CN103322374B - Cable-free type pipeline countercurrent crawl device - Google Patents
Cable-free type pipeline countercurrent crawl device Download PDFInfo
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- CN103322374B CN103322374B CN201210080536.XA CN201210080536A CN103322374B CN 103322374 B CN103322374 B CN 103322374B CN 201210080536 A CN201210080536 A CN 201210080536A CN 103322374 B CN103322374 B CN 103322374B
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Abstract
The invention discloses a cable-free type pipeline countercurrent crawl device which comprises a crawl barrel, a driving mechanism, a front slip crawl mechanism and a rear slip stop mechanism, wherein the front slip crawl mechanism is in screw transmission fit with the driving mechanism, so that the front slip crawl mechanism can reciprocate along a crawl groove; the crawl device further comprises an unlocking mechanism which comprises a center rod, a front unlocking pull rope and a rear unlocking pull rope; and the front unlocking pull rope and the rear unlocking pull rope drive the front slip crawl mechanism and the rear slip stop mechanism to be folded radially through the backward motion of the center rod.. According to the cable-free type pipeline countercurrent crawl device, motion of a fluid in a pipe is directly used for acquiring power, the device can crawl in a pipeline in a direction against the fluid, and the unlocking mechanism is triggered under a specific condition, and the device can return back in the fluid direction, so that automatic changeover of countercurrent advancing and fair current returning is realized. The cable-free type pipeline countercurrent crawl device is applicable to cleaning, inspection, surveying and mapping operation of a pipeline which is smaller in inner diameter, longer in operation distance and complex in work environment.
Description
Technical Field
The invention relates to a crawler, in particular to a cable-free pipeline countercurrent crawler which can realize the functions of countercurrent advancing and countercurrent returning and is suitable for carrying out real-time detection and maintenance operation on pipelines with special working conditions such as small inner diameter, long distance, complex working environment and the like.
Background
In the oil and gas industry, pipeline transportation is a convenient and efficient transportation mode. The pipeline transportation medium generally has the characteristics of combustibility, explosiveness, toxicity, corrosiveness and the like; the pipeline transportation mode has the characteristics of large transportation distance, pressurized transportation, severe pipeline transportation environment, complex pipeline construction and the like. Therefore, in the operation process of the pipeline, hidden troubles such as deposition of pollutants, corrosion of harmful substances, leakage of the pipeline, fatigue of the pipeline, breakage of the pipeline and the like can occur. If the above hidden troubles and defects of the pipeline are not detected and maintained in time, serious accidents are likely to happen. In order to obtain the operation data of the pipeline, detect the hidden danger of the pipeline, prolong the service life of the pipeline and prevent the pipeline accident, the pipeline must be effectively and periodically detected and maintained.
At present, the detection and maintenance of pipelines relate to pipeline operations such as detection in the pipelines and cleaning of the pipelines, and pipeline operation equipment is needed for operation. Pipeline operation equipment usually adopts pipeline crawlers today, and current pipeline crawlers can be divided into the following three according to the difference of its power supply: the fluid-driven pipeline is characterized in that one is an external power supply cable type, the other is a self-contained battery type, and the third is a fluid-driven cable-free type which is conveyed by a pipeline. The cable type main disadvantages of the external power supply are two points: (1) the cable conductor always follows the pipeline robot to walk, and if the pipeline is very long, the cable conductor must be very long, and the cost is more expensive. (2) Due to the fact that cables exist, after the countercurrent crawler is placed in a pipeline, an inlet channel cannot be closed, dynamic sealing is achieved, and the technical difficulty is one of technical difficulties. The cable-free pipeline crawler driven by fluid in the pipe is more and more favored by people in the industry because the fluid in the pipe is directly utilized to obtain power without providing additional power source for driving, and the problem of power source supply is solved.
The conventional cableless pipeline crawler, for example, a weaderfu pipeline and equipment research and development center (weather for pipeline and Specialty Services R & D center in Edinburgh) cableless pipeline reverse-flow crawler in the uk, is in a straight rod shape, and comprises a traction module, a supporting leg, a turbine, a gearbox module and the like, and the crawler can acquire power by using fluid in a pipe and perform reverse-flow crawling through testing, and can be matched with a related device to complete pipe cleaning operation. However, the cable-free pipeline countercurrent crawler has a complex structure and is not suitable for pipelines with small inner diameters and complex working environments; moreover, the crawling of the crawler is not stable enough (pipeline pressure fluctuation can cause the crawler to return directly), and the crawling is inconvenient, so that the application range of the crawler is limited greatly.
In addition, there is a self-driven, cableless crawling mechanism developed by university of duren, uk, which uses a turbine to convert the kinetic energy of the fluid into the mechanical energy required by the mechanism and to convert the rotary motion of the screw pair into the reciprocating motion of the mechanism. Because the climbing mechanism adopts the rigid supporting brush, the rigid supporting brush can move forward smoothly in a reverse flow manner, but can move backwards difficultly, the conversion between forward movement and backward movement cannot be automatically completed, the application range is limited, and the requirements for realizing real-time detection and maintenance operation of pipelines are difficult. In addition, the crawling mechanism has a plurality of defects in the aspects of traction capacity, obstacle crossing capacity, elbow passing capacity and the like.
In view of the above-mentioned shortcomings of the prior art, the present inventors have made active improvements and innovations based on relevant scientific research and field experience and professional knowledge, in order to realize a cable-free pipeline reverse-flow crawler which can effectively solve the above-mentioned problems. The cable-free pipeline countercurrent crawler directly utilizes fluid to obtain power, converts the power into the motion of an actuating mechanism through a certain transmission mechanism, can crawl in a pipeline against the direction of the fluid, and triggers a certain device under a specific condition to enable the crawler to return along the direction of the fluid. After the corresponding auxiliary equipment is added, the pipeline can be subjected to various complex operations such as cleaning, detection, mapping and the like.
