CN112728292A - Oil tanker oil gas recovery pipeline wall climbing robot - Google Patents
Oil tanker oil gas recovery pipeline wall climbing robot Download PDFInfo
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- CN112728292A CN112728292A CN202110141199.XA CN202110141199A CN112728292A CN 112728292 A CN112728292 A CN 112728292A CN 202110141199 A CN202110141199 A CN 202110141199A CN 112728292 A CN112728292 A CN 112728292A
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- oil
- push rod
- wheel
- driving wheel
- electric
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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
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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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
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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
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The oil tanker oil gas recovery pipeline wall climbing robot comprises an electric cavity, corrugated bent pipes, a miniature camera device, a multistage push rod, a second driving wheel, an oil-proof cover, a waterproof motor, a support rod, a first electric push rod, a first driving wheel, a rotating shaft, a shaft bracket, a winding wheel device, a pull rope, a sliding rail and a sliding block, wherein the upper end and the lower end of the electric cavity are respectively provided with the corrugated bent pipes, the waterproof motor is arranged on the corrugated bent pipes, the miniature camera device is arranged on an output shaft of the waterproof motor, the oil-proof cover is arranged below the miniature camera device and covers the output shaft of the waterproof motor, the multistage push rods are respectively arranged on the left side and the right side of the miniature camera device, the top ends of the multistage push rods are hinged with the second driving wheel; the invention has the advantages that: the device has active movement capability, can smoothly pass through the elbow, and does not influence the shooting of the corrosion condition of the elbow part.
Description
Technical Field
The invention relates to a wall climbing robot for an oil tanker oil gas recovery pipeline, and belongs to the technical field of robots.
Background
Crude oil is typically transported by tanker ship to a destination terminal and transported by pipeline to a storage vessel or the like for storage. The pipeline of oil gas recovery system has more pipeline elbow and pipeline alternately, has produced intraductal fillet in the pipeline is inside, for crude oil volatile gas in the oil gas recovery pipeline, and internal pressure is not high, so does not have high expectations to pipeline strength, but contains oxysulfide and nitrogen oxide that have corrosivity in the oil gas, leads to the pipeline inner wall to corrode very easily, and then leads to the pipeline to destroy and leak oil gas, causes air pollution and crude oil extravagant to there is potential safety hazards such as fire, explosion. The drift diameter detector in the prior art utilizes flowing oil and gas in the pipeline to drive and move along the pipeline, obtains the corrosion condition of the pipeline through a carried sensor, but does not have active movement capability, often cannot pass through the elbow smoothly, and also cannot clearly shoot the corrosion condition of the inner elbow part by using a self-contained camera device. In order to solve the difficulties, the wall climbing robot for the oil tanker oil gas recovery pipeline, which has active movement capability, can smoothly pass through the elbow and does not affect the shooting of the corrosion condition of the elbow part, needs to be developed.
Disclosure of Invention
The invention aims to provide a wall climbing robot for an oil and gas recovery pipeline of an oil tanker.
The invention aims to solve the problems that a drift diameter detector in the prior art is driven by oil gas flowing in a pipeline to move along the pipeline, and the corrosion condition of the pipeline is obtained through a carried sensor, but the drift diameter detector does not have active movement capacity and often cannot smoothly pass through an elbow.
In order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:
the oil tanker oil gas recovery pipeline wall climbing robot comprises an electric cavity, corrugated bent pipes, a miniature camera device, a multistage push rod, a second driving wheel, an oil-proof cover, a waterproof motor, a support rod, a first electric push rod, a first driving wheel, a rotating shaft, a shaft bracket, a rolling wheel device, a pull rope, a sliding rail and a sliding block, wherein the corrugated bent pipes are respectively installed at the upper end and the lower end of the electric cavity, the waterproof motor is installed on the corrugated bent pipes, the miniature camera device is installed on an output shaft of the waterproof motor, the oil-proof cover is installed below the miniature camera device and covers the output shaft of the waterproof motor, the multistage push rods are respectively installed at the left side and the right side of the miniature camera device, the second driving wheel is hinged to the top end of the multistage push rod, the driving motor is arranged in the second driving wheel, the support rod is respectively installed at the left side and the right side of, the rolling wheel device is through built-in motor drive rolling wheel, stay cord one end is installed on the slider, the stay cord other end is fixed on the rolling wheel, the pedestal is respectively installed to both sides about the slide rail, install the pivot on the pedestal, first electric putter passes through the bogie and installs in the pivot, the pivot is driven by micro motor, first electric putter's front end respectively through the first drive wheel of fisheye bearing installation, first drive wheel includes the sucking disc, the rubber circle, second electric putter, pressfitting position and removal wheel, remove the periphery installation rubber circle of wheel, be equipped with a plurality of recesses in the rubber circle, the sucking disc is installed in the recess, the periphery and the rubber circle pressfitting of sucking disc are in the same place, the flexible end and the sucking disc back of second electric putter link to each other, second electric putter installs in removing the wheel.
