CN110773522B - Paraffin cleaning operation pipeline robot - Google Patents
Paraffin cleaning operation pipeline robot Download PDFInfo
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- CN110773522B CN110773522B CN201910640039.2A CN201910640039A CN110773522B CN 110773522 B CN110773522 B CN 110773522B CN 201910640039 A CN201910640039 A CN 201910640039A CN 110773522 B CN110773522 B CN 110773522B
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- paraffin
- cleaning
- energy supply
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a paraffin cleaning operation pipeline robot which comprises an energy supply device, a walking device, a cleaning device, a paraffin collecting device, a paraffin preventing device and a connecting device. The energy supply device consists of a storage battery and is used for the robot to walk, clean, collect and prevent the wax device from rotating; the walking device consists of three groups of chutes, hydraulic support rods and tracks which are uniformly distributed along the circumferential direction, and is used for self-adapting to actual working conditions with different pipe diameters and different ovalities; the paraffin cleaning and collecting device consists of a spiral cleaning tool bit and a spiral conveying rod, is used for cleaning paraffin and conveying the paraffin to the collecting device, and simultaneously utilizes a chemical reagent to dissolve and reduce the load; the wax control device consists of a spray head and a microorganism culture tank and is used for uniformly and massively spraying the mixed bacteria on the inner wall of the pipeline to prolong the wax removal period; the ball socket type connecting device consists of a ball hydraulic rod and a socket-shaped groove and is used for enabling the ball hydraulic rod to extend or compress when the robot passes a bend so that the robot can smoothly pass the bend and flexibly rotate. The robot can be widely applied to the paraffin removal problem of oil pipelines, improves the operation means, improves the action efficiency, saves the operation cost and finally better ensures the pipeline transportation safety.
Description
Technical Field
The invention belongs to the technical field of pipeline robots, and particularly relates to a pipeline robot for paraffin cleaning operation.
Background
According to statistics, the wax content of 90% crude oil in China is 20% -40%, paraffin is gradually separated out from the crude oil and then crystallized and precipitated on the inner wall of a pipeline along with the change of external conditions during transportation, the viscosity of the crude oil is increased after the crude oil is waxed, the flow area is reduced, the flow resistance is increased, the consumption is further increased, the yield is reduced, and dangerous accidents can occur when the pipeline is blocked seriously. The traditional method adopts modes such as machinery, heat, chemical reagents and the like to remove wax, adopts modes such as coating, strong magnetism, cold flow and the like to prevent wax, but the internal environment and the operation working condition of the pipeline are complex, the working efficiency is low, and the operation cost is high, so that the development of the pipeline robot has important scientific significance and obvious social and economic benefits.
The traditional pipeline paraffin removal robot has low self-adaptive pipe diameter change capability and insufficient driving force, and is easy to cause blockage and poor in curve trafficability; paraffin is cleaned by a mechanical scraping method in the walking process, and accumulated paraffin after operation is not collected; the pipeline paraffin removal period is short, usually about 1-3 months, and the cost of each paraffin removal is high. And the pipeline robot has unsafe factors in stable and reliable operation.
Aiming at the immature application phenomenon of a domestic pipeline robot, different from the traditional design research and development under the actual industrial demand and aiming at the phenomenon that the paraffin is easy to block in the paraffin cleaning process at the thick paraffin deposition position, the pipeline robot is efficient and environment-friendly, has low cleaning cost, can change the diameter and flexibly pass a bend, can collect the paraffin accumulated after operation to avoid blocking, and prolongs the paraffin cleaning period through a paraffin prevention technology. This is very necessary in engineering applications.
Disclosure of Invention
In order to avoid the defects of the prior art, the invention provides the paraffin wax cleaning, collecting and wax-proofing short-distance operation pipeline robot which has the advantages of simple structure, low manufacturing cost, high operation efficiency and good stability, and can change the diameter and facilitate bending.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a paraffin cleaning operation pipeline robot comprises an energy supply device, a walking device, a cleaning device, a paraffin collecting device, a paraffin preventing device and a connecting device; the main body part is an energy supply device which is composed of a large-capacity rechargeable battery pack; the shell of the energy supply device is provided with a walking device.
Running gear evenly sets up three tracks along the circumference in energy supply device motor cross-section, is triangle-shaped from the observation of figure 4 left side view, increases its stability, and the track adopts the coefficient of friction of rubber material increase and pipeline inner wall, makes robot overall structure more stable at rotatory operation in-process.