Disclosure of Invention
The invention aims to provide a cable-free pipeline countercurrent crawler, which directly utilizes fluid to obtain power, can realize the conversion of countercurrent forward movement and countercurrent return, and is suitable for the pipe cleaning, detection and surveying and mapping operation of pipelines with smaller inner diameter, longer operation distance and complex working environment.
In order to achieve the above object, the cable-free pipeline countercurrent crawler provided by the present invention comprises a crawling cylinder, a driving mechanism, a front-mounted tile crawling mechanism and a rear-mounted tile stopping mechanism, wherein the front-mounted tile crawling mechanism is mounted in a crawling groove axially formed on the crawling cylinder, the crawling groove is communicated with the inside of the crawling cylinder, the driving mechanism is axially arranged in the crawling cylinder in a penetrating manner, the front-mounted tile crawling mechanism is in threaded transmission fit with the driving mechanism, so that the front-mounted tile crawling mechanism reciprocates along the crawling groove, the rear-mounted tile stopping mechanism is arranged at the rear side of the crawling cylinder, the crawler further comprises an unlocking mechanism, and the unlocking mechanism comprises: the central rod axially penetrates through the driving mechanism, the front end of the central rod extends out of the outer side of the driving mechanism, and the central rod is matched with the driving mechanism so that the central rod can move backwards under the action of external force; one end of the front unlocking pull rope is fixed on the central rod, and the other end of the front unlocking pull rope is connected with the front-mounted slip crawling mechanism through an unlocking supporting block and an unlocking block; one end of the rear unlocking pull rope is fixed on the central rod, and the other end of the rear unlocking pull rope is connected with the rear slip retaining mechanism; the front unlocking pull rope and the rear unlocking pull rope enable the front-mounted slip crawling mechanism and the rear-mounted slip retaining mechanism to be folded in along the radial direction through the backward movement of the central rod.
The cable-free pipeline countercurrent creeper comprises a creeper cylinder, a plurality of connecting flanges, a plurality of radial; the preposed slip crawling mechanism is oppositely inserted on the crawling groove of the crawling cylinder.
The untethered pipe reverse flow crawler as described above, wherein the driving mechanism comprises: the reciprocating screw rod axially penetrates through the crawling cylinder and the front slip crawling mechanism, a bidirectional thread is machined on the reciprocating screw rod, the reciprocating screw rod is rotatably connected with the crawling cylinder through bearings arranged on two sides of the reciprocating screw rod, a central through hole is axially formed in the reciprocating screw rod, the central rod penetrates through the central through hole and extends to the outer side of the reciprocating screw rod, and the central rod is meshed with the central through hole through an inclined rack arranged in the central through hole, so that when the front end of the central rod bears certain resistance, the central rod moves backwards along the central through hole; the turbine is arranged at the front extending end of the reciprocating lead screw and drives the reciprocating lead screw to synchronously rotate under the driving of fluid in the pipeline.
The untethered pipeline countercurrent creeper as described above, wherein the front slip crawling mechanism comprises: the transmission assembly comprises a nut seat and a transmission nut, the nut seat comprises a containing part and at least three shaft shoulders which are uniformly arranged on one side of the containing part and extend along the radial direction, and the shaft shoulders are arranged corresponding to the crawling groove; an axial through hole is formed in the center of the accommodating part and used for sleeving the reciprocating lead screw, the transmission nut is rotatably arranged in an installation through hole in one side of the accommodating part, the installation through hole is communicated with the axial through hole, and the transmission nut is in threaded transmission fit with the reciprocating lead screw; the front slip component is arranged on the shaft shoulder and comprises a front slip seat, a front support rod, a front slip and a tension spring, the front slip is provided with backward inclined teeth, the front slip seat is fixedly connected with the shaft shoulder of the nut seat through a bolt, the front support rod is bent, the bent part of the front support rod is connected with the front slip seat through a pivot, one end of the front support rod is connected with the tension spring fixed on the front slip seat, the other end of the front support rod is pivoted with the front slip, the front support rod can rotate around the bent part under the action of the tension spring, a containing groove with an opening at one side is formed in the bent part of the front support rod, an unlocking block and an unlocking support block are arranged in the containing groove, an arc groove is formed in one side of the unlocking support block, the bolt head is arranged in a strip-shaped through groove which is formed in one side of the containing groove and perpendicular to the axial direction of the pivot shaft in a penetrating mode, so that the bolt head can move up and down along the strip-shaped through groove; the unlocking block abuts against the unlocking support block, is arranged close to the opening of the accommodating groove, and is connected with one end of the front unlocking pull rope; when the crawler crawls forwards, the unlocking block and the unlocking support block are matched to limit the movement of the front support rod; when the central rod moves backwards, the front unlocking pull rope pulls the unlocking block to be separated from the accommodating groove, so that the unlocking support block slides in a matched manner through the bolt head and the strip-shaped through groove, and the front support rod and the front clamping shoe are folded in along the radial direction.
The cable-free pipeline countercurrent creeper as described above, wherein a protrusion is provided at the bottom of the unlocking block, a sliding groove is provided at the opening of the receiving groove corresponding to the protrusion, and the protrusion is in sliding fit with the sliding groove.
The cable-free pipeline countercurrent creeper as described above, wherein a spring plate is disposed at a position of the front support rod corresponding to the bump, one end of the spring plate is fixed on the front support rod through a screw, and the other end of the spring plate abuts against a side surface of the bump.
The cableless pipe reverse flow creeper as described above, wherein an elastic washer and an elastic ring are provided between the nut seat and the driving nut.