The moving wheel is driven by a built-in driving mechanism.
The periphery of the sucker is pressed with the rubber ring, so that oil gas can be prevented from entering the back of the sucker.
And a bendable lead wire is arranged in the corrugated pipe.
The electric cavity is of a hollow structure, a microcontroller is arranged in the electric cavity, and the microcontroller is electrically connected with the first electric push rod, the second electric push rod and the multi-stage telescopic rod.
The rotating shaft is connected to a base of the built-in motor of the first driving wheel through a fisheye bearing.
The invention has the advantages that: the micro controller is connected with the waterproof motor, and the waterproof motor enables the micro camera to select to adjust the shooting angle of the micro camera so as to realize omnibearing shooting of images in the pipeline; meanwhile, the multi-stage push rod is rotated to adjust the orientation of the second driving wheel by the rotation of the miniature camera, so that the second driving wheel can conveniently pass through an elbow of the pipeline after the orientation is adjusted; the multi-stage telescopic rod can adjust the position of the second driving wheel, so that the second driving wheel can adapt to the change of a pipeline when the pipeline is changed from a straight-through pipe to an elbow pipe, if the elbow of the pipeline is in a shape like a Chinese character '7', a driving motor arranged in the second driving wheel can be controlled to enable the second driving wheel to crawl along the side walls of the front side and the rear side of a transverse pipe above the shape like the Chinese character '7', and then the second driving wheel enters the other end from one end of the elbow of the; the leads of the waterproof motor, the multi-stage telescopic rod and other electric appliances are all accommodated in the corrugated bent pipe; along with the movement of the second driving wheel, the corrugated bent pipe can be completely completed, and meanwhile, the following components are driven to move together; a built-in motor of the winding wheel device drives a winding wheel to rotate, so that the pull rope is loosened and wound, the sliding block is enabled to move up and down on the sliding rail, the position of the camera can be adjusted when the whole robot is fixed, and the shooting range of the camera is expanded; the orientation of the first electric push rod is adjusted after the micro motor of the rotating shaft is driven, when the whole robot passes through the pipeline elbow, the first electric push rod can drive the second driving wheel to adjust the angle and then change the outward orientation into the rotation to the side surface of the corrugated elbow, and meanwhile, the first driving wheels on the upper side and the lower side drive the whole robot to pass through the elbow under the action force of the second driving wheel; meanwhile, the sliding block is only fixed by the upper end and the lower end of the pull rope, so that the sliding block can be prevented from moving on the sliding rail; the first electric push rod can enable the first driving wheel to move outwards, the first driving wheel is enabled to be attached to the inner wall of the pipeline, and the robot can move back and forth integrally under the driving of the built-in motor of the first driving wheel; second electric putter links to each other with the microcontroller electricity, and microcontroller control second electric putter is concertina movement, and the arch and the sunken of control sucking disc, and then realize that the sucking disc adsorbs on the pipeline inner wall, when making the position of stay cord pulling slider removal to the camera fine-tune, more firm.
Drawings
Fig. 1 is an overall structure diagram of the oil tanker oil gas recovery pipeline wall climbing robot of the invention;
FIG. 2 is an enlarged schematic view of the structure of section a;
FIG. 3 is a side view of the chuck;
in the figure: 1. the electric control device comprises an electric cavity 2, a corrugated bent pipe 3, a micro camera device 4, a multi-stage push rod 5, a second driving wheel 6, an oil-proof cover 7, a waterproof motor 8, a support rod 9, a first electric push rod 10, a first driving wheel 11, a rotating shaft 12, a shaft bracket 13, a winding wheel device 14, a pull rope 15, a sliding rail 16, a sliding block 17, a sucking disc 18, a rubber ring 19, a second electric push rod 20, a pressing part 21 and a moving wheel.
