CN111097764B - Method for removing coal dust in coal bed gas extraction pipeline - Google Patents
Method for removing coal dust in coal bed gas extraction pipeline Download PDFInfo
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- CN111097764B CN111097764B CN201911215517.1A CN201911215517A CN111097764B CN 111097764 B CN111097764 B CN 111097764B CN 201911215517 A CN201911215517 A CN 201911215517A CN 111097764 B CN111097764 B CN 111097764B
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- 239000003245 coal Substances 0.000 title claims abstract description 67
- 238000000034 method Methods 0.000 title claims abstract description 45
- 239000002817 coal dust Substances 0.000 title claims description 55
- 238000000605 extraction Methods 0.000 title claims description 4
- 238000003860 storage Methods 0.000 claims abstract description 85
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 239000000843 powder Substances 0.000 claims abstract description 22
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 18
- 230000006835 compression Effects 0.000 claims abstract description 17
- 238000007906 compression Methods 0.000 claims abstract description 17
- 238000004140 cleaning Methods 0.000 claims abstract description 12
- 238000005065 mining Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims description 24
- 238000009434 installation Methods 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000001914 filtration Methods 0.000 claims description 9
- 238000003825 pressing Methods 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 5
- 230000001154 acute effect Effects 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims description 3
- 238000003756 stirring Methods 0.000 claims description 3
- 238000005086 pumping Methods 0.000 description 5
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 230000003449 preventive effect Effects 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000011001 backwashing Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003795 desorption Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
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- 239000011148 porous material Substances 0.000 description 1
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- 239000000243 solution Substances 0.000 description 1
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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
- B08B9/0492—Heavy-type cleaning devices, e.g. crawlers with plural cleaning members
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- 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
-
- 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B23/00—Apparatus for displacing, setting, locking, releasing or removing tools, packers or the like in boreholes or wells
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B37/00—Methods or apparatus for cleaning boreholes or wells
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2209/00—Details of machines or methods for cleaning hollow articles
- B08B2209/02—Details of apparatuses or methods for cleaning pipes or tubes
- B08B2209/027—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces
- B08B2209/04—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Cleaning In General (AREA)
Abstract
煤层气开采管道中煤粉清除方法,包括以下步骤：一、将管道机器人放入到煤层气开采的管道内，启动行走机构沿管道内壁向前行进；二、管道机器人在管道内壁行进的同时，操控管道机器人进行旋转清除作业，将管道内壁上附着的煤粉清除；三、操控管道机器人对清除后的煤粉进行搜集并储存；四、对储存的煤粉进行压缩，并将水分挤出；五、当煤粉储存满之后，关闭管道机器人的旋转清除、煤粉搜集及压缩作业，操控管道机器人的行走机构反向行进，从管道中退出。本发明在清理煤粉作业时不影响煤层气的正常开采工作，将管道内壁堵塞疏通后并清理的煤粉储存起来，操作方便，自动化程度高，可靠性强。
A method for removing pulverized coal in a coalbed methane mining pipeline includes the following steps: 1. Put a pipeline robot into the coalbed methane mining pipeline, and start the walking mechanism to move forward along the inner wall of the pipeline; 2. While the pipeline robot travels on the inner wall of the pipeline, Control the pipeline robot to carry out the rotary removal operation to remove the coal powder attached to the inner wall of the pipeline; 3. Control the pipeline robot to collect and store the cleaned coal powder; 4. Compress the stored coal powder and squeeze out the water; 5. When the pulverized coal storage is full, turn off the rotary removal, pulverized coal collection and compression operations of the pipeline robot, and control the walking mechanism of the pipeline robot to travel in the reverse direction and exit from the pipeline. The invention does not affect the normal mining work of coal bed methane during the cleaning of coal powder, and stores the cleaned coal powder after the inner wall of the pipeline is blocked and unclogged, with convenient operation, high degree of automation and strong reliability.
Description
Technical Field
The invention belongs to the technical field of coal bed gas exploitation, and particularly relates to a method for removing coal dust in a coal bed gas exploitation pipeline.
Background
In coal bed gas exploitation and coal bed gas yield increase transformation, hydraulic fracturing is the most common and effective technical means at present. The fracturing propping agent and the fracturing liquid system flow through the surface of the coal bed and generate coal powder under the friction action with coal, and the coal powder can block a natural fracture system of the coal bed and pores of a propping agent filling layer, so that the desorption and migration of coal bed gas are influenced, the permanent damage to the permeability of the coal bed is caused, and the gas production of a coal bed gas well is seriously influenced. The mixing of the pulverized coal may also increase the viscosity of the liquid or clog at the tip of the crack, causing the construction pressure to rise. Meanwhile, after the pulverized coal particles enter the shaft, viscous jelly is formed and enters the pump, so that the pump blockage phenomenon is easily caused. Improper flowback of pulverized coal can cause gas well gas production to be lower than expected or not, and huge economic loss is caused to the gas field.
At present, three measures for removing the coal dust are mainly adopted, namely preventive strong pumping, pump bumping and water injection well washing. The preventive strong pumping is a preventive measure for regularly accelerating the stroke frequency of the pumping unit. The collision pump vibrates the coal powder adhered to the pump and the pipe, and the coal powder is pumped out by strong pumping. The water injection well washing method mainly comprises an air flow method, a water injection method, a water pumping and backwashing method and the like.
