CN111720652B - Multi-stage speed-regulating traction device of intelligent pipeline plugging robot - Google Patents
Multi-stage speed-regulating traction device of intelligent pipeline plugging robot Download PDFInfo
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- CN111720652B CN111720652B CN202010621186.8A CN202010621186A CN111720652B CN 111720652 B CN111720652 B CN 111720652B CN 202010621186 A CN202010621186 A CN 202010621186A CN 111720652 B CN111720652 B CN 111720652B
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- valve core
- framework
- hole
- mounting
- plugging robot
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/10—Means for stopping flow from or in pipes or hoses
- F16L55/12—Means for stopping flow from or in pipes or hoses by introducing into the pipe a member expandable in situ
- F16L55/128—Means for stopping flow from or in pipes or hoses by introducing into the pipe a member expandable in situ introduced axially into the pipe or hose
- F16L55/132—Means for stopping flow from or in pipes or hoses by introducing into the pipe a member expandable in situ introduced axially into the pipe or hose the closure device being a plug fixed by radially deforming the packing
- F16L55/134—Means for stopping flow from or in pipes or hoses by introducing into the pipe a member expandable in situ introduced axially into the pipe or hose the closure device being a plug fixed by radially deforming the packing by means of an inflatable packing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
- F16L55/44—Constructional aspects of the body expandable
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
Abstract
A multi-stage speed-regulating traction device of an intelligent pipeline plugging robot comprises a pipe cleaner main body, an overflowing pressure-releasing mechanism and a brake mechanism. The main body of the pipe cleaner consists of a framework and a leather cup, and the fluid acts on the leather cup to generate power; the overflow pressure relief mechanism consists of a valve seat, a valve core I and a valve core II, and the two valve cores axially move to control the flow of fluid so as to realize speed regulation; the brake mechanism consists of a rubber cylinder, an extrusion ring and a push rod, and the push rod is driven by a hydraulic cylinder to extrude the rubber cylinder so as to realize speed reduction on the pipe wall under the expansion action of the rubber cylinder. The invention can provide traction power for the intelligent pipeline plugging robot to advance in the pipeline; the intelligent pipeline plugging robot can realize multi-stage speed regulation when passing a bend, ascending and descending a slope and receiving a pipeline section; the flexible brake device is provided, so that the risk of deformation caused by impact is reduced, and the brake performance is improved; the speed regulating device has simple structure and quick response.
Description
Technical Field
The invention relates to a pipeline maintenance and emergency repair tool, in particular to a multistage speed-regulating traction device of an intelligent pipeline plugging robot.
Background
Oil gas energy is still one of essential energy sources reserved by strategic energy sources in various countries in the world, along with the obvious improvement of the living standard of people, the demand of the society on the energy sources is continuously increased, the oil gas transportation is an essential step in the production, and the maintenance and the repair of a long-distance oil gas pipeline are important in the case of the failure problem caused by various uncertain factors or damage reasons of the long-distance oil gas pipeline in the external environment for a long time. In the maintenance operation of long oil and gas transmission pipelines, the damaged section needs to be replaced, the intelligent pipeline plugging robot is firstly put down to reach the target position in the pipeline needing plugging, and then the repairing operation is carried out after plugging is realized, so that the normal transmission of oil and gas is ensured, and the loss of oil and gas resources is reduced.
The intelligent pipeline plugging robot mainly comprises a traction device and a plugging device, wherein the traction device is connected with the plugging device to advance in a pipe under the action of fluid. Because the intelligent pipeline plugging robot can go up and down a slope, go through a curve and receive in a long oil and gas pipeline, the traction device needs to carry out multistage regulation and control on the speed under the conditions, and the risk of the intelligent pipeline plugging robot on the pipeline and the receiving device caused by overhigh speed is avoided. The traditional speed control traction device is controlled by a motor and needs higher sealing performance; the traditional overflowing pressure relief device has a complex structure and a limited overflowing area, and has poor speed regulation effect due to complex working conditions in a pipeline; the existing speed control traction device mostly adopts a rotary valve structure, and when a blade initially rotates, the required torque force is large, so that a high-power motor needs to be configured, and the electric quantity loss is increased; in the pipeline, when the valve body is impacted, the blades are easy to interfere, so that the blades are clamped and cannot rotate; the traditional brake device is easy to change under impact, and the brake performance is reduced. Therefore, a multistage speed-regulating traction device with obvious speed-regulating effect, simple structure, safety and reliability needs to be invented.
