CN112097008B

CN112097008B - Lining composite pipe shape-modifying robot

Info

Publication number: CN112097008B
Application number: CN202010976233.0A
Authority: CN
Inventors: 练章华; 成旭堂; 谷天平; 于浩; 张强; 李帅; 曹金超
Original assignee: Southwest Petroleum University
Current assignee: Southwest Petroleum University
Priority date: 2020-09-16
Filing date: 2020-09-16
Publication date: 2022-01-25
Anticipated expiration: 2040-09-16
Also published as: CN112097008A

Abstract

The invention discloses a lining composite pipe shape-modifying robot which mainly comprises a front guide mechanism module, a shape-modifying mechanism module, a control device module and a traveling mechanism module and can be used in series and combination according to actual working conditions. The guide mechanism has the functions of guiding, supporting, bulge imaging detection and mileage recording; the repair mechanism inputs repair power through the screw matching of the screw shaft section by a motor, expands the diameter in a certain axial direction, when a repair roller contacts the bulge part, the space between the screw shaft section of the rear shaft of the repair mechanism and the rear support is in a dynamic balance locked state, and drives the whole repair mechanism to repair the bulge part of the liner tube by rolling; the rear walking mechanism adopts a crawler device with a larger contact surface with the pipe wall, so that the working stability and the driving force of the shaping robot are ensured. The invention can be used for pipeline inspection, bulge repair and other work of the high-corrosivity oil gas conveying double-metal-lining composite pipe, and has the advantages of modular mechanism function, good shape modification effect, stable operation, strong passing force and the like.

Description

Lining composite pipe shape-modifying robot

Technical Field

The invention relates to a lining pipe bulge repairing device for a lining composite pipe, and belongs to the field of pipeline robots.

Background

At present, metal pipelines are widely applied to the aspect of petroleum and natural gas transportation, wherein carbon steel pipes are widely applied, but the corrosion resistance is poor. The bimetal composite pipe belongs to a corrosion-resistant alloy pipe, and is widely applied to petroleum and natural gas conveying pipelines due to excellent mechanical properties and good corrosion resistance. According to statistics, the total length of the bimetal composite pipe in the oil and gas pipeline in China reaches about 1200km, and the annual increase speed of the usage amount of the bimetal composite pipe is increasing continuously.

The bimetal lining composite pipe is used as a main technical measure for controlling corrosion of pipelines in oil and gas gathering and transportation technology, and is widely applied at home and abroad due to good economical efficiency and corrosion resistance. The base pipe mainly plays a bearing role in the composite pipe, the liner pipe plays an anti-corrosion role, the wall thickness of the liner pipe is very thin (generally 1-3 mm), the liner pipe of the base pipe is mechanically attached, and the liner pipe is easy to bulge due to the fact that the rigidity instability phenomenon of a thin-wall structure occurs under the alternating load effect when the production quality problem or the pipeline operates. After the swelling, the risk of liner tube material fracture or stress corrosion cracking is increased, and meanwhile, the passing of online detection equipment such as hydrocarbon, a pipe cleaner and the like can be blocked, so that the normal and safe operation of the composite pipe is seriously influenced, and even pipeline safety accidents are caused.

Due to the characteristics of the working environment and the length of the pipe body of the double-metal lining composite pipe, once the liner pipe bulges, the liner pipe is difficult to repair manually. But pipeline robot has advantages such as small, the motion is dexterous, working capability is strong, and pipeline robot can be through carrying different sensor, positioning system and necessary working tool, through equipment remote control such as computer, cell-phone, control pipeline robot and pass through the pipeline, easily realize work such as pipeline detection, restoration, clearance. Therefore, the design of the bulging and shape-modifying robot for the lining pipe of the double-metal lining composite pipe has important engineering value and significance.

At present, the research on the pipeline robot mainly focuses on the research on the functions and the operation modes of the pipeline, the positioning system and the operation system of the pipeline robot for detecting, cleaning and corroding a coating, and the research on the pipeline repairing technology mainly focuses on the research on the trenchless repairing technology. The trenchless repairing technology for repairing the petroleum and natural gas pipelines mainly comprises an overturning lining method, an inserting lining method, a reducing lining method and the like, most of the repairing technologies require the pipeline to be in a perfect shape, and the buckling (bulging) repairing of the pipeline is not researched by the two technologies. However, as the mileage of the transportation pipeline increases and the pipeline ages, the pipeline bulges more and more, and the bulges are important reasons for the pipeline to generate puncture. Therefore, the invention designs a bimetal lining composite pipe reshaping robot independently aiming at the bulging problem of the bimetal lining composite pipe on the basis of the previous research theory.

Disclosure of Invention

The lining composite pipe reshaping robot can be used for reducing in a composite pipe for conveying corrosive media, and particularly repairs a lining bulge in the composite pipe so as to facilitate subsequent operations such as detection, pipe cleaning and the like of the pipeline.