The measures all need to close the gas production function periodically to carry out the coal dust removal work, and the gas production process and efficiency are influenced. The measures can only be implemented outside the well, the energy consumption is huge, and the detailed conditions in the well cannot be known.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides the method for removing the coal dust in the coal bed gas exploitation pipeline, which has high automation degree, convenient operation and good coal dust removing effect and can improve the coal bed gas exploitation efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme: the method for removing coal dust in the coal bed gas exploitation pipeline comprises the following steps,
firstly, putting a pipeline robot into a pipeline 6 for coal bed gas exploitation, controlling a walking mechanism of the pipeline robot to expand to contact with the inner wall of the pipeline 6 by a control personnel on the ground, and then starting the walking mechanism to move forwards along the inner wall of the pipeline;
step two, the pipeline robot is operated to carry out rotary cleaning operation while moving on the inner wall of the pipeline, and the coal dust attached to the inner wall of the pipeline 6 is cleaned;
thirdly, the pipeline robot is controlled to collect and store the removed coal dust;
step four, compressing the stored coal dust and extruding out moisture so as to collect more coal dust in the cleaning operation process;
step five, after the coal powder is fully stored, closing the rotary cleaning, coal powder collecting and compressing operation of the pipeline robot, and controlling the traveling mechanism of the pipeline robot to reversely advance and exit from the pipeline 6;
and step six, after the collected coal dust is cleaned out, charging the pipeline robot for the next use.
The pipeline robot comprises a dredging device 1, a driving device 2 and a storage device 3, wherein power modules 216 are arranged in the driving device 2 and the storage device 3, the dredging device 1 is arranged at the front end of the driving device 2, the driving device 2 and the storage device 3 are cylindrical in shape, through water passing holes are formed in the centers of the driving device 2 and the storage device 3, a central water passing hose 402 is connected between the rear end of the water passing hole in the driving device 2 and the front end of the water passing hole in the storage device 3, a plurality of coal powder conveying hoses 303 are arranged between the rear end of the driving device 2 and the front end of the storage device 3, the coal powder conveying hoses 303 are uniformly arranged along the circumferential direction of the central water passing hose 402, a plurality of travelling mechanisms are arranged on the outer circumferences of the driving device 2 and the storage device 3, and the power modules 216 provide electric energy for the driving device 2 and the travelling mechanisms;
the driving device 2 is a hollow shaft driving motor 201; hollow shaft drive motor 201 includes housing 202, hollow shaft 203, front end cap 204, rear end cap 205, bearings 206, encoder assembly 207, rotor assembly 208, stator assembly 209, and brake assembly 210, the outer shell 202 is cylindrical, the front end cover 204 is arranged at the front end of the outer shell 202 in a sealing mode, the rear end cover 205 is arranged at the rear end of the outer shell 202 in a sealing mode, the hollow shaft 203 is coaxially arranged inside the outer shell 202, the hollow shaft 203 is rotatably connected to the front end cover 204 and the rear end cover 205 through the bearing 206, the front end of the hollow shaft 203 extends out of the front end cover 204 and is fixedly connected with the rotating disc 102, the rotor assembly 208 is arranged on the periphery of the hollow shaft 203, the stator assembly 209 is arranged on the inner wall of the outer shell 202 located on the periphery of the rotor assembly 208, the encoder assembly 207 and the brake assembly 210 are both arranged on the rear end cover 205, and the encoder assembly 207 and the brake assembly 210 are used for jointly controlling the rotating speed and the direction of the hollow shaft driving motor 201;
the dredging device 1 comprises a spiral dredging blade 101 and a rotating disc 102, the rotating disc 102 is arranged at the front side of a hollow shaft driving motor 201 and is coaxially arranged at the power output end of the front end of the hollow shaft driving motor 201, the spiral dredging blade 101 is in a conical structure with a small front part and a big back part, and the rear end of the spiral dredging blade 101 is fixedly connected to the front side surface of the rotating disc 102;
the plurality of running gears on the driving device 2 and the storage device 3 have the same structure, the running gear on the driving device 2 comprises a small crawler-type running gear 211 and a plurality of lower connecting rods 212 hinged on the outer side of the shell 202, two rows of lower connecting rods 212 are arranged along the direction parallel to the hollow shaft 203, the upper end of each lower connecting rod 212 is hinged with an upper connecting rod 214, an electric telescopic rod 213 is hinged between the middle part of each lower connecting rod 212 and the middle part of each upper connecting rod 214, and the upper ends of the two rows of upper connecting rods 214 are respectively hinged at the ends of wheel shafts on the left side and the right side of the small crawler-type running gear 211.