Disclosure of Invention
Technical problem to be solved
In order to solve the problems, the invention provides a multistage speed-regulating traction device of an intelligent pipeline plugging robot for pipeline maintenance. The double-rod hydraulic cylinder is adopted for driving, and the problems of high requirement on sealing performance and poor reliability in traditional motor control are solved through unified hydraulic control of the intelligent pipeline plugging robot; the flexible braking mode of extruding the rubber cylinder is used, so that the risk of impact deformation of the braking device is reduced, and the braking performance is improved; the overflow pressure relief device is adopted, the control of two levels of overflow is realized through the axial movement of the valve core, the pressure relief structure is simple, the required driving pressure is small, and the mechanism reaction is rapid; the combined application of an overflowing pressure relief speed regulation mode and an extrusion rubber cylinder brake has three levels of speed regulation to realize the speed reduction of the intelligent pipeline plugging robot in a downhill pipe section, a bending pipe section and receiving, and has a large speed regulation range and an obvious speed regulation effect; thereby the effectual intelligent shutoff robot of assurance pipeline moves safety in the pipe.
(II) technical scheme
The following technical scheme is adopted to solve the technical problems of the invention: the utility model provides a but multistage speed governing draw gear of pipeline intelligence shutoff robot, mainly by the pig main part, overflow pressure relief mechanism and brake mechanism and constitute, anticollision frame and leather cup pass through bolted connection at the front end of device, brake mechanism arranges in on the skeleton, two play pole pneumatic cylinders pass through the mounting screw on the pneumatic cylinder mounting bracket, on putting into the mounting groove of skeleton with whole again, then overflow pressure relief mechanism is installed on the mounting groove, connect the base at last and II bolted connection of rear end mounting hole of skeleton rear end department, realize the axial fixity of each part in the mounting groove, its characterized in that: the overflow pressure relief mechanism consists of a valve seat, a limiting rod, a valve core I and a valve core II, wherein the valve core I is connected to one side rod of the double-outlet-rod hydraulic cylinder through threads; the brake mechanism consists of a rubber barrel, an extrusion ring, a push ring and a pull rod, wherein the rubber barrel is sleeved on a boss of the framework, the pull rod is arranged in a guide groove on the framework, the extrusion ring is sleeved on the framework and is fixedly connected with the pull rod through a screw, and the push ring is connected to the other side rod of the double-rod hydraulic cylinder through threads; the pipe cleaner main body comprises a leather cup and a framework, and the leather cup is connected to the front end mounting hole I and the rear end mounting hole II of the framework through bolts.
The extrusion ring is provided with four circumferential reinforcing ribs and four through holes.
The skeleton rear end be equipped with four rear end mounting holes II, be equipped with the mounting groove and two hydraulic pressure pipeline through-holes I of two symmetries, the middle section is equipped with boss and guide slot, the front end is equipped with three front end mounting hole I.
The connecting base is provided with a hinge ball connecting groove, four bolt connecting through holes in the circumferential direction, two hydraulic pipeline through holes II and an overflowing hole.
The valve seat is provided with symmetrical mounting bosses, an overflowing through hole II and four circumferential limiting through holes.
And the valve core II is provided with four circumferential threaded holes I, and an overflowing through hole I is arranged on the central axis.
The hydraulic cylinder mounting frame is provided with symmetrical mounting columns and notches of two hydraulic connectors.
(III) advantageous effects
The invention has the beneficial effects that: (1) the traction power is provided for the intelligent pipeline plugging robot to advance in the pipeline; (2) the intelligent pipeline plugging robot can realize multi-stage speed regulation when passing a bend, ascending and descending a slope and receiving a pipeline section; (3) the flexible brake device is provided, so that the risk of impact deformation is reduced, and the brake performance is improved; (4) the speed regulating device has simple structure and quick response.
