is in the range of 15°≤θ≤60°.
6. A pipeline robot suitable for small-diameter gathering and transportation pipelines according to claim 1, characterized in that: The wheel drive mechanism includes a motor and a drive wheel mounted on a long arm, with the motor output shaft being connected to the axle of the drive wheel.
7. A pipeline robot suitable for small-diameter gathering and transportation pipelines according to claim 6, characterized in that: The wheel drive mechanism also includes a matching motor mounting compartment and a motor mounting plate. The motor mounting compartment is fixed on the long arm and is connected to the motor mounting plate by set screws. The motor is installed inside the motor mounting compartment.
8. A pipeline robot suitable for small-diameter gathering and transportation pipelines according to claim 7, characterized in that: The drive wheel axle passes through the motor mounting compartment, and a drive wheel is installed at each end; the two drive wheels are located on both sides of the motor mounting compartment.