The storage device 3 comprises a conveying pipe 301, a screw conveying motor 302, a spiral conveying blade 308, a storage tank 304, a water filtering hole 306 and a guide pipe 312, wherein the conveying pipe 301 and the screw conveying motor 302 are positioned inside the shell 202, the conveying pipe 301 is parallel to the hollow shaft 203, the front end and the rear end of the conveying pipe 301 respectively penetrate out of the front end cover 204 and the rear end cover 205, the front end of the conveying pipe 301 is connected with a flow gathering cylinder 307 with a large front part and a small rear part in a horn mouth shape, a brush 103 in contact with the spiral dredging blade 101 is arranged on the periphery of the flow gathering cylinder 307, the screw conveying motor 302 is arranged outside the conveying pipe 301, the spiral conveying blade 308 is coaxially installed inside the conveying pipe 301, the screw conveying motor 302 is in transmission connection with the spiral conveying blade 308 through a worm gear mechanism 309, and a worm of the worm gear mechanism 309 penetrates through the conveying pipe 301 and is in rotary sealing connection with the conveying pipe 301; the rear end of the conveying pipe 301 is correspondingly connected with the front end of the pulverized coal conveying hose 303, the storage tank 304 is of a cylindrical structure, a pipe joint is arranged on the front side of the storage tank 304, and the rear end of the pulverized coal conveying hose 303 is connected with the pipe joint; the draft tube 312 is coaxially arranged at the center in the storage tank 304, the front end of the draft tube 312 is correspondingly connected with the rear end of the central water hose 402, and the water filtering holes 306 are arranged on the rear side surface of the storage tank 304.
The front side part in the storage tank 304 is provided with a compression device, the compression device comprises a guide cylinder 305 which is coaxially arranged with the guide pipe 312, the front end of the guide cylinder 305 is fixedly connected with the inner wall of the front side of the storage tank 304, an annular space with an opening at the rear end is formed between the outer wall of the guide pipe 312 and the inner wall of the guide cylinder 305, the right side of the annular space is provided with at least four electric push rods 311, the electric push rods 311 are uniformly arranged along the circumferential direction of the annular space, an annular pressing plate 310 is arranged in the annular space, the rear end of the electric push rods 311 is connected with the front side surface of the pressing plate 310, and the outer circle and the inner circle of the pressing plate 310 are respectively in sliding fit with the inner wall of the guide cylinder 305 and the outer wall of the guide pipe 312;
the pipeline robot also comprises an autonomous control device 215, a positioning sensor 501, a capacity sensing device 502, an electric quantity sensor 503 and a data transmission module 504, wherein the autonomous control device 215 and the data transmission module 504 are both arranged in the shell 202, and the positioning sensor 501 is positioned at the front end outside the storage tank 304 and can position the position of the pipeline robot in the pipeline in real time; the volume sensing device 502 is located at the front end of the interior of the storage tank 304.
The specific process of the step one is as follows: the ground control personnel send signals to the autonomous control device 215, the autonomous control device 215 sends signals for the electric telescopic rod to extend, the electric telescopic rod 213 extends to drive the upper connecting rod 214 and the lower connecting rod 212 to extend, and the driving device 2 and the small crawler-type traveling device 211 on the periphery of the storage device 3 are in abutting contact with the inner wall of the pipeline 6; the ground control personnel then control the autonomous control device 215 to send a starting signal to the small crawler type walking device 211, the small crawler type walking device 211 is started to drive the whole pipeline robot to move forwards along the inner wall of the pipeline 6, and the moving direction of the pipeline robot is consistent with the water flow direction in the pipeline 6;
the specific process of the second step is as follows: when the pipeline robot starts to move, the ground control personnel control the autonomous control device 215 to send a starting signal to the hollow shaft driving motor 201, the hollow shaft 203 of the hollow shaft driving motor 201 drives the rotating disc 102 and the spiral dredging blades 101 to rotate at a high speed, the spiral dredging blades 101 stir the coal dust attached to the inner wall of the pipeline 6 and the blocked coal dust to dredge, and meanwhile, the brush 103 simultaneously clears the coal dust attached to the spiral dredging blades 101.
The concrete process of the third step is as follows: the ground control personnel control the autonomous control device 215 to send a starting signal to the screw conveying motor 302, the screw conveying motor 302 drives the spiral conveying blade 308 to rotate through the worm gear mechanism 309, and the pulverized coal enters the conveying pipe 301 from the flow gathering cylinder 307 and is conveyed backwards to the storage tank 304 by the spiral conveying blade 308.
The concrete process of the step four is as follows: the concrete process of the step four is as follows: along with the increase of the coal dust storage in the storage tank 304, an electric push rod 311 of the compression device is started, the electric push rod 311 drives a press plate 310 to move backwards in the annular space to squeeze the coal dust in the storage tank 304, the coal dust is compacted, moisture is filtered out from a water filtering hole 306 at the rear part of the storage tank 304, then the electric push rod 311 drives the press plate 310 to move forwards and then moves backwards, and how the electric push rod 311 extends and retracts circularly is realized to compress the coal dust in the storage tank 304 continuously.
The concrete process of the step five is as follows: when the capacity sensing device 502 senses that the storage of the pulverized coal in the storage tank 304 is full, the data transmission module 504 transmits a signal to the autonomous control device 215, and the autonomous control device 215 adjusts the working mode of the pipeline robot; the electric push rod 311 is closed in the contraction state, and most electric energy of the power supply module 216 is distributed to the small crawler-type traveling device 211, so that the pipeline robot travels reversely and quickly passes through the pipeline 6 to reach the ground;
when the electric quantity sensor 503 monitors that the electric quantity residual of the pipeline robot reaches a critical value in the process of cleaning operation of the pipeline robot in the pipeline 6, the data transmission module 504 transmits a signal to the autonomous control device 215, the autonomous control device 215 also adjusts the working mode of the pipeline robot, most of the electric energy of the power supply module 216 is distributed to the small-sized crawler-type traveling device 211, and the pipeline robot can travel reversely and quickly reach the ground through the pipeline 6;
the manner in which the autonomous control apparatus 215 is manipulated by the control personnel on the ground may be connected to the autonomous control apparatus 215 of the pipe robot through a waterproof control cable.