The cableless pipe countercurrent creeper as described above, wherein the rear slip retaining mechanism comprises: the rear slip seat and the front slip seat are correspondingly arranged on the same axis, and the rear slip seat is connected with a connecting flange on the rear side of the crawling cylinder through a cylindrical pin; the rear supporting rod is bent, and the bent part of the rear supporting rod is pivoted with the rear slip seat; the rear clamping tile is pivoted with the outer end of the rear supporting rod and is provided with teeth inclining backwards; one end of the spring is fixed on the rear slip seat, the other end of the spring is connected to the inner end of the rear support rod, and the rear support rod and the rear slip are pulled to be expanded along the radial direction by the spring; the rear support rod is connected with one end of the rear unlocking pull rope, and when the central rod moves backwards, the rear unlocking pull rope releases the rear support rod, so that the rear support rod and the rear clamping shoe are drawn in along the radial direction under the pulling of the spring.
The untethered pipeline countercurrent creeper as described above, wherein the creeper further comprises a guiding mechanism, the guiding mechanism comprising: the front wheel seat and the rear wheel seat are respectively arranged on the outer sides of the connecting flanges on the two sides of the crawling cylinder, supporting parts are respectively arranged on the front wheel seat and the rear wheel seat in a protruding mode along the radial direction, and guide wheels are arranged on the supporting parts.
The cable-free pipeline countercurrent creeper as described above, wherein the guide wheels include a front support guide wheel provided on the support portion of the front wheel seat and a rear support guide wheel provided on the support portion of the rear wheel seat, and the front support guide wheel and the rear support guide wheel are symmetrically provided and are respectively and uniformly provided with at least three guide wheels along the circumferential direction.
Compared with the prior art, the invention has the following characteristics and advantages:
1. the cable-free pipeline countercurrent crawler directly utilizes the movement of fluid in the pipeline to obtain power, converts the power into the movement of the actuating mechanism through a certain transmission mechanism, can crawl in the pipeline against the direction of the fluid, triggers the unlocking mechanism under specific conditions, returns along the direction of the fluid, and realizes the automatic conversion of countercurrent advancing and downstream homing. After the corresponding auxiliary equipment is added, the pipeline can be subjected to various complex operations such as cleaning, detection, mapping and the like.
2. The invention is suitable for the pipe cleaning, detection and surveying and mapping operation of the pipeline with smaller inner diameter, longer operation distance and complex working environment. For example: the invention has huge potential application prospect in pipelines with complex working environment, especially single-line pipelines, and can become a key part of underwater pipeline operation equipment.
3. Compared with the traditional pipeline cleaning mode, the mode that the cable-free pipeline countercurrent crawler enters and leaves the pipeline from a single port saves supporting facilities, reduces unnecessary operation and does not stop production during the operation of the crawler; the crawler is not limited by a power source, and can generate power as long as fluid exists; the auxiliary pipe cleaning and detecting units can also effectively utilize the power generated by the turbine to work, and the detection and maintenance cost of the pipeline is greatly reduced.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein,
FIG. 1 is a schematic perspective view of a cable-less pipe reverse-flow crawler according to the present invention;
FIG. 2 is a schematic cross-sectional axial view of the untethered pipeline reverse flow creeper of the present invention;
FIG. 3 is a schematic front view of the untethered pipeline reverse flow crawler of the present invention;
FIG. 4 is an enlarged schematic view of portion A of FIG. 3;
FIG. 5 is a schematic top view of the untethered pipe reverse flow creeper of the present invention;
FIG. 6 is a schematic view of the reciprocating lead screw in combination with a center rod of the present invention;
FIG. 7 is a schematic structural view of a creeper cylinder of the present invention;
FIG. 8 is a schematic structural view of the petal components of the creeper of the present invention;
FIG. 9 is a schematic view of the nut seat of the present invention;
FIG. 10 is a schematic structural view of the drive nut of the present invention;
FIG. 11 is a schematic perspective view of the front support bar of the present invention after being combined with an unlocking support block and an unlocking block;
FIG. 12 is a schematic view of another perspective structure of the front support bar combined with the unlocking support block and the unlocking block according to the present invention;
FIG. 13 is a schematic structural view of a front support rod according to the present invention;
FIG. 14 is a schematic view of the unlocked support block of the present invention;
FIG. 15 is a schematic structural view of an unlocking block of the present invention;
FIG. 16 is a perspective view of a front support bar combined with an unlocking support block and an unlocking block according to another embodiment of the present invention;
fig. 17 is a schematic structural view of the front support rod in fig. 16.
Description of reference numerals:
1-reciprocating screw rod; 2-rear slips; 3-rear slip seat; 4-rear support guide wheels; 5-rear wheel seat; 6-front slips; 7-preposition slip seat; 8-a nut seat; 81-a locus of containment; 82-shaft shoulder; 83-axial through hole; 84-mounting through holes; 9-an elastic ring; 10-front support guide wheels; 11-front wheel seat; 12-a turbine; 13-a bearing; 14-a drive nut; 141-a tooth-shaped groove; 15-a bearing; 16-a creeper cylinder; 161-petal member; 162-crawling groove; 163-coupling flange; 18-cylindrical pin; 19-a resilient gasket; 20-a spring; 21-a central rod; 22-unlocking the support block; 23-unlocking block; 24-unlocking the pull rope; 25-front unlocking pull rope; 26-helical rack; 27-a central through hole; 28-front support bar; 29-rear support bar; 30-a tension spring; 31-a bolt; 32-a receiving groove; 33-a pivot; 34-a support portion; 35-a spring plate; 36-bolt head; 37-strip-shaped through grooves; 38-a bump; 39-chute.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
The invention provides a cable-free pipeline countercurrent crawler which comprises a crawling cylinder, a driving mechanism, a front-mounted tile crawling mechanism and a rear-mounted tile retaining mechanism, wherein the front-mounted tile crawling mechanism is arranged in a crawling groove formed in the crawling cylinder in the axial direction, the crawling groove is communicated with the interior of the crawling cylinder, the driving mechanism axially penetrates through the crawling cylinder, and the front-mounted tile crawling mechanism is in threaded transmission fit with the driving mechanism so that the front-mounted tile crawling mechanism reciprocates along the crawling groove, and the crawler can be driven to reversely move forwards in a pipeline through the reciprocating motion of the front-mounted tile crawling mechanism. The cable-free pipeline countercurrent crawler further comprises an unlocking mechanism, and when the crawler moves to the end of a pipeline or the front of the pipeline is seriously blocked, slips of the front-arranged slip crawling mechanism and the rear-arranged slip stopping mechanism can be folded in along the radial direction and separated from the pipe wall through the unlocking mechanism, so that the crawler returns to the outlet of the pipeline under the action of fluid in the pipe. It should be noted that in the present invention, "forward" refers to the direction opposite to the flow direction of the fluid in the pipe; "rearward" refers to the direction of fluid flow within the conduit.