Drawings
FIG. 1 is a side view of the present invention;
FIG. 2 is a schematic half-section view of the present invention;
FIG. 3 is a primary speed governing state of the present invention;
FIG. 4 is a two-stage throttle status intent of the present invention;
FIG. 5 is a three-stage timing state of the present invention;
FIG. 6 is a schematic view of a crash rack of the present invention;
FIG. 7 is an external view of the pull rod of the present invention;
FIG. 8 is a schematic view of the outer appearance of the extrusion ring of the present invention;
FIG. 9 is a schematic view of a quarter section from the skeleton of the present invention;
FIG. 10 is an external view of the connection base of the present invention.
FIG. 11 is an exploded view of the speed valve of the present invention;
FIG. 12 is an enlarged partial schematic view of the speed valve of the present invention;
FIG. 13 is a schematic view of the valve seat of the present invention;
FIG. 14 is an external view of a valve core II of the present invention;
FIG. 15 is a schematic view of the exterior of the hydraulic cylinder mount of the present invention;
in the figure, 1-a collision avoidance frame, 101-a hook, 102-a bolt connecting through hole, 2-a leather cup, 3-a pull rod, 301-a thread connecting hole, 302-a pushing platform, 4-a rubber cylinder, 5-a squeezing ring, 501-a reinforcing rib, 502-a through hole, 6-a framework, 601-a rear end mounting hole II, 602-a mounting groove, 603-a boss, 604-a front end mounting hole I, 605-a guide groove, 606-a hydraulic pipeline through hole I, 7-a connecting base, 701-a hinge ball connecting groove, 702-a bolt connecting through hole, 703-a hydraulic pipeline through hole II, 704-an overflowing hole, 8-a valve seat, 801-a mounting boss, 802-an overflowing through hole II, 803-a limiting through hole, 9-a limiting rod, 10-a valve core II, 1001-a thread hole I, 1002-overflowing through hole I, 11-valve core I, 12-double-rod hydraulic cylinder, 13-hydraulic cylinder mounting rack, 1301-mounting convex column, 1302-pipeline mounting notch and 14-push ring.
Detailed Description
The invention will be further described with reference to the accompanying drawings, without limiting the scope of the invention to the following description:
as shown in fig. 1 to 15, a multistage speed-regulating traction device of an intelligent pipeline plugging robot comprises a 1-collision-prevention frame, a 2-leather cup, a 3-pull rod, a 4-rubber cylinder, a 5-extrusion ring, a 6-framework, a 7-connection base, an 8-valve seat, a 9-limiting rod, a 10-valve core II, a 11-valve core I, a 12-double-rod hydraulic cylinder, a 13-hydraulic cylinder mounting frame and a 14-push ring; anticollision frame 1 passes through bolted connection at the front end of device, leather cup 2 passes through the bolt mounting at 6 front and back ends of skeleton, pull rod 3 is installed in the guide slot 605 of skeleton 6, sheathe packing element 4 in the boss 603 of skeleton 6, two play pole pneumatic cylinders 12 pass through the mounting screw on pneumatic cylinder mounting bracket 13, on the mounting groove 602 in the skeleton 6 of putting into the pig main part with whole again, then the installation overflows pressure relief mechanism on mounting groove 602, connect the mounting hole II 601 bolted connection of base 7 and 6 rear ends department of skeleton at last, realize the axial fixity of mounting groove 602 inner part.