Detailed Description
The invention is further described with reference to the following figures and examples.
The oil tanker oil gas recovery pipeline wall climbing robot comprises an electric cavity 1, corrugated elbows 2, a micro-camera device 3, multistage push rods 4, second driving wheels 5, an oil shield 6, a waterproof motor 7, supporting rods 8, a first electric push rod 9, a first driving wheel 10, a rotating shaft 11, a shaft bracket 12, a winding wheel device 13, a pull rope 14, a sliding rail 15 and a sliding block 16, wherein the corrugated elbows 2 are respectively arranged at the upper end and the lower end of the electric cavity 1, the waterproof motor 7 is arranged on the corrugated elbows 2, the micro-camera device 3 is arranged on an output shaft of the waterproof motor 7, the oil shield 6 is arranged below the micro-camera device 3, the oil shield 6 covers the output shaft of the waterproof motor 7, the multistage push rods 4 are respectively arranged at the left side and the right side of the micro-camera device 3, the second driving wheels 5 are hinged to the top ends of the multistage push rods 4, a driving motor is arranged in the second driving wheel 5, a slide block 16 is arranged on the side surface of the supporting rod 8, the slide block 16 is arranged on a slide rail 15, a winding wheel device 13 is arranged on the side wall of the slide rail 15, the winding wheel device 13 drives a winding wheel through a built-in motor, one end of a pull rope 14 is arranged on the slide block 16, the other end of the pull rope 14 is fixed on the winding wheel, shaft brackets 12 are respectively arranged on the upper side and the lower side of the slide rail 15, a rotating shaft 11 is arranged on the shaft brackets 12, a first electric push rod 9 is arranged on the rotating shaft 11 through a bogie, the rotating shaft 11 is driven by a micro motor, a first driving wheel 10 is respectively arranged at the front end of the first electric push rod 9 through a fisheye bearing, the first driving wheel 10 comprises a suction disc 17, a rubber ring 18, a second electric push rod 19, a pressing part 20 and a moving wheel 21, the rubber ring 18 is arranged on the periphery of the moving wheel 21, a plurality of grooves are arranged in the rubber ring 18, the second electric push rod 19 is mounted in the moving wheel 21.
The moving wheel 21 is driven by a built-in driving mechanism.
The periphery of the sucking disc 17 is pressed with the rubber ring 18, so that oil gas can be prevented from entering the back of the sucking disc 17.
And a bendable lead wire is arranged in the corrugated pipe.
The interior of the electric cavity 1 is of a hollow structure, a microcontroller is arranged in the electric cavity 1, and the microcontroller is electrically connected with the first electric push rod 9, the second electric push rod 19 and the multi-stage telescopic rod.
The rotating shaft 11 is connected to a base of the built-in motor of the first driving wheel 10 through a fisheye bearing.
The use method of the invention comprises the following steps: the micro controller is connected with the waterproof motor 7, and the waterproof motor 7 enables the micro camera to select to adjust the shooting angle of the micro camera so as to realize omnibearing shooting of images in the pipeline; meanwhile, the multi-stage push rod 4 rotates to adjust the orientation of the second driving wheel 5 by the rotation of the miniature camera, so that the second driving wheel 5 can conveniently pass through an elbow of the pipeline after the orientation is adjusted; the position of the second driving wheel 5 can be adjusted by the multi-stage telescopic rod, so that the second driving wheel 5 can adapt to the change of a pipeline when the pipeline is changed from a straight-through pipe to an elbow pipe, if the elbow of the pipeline is in a 7 shape, a driving motor arranged in the second driving wheel 5 can be controlled to enable the second driving wheel 5 to crawl along the front side wall and the rear side wall of the transverse pipe above the 7 shape, and then the transverse pipe enters the other end from one end of the elbow of the pipeline; wires of electric appliances such as the waterproof motor 7, the multi-stage telescopic rods and the like are all accommodated in the corrugated bent pipe 2; along with the movement of the second driving wheel 5, the corrugated pipe bending 2 can be completed, and meanwhile, the following components are driven to move together; a built-in motor of the winding wheel device 13 drives a winding wheel to rotate, so that the pull rope 14 is loosened and wound, the slide block 16 moves up and down on the slide rail 15, the position of the camera can be adjusted when the whole robot is fixed, and the shooting range of the camera is expanded; the