CN111490427A - Pipeline on-line power and signal line connection method - Google Patents
Pipeline on-line power and signal line connection method Download PDFInfo
- Publication number
- CN111490427A CN111490427A CN202010182235.2A CN202010182235A CN111490427A CN 111490427 A CN111490427 A CN 111490427A CN 202010182235 A CN202010182235 A CN 202010182235A CN 111490427 A CN111490427 A CN 111490427A
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- power
- pipeline
- connection
- cabin
- wire
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a pipeline on-line power and signal line connection method, which comprises the following steps: firstly, connection; secondly, changing the wire; third, separation, fourth, take-up and fifth, wire arrangement. The method can replace the power and signal wires on line under the condition that the pipeline works normally, namely when certain pressure and medium flow in the pipeline.
Description
Technical Field
The invention relates to the technical field of pipeline cleaning, in particular to a pipeline on-line power and signal line connection method.
Background
Pipeline transportation is a way for transporting liquid and gas, and the phenomena of blockage such as scaling and sediment and the like often occur in the transportation process, so that the transportation effect is influenced. This requires that people perform cleaning and dredging. At present, a solution is provided for cleaning and dredging shorter pipelines, such as pipelines with the length of tens of meters and hundreds of meters, but the pipelines with the length of kilometers and tens of kilometers are difficult to clean, and especially the pipelines are difficult to clean online when the pipelines normally convey media, namely certain pressure and media flow in the pipelines. One of the reasons why the cleaning of the extra-long pipeline is difficult is that the power and signal lines of the pipeline cleaning robot cannot be lengthened without limit, and the power and signal lines need to be connected and changed after working for a certain distance. At present, no solution for connection and wire change exists.
Disclosure of Invention
The invention aims to provide a pipeline on-line power and signal line connection method.
In order to achieve the above object, the present invention employs the following:
a pipeline online power and signal line connection method comprises the following steps: a pipeline online power and signal line connection method is characterized by comprising the following steps:
one, connection
(1) The connection cabin is arranged at the rear end of the pipeline cleaning robot, and the pipeline cleaning robot can control the connection cabin to perform connection operation.
(2) And the axial alignment of the docking cabin to the position of the pipeline valve is realized by the advancing and retreating of the pipeline cleaning robot.
(3) And the position of the connection cabin radially aligned with the pipeline valve is realized through the rotation of the rotating mechanism.
(4) The supporting leg oil cylinder extends out to realize that the supporting leg is supported to the pipe wall; the oil cylinder of the connection cabin extends out, so that the sealing ring on the connection cabin is attached to the valve port of the pipeline, and the functions of sealing and isolating the pressure inside and outside the pipeline are achieved.
Second, line changing
After the sealing ring on the connection cabin is attached to the opening of the pipeline valve, the pipeline valve is opened, the liquid pumping system is started, liquid in the connection cabin is pumped, and connection operation of power and signal lines is carried out manually. After the connection cabin is connected, the first power and signal wire and the second power and signal wire are manually arranged in the corresponding assigned wire slots, and the wire arranging mechanism is placed at an assigned position.
III, separation from
(1) And when the manual operation is finished, the connection cabin leaves, and the pressurizing system pressurizes, so that the internal pressure and the external pressure of the connection cabin are balanced.
(2) The supporting foot oil cylinder retracts to separate the supporting foot from the pipe wall, and the connection cabin oil cylinder retracts to separate the sealing ring on the connection cabin from the pipeline valve opening, so that the wire arranging mechanism descends synchronously.
Fourthly, take-up
(1) And the sealing door on the connection cabin is opened, the fixation of the first power and signal wire is cancelled, and the winch starts to withdraw the first power and signal wire at the moment.
(2) And after the first power and signal wire is withdrawn, the first power and signal wire take-up and pay-off device is manually disassembled from the pipeline and moved to the next connecting port.
Five, winding displacement
(1) The pipeline cleaning robot moves forwards, the wire arranging mechanism moves backwards relative to the robot, and a second power and signal wire is laid in the wire groove of the connection cabin in cooperation with the winch until the wire arranging mechanism leaves the connection cabin from the sealing door.
(4) And closing the sealing door, fixing the second power and signal wire, and finishing the wire changing operation.
(5) And when the pipeline cleaning robot moves from the second power and signal line to the first power and signal line, the operation is repeated, and the positions of the first equipment and the second equipment are changed.