The working process of the invention is as follows:
during normal work, the intelligent pipeline plugging robot speed control traction device is connected with the intelligent pipeline plugging robot at the rear and sends the intelligent pipeline plugging robot into the oil and gas pipeline through the ball serving device, all the overflowing channels of the overflowing pressure relief mechanism of the intelligent pipeline plugging robot speed control traction device are closed at the moment, and the intelligent pipeline plugging robot is dragged to advance in the pipeline under the driving of fluid at the rear. When the intelligent pipeline plugging robot runs too fast in a pipe, hydraulic oil is injected into a double-rod hydraulic cylinder (12) in the intelligent pipeline plugging robot speed control traction device, a valve core I (11) moves forwards along with a rod on the right side of a piston, a valve core II (10) loses the limitation of the valve core I (11), the valve core II (10) moves forwards under the pushing of fluid in the rear, a channel between the valve core II (10) and a valve seat (8) is gradually opened, the fluid passes through, the pressure difference between the front and the rear of the intelligent pipeline plugging robot speed control traction device is reduced, and one-stage speed reduction is realized. When the valve core II (10) reaches the maximum displacement, the valve core II (10) and the limiting rod (9) in the valve seat (8) limit the movement of the valve core II (10), at the moment, when the piston rod of the double-rod hydraulic cylinder (12) continues to move forwards, the valve core I (11) is gradually drawn out from the overflowing through hole I (1002) of the valve core II (10), the overflowing channel is opened, the pressure difference before and after the fluid flows through the pipeline intelligent plugging robot speed control traction device is reduced again, and secondary speed reduction is realized. Meanwhile, a rod on the left side of a piston of the double-outlet-rod hydraulic cylinder (12) moves forwards, a push ring (14) on the rod acts on a push table (302) of the pull rod (3) to push the pull rod (3) to move forwards, the pull rod (3) and the extrusion rings (5) are fixed, all the extrusion rings (5) are pulled to move forwards, when the valve core I (11) is completely extracted from the overflowing through hole I (1002) of the valve core II (10), the extrusion rings (5) start to act on the rubber barrel (4), the extrusion rings (5) extrude the rubber barrel (4) along with the fact that the piston of the double-outlet-rod hydraulic cylinder (12) continues to move forwards, the rubber barrel (4) expands to gradually contact with the inner wall of the pipeline, friction force is increased, and then braking is carried out, so that three-stage speed reduction is achieved.
Finally, it should be noted that: although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that: modifications and equivalents may be made thereto without departing from the spirit and scope of the invention and it is intended to cover in the claims the invention as defined in the appended claims.
Claims (6)
1. The utility model provides a but multistage speed governing draw gear of pipeline intelligence shutoff robot, mainly by the pig main part, overflow pressure relief mechanism and brake mechanism and constitute, anticollision frame (1) and leather cup (2) are through bolted connection at the front end of device, brake mechanism arranges in on skeleton (6), two play pole pneumatic cylinders (12) are through mounting screw on pneumatic cylinder mounting bracket (13), put into mounting groove (602) in skeleton (6) with whole again on, then overflow pressure relief mechanism in the installation on mounting groove (602), connect base (7) and rear end mounting hole II (601) bolted connection of skeleton (6) rear end department at last, realize the axial fixity of each part in mounting groove (602), its characterized in that: the overflowing pressure relief mechanism is composed of a valve seat (8), a limiting rod (9), a valve core I (11) and a valve core II (10), wherein the valve core I (11) is connected to one side rod of a double-rod hydraulic cylinder (12) through threads, when the double-rod hydraulic cylinder (12) is in an initial state, the valve core I (11) is arranged in an overflowing through hole I (1002) of the valve core II (10), the valve core II (10) is arranged on the valve seat (8), and the limiting rod (9) penetrates through a limiting through hole (803) of the valve seat (8) and is arranged on a threaded hole I (1001) of the valve core II (10); the brake mechanism consists of a rubber cylinder (4), an extrusion ring (5), a push ring (14) and a pull rod (3), wherein the rubber cylinder (4) is sleeved on a boss (603) of a framework (6), the pull rod (3) is installed in a guide groove (605) on the framework (6), the extrusion ring (5) is sleeved on the framework (6) and is fixedly connected with the pull rod (3) through a screw, and the push ring (14) is connected to the other side rod of the double-rod hydraulic cylinder (12) through a thread; the pipe cleaner main body consists of a leather cup and a framework, and the leather cup (2) is connected to a front end mounting hole I (604) and a rear end mounting hole II (601) of the framework (6) through bolts.