orientation of the first electric push rod 9 is adjusted after the micro motor of the rotating shaft 11 is driven, when the whole robot passes through a pipeline elbow, the first electric push rod 9 can drive the second driving wheel 5 to adjust the angle and then change the outward orientation into the rotation to the side surface of the corrugated elbow pipe 2, and meanwhile, the whole robot is driven by the first driving wheels 10 on the upper side and the lower side to pass through the elbow without the help of the acting force of the second driving wheel 5; meanwhile, the sliding block 16 is only fixed by the upper end and the lower end of the pull rope 14, so that the sliding block 16 can be prevented from moving on the sliding rail 15; the first electric push rod 9 can enable the first driving wheel 10 to move outwards, the first driving wheel 10 is enabled to be attached to the inner wall of the pipeline, and the whole robot can move back and forth under the driving of the built-in motor of the first driving wheel 10; second electric putter links to each other with microcontroller electricity, and microcontroller control second electric putter is concertina movement, and control sucking disc 17's arch and sunken, and then realize that sucking disc 17 adsorbs on the pipeline inner wall, and when making 14 pulling sliders 16 of stay cord remove the position to the camera and carry out the fine setting, it is more firm.
Claims (6)
1. Oil ship oil gas recovery pipeline wall climbing robot, including electric chamber (1), ripple return bend (2), miniature camera device (3), multistage push rod (4), second drive wheel (5), oil shield (6), waterproof motor (7), branch (8), first electric putter (9), first drive wheel (10), pivot (11), pedestal (12), wind-up wheel device (13), stay cord (14), slide rail (15) and slider (16), characterized by: the upper end and the lower end of the electric cavity (1) are respectively provided with a corrugated bent pipe (2), the corrugated bent pipe (2) is provided with a waterproof motor (7), an output shaft of the waterproof motor (7) is provided with a micro-camera device (3), an oil-proof cover (6) is arranged below the micro-camera device (3), the oil-proof cover (6) covers the output shaft of the waterproof motor (7), the left side and the right side of the micro-camera device (3) are respectively provided with a multi-stage push rod (4), the top end of the multi-stage push rod (4) is hinged with a second driving wheel (5), the second driving wheel (5) is internally provided with a driving motor, the left side and the right side of the electric cavity (1) are respectively provided with a support rod (8), the side of the support rod (8) is provided with a slide block (16), the slide block (16) is arranged on a slide rail (15), the side, one end of a pull rope (14) is installed on a sliding block (16), the other end of the pull rope (14) is fixed on a winding wheel, shaft brackets (12) are respectively installed on the upper side and the lower side of a sliding rail (15), a rotating shaft (11) is installed on the shaft brackets (12), a first electric push rod (9) is installed on the rotating shaft (11) through a bogie, the rotating shaft (11) is driven by a micro motor, a first driving wheel (10) is installed at the front end of the first electric push rod (9) through a fish eye bearing, the first driving wheel (10) comprises a suction disc (17), a rubber ring (18), a second electric push rod (19), a pressing part (20) and a moving wheel (21), the rubber ring (18) is installed on the periphery of the moving wheel (21), a plurality of grooves are formed in the rubber ring (18), the suction disc (17) is installed in the grooves, the periphery of the suction disc (17) is pressed together with the rubber ring (18), and the telescopic end of, the second electric push rod (19) is arranged in the moving wheel (21).
2. Tanker oil and gas recovery pipeline wall climbing robot of claim 1, characterized by: the moving wheel (21) is driven by a built-in driving mechanism.
3. Tanker oil and gas recovery pipeline wall climbing robot of claim 1, characterized by: the periphery of the sucker (17) is pressed with the rubber ring (18), so that oil gas can be prevented from entering the back of the sucker (17).
4. Tanker oil and gas recovery pipeline wall climbing robot of claim 1, characterized by: and a bendable lead wire is arranged in the corrugated bent pipe (2).
5. Tanker oil and gas recovery pipeline wall climbing robot of claim 1, characterized by: the electric cavity (1) is internally of a hollow structure, the electric cavity (1) is internally provided with a microcontroller, and the microcontroller is electrically connected with the first electric push rod (9), the second electric push rod (19) and the multistage push rod (4).