The purpose of the invention is realized by the following technical scheme: the utility model provides a compound pipe lining pipe reshaping robot, it can comprise a plurality of modules, and the module divide into direction module, modification module, control (energy) module and walking (drive) module, and each module can be according to operating condition, and the work such as compound pipe lining pipe bulge detection restoration of lining is accomplished to the series connection combination. The intermediate connection of the universal joint coupler enables the robot to more conveniently pass through a bent pipe pipeline with a certain curvature.

The front guide mechanism of the invention consists of a CCD imaging sensor, a support component, a spring, a roller and a perforated circular front seat and a perforated circular rear seat with the diameter smaller than the pipe diameter, realizes elastic self-adaptive support of composite pipes with different pipe diameters on the basis of meeting the requirement of guide, and the six-rod design ensures that the acting force on the pipeline can be uniformly distributed, ensures the running stability of the robot and reduces the radial size of the guide mechanism. In addition, the design that the rubber ring is attached to the outside of the roller greatly reduces the abrasion to the liner tube in the operation process of the shaping robot, and the roller is also protected in a corrosive pipeline, so that the corrosion resistance of the lining composite pipe is ensured.

The modification module comprises: front and back axle, front and back support, locating part, coupling assembling, roller subassembly and atress pole etc. constitute. The front shaft and the rear shaft are connected by a plurality of groups of bearings at the middle position of the mechanism, the axial positioning and the circumferential rotation are ensured, and simultaneously, the axes of the two shafts are aligned, so that the front shaft is prevented from shaking due to the rotation of the rear shaft, and the stable operation of the shape correcting mechanism is prevented from being influenced. The front support and the front shaft are axially positioned at the bearing section and circumferentially rotate; the rear support and the rear shaft are matched in a spiral mode through the screw rod section, the rear support moves along with the rotation axial direction of the rear shaft at a certain time distance, when the shape trimming roller touches the bulge part, the spiral part is held tightly and enters a dynamic balance position, and at the moment, the rear shaft drives the rear support to rotate together, so that the whole shape trimming mechanism is driven to rotate, and the purpose of repairing the bulge is achieved. The limiting part mainly adjusts the positions of the connecting component and the shape-modifying roller in a directional mode, further adjusts the shape-modifying posture, can adjust the shape-modifying roller to be parallel to the shaft or form a certain included angle with the shaft according to the size of the bulge, enables the stress to be optimal, and meanwhile, the shape-modifying roller is installed on the rear shaft through a bearing, is axially positioned and can rotate along with the shape-modifying mechanism. The connecting assembly connects the shaping roller, the stress rod and the like to the front support and the rear support in a rod structure, and the integrity of the structure is guaranteed. The shape-modifying roller assembly comprises a roller, a roller shaft, a bearing, a connecting piece and the like, and the shape-modifying roller rolls around the roller shaft to modify the shape, so that the abrasion of the roller to the surface of the lining in the shape-modifying process is reduced, and the corrosion resistance of the lining is ensured. The main trimming motor is connected with the rear shaft of the trimming mechanism through a flexible coupling, and power is transmitted to the whole trimming mechanism through spiral matching.

The invention also has the following structural characteristics: 1. the guide mechanism comprises six wheel rod assemblies which are uniformly distributed for 60 degrees, and the wheel rod assemblies are elastically connected through spring assemblies, can automatically adapt to different pipe diameters and play a role in supporting and guiding. 2. The three groups of tracks are uniformly distributed at 120 degrees on the circumference of the rear shaft, and each group is connected with a stepping motor through a lead screw to actively control the radial opening angle so as to adapt to different pipe diameters. 3. Four expansion connecting ends are uniformly distributed on the front support and the rear support of the shape correction mechanism and are connected with the shape correction roller through a connecting assembly. 4. The outer ring of the roller is coated with an anticorrosive material, the radial section of the outer ring of the roller is in the shape of a circular arc, and continuous rotary extrusion repair is carried out on the circular arc roller and the bulge.

Compared with the prior art, the invention has the following beneficial technical effects: firstly, a modularized unit body structure is adopted, and a guide unit, a working unit, a control unit and a driving unit are flexibly combined in a series connection mode to form a pipeline robot, so that the continuous walking operation is realized while repairing bulges in a composite pipeline; secondly, the shape modification working unit drives the rear shaft section of the screw rod through a motor to realize continuous rotating diameter expansion repairing bulge operation; and the front guide module is connected with the shape modification module through a universal joint coupler to finish the functions of smooth movement, turning and supporting in the pipeline.