The two ends of each track are mutually matched and supported with a hydraulic rod capable of sliding in the sliding groove through a supporting rod with the sliding groove, and the angle between the two is automatically adjusted, and the position and the length of a limiting hole of the hydraulic rod in the sliding groove are suitable for pipelines with different diameters and pipelines with different ovalities in actual working conditions; the other ends of the two support rods are fixed on the energy supply device through pins.
Cleaning device comprises a plurality of rotatable helical blade, rotates the paraffin removal through the first transmission shaft of energy supply device control, and when the fluid passed through the blade, helical blade also can accelerate thereupon and rotate paraffin removal, but the kinetic energy efficient conversion that produces in rotatory process turns into the electric energy and stores the walking that is used for pipeline robot in the energy supply device.
And a camera device for shooting in the whole course of the operation process is arranged in front of the cleaning device and is used for observing the actual condition of the operation in the pipeline.
The paraffin collecting device consists of a spiral conveying device and a paraffin processing device, the cleaning device is fixed on the spiral conveying device, the spiral conveying device rotates along with the rotation of the cleaning device, paraffin accumulated after operation is collected into the processing device along a worm mechanism for spiral conveying, chemical reagents are filled in the processing device and used for dissolving or melting the paraffin, the cleaned paraffin can be completely decomposed and flows out along with the paraffin to be dissolved in crude oil, the paraffin is prevented from being blocked or melted by the chemical reagents, and the paraffin is solidified again according to the form of the paraffin collecting device, so that the paraffin collecting device is convenient to collect and saves space.
The wax control device comprises a microorganism culture tank and a spray head, wherein petroleum hydrocarbon degrading bacteria consisting of various aerobic and facultative anaerobic bacteria are filled in the microorganism culture tank. The end of the culture tank is provided with a spray head for spraying by high pressure. The nozzle sprays the microbial culture solution on the inner wall of the pipeline in a large area and in a small amount in a spraying mode, the mixed bacteria take wax in crude oil as a carbon source to carry out metabolism, long-chain hydrocarbon is converted into short-chain hydrocarbon, and the wettability of metal is changed, so that paraffin crystals are prevented from being separated out and attached to the inner wall of the pipeline, and the paraffin removal period is prolonged.
Paraffin collection device and microorganism culture tank be equipped with the rotatory drive assembly of first transmission shaft and the rotatory drive assembly of second transmission shaft respectively at the both ends of being connected with the energy supply, rotatory drive assembly auxiliary device rotates at the operation in-process, rotatory actuating mechanism includes first, second transmission shaft, is fixed in respectively on the energy supply motor.
Connecting device comprises bulb hydraulic stem and nest form recess two parts for connect energy supply device and paraffin collection device, wax control device, but rotate at operation in-process arbitrary direction, when pipeline robot crossed the bend, the hydraulic stem of outside bulb was stretched under the power action, and the hydraulic stem of inboard bulb is compressed under the power action, and through the bend after, the hydraulic stem of bulb resumes to the original state under the restraint of pipeline outer wall.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the hydraulic support rods capable of reducing are matched with each other to support the rubber tracks to form the walking device, and the walking device is suitable for actual working conditions of pipelines with various pipe diameters and different ovalities.
2. The invention mainly aims at the position operation of paraffin precipitation and thick deposition of the pipeline, and the paraffin after operation is transported to a collecting device through a spiral transporting device and dissolved through a chemical reagent.
3. According to the invention, on the basis of paraffin removal, a microorganism paraffin removal and prevention technology is added, and the microorganism culture solution is sprayed on the inner wall of the pipeline through the spraying device, so that the paraffin removal period is prolonged to the greatest extent, and the operation cost is saved.
4. The problem that the pipeline robot is easy to block is solved through the ball-and-socket hydraulic connecting device, and the pipe robot is flexible in bending.
5. Mechanical paraffin removal tool bit among the cleaning device adopts the propeller type, can rotate paraffin removal slowly under the fluid action, turns into the electric energy with kinetic energy at rotatory in-process, stores in energy supply device, and the improvement is stored the electric energy and then is improved the working distance.