Referring to fig. 1, fig. 2 and fig. 3, a schematic perspective view, a schematic axial cross-sectional view and a schematic front view of the cable-less pipe reverse flow crawler according to the present invention are respectively shown. As shown in the figures, the unlocking mechanism of the present invention includes: the front end of the central rod 21 can move backwards under the action of certain resistance, and the central rod 21 is prevented from moving forwards relative to the driving mechanism; one end of the front unlocking pull rope 25 is fixed on the central rod 21, and the other end of the front unlocking pull rope is connected with the front-mounted slip crawling mechanism through the unlocking support block 22 and the unlocking block 23; one end of the rear unlocking pull rope 24 is fixed on the central rod 21, and the other end of the rear unlocking pull rope is connected with the rear slip retaining mechanism; the front unlocking pull rope 25 and the rear unlocking pull rope 24 promote the front-arranged slip crawling mechanism and the rear-arranged slip retaining mechanism to be folded in along the radial direction through the backward movement of the central rod 21. Therefore, when the crawler moves to the end of a pipeline or the front of the pipeline is seriously blocked, the central rod 21 gradually moves backwards under the action of external abutting resistance, and in the process of moving the central rod 21 backwards, the front unlocking pull rope 25 and the rear unlocking pull rope 24 are tensioned to urge the front slips of the front slip crawling mechanism and the rear slips of the rear slip stopping mechanism to be radially folded so as to achieve the effect of separating from the inner wall of the pipeline, thereby realizing the unlocking function, leading the crawler to return to the outlet of the pipeline under the action of fluid in the pipeline, realizing the conversion of upstream and downstream return of the crawler, being suitable for cleaning operation in the pipeline which needs to enter and separate from a single port, and being particularly suitable for pipeline operation of branch pipes and maintenance and emergency repair operation of submarine pipelines. The specific connection structure of the front unlocking pulling rope 25, the unlocking supporting block 22, the unlocking block 23 and the rear unlocking pulling rope 24 with the front slip crawling mechanism and the rear slip retaining mechanism will be described in detail below.
As shown in fig. 7 and 8, the crawling cylinder 16 is cylindrical and is formed by at least three petal-shaped members 161 which are circumferentially surrounded, so as to facilitate assembly, a crawling groove 162 is axially formed in each petal-shaped member 161, the crawling grooves 162 are uniformly distributed on the crawling cylinder 16 in the circumferential direction, and are used for installing and guiding the front slip crawling mechanism, and the front slip crawling mechanism is in fit connection with the driving mechanism, and the specific structure fit relationship is described in detail below. The crawler 16 is provided with coupling flanges 163 protruding in the radial direction at both sides thereof for connection with an external member of the crawler 16. The preposed slip crawling mechanism is oppositely inserted on the crawling groove 162 of the crawling cylinder 16, so that the preposed slip crawling mechanism can reciprocate along the crawling groove 162.
As shown in fig. 3, the driving mechanism includes a reciprocating lead screw 1 and a turbine 12, the reciprocating lead screw 1 axially penetrates through the crawling cylinder 16 and the front-mounted caliper tile crawling mechanism, and a bidirectional thread is processed on the reciprocating lead screw 1 for being in threaded transmission fit with the front-mounted caliper tile crawling mechanism so as to drive the front-mounted caliper tile crawling mechanism to reciprocate along the crawling groove 162. The reciprocating screw rod 1 is rotatably connected with a crawling cylinder 16 through bearings 13 and 15 arranged on two sides of the reciprocating screw rod; as shown in fig. 6, the reciprocating screw 1 is provided with a central through hole 27 along the axial direction, the central rod 21 penetrates through the central through hole and extends to the outer side of the reciprocating screw 1, the central rod 21 is meshed with the central through hole 27 through an inclined rack 26 arranged in the central through hole, so that when the front end of the central rod 21 bears a certain resistance, the central rod 21 overcomes the resistance of the inclined rack 26 and moves backwards along the central through hole 27, the turbine 12 is arranged at the front extending end of the reciprocating screw 1, the turbine 12 drives the reciprocating screw 1 to synchronously rotate under the driving of fluid in the pipeline, and thus the driving mechanism is driven to operate through the fluid flow in the pipeline, thereby avoiding the use of an external cable or a power supply, reducing the equipment cost, and prolonging the operation distance and the operation time of the.
Further, in order to ensure the matching accuracy between the reciprocating screw rod 1 and the crawling cylinder 16, deep groove ball bearings are adopted as the bearings 13 and 15. Of course, other suitable bearings may be used as long as they allow the reciprocating lead screw 1 to rotate within the creeper cylinder 16.