Preferably, the pipeline cleaning robot comprises a front machine body section, a power head module, a flexible steering module and a hydraulic control system; a power head module is arranged in the center of the front end of the front section of the machine body; a hydraulic control system is arranged on the rear side of the front section of the machine body; the front section of the machine body is connected with the hydraulic control system through a flexible steering module; walking modules are arranged on the front section of the machine body and the circumferential surface of the hydraulic control system; a rotating device is arranged at the rear end of the hydraulic control system; a docking bay is arranged at the upper end of the rotating device; and a walking module is arranged at the lower end of the rotating device, and the walking module at the lower end corresponds to the position of the docking cabin at the upper end.
The invention has the following advantages:
1. the method can replace the power and signal wires on line under the condition that the pipeline works normally, namely when certain pressure and medium flow in the pipeline.
2. The method can provide stable power and signals for pipeline operation of several kilometers, dozens of kilometers and more.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a pipeline online power and signal line connection method of the present invention.
Fig. 2 is a schematic view of a pipe cleaning structure.
Fig. 3 is a schematic structural view of the docking bay.
Fig. 4 is a schematic structural view of the docking bay and the duct gate.
Fig. 5 is a schematic structural view of the pipe cleaning robot.
In the figures, the various reference numbers are:
the system comprises a connection cabin, a pressurization system, a liquid pumping system, a pipeline valve 5, a winch 6, a pipeline 7, a pipeline 8, a pipeline cleaning robot 81, a machine body front section 82, a power head module 83, a flexible steering module 84, a hydraulic control system 9, a power and signal line I, a sealing door 10, a wire arrangement mechanism 11, a robot end interface line 12, a power and signal line II 13, a wire arrangement mechanism lifting seat 14, a rotating mechanism 15, a lifting oil cylinder 16, a lifting oil cylinder 17 and supporting legs.
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below in connection with preferred embodiments. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
As shown in fig. 1 to 5, a method for connecting a pipeline to a power and signal line on line includes:
one, connection
(1) The connection cabin 1 is arranged at the rear end of the pipeline cleaning robot 8, and the pipeline cleaning robot 8 can control the connection operation.
(2) And the position of the docking bay 1 axially aligned with the pipeline valve 5 is realized by the advancing and retreating of the pipeline cleaning robot 8.
(3) The radial alignment of the docking pod 1 with the position of the pipeline valve 6 is achieved by rotation of the rotation mechanism 15.
(4) The oil cylinder on the supporting leg 17 extends out to realize that the supporting leg 17 is supported to the pipe wall; the oil cylinder on the connection cabin 1 extends out, so that the sealing ring on the connection cabin 1 is attached to the opening of the pipeline valve 5, and the effects of sealing and isolating the pressure inside and outside the pipeline are achieved.
Second, line changing
After the sealing ring on the connection cabin 1 is attached to the opening of the pipeline valve 5, the pipeline valve 5 is opened, the liquid pumping system 3 is started, liquid in the connection cabin 1 is pumped, and the connection operation of power and signal lines is carried out manually. After the connection cabin is connected, the first power and signal wire 9 and the second power and signal wire 13 are manually arranged in corresponding assigned wire slots, and the wire arranging mechanism 11 is placed at an assigned position.
III, separation from
(1) And when the manual operation is finished, the connection cabin 1 leaves, and the pressurizing system 2 pressurizes, so that the internal pressure and the external pressure of the connection cabin 1 are balanced.
(2) The oil cylinder on the supporting leg 17 retracts to separate the supporting leg 17 from the pipe wall, and the oil cylinder on the connection cabin 1 retracts, so that the sealing ring on the connection cabin 1 is separated from the opening of the pipeline valve 5, and the wire arranging mechanism 11 descends synchronously.
Fourthly, take-up
(1) And the sealing door 10 on the docking cabin 1 is opened, the fixing of the first power and signal wire 9 is cancelled, and at the moment, the winch 6 is started to withdraw the first power and signal wire 9.
(2) And after the first power and signal wire 9 is withdrawn, the first power and signal wire 9 retracting device is manually detached from the pipeline 7 and moved to the next connection port.
Five, winding displacement
(1) The pipeline cleaning robot 8 moves forwards, the wire arranging mechanism 11 moves backwards relative to the robot, and the wire arranging mechanism 14 is matched with the winch 6 to lay a second power and signal wire 13 into a wire groove of the connection cabin 1 until the wire arranging mechanism leaves the connection cabin from the sealing door.