The robot adopts the axial line centrosymmetric structural distribution, adopts the triangular crawler belt supporting type walking mechanism, has wide contact surface between the crawler belt and the pipe wall, large walking friction force and strong pipe climbing capacity, and ensures that enough friction force is generated to resist the shape-modifying counter torque. Every supporting mechanism is expanded by a step motor control supporting mechanism is flexible, initiatively adapts to different pipe diameters, simultaneously every crawler attachment is inside to be driven the athey wheel through bevel gear group by the small motor and rotate again with power transmission to the track, but three small motor independent control satisfies the differential walking needs, conveniently turns round the walking in return bend department to the walking gesture of control whole robot.

Drawings

Fig. 1 is a schematic diagram of the general structure of a lining composite pipe reshaping robot.

Fig. 2 is a schematic view of a front steering mechanism of the present invention.

FIG. 3 is a schematic view of a shape modification mechanism of the present invention.

FIG. 4 is a partial cross-sectional view of a shape modifying mechanism of the present invention.

FIG. 5 is a side view of the shape modifying mechanism of the present invention.

FIG. 6 is a schematic view of the traveling mechanism of the present invention.

Fig. 7 is a side view of the running gear of the present invention.

Fig. 8 is a schematic view of the shaping robot assembly of the present invention.

Reference numerals indicate the same.

1. A guide mechanism rear support, 2, a column, 3, a CCD imaging device, 4, a guide mechanism front support, 5, a sliding rod, 6, a wheel rod, 7, a sliding piece, 8, a mile wheel, 9, a spring, 10, a universal joint coupler, 11, a shape modification mechanism front support, 12, a shape modification mechanism front shaft, 13, a roller shaft, 14, a connecting pin, 15, a stress rod, 16, a shape modification mechanism rear support, 17, a main motor shaft, 18, a control device, 19, a traveling mechanism shaft, 20, a parallel rod I, 21, a stepping screw rod, 22 track cover, 23, a parallel rod II, 24, a track, 25, a belt wheel shaft, 26, a sliding piece, 27, a coupler half piece, 28, a flexible coupler, 29, a screw rod shaft, 30, a limiting piece, 31, a parallel rod III, 32, a shape modification roller, 33, a connecting piece, 34, an intermediate body, 35, a connecting pin, 36, a guide mechanism shaft, 37, a column hole, 38, a shaft section, 39. the device comprises a front deep groove ball bearing, 40 roller shafts, 41 roller shaft group bearings, 42 roller shaft connectors, 43 limiting round nuts, 44 limiting piece bearings, 45 connecting bearings I, 46 connecting bearings II, 47 connecting bearings III, 48 traveling mechanism connecting rods and 49 supporting rods.

Detailed Description

The following describes in detail an embodiment of a robot for shaping a lined composite pipe according to the present invention with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of the overall combined structure of a lining composite pipe shaping robot, wherein the modules are connected in series through couplers, and the overall structure combination comprises a front guide support module, a working shaping module, an energy control module and a walking support module. The whole robot is supported by the spring flexible self-adaption support in the front guide support mechanism and the active support of the rear triangular crawler type walking mechanism, and the posture adjustment and the working walking of the robot in the pipe are finished.

As shown in figure 2, the front guide mechanism of the lining composite pipe reshaping robot comprises a guide mechanism rear support 1, an upright post 2, a CCD imaging sensor 3, a guide mechanism front support 4, a slide rod 5, a wheel rod 6, a slide piece 7, a mileage wheel 8, a spring 9, a guide mechanism shaft 36 and the like, wherein six upright post holes 37 are uniformly distributed on the front support and the rear support respectively, the front support and the rear support are connected through the upright post, and a flexible spring self-adapting device is assembled on the front support and the rear support, so that the front guide mechanism can adapt to different pipe diameters to play roles in detecting bulges and supporting and guiding.

Fig. 3 is a schematic diagram of a shaping mechanism module of the lining composite pipe shaping robot of the invention. The device comprises a front support 11 and a rear support 16 of a shape-modifying mechanism, a front shaft 12 and a screw shaft 29 of the shape-modifying mechanism, a shape-modifying roller 32, a plurality of connecting components and the like. Fig. 4 is a partial cross sectional view of the shape correcting mechanism of the present invention, the front support of the shape correcting mechanism and the shaft are axially positioned by a clamping piece 38 and a front deep groove ball bearing 39, the rear support 16 of the shape correcting mechanism and a screw shaft 29 are spirally matched by a screw rod section, the rear support 16 of the shape correcting mechanism moves axially along with the rotation of the rear shaft at a certain time interval, when the shape correcting roller touches a bulge part, the spiral part is tightly held, and enters a dynamic balance position to drive the rear support to rotate together. The limiting member 30 is mounted on the rear shaft section through a limiting member bearing 44, and the shape modification posture of the shape modification roller is adjusted by adjusting the position of the limiting round nut, so that the stress of the shape modification roller is optimal. The shape-modifying roller assembly comprises a shape-modifying roller 32, a roller shaft 40, a roller shaft group bearing 41, a roller shaft connecting piece 42 and the like, and the shape-modifying roller rolls around the roller shaft to modify the shape, so that the friction resistance and the abrasion to the inner surface of the liner tube in the shape-modifying process are reduced. FIG. 5 is a side view of the shape modifying mechanism of the present invention, which is composed of four shape modifying rollers uniformly distributed, and which satisfies the shape modifying function and improves the shape modifying efficiency.