By adopting the above calculation scheme, the invention has the following technical effects:
1. the front driving device and the rear storage device of the pipeline robot are both hollow pipeline type designs, and coal bed fracturing water flow can directly pass through the hollow pipeline type designs without influencing normal mining work of coal bed gas. The preceding tip of this hollow shaft is equipped with the check valve, rivers direction in the pipeline is by backward forward, this direction is the same with the advancing direction of pipeline robot in the pipeline, when the impact force of rivers is greater than compression spring's elasticity to the constant pressure of valve body rear end, can drive the valve body along the outside removal of installation pipe, just penetrating about the hollow shaft is inside like this, when the impact force of rivers is less than compression spring's elasticity, the valve body is with hollow shaft front end shutoff, avoid the buggy that spiral desilting blade scrapes the pipeline inner wall to get into the hollow shaft and remove backward like this, thereby make more buggy enter into through the draft tube and gather in the flow tube, carry the storage in the holding vessel backward by the auger delivery blade and save.
2. This power module is the power supply of hollow shaft driving motor, and hollow shaft driving motor's hollow shaft drives rotary disk and spiral desilting blade high-speed rotatory, effectively clears away and smashes the coal dust that pipeline inner wall adheres to or blocks up, and the adnexed coal dust on the spiral desilting blade is clear away through the brush.
3. This pipeline robot adopts anterior drive arrangement and the two segmentation designs of storage device at rear portion, and the centre is crossed water hose through flexible center and is carried the hose to link to each other with the buggy, is convenient for turn in a flexible way in the pipeline, prevents that monomer overlength card from locating at the turn of pipeline.
4. Be provided with compression device in this pipeline robot's the holding vessel, can compress the buggy mixture of storage in the holding vessel, filter out in the drainage hole of moisture follow holding vessel rear end, multiplicable pipeline robot's the powder storage volume.
5. The autonomous control device can analyze signals transmitted by each sensor and control power output distribution according to different conditions.
6. The telescopic driving of electric telescopic handle is gone up connecting rod and lower connecting rod and is outwards extended or retract, can make small-size crawler-type running gear adjust that stretches out and draws back like this according to the internal diameter of pipeline, and small-size crawler-type running gear's track and pipeline inner wall roof pressure contact drive whole pipeline robot and remove along the pipeline inner wall.
Drawings
FIG. 1 is a schematic view of the present invention in a pipeline configuration;
FIG. 2 is an axial cross-sectional structural schematic of the present invention;
FIG. 3 is a schematic view of the structure of the check valve;
FIG. 4 is a schematic view of the driving structure of the screw conveying motor and the screw conveying blade;
FIG. 5 is an enlarged view of the storage device of FIG. 2;
fig. 6 is an enlarged view of the driving device of fig. 2.
Detailed Description
As shown in fig. 1 to 6, the method for removing coal dust in a coal bed methane mining pipeline comprises the following steps:
firstly, putting a pipeline robot into a pipeline 6 for coal bed gas exploitation, controlling a walking mechanism of the pipeline robot to expand to contact with the inner wall of the pipeline 6 by a control personnel on the ground, and then starting the walking mechanism to move forwards along the inner wall of the pipeline;
step two, the pipeline robot is operated to carry out rotary cleaning operation while moving on the inner wall of the pipeline, and the coal dust attached to the inner wall of the pipeline 6 is cleaned;
thirdly, the pipeline robot is controlled to collect and store the removed coal dust;
step four, compressing the stored coal dust and extruding out moisture so as to collect more coal dust in the cleaning operation process;
step five, after the coal powder is fully stored, closing the rotary cleaning, coal powder collecting and compressing operation of the pipeline robot, and controlling the traveling mechanism of the pipeline robot to reversely advance and exit from the pipeline 6;
and step six, after the collected coal dust is cleaned out, charging the pipeline robot for the next use.