2. The multi-stage speed regulation traction device of the intelligent pipeline plugging robot according to claim 1, characterized in that: the extrusion ring (5) is provided with four circumferential reinforcing ribs (501) and four through holes (502).
3. The multi-stage speed regulation traction device of the intelligent pipeline plugging robot according to claim 1, characterized in that: the rear end of the framework (6) is provided with four rear end mounting holes II (601), two symmetrical mounting grooves (602) and two hydraulic pipeline through holes I (606), the middle section of the framework is provided with a boss (603) and a guide groove (605), and the front end of the framework is provided with three front end mounting holes I (604).
4. The multi-stage speed regulation traction device of the intelligent pipeline plugging robot according to claim 1, characterized in that: the connecting base (7) is provided with a hinge ball connecting groove (701), four bolt connecting through holes (702) in the circumferential direction, two hydraulic pipeline through holes II (703) and an overflowing hole (704).
5. The multi-stage speed regulation traction device of the intelligent pipeline plugging robot according to claim 1, characterized in that: the valve seat (8) is provided with a symmetrical mounting boss (801), an overflowing through hole II (802) and four circumferential limiting through holes (803).
6. The multi-stage speed regulation traction device of the intelligent pipeline plugging robot according to claim 1, characterized in that: the valve core II (10) is provided with four circumferential threaded holes I (1001), and an overflowing through hole I (1002) is arranged on the central axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010621186.8A CN111720652B (en) | 2020-06-30 | 2020-06-30 | Multi-stage speed-regulating traction device of intelligent pipeline plugging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010621186.8A CN111720652B (en) | 2020-06-30 | 2020-06-30 | Multi-stage speed-regulating traction device of intelligent pipeline plugging robot |
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| Publication Number | Publication Date |
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| CN111720652A CN111720652A (en) | 2020-09-29 |
| CN111720652B true CN111720652B (en) | 2021-10-15 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112240448B (en) * | 2020-10-14 | 2022-03-22 | 西南石油大学 | Hydraulic anchoring plugging device of intelligent pipeline plugging robot |
| CN112815179B (en) * | 2021-03-02 | 2022-04-15 | 西南石油大学 | Initiative adjustable speed formula pipeline intelligence shutoff robot |
| CN112923162B (en) * | 2021-03-03 | 2022-03-22 | 西南石油大学 | Intelligent plugging robot and method for long-distance pipeline rerouting and maintenance and first-aid repair construction |
| CN115289316B (en) | 2022-08-03 | 2023-03-28 | 西南石油大学 | Small-pipe-diameter small-flow oil and gas pipeline intelligent maintenance and first-aid repair robot and method |
| CN116481931B (en) * | 2023-06-26 | 2023-09-22 | 沧州市德泰克钻井装备有限公司 | Multistage blowout preventer shutoff pressure testing device |
| CN117646844B (en) * | 2024-01-30 | 2024-04-02 | 西南石油大学 | Accurate positioning and inner detection pipeline intelligent plugging robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2326209B (en) * | 1997-06-12 | 2002-02-27 | British Gas Plc | Pipeline pigs |
| US8052801B2 (en) * | 2009-01-08 | 2011-11-08 | Tdw Delaware, Inc. | Pipeline pig launch pin and retraction system |
| EP2474772A1 (en) * | 2011-01-10 | 2012-07-11 | PII Limited | Apparatus for pipeline inspection and method of controlling same |
| US9810365B2 (en) * | 2014-02-24 | 2017-11-07 | Saudi Arabian Oil Company | Variable speed pipeline pig with internal flow cavity |
| CN105822868B (en) * | 2015-12-31 | 2017-10-17 | 西华大学 | Hydraulic feedback rate controlling pipe robot |
| CN106903122B (en) * | 2017-05-03 | 2023-03-07 | 西华大学 | Speed control method for pipe cleaner |
| CN110578852B (en) * | 2019-09-23 | 2021-08-27 | 中国石油大学(华东) | Intelligent pipeline plugging device and plugging method thereof |
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2020
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