As shown in fig. 1, 2, 3 and 4, the front slip crawling mechanism includes a transmission assembly matched with the driving mechanism and a front slip assembly reciprocating along the crawling groove 162, wherein the transmission assembly includes a nut seat 8 and a transmission nut 14, as shown in fig. 9, the nut seat 8 includes a receiving portion 81 and at least three shoulders 82 uniformly arranged at one side of the receiving portion 81 and extending along the radial direction, the shoulders 82 are arranged corresponding to the crawling groove 162, so that each shoulder 82 is aligned and combined with the corresponding crawling groove 162; an axial through hole 83 is formed in the center of the accommodating portion 81 for sleeving the reciprocating lead screw 1, so that the reciprocating lead screw 1 can penetrate through the axial through hole 83, the transmission nut 14 is rotatably installed in an installation through hole 84 on one side of the accommodating portion 81, the installation through hole 84 is communicated with the axial through hole 83, and the transmission nut 14 is in threaded transmission fit with the reciprocating lead screw 14. Thus, when the reciprocating screw 14 rotates, the driving nut 14 reciprocates in the axial direction due to the engagement of the tooth-shaped groove 141 (shown in fig. 10) of the driving nut 14 with the bidirectional thread of the reciprocating screw 14, thereby causing the nut holder 8 to reciprocate in the axial direction along the climbing groove 162.
As shown in fig. 3 and 4, the front slip assembly is mounted on the shaft shoulder 82, the front slip assembly comprises a front slip seat 7, a front support rod 28, a front slip 6 and a tension spring 30, the front slip 6 has teeth inclined backwards, and the front slip seat 7 is fixedly connected with the shaft shoulder 82 of the nut seat 8 through a bolt 31. As shown in fig. 11, 12 and 13, the front support bar 28 is bent, and the bent portion of the front support bar 28 is pivotally connected to the front slip seat 7, so that the front support bar 28 can rotate around the pivot 33; one end of the front support rod 28 is connected with a tension spring 30 fixed on the front slip seat 7, and the other end of the front support rod 28 is pivoted with the front slip 6, so that the front support rod 28 can rotate around a bending position under the action of the tension spring 30; the structure difference between the front support bar 28 and the rear support bar 29 is that an accommodating groove 32 with an opening on one side is formed at the bending part of the front support bar 28, an unlocking block 23 and an unlocking support block 22 are disposed in the accommodating groove 32, as shown in fig. 14, an arc groove is formed on one side of the unlocking support block 22 for matching with the pivot 33, a bolt head 36 is connected to one side of the unlocking support block 22 opposite to the opening of the accommodating groove 32, and the bolt head 36 is inserted into a strip-shaped through groove 37 formed on one side of the accommodating groove 32 and perpendicular to the axial direction of the pivot 53, so that the bolt head 36 moves up and down along the strip-shaped through groove. As shown in fig. 11 and 12, the unlocking block 23 abuts against the unlocking support block 22 to clamp the front support rod 28; the unlocking block 23 is arranged close to the opening of the accommodating groove 32, the unlocking block 23 is connected with one end of the front unlocking pull rope 25, and when the crawler crawls forwards, the unlocking block 23 is matched with the unlocking support block 22 to limit the movement of the front support rod; when the central rod 21 moves backwards, the front unlocking pull rope 25 pulls the unlocking block 23 to be disengaged from the accommodating groove 32, and the accommodating groove 32 leaves a certain space, so that the unlocking support block 22 slides in a matching manner with the strip-shaped through groove 37 through the bolt head 36, the front support rod 28 and the front clamping tile 6 are folded in along the radial direction, and the unlocking function of the front clamping tile crawling mechanism is realized.
Further, as shown in fig. 15, a protrusion 38 is disposed at the bottom of the unlocking block 23, a sliding slot 39 is disposed at the opening of the accommodating slot 32 corresponding to the protrusion 38, the protrusion 38 is in sliding fit with the sliding slot 39 to prevent the unlocking block from sliding sideways, so that the front unlocking rope 25 can smoothly pull the unlocking block 23 out of the accommodating slot 32.
As an alternative embodiment of the present invention, as shown in fig. 16 and 17, since the unlocking block 23 can freely slide in the groove of the front support bar 28, in order to prevent the unlocking block 23 from falling off due to unexpected vibration or ascending, an elastic sheet 35 is disposed at a position of the front support bar 28 corresponding to the protrusion 38, one end of the elastic sheet 35 is fixed on the front support bar 28 by a screw, and the other end of the elastic sheet abuts against the side surface of the protrusion 38 of the unlocking block 23, so that the unlocking block 23 is kept stable, and when the pulling rope pulls the unlocking block 22 to reach a certain pulling force, the elastic sheet 35 bends, so that the unlocking block 22 is pulled out from the accommodating groove 32.
Furthermore, an elastic washer and an elastic ring are arranged between the nut seat 8 and the transmission nut 14, so that abrasion is reduced, abrasion resistance is improved, and service life is prolonged.
Further, as shown in fig. 1, 2, 3 and 5, the rear slip stopping mechanism includes a rear slip seat 3, a rear support rod 29, a rear slip 2 and a spring 20, the rear slip seat 3 and the front slip seat are correspondingly arranged on the same axis, and the rear slip seat 3 is connected with a coupling flange 163 at the rear side of the creeper cylinder 16 through a cylindrical pin 18; the rear support rod 29 is bent, and the bent part of the rear support rod 29 is pivoted with the rear slip seat 3; the rear clamping tile 2 is pivoted with the outer end of the rear support rod 29, and the rear clamping tile 2 is provided with teeth inclining backwards; one end of the spring 20 is fixed on the rear slip seat 3, the other end of the spring is connected to the inner end of the rear support rod 29, and the rear support rod 29 and the rear slip 2 are pulled to be opened along the radial direction by the spring 20; the rear support rod 29 is connected with one end of the rear unlocking pull rope 24, the other end of the rear unlocking pull rope 24 is connected with the central rod 21, and when the central rod 21 moves backwards, the rear unlocking pull rope 24 overcomes the elastic force of the spring 20, so that the rear support rod and the rear slip are folded in along the radial direction, and the unlocking function of the rear slip retaining mechanism is realized.
