AUTONOMOUS ROBOT FOR IN-TUBE DIAGNOSTICS Russian patent published in 2023 - IPC B25J9/00 F17D5/00 F16L101/30 

FIELD: in-line diagnostics.

SUBSTANCE: invention is related to in-line diagnostics of technological, field, main pipelines of the oil and gas, chemical industry and complexes of housing and communal services. The robot contains two bearing bases with three supporting legs located relative to each other at an angle of 120°, the bases are interconnected by a detachable bolted connection. Inside each bearing base there is a drive for opening the supporting legs, the output shaft of which has a driving gear; the driven gears and the supporting gears are installed on the outer side of each bearing base, and the driving gear, driven gears and supporting gears are connected to each other by their teeth and form a mechanical gear system for moving the support legs. Inside one of the bearing bases there is a control controller and a multi-band radio transceiver connected to each other. A multi-band radio antenna connected to a multi-band radio transceiver is installed on one of the bearing bases. On each bearing base, a device for visual and instrumental control is mounted, the body of which is made with the possibility of adjustment.

EFFECT: enabling movement in a wide range of pipeline diameters, with highly inclined and vertical sections.

4 cl, 3 dwg