The pipeline robot comprises a dredging device 1, a driving device 2 and a storage device 3, wherein power modules 216 are arranged in the driving device 2 and the storage device 3, the dredging device 1 is arranged at the front end of the driving device 2, the driving device 2 and the storage device 3 are cylindrical in shape, through water passing holes are formed in the centers of the driving device 2 and the storage device 3, a central water passing hose 402 is connected between the rear end of the water passing hole in the driving device 2 and the front end of the water passing hole in the storage device 3, a plurality of coal powder conveying hoses 303 are arranged between the rear end of the driving device 2 and the front end of the storage device 3, the coal powder conveying hoses 303 are uniformly arranged along the circumferential direction of the central water passing hose 402, a plurality of travelling mechanisms are arranged on the outer circumferences of the driving device 2 and the storage device 3, and the power modules 216 provide electric energy for the driving device 2 and the travelling mechanisms;
the driving device 2 is a hollow shaft driving motor 201; hollow shaft drive motor 201 includes housing 202, hollow shaft 203, front end cap 204, rear end cap 205, bearings 206, encoder assembly 207, rotor assembly 208, stator assembly 209, and brake assembly 210, the outer shell 202 is cylindrical, the front end cover 204 is arranged at the front end of the outer shell 202 in a sealing mode, the rear end cover 205 is arranged at the rear end of the outer shell 202 in a sealing mode, the hollow shaft 203 is coaxially arranged inside the outer shell 202, the hollow shaft 203 is rotatably connected to the front end cover 204 and the rear end cover 205 through the bearing 206, the front end of the hollow shaft 203 extends out of the front end cover 204 and is fixedly connected with the rotating disc 102, the rotor assembly 208 is arranged on the periphery of the hollow shaft 203, the stator assembly 209 is arranged on the inner wall of the outer shell 202 located on the periphery of the rotor assembly 208, the encoder assembly 207 and the brake assembly 210 are both arranged on the rear end cover 205, and the encoder assembly 207 and the brake assembly 210 are used for jointly controlling the rotating speed and the direction of the hollow shaft driving motor 201;
the dredging device 1 comprises a spiral dredging blade 101 and a rotating disc 102, the rotating disc 102 is arranged at the front side of a hollow shaft driving motor 201 and is coaxially arranged at the power output end of the front end of the hollow shaft driving motor 201, the spiral dredging blade 101 is in a conical structure with a small front part and a big back part, and the rear end of the spiral dredging blade 101 is fixedly connected to the front side surface of the rotating disc 102;
the plurality of running gears on the driving device 2 and the storage device 3 have the same structure, the running gear on the driving device 2 comprises a small crawler-type running gear 211 and a plurality of lower connecting rods 212 hinged on the outer side of the shell 202, two rows of lower connecting rods 212 are arranged along the direction parallel to the hollow shaft 203, the upper end of each lower connecting rod 212 is hinged with an upper connecting rod 214, an electric telescopic rod 213 is hinged between the middle part of each lower connecting rod 212 and the middle part of each upper connecting rod 214, and the upper ends of the two rows of upper connecting rods 214 are respectively hinged at the ends of wheel shafts on the left side and the right side of the small crawler-type running gear 211.
The storage device 3 comprises a conveying pipe 301, a screw conveying motor 302, a spiral conveying blade 308, a storage tank 304, a water filtering hole 306 and a guide pipe 312, wherein the conveying pipe 301 and the screw conveying motor 302 are positioned inside the shell 202, the conveying pipe 301 is parallel to the hollow shaft 203, the front end and the rear end of the conveying pipe 301 respectively penetrate out of the front end cover 204 and the rear end cover 205, the front end of the conveying pipe 301 is connected with a flow gathering cylinder 307 with a large front part and a small rear part in a horn mouth shape, a brush 103 in contact with the spiral dredging blade 101 is arranged on the periphery of the flow gathering cylinder 307, the screw conveying motor 302 is arranged outside the conveying pipe 301, the spiral conveying blade 308 is coaxially installed inside the conveying pipe 301, the screw conveying motor 302 is in transmission connection with the spiral conveying blade 308 through a worm gear mechanism 309, and a worm of the worm gear mechanism 309 penetrates through the conveying pipe 301 and is in rotary sealing connection with the conveying pipe 301; the rear end of the conveying pipe 301 is correspondingly connected with the front end of the pulverized coal conveying hose 303, the storage tank 304 is of a cylindrical structure, a pipe joint is arranged on the front side of the storage tank 304, and the rear end of the pulverized coal conveying hose 303 is connected with the pipe joint; the draft tube 312 is coaxially arranged at the center in the storage tank 304, the front end of the draft tube 312 is correspondingly connected with the rear end of the central water hose 402, and the water filtering holes 306 are arranged on the rear side surface of the storage tank 304.
The lateral part is equipped with compressor arrangement before in the holding vessel 304, compressor arrangement includes the guide cylinder 305 that sets up with honeycomb duct 312 coaxial line, the front end of guide cylinder 305 and the front side inner wall fixed connection of holding vessel 304, form the open annular space in rear end between honeycomb duct 312 outer wall and the guide cylinder 305 inner wall, the right side of annular space is equipped with four at least electric putter 311, electric putter 311 evenly arranges along the circumferencial direction of annular space, be provided with annular clamp plate 310 of circle in the annular space, electric putter 311's rear end is connected with clamp plate 310 leading flank, the excircle and the interior circle of clamp plate 310 respectively with guide cylinder 305 inner wall and honeycomb duct 312 outer wall sliding fit.
The pipeline robot further comprises an autonomous control device 215, a positioning sensor 501, a capacity sensing device 502, an electric quantity sensor 503 and a data transmission module 504, wherein the autonomous control device 215 and the data transmission module 504 are both arranged inside the shell 202, and the positioning sensor 501 is positioned at the front end outside the storage tank 304 and can position the position of the pipeline robot in the pipeline in real time; the volume sensing device 502 is located at the front end of the interior of the storage tank 304.