Further, as shown in fig. 1 and 2, the crawler of the present invention further includes a guiding mechanism, which includes: the front wheel seat 11 and the rear wheel seat 5 are respectively arranged at the outer sides of the connecting flanges 163 at two sides of the creeper 16, the front wheel seat 11 and the rear wheel seat 5 are respectively provided with a supporting part 34 in a protruding way along the radial direction, and the supporting parts 34 are provided with guide wheels (a front supporting guide wheel 10 and a rear supporting guide wheel 4) which play the roles of supporting and guiding.
Further, the leading wheel is including establishing preceding support leading wheel 10 on the supporting part of preceding wheel seat 11 and establishing the back support leading wheel 4 on the supporting part of back wheel seat 5, and preceding support leading wheel 10 and back support leading wheel 4 symmetry set up and evenly lay at least threely along circumference respectively to guarantee that the pipeline is in the centre of pipeline against the current crawl device, prevent the crawl device off normal.
In an alternative embodiment of the present invention, a speed reducer (not shown) is installed at the rear end of the turbine 12 to reduce the speed and increase the torque to meet different operating conditions.
The working process and the principle of the cable-free pipeline countercurrent crawler are as follows:
when the cable-free pipeline countercurrent crawler runs in a pipeline in a countercurrent way, the turbine 12 at the front end of the crawler rotates under the action of pipeline fluid to generate power, the power torque is amplified by the speed reducer and then transmitted to the reciprocating screw rod 1, the turbine 12, the central shaft of the speed reducer and the reciprocating screw rod 1 synchronously rotate together, and the reciprocating screw rod 1 is provided with bidirectional threads. The thread groove 141 on the transmission nut 14 is matched with the thread groove of the reciprocating lead screw 1, the rotary motion of the reciprocating lead screw 1 is converted into the reciprocating motion of the front-mounted tile crawling mechanism, the crawling groove in the crawling cylinder can prevent the front-mounted tile crawling mechanism from rotating along with the rotation of the front-mounted tile crawling mechanism, and the linear motion of the front-mounted tile crawling mechanism is guaranteed.
In the moving process, the front-mounted slip crawling mechanism is located at the rearmost end of the reciprocating screw rod 1, due to the action of the rear-mounted slip retaining mechanism, teeth of the rear-mounted slip 2 are embedded into the pipe wall, huge friction force is generated between the pipe wall and the rear-mounted slip 2, the crawling device is prevented from retreating, and the front-mounted slip crawling mechanism moves forwards under the action of force. It should be noted that the tooth shape of the rear-mounted slip 2 is inclined backwards, and when the front-mounted slip crawling mechanism moves forwards, the rear-mounted slip 2 and the pipe wall cannot form large friction force to prevent the front-mounted slip crawling mechanism from moving forwards, so that the front-mounted slip crawling mechanism can smoothly crawl forwards.
When the crawler type reciprocating screw rod climbs to the foremost end of the reciprocating screw rod 1, the front end of the reciprocating screw rod 1 is provided with an accommodating groove, the front-mounted clamping tile crawling mechanism enters a reverse thread section under the action of the accommodating groove, at the moment, the front-mounted clamping tile crawling mechanism is prevented from retreating under the action of a front-mounted clamping tile 6 on the front-mounted clamping tile crawling mechanism, so that the crawler crawls forwards under the action of thread transmission, and when the reciprocating screw rod in the crawler moves forwards to reach the rearmost end of the reciprocating screw rod through a transmission nut 14, a motion period is completed. And the crawler enters the next period, and the operation is repeated, so that the crawler smoothly crawls to the preset position of the pipeline. After the crawler reaches the preset position of the pipeline, the unlocking mechanism of the crawler folds the front-mounted slip 6 and the rear-mounted slip 2, the crawler returns to the launching end of the pipeline under the pushing of fluid, and finally the pipeline operation task is finished.
The working process of the unlocking mechanism is as follows: the crawler creeps in the pipeline, there is a detecting head in the front of the central rod 21 of the crawler, when the crawler moves to the end of the pipeline, or the front of the pipeline encounters serious blockage, etc., so that the crawler can not advance, the detecting head will collide with the obstacle in the front of the crawler, the preposed clamping tile crawling mechanism is fixed on the pipe wall, the crawler has the trend of moving forward, along with the action of nut transmission, the contact force between the detecting head and the obstacle is gradually increased, when the force reaches a specific value, the central rod 21 overcomes the action of the teeth, and starts to slide backward in the reciprocating lead screw 1, at this time, because one end of the back unlocking pull rope 24 is tied on the central rod 21, the other end is tied on the support rod 17, along with the backward sliding of the central rod 21, the back unlocking pull rope 24 overcomes the elasticity of the spring 20, and draws the back clamping. After the rear-mounted clamping shoe is folded, the front-mounted clamping shoe crawling mechanism still tightly clings to the pipe wall, the central rod 21 further slides backwards, the front unlocking pull rope 25 pulls the unlocking block 23, the unlocking block 23 slides forwards under the action of the accommodating groove until the unlocking block 23 is separated from the unlocking support block 22, after the unlocking support block 22 loses support, the front-mounted clamping shoe 6 is folded together with the front-mounted support rod 28 and is not clamped on the pipe wall, and finally unlocking of the crawler is completed. And after the crawler is unlocked, the crawler returns to the outlet of the pipeline under the action of the pipeline fluid to complete the pipeline action.