Drawings
FIG. 1 is an overall schematic view of the present invention
FIG. 2 is a schematic view of a paraffin cleaning and collecting device according to the present invention
FIG. 2(a) is a front view of a paraffin cleaning and collecting device according to the present invention
FIG. 2(b) is a schematic side view of the paraffin wax cleaning and collecting device of the present invention
FIG. 3 is a schematic view of a paraffin wax collecting and processing device according to the present invention
FIG. 4 is a schematic view of the adaptive walking device of the present invention
FIG. 5 is a schematic view of the wax-proofing device of the present invention
FIG. 6 is a schematic view of a hydraulic ball and socket joint arrangement of the present invention
Wherein the content of the first and second substances,
1. energy supply device shell 2, first transmission shaft 3, second transmission shaft 4, spout bracing piece 41, spacing hole 5, hydraulic support pole 6, rubber track 7, fixing support 8, pin 9, spiral cleaning tool bit 10, infrared camera 11, spiral transportation pole 12, paraffin collector 121, chemical reagent spraying hole 13, microorganism culture tank 14, shower nozzle 15, ball socket connecting device 151, bulb hydraulic stem 152, nest form recess
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific examples, but the present invention is not limited to these examples.
As shown in fig. 1 to 6, the paraffin cleaning operation pipeline robot comprises an energy supply device, a walking device, a cleaning device, a paraffin collecting device, a paraffin preventing device and a connecting device, wherein the energy supply device is provided with the walking device, and is connected with the paraffin cleaning and collecting device and the paraffin preventing device through a transmission shaft and a ball-and-socket type connecting device.
As shown in fig. 4, self-adaptation running gear include three sets of slotted supporting legs 4, hydraulic support pole 5 and the rubber track 6 of following the circumferencial direction equipartition, the device all be fixed in on the energy supply device shell 1 through pin 8 and fixing support 7, through the contained angle between adjustment slotted supporting leg 4 and the hydraulic support pole 5, the length of hydraulic support pole 5 and the position of spacing hole 41, complete the support and the different pipe diameter operating modes to whole running gear jointly in the cooperation. Three groups of supporting rods of the whole walking device form a triangular support, so that the stability of the structure of the whole robot is improved, and the overturning in the walking process and the rotating process is avoided.
The preferred hydraulic support pole 5 of supporting leg has satisfied the self-adaptation change of the pipeline of different ovalities among the operating condition, and the hydraulic support pole can compress in a flexible way and kick-back to guarantee that the rubber track 6 on each supporting leg can hug closely the pipe inner wall walking, realize the practicality of robot.
The energy supply device is used for walking of the robot and rotationally driving the first transmission shaft 2 and the second transmission shaft 3, and rotation of the paraffin cleaning and collecting device in the figure 2 and the paraffin prevention device in the figure 6 is guaranteed in the operation process.
As shown in fig. 2, the paraffin cleaning and collecting device is fixed on the first transmission shaft 2 through the ball-and-socket connection device 15, the device includes that the infrared camera 10 is used for shooting the pipeline actual operation working condition and the pipeline internal conditions in the operation process, the spiral cleaning tool bit 9 can be rotated through the first transmission shaft and also can be used for paraffin cleaning through the accelerated rotation of the fluid during passing, the fluid can be efficiently converted into electric energy through the kinetic energy generated by the rotation of the driving tool bit and stored in the energy supply device, and the spiral transportation rod 11 can transport the paraffin accumulated after the operation of the spiral cleaning tool bit 9 to the paraffin collecting device 12.
As shown in fig. 3, the paraffin collecting device 12 has chemical agent spraying holes 121 on the inner wall, and the chemical agent slowly flows out from the spraying holes to dissolve the paraffin in the collecting device 12 or melt the paraffin and recrystallize according to the shape of the collecting device, thereby reducing the load or volume and facilitating the continuous operation of the pipeline robot.
As shown in FIG. 5, the microorganism culture tank 13 is fixed to the second transmission shaft 3 and connected to the energy supply device case 1 through the ball joint 15, and the inside of the microorganism culture tank 13 contains a mixed bacterium capable of decomposing paraffin, thereby converting long-chain hydrocarbon into short-chain hydrocarbon and changing the wettability of metal, thereby preventing the precipitation of paraffin crystals from adhering to the inner wall of the pipe. The high pressure in the microorganism culture tank 13 can spray the internal culture solution to the inner wall of the pipeline in a large area and less strongly in a spraying mode through the spray head 14.