The specific process of the step one is as follows: the ground control personnel send signals to the autonomous control device 215, the autonomous control device 215 sends signals for the electric telescopic rod to extend, the electric telescopic rod 213 extends to drive the upper connecting rod 214 and the lower connecting rod 212 to extend, and the driving device 2 and the small crawler-type traveling device 211 on the periphery of the storage device 3 are in abutting contact with the inner wall of the pipeline 6; the ground control personnel then control the autonomous control device 215 to send a starting signal to the small crawler type walking device 211, the small crawler type walking device 211 is started to drive the whole pipeline robot to move forwards along the inner wall of the pipeline 6, and the moving direction of the pipeline robot is consistent with the water flow direction in the pipeline 6;
the specific process of the second step is as follows: when the pipeline robot starts to move, the ground control personnel control the autonomous control device 215 to send a starting signal to the hollow shaft driving motor 201, the hollow shaft 203 of the hollow shaft driving motor 201 drives the rotating disc 102 and the spiral dredging blades 101 to rotate at a high speed, the spiral dredging blades 101 stir the coal dust attached to the inner wall of the pipeline 6 and the blocked coal dust to dredge, and meanwhile, the brush 103 simultaneously clears the coal dust attached to the spiral dredging blades 101.
The concrete process of the third step is as follows: the ground control personnel control the autonomous control device 215 to send a starting signal to the screw conveying motor 302, the screw conveying motor 302 drives the spiral conveying blade 308 to rotate through the worm gear mechanism 309, and the pulverized coal enters the conveying pipe 301 from the flow gathering cylinder 307 and is conveyed backwards to the storage tank 304 by the spiral conveying blade 308.
The concrete process of the step four is as follows: the concrete process of the step four is as follows: along with the increase of the coal dust storage in the storage tank 304, an electric push rod 311 of the compression device is started, the electric push rod 311 drives a press plate 310 to move backwards in the annular space to squeeze the coal dust in the storage tank 304, the coal dust is compacted, moisture is filtered out from a water filtering hole 306 at the rear part of the storage tank 304, then the electric push rod 311 drives the press plate 310 to move forwards and then moves backwards, and how the electric push rod 311 extends and retracts circularly is realized to compress the coal dust in the storage tank 304 continuously.
The concrete process of the step five is as follows: when the capacity sensing device 502 senses that the storage of the pulverized coal in the storage tank 304 is full, the data transmission module 504 transmits a signal to the autonomous control device 215, and the autonomous control device 215 adjusts the working mode of the pipeline robot; the electric push rod 311 is closed in the contraction state, and most electric energy of the power supply module 216 is distributed to the small crawler-type traveling device 211, so that the pipeline robot travels reversely and quickly passes through the pipeline 6 to reach the ground;
when the electric quantity sensor 503 monitors that the electric quantity residual of the pipeline robot reaches a critical value in the process of cleaning operation of the pipeline robot in the pipeline 6, the data transmission module 504 transmits a signal to the autonomous control device 215, the autonomous control device 215 also adjusts the working mode of the pipeline robot, most of the electric energy of the power supply module 216 is distributed to the small-sized crawler-type traveling device 211, and the pipeline robot can travel reversely and quickly reach the ground through the pipeline 6;
the manner in which the autonomous control apparatus 215 is manipulated by the control personnel on the ground may be connected to the autonomous control apparatus 215 of the pipe robot through a waterproof control cable.
The present embodiment is not intended to limit the shape, material, structure, etc. of the present invention in any way, and any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (8)
1. The method for removing coal dust in the coal bed gas exploitation pipeline is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
firstly, putting a pipeline robot into a pipeline (6) for coal bed gas exploitation, controlling a walking mechanism of the pipeline robot to expand to contact with the inner wall of the pipeline (6) by a control personnel on the ground, and then starting the walking mechanism to move forwards along the inner wall of the pipeline;
secondly, the pipeline robot is operated to rotate and remove the coal dust attached to the inner wall of the pipeline (6) while moving on the inner wall of the pipeline;
thirdly, the pipeline robot is controlled to collect and store the removed coal dust;
step four, compressing the stored coal dust and extruding out moisture so as to collect more coal dust in the cleaning operation process;
step five, after the coal powder is fully stored, closing the rotary cleaning, coal powder collecting and compressing operation of the pipeline robot, and controlling the traveling mechanism of the pipeline robot to reversely advance and exit from the pipeline (6);
step six, after the collected coal dust is cleaned out, charging the pipeline robot for the next use;
the pipeline robot comprises a dredging device (1), a driving device (2) and a storage device (3), wherein power modules (216) are arranged in the driving device (2) and the storage device (3), the dredging device (1) is arranged at the front end of the driving device (2), the driving device (2) and the storage device (3) are cylindrical in shape, the centers of the driving device (2) and the storage device (3) are respectively provided with a water through hole which is through from front to back, a central water passing hose (402) is connected between the rear end of the water through hole in the driving device (2) and the front end of the water through hole in the storage device (3), a plurality of coal powder conveying hoses (303) are arranged between the rear end of the driving device (2) and the front end of the storage device (3), the coal powder conveying hoses (303) are uniformly arranged along the circumferential direction of the central water passing hose (402), a plurality of walking mechanisms are arranged on the outer circumferences of the driving device (2) and the storage device (3), the power supply module (216) provides electric energy for the driving device (2) and the travelling mechanism;