The cable-free pipeline countercurrent crawler directly utilizes the motion of fluid in the pipeline to obtain power, converts the power into the motion of an actuating mechanism through a certain transmission mechanism, can crawl in the pipeline against the direction of the fluid, triggers an unlocking mechanism under specific conditions, and returns along the direction of the fluid like a common pipeline robot. After the corresponding auxiliary equipment is added, the pipeline can be subjected to various complex operations such as cleaning, detection, mapping and the like. Compared with the traditional pipeline cleaning mode, the mode that the cable-free pipeline countercurrent crawler enters and leaves the pipeline from a single port saves supporting facilities, reduces unnecessary operation and does not stop production during the operation of the crawler; the crawler is not limited by a power source, and can generate power as long as fluid exists; the auxiliary pipe cleaning and detecting units can also effectively utilize the power generated by the turbine to work, and the detection and maintenance cost of the pipeline is greatly reduced.
The present invention is not limited to the above embodiments, and particularly, the various features described in different embodiments may be arbitrarily combined with each other, and the petal-shaped part, the crawling groove, the shaft shoulder, the front slip, the rear slip, the front support guide wheel and the rear support guide wheel of the creeper according to the present invention may be correspondingly arranged, and the number of the front support guide wheel and the rear support guide wheel may be three, four or more according to actual working conditions, so as to form other embodiments.
Claims (10)
1. The utility model provides a no cable formula pipeline crawls ware against current, includes a section of thick bamboo of crawling, actuating mechanism, leading calorie of tile crawls mechanism and rearmounted calorie of tile stopping mechanism, leading calorie of tile crawl the mechanism install in the crawl the section of thick bamboo is gone up along the crawl inslot that the axial was seted up, crawl the groove with crawl a section of thick bamboo inside and be linked together, actuating mechanism along the axial run through set up in crawling a section of thick bamboo, leading calorie of tile crawl the mechanism with actuating mechanism screw drive cooperation makes leading calorie of tile crawl the mechanism and follow crawl groove reciprocating motion, rearmounted calorie of tile stopping mechanism locates crawl the rear side of a section of thick bamboo, its characterized in that, the crawl ware still includes release mechanism, release mechanism includes:
the central rod axially penetrates through the driving mechanism, the front end of the central rod extends out of the outer side of the driving mechanism, and the central rod is matched with the driving mechanism so that the central rod can move backwards under the action of external force;
one end of the front unlocking pull rope is fixed on the central rod, and the other end of the front unlocking pull rope is connected with the front-mounted slip crawling mechanism through an unlocking supporting block and an unlocking block;
one end of the rear unlocking pull rope is fixed on the central rod, and the other end of the rear unlocking pull rope is connected with the rear slip retaining mechanism;
the front unlocking pull rope and the rear unlocking pull rope enable the front-mounted slip crawling mechanism and the rear-mounted slip retaining mechanism to be folded in along the radial direction through the backward movement of the central rod.
2. The cable-free pipeline countercurrent creeper of claim 1, wherein the creeper cylinder is formed into a cylinder shape by at least three petal-shaped components in a circumferential surrounding manner, coupling flanges are convexly arranged on two sides of the creeper cylinder along a radial direction, and a crawling groove is axially arranged on each petal-shaped component; the preposed slip crawling mechanism is oppositely inserted on the crawling groove of the crawling cylinder.
3. The untethered pipe reverse flow crawler according to claim 2, wherein said drive mechanism comprises:
the reciprocating screw rod axially penetrates through the crawling cylinder and the front slip crawling mechanism, a bidirectional thread is machined on the reciprocating screw rod, the reciprocating screw rod is rotatably connected with the crawling cylinder through bearings arranged on two sides of the reciprocating screw rod, a central through hole is axially formed in the reciprocating screw rod, the central rod penetrates through the central through hole and extends to the outer side of the reciprocating screw rod, and the central rod is meshed with the central through hole through an inclined rack arranged in the central through hole, so that when the front end of the central rod bears certain resistance, the central rod moves backwards along the central through hole;
the turbine is arranged at the front extending end of the reciprocating lead screw and drives the reciprocating lead screw to synchronously rotate under the driving of fluid in the pipeline.
4. The untethered pipe reverse flow crawler of claim 3, wherein said front slip crawling mechanism comprises:
the transmission assembly comprises a nut seat and a transmission nut, the nut seat comprises a containing part and at least three shaft shoulders which are uniformly arranged on one side of the containing part and extend along the radial direction, and the shaft shoulders are arranged corresponding to the crawling groove; an axial through hole is formed in the center of the accommodating part and used for sleeving the reciprocating lead screw, the transmission nut is rotatably arranged in an installation through hole in one side of the accommodating part, the installation through hole is communicated with the axial through hole, and the transmission nut is in threaded transmission fit with the reciprocating lead screw;
the front slip component is arranged on the shaft shoulder and comprises a front slip seat, a front support rod, a front slip and a tension spring, the front slip is provided with backward inclined teeth, the front slip seat is fixedly connected with the shaft shoulder of the nut seat through a bolt, the front support rod is bent, the bent part of the front support rod is connected with the front slip seat through a pivot, one end of the front support rod is connected with the tension spring fixed on the front slip seat, the other end of the front support rod is pivoted with the front slip, the front support rod can rotate around the bent part under the action of the tension spring, a containing groove with an opening at one side is formed in the bent part of the front support rod, an unlocking block and an unlocking support block are arranged in the containing groove, an arc groove is formed in one side of the unlocking support block, the bolt head is arranged in a strip-shaped through groove which is formed in one side of the containing groove and perpendicular to the axial direction of the pivot shaft in a penetrating mode, so that the bolt head can move up and down along the strip-shaped through groove; the unlocking block abuts against the unlocking support block, is arranged close to the opening of the accommodating groove, and is connected with one end of the front unlocking pull rope; when the crawler crawls forwards, the unlocking block and the unlocking support block are matched to limit the movement of the front support rod; when the central rod moves backwards, the front unlocking pull rope pulls the unlocking block to be separated from the accommodating groove, so that the unlocking support block slides in a matched manner through the bolt head and the strip-shaped through groove, and the front support rod and the front clamping shoe are folded in along the radial direction.