(4) And the sealing door 10 is closed, the second power and signal wire 13 is fixed, and the wire changing operation is finished.
(5) When the pipeline cleaning robot 8 moves from the second power and signal line 13 to the first power and signal line 9, the operation is repeated, and the positions of the first equipment and the second equipment are changed.
The pipeline cleaning robot 8 comprises a machine body front section 81, a power head module 82, a flexible steering module 83 and a hydraulic control system 84; a power head module 82 is arranged at the center of the front end of the front section 81 of the machine body, and the power head module 82 adopts a profiling shield cutter head or other clearing tools; a hydraulic control system 84 is arranged at the rear side of the front section 81 of the machine body; the front section 81 of the machine body is connected with the hydraulic control system 84 through a flexible steering module 83; walking modules 17 are arranged on the circumferential surfaces of the front section 81 of the machine body and the hydraulic control system 84; the rear end of the hydraulic control system 84 is provided with a rotating device 15, the upper end of the rotating device 15 is provided with the docking bay 1, the lower end of the rotating device 15 is provided with a traveling module 17, and the traveling module 17 at the lower end corresponds to the position of the docking bay 1 at the upper end.
When the device is used, the pipeline cleaning robot 8 moves in the pipeline to clean the garbage in the pipeline; when the next connection end is operated, the connection cabin 1 is aligned to the pipeline valve 5, the lifting oil cylinder 16 is lifted at the moment, the supporting legs 17 are supported on the inner wall of the pipeline, the connection cabin 1 is abutted to the opening of the pipeline valve 5 and is sealed through the sealing ring 10, the pressurizing system 2 is started to pressurize the connection cabin 1, the air pressure of the connection cabin 1 is balanced, liquid in the connection cabin 1 is pumped out through the liquid pumping device 4, the first power and signal line 9 is detached, the second power and signal line 13 is connected, the line arrangement mechanism 11 is used for line arrangement, the winding machine 6 is matched with the pipeline cleaning robot 8 to move to take up and pay off the line, finally the connection cabin 1 is separated from the pipeline valve 5 to continue to work, and the work is repeated until the pipeline cleaning is completed.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.
Claims (2)
1. A pipeline online power and signal line connection method is characterized by comprising the following steps:
one, connection
(1) The connection cabin is arranged at the rear end of the pipeline cleaning robot, and the pipeline cleaning robot can control the pipeline cleaning robot to perform connection operation;
(2) the docking cabin is axially aligned to the position of the pipeline valve through the advancing and retreating of the pipeline cleaning robot;
(3) the connection cabin is radially aligned to the position of the pipeline valve through the rotation of the rotating mechanism;
(4) the supporting leg oil cylinder extends out to realize that the supporting leg is supported to the pipe wall; the oil cylinder of the connection cabin extends out, so that a sealing ring on the connection cabin is attached to a valve port of the pipeline, and the functions of sealing and isolating the pressure inside and outside the pipeline are achieved;
second, line changing
After a sealing ring on the connection cabin is attached to a pipeline valve port, opening the pipeline valve, starting a liquid pumping system, pumping liquid in the connection cabin, manually performing connection operation of power and signal lines, manually arranging a first power and signal line and a second power and signal line in a corresponding assigned wire slot after the connection cabin is connected, and placing a wire arranging mechanism at an assigned position;
III, separation from
(1) When the manual operation is finished, the pressure system is pressurized, so that the internal pressure and the external pressure of the connection cabin are balanced;
(2) the support foot oil cylinder retracts to separate the support foot from the pipe wall, the connection cabin oil cylinder retracts to separate the sealing ring on the connection cabin from the pipeline valve opening, and the wire arranging mechanism descends synchronously;
fourthly, take-up
(1) The sealing door on the docking cabin is opened, the fixation of the first power and signal wire is cancelled, and at the moment, the winch is started to withdraw the first power and signal wire;
(2) after the first power and signal wire is withdrawn, manually detaching the first power and signal wire take-up and pay-off device from the pipeline, and moving the first power and signal wire take-up and pay-off device to the next connecting port;
five, winding displacement
(1) The pipeline cleaning robot moves forwards, the wire arranging mechanism moves backwards relative to the robot, and a second power and signal wire is laid into the wire slot of the connection cabin by matching with the winch until the wire arranging mechanism leaves the connection cabin from the sealing door;
(4) closing the sealing door, fixing a second power and signal wire, and finishing the wire changing operation;
(5) and when the pipeline cleaning robot moves from the second power and signal line to the first power and signal line, the operation is repeated, and the positions of the first equipment and the second equipment are changed.