the driving device (2) is a hollow shaft driving motor (201); the hollow shaft driving motor (201) comprises a shell (202), a hollow shaft (203), a front end cover (204), a rear end cover (205), a bearing (206), an encoder assembly (207), a rotor assembly (208), a stator assembly (209) and a brake assembly (210), wherein the shell (202) is cylindrical, the front end cover (204) is hermetically arranged at the front end of the shell (202), the rear end cover (205) is hermetically arranged at the rear end of the shell (202), the hollow shaft (203) is coaxially arranged inside the shell (202), the hollow shaft (203) is rotatably connected to the front end cover (204) and the rear end cover (205) through the bearing (206), the front end of the hollow shaft (203) extends out of the front end cover (204) and is fixedly connected with the rotating disc (102), the rotor assembly (208) is arranged at the periphery of the hollow shaft (203), the stator assembly (209) is arranged on the inner wall of the shell (202) positioned at the periphery of the rotor assembly (208), the encoder assembly (207) and the brake assembly (210) are both arranged on the rear end cover (205), and the encoder assembly (207) and the brake assembly (210) are used for jointly controlling the rotating speed and the direction of the hollow shaft driving motor (201);
the dredging device (1) comprises a spiral dredging blade (101) and a rotating disc (102), the rotating disc (102) is arranged on the front side of a hollow shaft driving motor (201) and is coaxially mounted on the power output end of the front end of the hollow shaft driving motor (201), the spiral dredging blade (101) is of a conical structure with a small front part and a large rear part, and the rear end of the spiral dredging blade (101) is fixedly connected to the front side surface of the rotating disc (102);
the structure of the plurality of travelling mechanisms on the driving device (2) and the storage device (3) is the same, the travelling mechanisms on the driving device (2) comprise small crawler type travelling devices (211) and a plurality of lower connecting rods (212) hinged on the outer side of the shell (202), the lower connecting rods (212) are arranged in two rows along the direction parallel to the hollow shaft (203), the upper end of each lower connecting rod (212) is hinged with an upper connecting rod (214), an electric telescopic rod (213) is hinged between the middle part of each lower connecting rod (212) and the middle part of each upper connecting rod (214), and the upper ends of the two rows of upper connecting rods (214) are respectively hinged on the end parts of wheel shafts on the left side and the right side of each small crawler type travelling device (211);
the storage device (3) comprises a conveying pipe (301), a screw conveying motor (302), a spiral conveying blade (308), a storage tank (304), a water filtering hole (306) and a guide pipe (312), wherein the conveying pipe (301) and the screw conveying motor (302) are positioned inside a shell (202), the conveying pipe (301) is parallel to a hollow shaft (203), the front end and the rear end of the conveying pipe (301) respectively penetrate out of a front end cover (204) and a rear end cover (205), the front end of the conveying pipe (301) is connected with a flow gathering barrel (307) which is large in front and small in rear and is in a horn mouth shape, a brush (103) which is in contact with the spiral dredging blade (101) is arranged on the periphery of the flow gathering barrel (307), the screw conveying motor (302) is arranged outside the conveying pipe (301), the spiral conveying blade (308) is coaxially installed inside the conveying pipe (301), and the screw conveying motor (302) is in transmission connection with the spiral conveying blade (308) through a worm gear mechanism (309), a worm of the worm gear mechanism (309) penetrates through the conveying pipe (301) and is in rotary sealing connection with the conveying pipe (301); the rear end of the conveying pipe (301) is correspondingly connected with the front end of the pulverized coal conveying hose (303), the storage tank (304) is of a cylindrical structure, a pipe joint is arranged on the front side of the storage tank (304), and the rear end of the pulverized coal conveying hose (303) is connected with the pipe joint; the draft tube (312) is coaxially arranged at the center in the storage tank (304), the front end of the draft tube (312) is correspondingly connected with the rear end of the central water passing hose (402), and the water filtering hole (306) is arranged on the rear side surface of the storage tank (304).
2. The method for removing coal dust in a coal bed gas extraction pipeline according to claim 1, wherein the method comprises the following steps: the front side part in the storage tank (304) is provided with a compression device, the compression device comprises a guide cylinder (305) which is coaxially arranged with a guide pipe (312), the front end of the guide cylinder (305) is fixedly connected with the inner wall of the front side of the storage tank (304), an annular space with an opening rear end is formed between the outer wall of the guide pipe (312) and the inner wall of the guide cylinder (305), the right side of the annular space is provided with at least four electric push rods (311), the electric push rods (311) are uniformly arranged along the circumferential direction of the annular space, a circular pressing plate (310) is arranged in the annular space, the rear end of each electric push rod (311) is connected with the front side surface of the pressing plate (310), and the outer circle and the inner circle of the pressing plate (310) are respectively in sliding fit with the inner wall of the guide cylinder (305) and the outer wall of the guide pipe (312);
the pipeline robot further comprises an autonomous control device (215), a positioning sensor (501), a capacity sensing device (502), an electric quantity sensor (503) and a data transmission module (504), wherein the autonomous control device (215) and the data transmission module (504) are both arranged in the shell (202), and the positioning sensor (501) is positioned at the front end outside the storage tank (304) and can be used for positioning the position of the pipeline robot in a pipeline in real time; the volume sensing device (502) is located at the front end of the interior of the storage tank (304).