Fig. 6 and 7 are schematic diagrams and side views of a walking mechanism of a lining composite pipe shaping robot, which mainly comprises a control device 18, a stepping screw 21, a walking mechanism shaft 19, a sliding piece 26, a crawler group cover 22, a crawler 24, a walking mechanism connecting rod 48 and a supporting rod 49, wherein three groups of crawler supporting components are uniformly distributed along the circumferential direction by 120 degrees, and supporting angles can be adjusted through the stepping screw 21 to adapt to different pipe diameters. The three groups of tracks are in large-area contact with the pipe wall to generate enough large contact friction force, so that the shape modification work of the whole shape modification robot and the walking of the pipeline are reliably and stably carried out.

Fig. 8 is a schematic diagram of the combination of the lining composite pipe reshaping robot in the pipeline, wherein each module mechanism is formed by connecting couplers in series, and an exemplary combination comprises a guide mechanism, a reshaping mechanism, a control device, a traveling mechanism, a universal joint coupler and a flexible coupler.

Claims

1. The utility model provides a compound pipe of lining machine tool body, comprises guiding mechanism module, modification mechanism module, controlling means module and running gear module, and each module intercombination passes through universal joint coupling (10) or flexible coupling (28) and connects its characterized in that: the shape correcting mechanism module mainly comprises a screw shaft (29), a shape correcting mechanism front support (11), a shape correcting mechanism rear support (16), a stress rod (15), a shape correcting roller (32) and the like; the kinetic energy generated by the motor enables the screw shaft (29) section to rotate through the flexible coupling (28), then the power is transmitted to the shape modification mechanism rear support (16) through spiral matching, then the rotating motion of the screw shaft (29) is converted into radial expanding motion through the stress rod (15) and the connecting piece (33), and further transmitted to the shape modification roller (32), when the shape modification roller (32) is contacted with the bulge part, the screw shaft (29) is in a dynamic locking state, and the power is transmitted to the whole shape modification mechanism module to rotate.

2. The lining composite pipe reshaping robot of claim 1, wherein the guide mechanism module comprises a guide mechanism front support (4), a guide mechanism rear support (1), a stand column (2), a CCD imaging device (3), a guide mechanism shaft (36), a spring (9), a slider (7), a sliding rod (5), a wheel rod (6) and a mileage wheel (8), the guide mechanism front support (4) and the front end of the guide mechanism shaft (36) are installed at a certain depth by threads, and the guide mechanism rear support (1) is smoothly connected with the guide mechanism shaft (36); the equipartition has 6 overhanging link on guide mechanism front support (4), wheel pole (6) are conveniently installed, the left side in guide mechanism front support (4) is installed with the threaded connection form in CCD image device (3), the equipartition has six column mouting holes on guide mechanism front support (4) and the guide mechanism rear support (1), stand (2) front end is connected with guide mechanism front support (4) with the screw form, install slider (7) and spring (9) in proper order, guide mechanism rear support (1) and stand (2) are installed with the screw form, all connect with threaded connection spare between other parts.

3. The lining composite pipe shaping robot of claim 1, wherein the shaping mechanism module further comprises a shaping mechanism front shaft (12), a connecting pin (14), a connecting piece (33), a roller shaft (40), a roller shaft group bearing (41), a roller shaft connecting piece (42), a connecting bearing I (45), a limiting piece (30), a limiting round nut (43), a shaft segment clamping piece (38) and a front deep groove ball bearing (39), and the shaping mechanism front shaft is connected with the guiding mechanism module through a universal joint coupler (10).

4. The lining composite pipe reshaping robot as claimed in claim 1, wherein the control device module mainly comprises a main motor shaft (17) and a control device (18), the main motor shaft and the control device are connected with the reshaping mechanism module through a flexible coupling (28), and a walking mechanism shaft (19) is rigidly and fixedly arranged at the rear end of the control device module.

5. The lining composite pipe shaping robot of claim 1, wherein the walking mechanism module mainly comprises a sliding member (26), a support rod (49), a stepping screw rod (21), a crawler cover (22), a crawler (24), a walking mechanism shaft (19) and a walking mechanism connecting rod (48), and the three groups of crawler (24) are distributed in 120 degrees.