As shown in fig. 6, the hydraulic ball-and-socket connection device includes 151 ball hydraulic rods and 152 socket grooves, when the pipe robot passes a bend, the ball-type ball hydraulic rod 151 of the outer connection device can automatically extend under the action of power, the ball-type ball hydraulic rod 151 of the inner connection device can simultaneously compress under the action of power, smoothly pass through the bend, and then the ball hydraulic rod 151 returns to the original shape under the restraint of the pipe. The extension and compression lengths of the ball hydraulic rod 151 can be flexibly changed along with the bending degree of the pipeline.
The specific examples described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the invention relates may modify, supplement or substitute the specific embodiments described, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.
Claims (1)
1. A paraffin cleaning operation pipeline robot comprises an energy supply device, a walking device, a cleaning device, a paraffin collecting device, a paraffin prevention device and a ball socket connecting device; the main body part is an energy supply device, and a traveling device is arranged on a shell of the energy supply device; the paraffin cleaning operation pipeline robot sequentially comprises a cleaning device, a paraffin collecting device, an energy supply device and a paraffin prevention device from beginning to end in structural sequence; the cleaning device is a spiral cleaning tool bit, the paraffin collecting device comprises a spiral conveying rod and a paraffin collector, and the spiral cleaning tool bit is coaxially connected with one end of the paraffin collector through the spiral conveying rod; the cleaning device and the paraffin collecting device rotate synchronously and advance integrally, when the spiral cleaning tool bit rotates, the spiral cleaning tool bit removes paraffin from the inner wall, and then the spiral conveying rod spirally transfers the paraffin into the paraffin collector; two ends of the energy supply device are respectively connected with the paraffin wax collecting device and the paraffin wax prevention device through ball socket connecting devices, and each ball socket connecting device comprises four pairs of ball head hydraulic rods and a socket-shaped groove; when the robot crosses a bend, the ball hydraulic rod on the outer side is stretched under the action of power, and the ball hydraulic rod on the inner side is compressed under the action of power, so that the whole smooth energy supply of crossing the bend is realized, and the whole process of pipeline paraffin cleaning integration is completed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910640039.2A CN110773522B (en) | 2019-07-16 | 2019-07-16 | Paraffin cleaning operation pipeline robot |
| PCT/CN2020/101912 WO2021008525A1 (en) | 2019-07-16 | 2020-07-14 | Paraffin clearing operation pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910640039.2A CN110773522B (en) | 2019-07-16 | 2019-07-16 | Paraffin cleaning operation pipeline robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110773522A CN110773522A (en) | 2020-02-11 |
| CN110773522B true CN110773522B (en) | 2022-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910640039.2A Active CN110773522B (en) | 2019-07-16 | 2019-07-16 | Paraffin cleaning operation pipeline robot |
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| Country | Link |
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| CN (1) | CN110773522B (en) |
| WO (1) | WO2021008525A1 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110773522B (en) * | 2019-07-16 | 2022-05-17 | 中国石油大学(华东) | Paraffin cleaning operation pipeline robot |
| CN112204294B (en) * | 2020-08-17 | 2022-07-22 | 哈尔滨工业大学（深圳） | Pipeline robot |
| CN114687704B (en) * | 2021-11-12 | 2023-08-01 | 杭州乾景科技有限公司 | Cable-free paraffin removal robot with sliding block |
| CN114871216B (en) * | 2022-05-12 | 2023-05-26 | 合肥学院 | Pipeline cleaning robot |
| CN115121556A (en) * | 2022-06-20 | 2022-09-30 | 武汉理工大学 | Cleaning device for oil delivery pipe |
| CN115198828A (en) * | 2022-08-26 | 2022-10-18 | 江苏蜻瞳水务科技有限公司 | Double-helix stirring suction pump station dredging device |
| CN115488116B (en) * | 2022-08-30 | 2024-03-19 | 东北石油大学 | Hydraulic drive pipeline belt cleaning device |
| CN116586380B (en) * | 2023-07-19 | 2023-09-22 | 山东亿宁环保科技有限公司 | Automatic dredging device for vacuum pump outlet pipe and vacuum pump |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110773522A (en) | 2020-02-11 |
| WO2021008525A1 (en) | 2021-01-21 |
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Effective date of registration: 20231012 Address after: 266580 No. 66 Changjiang West Road, Huangdao District, Qingdao, Shandong. Patentee after: CHINA University OF PETROLEUM (EAST CHINA) Patentee after: SINOPEC SHENGLI PETROLEUM ENGINEERING Co.,Ltd. Address before: 266580 No. 66 Changjiang West Road, Huangdao District, Qingdao, Shandong. Patentee before: CHINA University OF PETROLEUM (EAST CHINA) |