2. The online power and signal line connection method for the pipeline as claimed in claim 1, wherein the pipeline cleaning robot comprises a front section of a machine body, a power head module, a flexible steering module and a hydraulic control system; a power head module is arranged in the center of the front end of the front section of the machine body; a hydraulic control system is arranged on the rear side of the front section of the machine body; the front section of the machine body is connected with the hydraulic control system through a flexible steering module; walking modules are arranged on the front section of the machine body and the circumferential surface of the hydraulic control system; a rotating device is arranged at the rear end of the hydraulic control system; a docking bay is arranged at the upper end of the rotating device; and a walking module is arranged at the lower end of the rotating device, and the walking module at the lower end corresponds to the position of the docking cabin at the upper end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010182235.2A CN111490427B (en) | 2020-03-16 | 2020-03-16 | Pipeline on-line power and signal line connection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010182235.2A CN111490427B (en) | 2020-03-16 | 2020-03-16 | Pipeline on-line power and signal line connection method |
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| Publication Number | Publication Date |
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| CN111490427A true CN111490427A (en) | 2020-08-04 |
| CN111490427B CN111490427B (en) | 2021-06-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010182235.2A Active CN111490427B (en) | 2020-03-16 | 2020-03-16 | Pipeline on-line power and signal line connection method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112377722A (en) * | 2020-10-28 | 2021-02-19 | 杭州国辰机器人科技有限公司 | Online power and signal line system of plugging into of extra long pipeline |
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| CN107191736A (en) * | 2017-05-27 | 2017-09-22 | 燕山大学 | Four driving pipeline flexible climbing robots |
| CN109719093A (en) * | 2018-12-14 | 2019-05-07 | 东莞理工学院 | A kind of underground piping automatic flushing device |
| JP2019084667A (en) * | 2017-11-01 | 2019-06-06 | 株式会社近藤製作所 | Rotary joint |
| CN110681657A (en) * | 2019-11-01 | 2020-01-14 | 东莞市奇趣机器人科技有限公司 | Walking device of ventilating duct cleaning robot |
| CN209969106U (en) * | 2019-05-21 | 2020-01-21 | 陕西鸿鹰实业有限公司 | Liquid pipeline detects self-cleaning device |
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2020
- 2020-03-16 CN CN202010182235.2A patent/CN111490427B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107191736A (en) * | 2017-05-27 | 2017-09-22 | 燕山大学 | Four driving pipeline flexible climbing robots |
| JP2019084667A (en) * | 2017-11-01 | 2019-06-06 | 株式会社近藤製作所 | Rotary joint |
| CN109719093A (en) * | 2018-12-14 | 2019-05-07 | 东莞理工学院 | A kind of underground piping automatic flushing device |
| CN209969106U (en) * | 2019-05-21 | 2020-01-21 | 陕西鸿鹰实业有限公司 | Liquid pipeline detects self-cleaning device |
| CN110681657A (en) * | 2019-11-01 | 2020-01-14 | 东莞市奇趣机器人科技有限公司 | Walking device of ventilating duct cleaning robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112377722A (en) * | 2020-10-28 | 2021-02-19 | 杭州国辰机器人科技有限公司 | Online power and signal line system of plugging into of extra long pipeline |
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| CN111490427B (en) | 2021-06-11 |
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Denomination of invention: A method for connecting pipeline on-line power and signal lines Effective date of registration: 20220110 Granted publication date: 20210611 Pledgee: Hangzhou High-tech Financing Guarantee Co.,Ltd. Pledgor: HANGZHOU GUOCHEN ROBOT TECHNOLOGY Co.,Ltd. Registration number: Y2022330000042 |
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Date of cancellation: 20230629 Granted publication date: 20210611 Pledgee: Hangzhou High-tech Financing Guarantee Co.,Ltd. Pledgor: HANGZHOU GUOCHEN ROBOT TECHNOLOGY Co.,Ltd. Registration number: Y2022330000042 |
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Denomination of invention: A Method for Connecting Pipeline Online Power and Signal Lines Effective date of registration: 20230706 Granted publication date: 20210611 Pledgee: Hangzhou High-tech Financing Guarantee Co.,Ltd. Pledgor: HANGZHOU GUOCHEN ROBOT TECHNOLOGY Co.,Ltd. Registration number: Y2023330001392 |