5. The cable-free pipeline reverse flow creeper of claim 4, wherein a protrusion is disposed at a bottom of the unlocking block, a sliding groove is disposed at an opening of the receiving groove corresponding to the protrusion, and the protrusion is slidably engaged with the sliding groove.
6. The cableless duct reverse flow creeper of claim 5, wherein a spring is disposed at a position of the front support rod corresponding to the protrusion, one end of the spring is fixed to the front support rod by a screw, and the other end of the spring abuts against a side surface of the protrusion.
7. The cableless pipe reverse flow crawler according to claim 5 or 6, wherein an elastic washer and an elastic ring are provided between said nut seat and said drive nut.
8. The untethered pipe reverse flow crawler of claim 7, wherein said rear slip backstop mechanism comprises:
the rear slip seat and the front slip seat are correspondingly arranged on the same axis, and the rear slip seat is connected with a connecting flange on the rear side of the crawling cylinder through a cylindrical pin;
the rear supporting rod is bent, and the bent part of the rear supporting rod is pivoted with the rear slip seat;
the rear clamping tile is pivoted with the outer end of the rear supporting rod and is provided with teeth inclining backwards;
one end of the spring is fixed on the rear slip seat, the other end of the spring is connected to the inner end of the rear support rod, and the rear support rod and the rear slip are pulled to be expanded along the radial direction by the spring;
the rear support rod is connected with one end of the rear unlocking pull rope, and when the central rod moves backwards, the rear unlocking pull rope releases the rear support rod, so that the rear support rod and the rear clamping shoe are drawn in along the radial direction under the pulling of the spring.
9. The untethered pipe reverse flow crawler of claim 2, further comprising a guiding mechanism, said guiding mechanism comprising: the front wheel seat and the rear wheel seat are respectively arranged on the outer sides of the connecting flanges on the two sides of the crawling cylinder, supporting parts are respectively arranged on the front wheel seat and the rear wheel seat in a protruding mode along the radial direction, and guide wheels are arranged on the supporting parts.
10. The untethered pipe reverse flow crawler according to claim 9, wherein said guide wheels comprise a front support guide wheel provided on a support portion of said front wheel base and a rear support guide wheel provided on a support portion of said rear wheel base, said front support guide wheel and said rear support guide wheel being symmetrically arranged and uniformly arranged at least three in a circumferential direction, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210080536.XA CN103322374B (en) | 2012-03-23 | 2012-03-23 | Cable-free type pipeline countercurrent crawl device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210080536.XA CN103322374B (en) | 2012-03-23 | 2012-03-23 | Cable-free type pipeline countercurrent crawl device |
Publications (2)
| Publication Number | Publication Date |
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| CN103322374A CN103322374A (en) | 2013-09-25 |
| CN103322374B true CN103322374B (en) | 2015-05-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210080536.XA Expired - Fee Related CN103322374B (en) | 2012-03-23 | 2012-03-23 | Cable-free type pipeline countercurrent crawl device |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104806845B (en) * | 2015-04-29 | 2017-05-03 | 浙江理工大学 | Double-crank slide block type pipeline backflow walking robot |
| CN107191736B (en) * | 2017-05-27 | 2019-03-22 | 燕山大学 | Four driving pipeline flexible climbing robots |
| CN107763367B (en) * | 2017-11-16 | 2023-08-01 | 北华大学 | Spiral driving centrifugal mechanical self-adaptive speed regulating device |
| CN109079551A (en) * | 2018-08-27 | 2018-12-25 | 齐鲁工业大学 | A kind of curve hole machined driving device |
| CN109374030B (en) * | 2018-10-25 | 2024-05-24 | 南京工程学院 | Automatic traction device for multi-step deep hole detection |
| CN111251328B (en) * | 2019-07-28 | 2021-07-30 | 南京驭逡通信科技有限公司 | Manipulator clamp for pipeline plugging robot |
| CN115889888A (en) * | 2022-11-29 | 2023-04-04 | 华创天元实业发展有限责任公司 | Built-in cutting saw for multiple reinforced steel-plastic composite pressure pipe |
| CN116202455B (en) * | 2023-03-09 | 2023-10-27 | 江苏省特种设备安全监督检验研究院 | Electromagnetic ultrasonic detection device for industrial pipeline |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01194968A (en) * | 1988-01-26 | 1989-08-04 | Kubota Ltd | Self-advancing dolly in pipe |
| DE19746510C2 (en) * | 1997-10-22 | 2003-03-06 | Pii Pipetronix Gmbh | Device for driving through pipes |
| GB2356439B (en) * | 1999-09-29 | 2004-02-18 | Univ Durham | Conduit traversing vehicle |
| GB0028619D0 (en) * | 2000-11-24 | 2001-01-10 | Weatherford Lamb | Traction apparatus |
| WO2007057491A2 (en) * | 2005-11-18 | 2007-05-24 | Javier Campuzano Talasac | Duct cleaning system |
| CN100485247C (en) * | 2007-09-30 | 2009-05-06 | 中国人民解放军国防科学技术大学 | Crawling type micro pipeline robot |
| CN201093144Y (en) * | 2007-11-16 | 2008-07-30 | 中国科学院沈阳自动化研究所 | Self-adaptive pipeline moving mechanism |
| CN102011915A (en) * | 2010-11-09 | 2011-04-13 | 刘成琪 | Multifunctional pipeline robot driving mechanism |
| CN102345781B (en) * | 2011-06-29 | 2013-05-29 | 南京南化建设有限公司 | In-pipe traveling machine |
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2012
- 2012-03-23 CN CN201210080536.XA patent/CN103322374B/en not_active Expired - Fee Related
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