6. Tanker oil and gas recovery pipeline wall climbing robot of claim 1, characterized by: the rotating shaft (11) is connected to a base of a built-in motor of the first driving wheel (10) through a fisheye bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110141199.XA CN112728292A (en) | 2021-02-02 | 2021-02-02 | Oil tanker oil gas recovery pipeline wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110141199.XA CN112728292A (en) | 2021-02-02 | 2021-02-02 | Oil tanker oil gas recovery pipeline wall climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112728292A true CN112728292A (en) | 2021-04-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110141199.XA Pending CN112728292A (en) | 2021-02-02 | 2021-02-02 | Oil tanker oil gas recovery pipeline wall climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN112728292A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114534377A (en) * | 2022-02-14 | 2022-05-27 | 山东莱钢永锋钢铁有限公司 | Device for reducing carrying of water drops of wet desulphurization direct-exhaust chimney and construction method |
| CN114704712A (en) * | 2022-04-15 | 2022-07-05 | 哈工大机器人（合肥）国际创新研究院 | Multi-drive shafting water detection robot |
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| CN104015830A (en) * | 2014-06-13 | 2014-09-03 | 徐州工业职业技术学院 | Active-passive combined type negative pressure adsorption continuous walking wall-climbing detecting robot |
| CN206018141U (en) * | 2016-06-20 | 2017-03-15 | 吴宇豪 | Pipeline climbing robot |
| CN206117879U (en) * | 2016-09-21 | 2017-04-19 | 浙江海洋大学 | Automatic induction type camera car |
| CN107435783A (en) * | 2017-08-18 | 2017-12-05 | 寿浙涛 | A kind of pipe robot for conveniently adapting to different pipelines |
| CN108275215A (en) * | 2018-02-13 | 2018-07-13 | 洛阳理工学院 | A kind of wall climbing vehicle and the detection robot based on the wall climbing vehicle |
| CN108692133A (en) * | 2018-06-20 | 2018-10-23 | 燕山大学 | Pipe robot |
| KR101994139B1 (en) * | 2019-01-23 | 2019-06-28 | (주)다흥 | Pipe clean robot device for sludge removal and suction and discharge |
| CN110118290A (en) * | 2019-06-24 | 2019-08-13 | 广州工程技术职业学院 | Pipeline climbing robot |
-
2021
- 2021-02-02 CN CN202110141199.XA patent/CN112728292A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015830A (en) * | 2014-06-13 | 2014-09-03 | 徐州工业职业技术学院 | Active-passive combined type negative pressure adsorption continuous walking wall-climbing detecting robot |
| CN206018141U (en) * | 2016-06-20 | 2017-03-15 | 吴宇豪 | Pipeline climbing robot |
| CN206117879U (en) * | 2016-09-21 | 2017-04-19 | 浙江海洋大学 | Automatic induction type camera car |
| CN107435783A (en) * | 2017-08-18 | 2017-12-05 | 寿浙涛 | A kind of pipe robot for conveniently adapting to different pipelines |
| CN108275215A (en) * | 2018-02-13 | 2018-07-13 | 洛阳理工学院 | A kind of wall climbing vehicle and the detection robot based on the wall climbing vehicle |
| CN108692133A (en) * | 2018-06-20 | 2018-10-23 | 燕山大学 | Pipe robot |
| KR101994139B1 (en) * | 2019-01-23 | 2019-06-28 | (주)다흥 | Pipe clean robot device for sludge removal and suction and discharge |
| CN110118290A (en) * | 2019-06-24 | 2019-08-13 | 广州工程技术职业学院 | Pipeline climbing robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114534377A (en) * | 2022-02-14 | 2022-05-27 | 山东莱钢永锋钢铁有限公司 | Device for reducing carrying of water drops of wet desulphurization direct-exhaust chimney and construction method |
| CN114704712A (en) * | 2022-04-15 | 2022-07-05 | 哈工大机器人（合肥）国际创新研究院 | Multi-drive shafting water detection robot |
| CN114704712B (en) * | 2022-04-15 | 2023-06-13 | 哈工大机器人（合肥）国际创新研究院 | Multi-drive-shaft lacing water detection robot |
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Application publication date: 20210430 |
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