3. The method for removing coal dust in a coal bed methane mining pipeline according to claim 2, characterized by comprising the following steps: the front end of hollow shaft (203) is provided with the check valve, the check valve is including installation pipe (4), the contained angle of the central line of central line hollow shaft (203) of installation pipe (4) is the acute angle, the one end of installation pipe (4) and hollow shaft (203) intercommunication is located the rear side of installation pipe other end, port inner wall threaded connection has nut (403) before installation pipe (4), installation pipe (4) inside sliding connection has valve body (404), be provided with compression spring (405) between nut (403) and valve body (404), the inner wall of hollow shaft (203) is provided with spacing groove (401), under compression spring's (405) effect, the rear end of valve body (404) is by the roof pressure in spacing groove (401).
4. The method for removing coal dust in a coal bed methane mining pipeline according to claim 3, characterized by comprising the following steps: the specific process of the step one is as follows: the ground control personnel send signals to the autonomous control device (215), the autonomous control device (215) sends signals for the electric telescopic rod to extend, the electric telescopic rod (213) extends to drive the upper connecting rod (214) and the lower connecting rod (212) to extend, and the small crawler-type traveling devices (211) on the peripheries of the driving device (2) and the storage device (3) are in jacking contact with the inner wall of the pipeline (6); ground control personnel then control independently controlling means (215) to send the signal of start to small-size crawler-type running gear (211), and small-size crawler-type running gear (211) start, drive whole pipeline robot and advance forward along pipeline (6) inner wall, and pipeline robot's direction of travel is unanimous with pipeline (6) interior rivers direction.
5. The method for removing coal dust in a coalbed methane production pipeline according to claim 4, characterized by comprising the following steps: the specific process of the second step is as follows: when the pipeline robot starts to move, the ground control personnel control the autonomous control device (215) to send a starting signal to the hollow shaft driving motor (201), the hollow shaft (203) of the hollow shaft driving motor (201) drives the rotating disc (102) and the spiral dredging blades (101) to rotate at a high speed, the spiral dredging blades (101) stir the coal dust attached to the inner wall of the pipeline (6) and the blocked coal dust to dredge, and meanwhile, the brush (103) simultaneously cleans the coal dust attached to the spiral dredging blades (101).
6. The method for removing coal dust in a coalbed methane production pipeline according to claim 5, characterized by comprising the following steps: the concrete process of the third step is as follows: ground control personnel control the autonomous control device (215) to send a starting signal to the screw conveying motor (302), the screw conveying motor (302) drives the spiral conveying blade (308) to rotate through the worm gear mechanism (309), and the pulverized coal enters the conveying pipe (301) from the flow gathering barrel (307) and is conveyed backwards into the storage tank (304) through the spiral conveying blade (308).
7. The method for removing coal dust in a coal bed gas extraction pipeline according to claim 6, wherein the method comprises the following steps: the concrete process of the step four is as follows: the concrete process of the step four is as follows: along with the increase of coal dust storage in the storage tank (304), an electric push rod (311) of the compression device is started, the electric push rod (311) drives a pressing plate (310) to move backwards in the annular space to squeeze the coal dust in the storage tank (304), the coal dust is compacted, water is filtered out from a water filtering hole (306) in the rear portion of the storage tank (304), then the electric push rod (311) drives the pressing plate (310) to move forwards and then move backwards, the electric push rod (311) stretches and retracts in a circulating mode, and the coal dust in the storage tank (304) is compressed ceaselessly.
8. The method for removing coal dust in a coal bed methane mining pipeline according to claim 7, characterized by comprising the following steps: the concrete process of the step five is as follows: when the capacity sensing device (502) senses that the storage tank (304) is full of pulverized coal, a signal is transmitted to the autonomous control device (215) through the data transmission module (504), and the autonomous control device (215) adjusts the working mode of the pipeline robot; the electric push rod (311) is closed in a contraction state, most electric energy of the power supply module (216) is distributed to the small crawler-type walking device (211), so that the pipeline robot can reversely walk and quickly pass through the pipeline (6) to reach the ground;
in the process of cleaning operation of the pipeline robot in the pipeline (6), when the electric quantity sensor (503) monitors that the electric quantity residual of the pipeline robot reaches a critical value, the data transmission module (504) transmits a signal to the autonomous control device (215), the autonomous control device (215) also adjusts the working mode of the pipeline robot, most electric energy of the power supply module (216) is distributed to the small crawler-type walking device (211), and the pipeline robot can quickly move in the reverse direction to reach the ground through the pipeline (6);
the mode that the control personnel on the ground controls the autonomous control device (215) is connected with the autonomous control device (215) of the pipeline robot through a waterproof control cable.
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| CN114293954B (en) * | 2021-12-06 | 2023-10-13 | 中国矿业大学 | Coal bed gas pipe cleaning equipment |
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| CN116550703B (en) * | 2023-05-17 | 2023-10-27 | 江苏省特种设备安全监督检验研究院 | Robot device for cleaning pipe in pipeline |
| CN116967224B (en) * | 2023-09-22 | 2023-12-08 | 江苏恒博气力输送设备制造有限公司 | Remote cleaning device for pneumatic conveying pipeline |
| CN118437715A (en) * | 2024-05-31 | 2024-08-06 | 广东易力建安工程有限公司 | Underwater cleaning device capable of walking on inner wall of valve connecting pipe |
| CN118491992B (en) * | 2024-07-16 | 2024-09-17 | 中油中泰煤层气利用吉州有限责任公司 | Coal powder clearing device in coal bed gas conveying pipeline |
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