CN112815179B - Initiative adjustable speed formula pipeline intelligence shutoff robot - Google Patents
Initiative adjustable speed formula pipeline intelligence shutoff robot Download PDFInfo
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- CN112815179B CN112815179B CN202110229624.0A CN202110229624A CN112815179B CN 112815179 B CN112815179 B CN 112815179B CN 202110229624 A CN202110229624 A CN 202110229624A CN 112815179 B CN112815179 B CN 112815179B
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- plugging
- hydraulic cylinder
- pipe cleaning
- crawling
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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
- F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
- F16L55/162—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe
- F16L55/163—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a ring, a band or a sleeve being pressed against the inner surface of the pipe
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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
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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
- F16L2101/12—Cleaning
Abstract
The invention discloses an active speed-adjustable intelligent pipeline plugging robot which comprises a first parking sealing mechanism, a crawling mechanism, a second parking sealing mechanism, a pipe cleaning speed regulating mechanism and the like, wherein the pipe cleaning speed regulating mechanism is positioned at the lowest end, the second parking sealing mechanism is connected above the pipe cleaning speed regulating mechanism through a connecting rod, the crawling mechanism is connected between the first parking sealing mechanism and the second parking sealing mechanism through the connecting rod, the plugging mechanism performs plugging and anchoring through opening and closing of slips and rubber deformation, the crawling mechanism performs crawling movement through a hydraulic piston matched with the front plugging mechanism and the rear plugging mechanism, and the pipe cleaning speed regulating mechanism controls the integral movement speed and compensates the rubber movement abrasion through the rubber deformation. The intelligent plugging device can realize intelligent plugging of an oil-gas transportation pipeline, the robot can smoothly pass through complex pipeline conditions by utilizing the rebound of the roller, the pipe cleaning rubber can continuously and efficiently clean the pipe and regulate the speed, and the crawling mechanism enables the robot to accurately move to a specified working point, so that the rapid, safe and accurate plugging in the emergency maintenance operation of the oil-gas transportation pipeline is realized.
Description
Technical Field
The invention belongs to the technical field of oil and gas pipeline maintenance and rescue, and particularly relates to a rubber flow control and speed regulation type intelligent pipeline plugging robot.
Background
The pipeline transportation is the most economic and reasonable transportation mode of petroleum and natural gas. At present, a plurality of oil and gas area pipe networks are formed in China, and with the rapid development of energy industry, the construction of oil and gas pipelines in China will continue to be developed greatly. With the increase of the laying length of pipelines and the increase of service life in China, planned maintenance of the pipelines is needed. During maintenance, pipeline plugging technology is inevitably adopted to seal off the conveying medium inside the pipeline. At present, the pressurized tapping plugging technology is widely used in China to perform plugging operation on a repaired pipeline, and besides the technology is complex, the shutdown time of the pipeline is long. Meanwhile, the plugging pressure of the pressurized tapping plugging operation is far lower than the normal conveying pressure of the pipeline, so that the structural limitation that the plugging device enters the pipeline from the tapping to perform plugging needs to be broken through, and the internal plugging technology of the pipeline capable of bearing higher pressure in the pipeline is researched.
At present, the intelligent pipeline plugging robot has mature products abroad, and although certain research work has been carried out in China, the intelligent pipeline plugging robot does not form a mature product. Along with the improvement of the management level and the requirement of the integrity of the pipeline, the existing intelligent pipeline plugging robot cannot well meet the requirements of field operation, and the functions and the performances are mainly expressed as the following points:
(1) the oil gas can not smoothly pass through the obstacles such as flanges, welding lines and the like in the oil gas conveying pipeline;
(2) the intelligent pipeline plugging robot cannot be accurately controlled to reach a plugging position for plugging;
(3) the movement speed of the intelligent pipeline plugging robot in the pipeline cannot be controlled, and the situation that the intelligent pipeline plugging robot moves too fast and is out of control is easy to happen;
(4) after a pipeline cleaner of the intelligent pipeline plugging robot operates for a certain time, the pipeline cleaner fails due to abrasion.
In order to solve the problems of the existing plugging device for the oil and gas conveying pipeline, improve the efficiency and safety of emergency repair of the oil and gas conveying pipeline and reduce environmental pollution and economic loss caused by oil and gas leakage or transportation stop, the invention provides an active speed-adjustable intelligent pipeline plugging robot, so that the intelligent pipeline plugging robot can safely move in the pipeline and smoothly pass through obstacles, can continuously and efficiently clean the pipeline, and finally can accurately adjust the position of the intelligent pipeline plugging robot to a specified plugging place, thereby realizing efficient and safe emergency repair and plugging of the oil and gas conveying pipeline.
Disclosure of Invention
Technical problem to be solved
The invention aims to: problem and demand to current finished product oil gas conveying pipeline plugging device existence, an initiative adjustable speed formula pipeline intelligence plugging robot is provided, gyro wheel and spring have solved the unable smooth problem of passing through the obstacle of intelligence plugging robot, the effect that intelligence plugging robot can pass through smoothly in the pipeline has been realized, the mechanism of crawling has solved the unable accurate problem of appointing the operating point shutoff of intelligence plugging robot, the effect of the accurate shutoff of intelligence plugging robot has been realized, the problem of the unable high-efficient dredging pipe that lasts of intelligence plugging robot has been solved to dredging pipe speed governing mechanism, and can adjust the velocity of motion of intelligence plugging robot in the pipeline according to work needs, the effect of intelligent plugging robot safe motion in the pipeline has been realized.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an initiative adjustable speed formula pipeline intelligence shutoff robot which characterized in that: comprises a first parking sealing mechanism (1), a crawling mechanism (2), a second parking sealing mechanism (3) and a pigging speed regulating mechanism (4). The pigging speed regulating mechanism (4) is located at the lowest end of the device, the second parking sealing mechanism (3) is connected above the pigging speed regulating mechanism (4) through a connecting rod (309), the crawling mechanism is connected above the second parking sealing mechanism (3) through the connecting rod (309), and the first parking sealing mechanism (1) is connected above the crawling mechanism (2) through the connecting rod (309).
The first parking sealing mechanism (1) is the same as the blocking structure II (3) in structure and comprises a hydraulic cylinder base (101), a blocking rubber ring (102), a blocking rubber ring clearance ring (103), a pressure-bearing head (104), a piston (105), an extrusion bowl (106), an anchoring slip (107), a slip connecting rod (108), a roller (109), a roller base (110), an extrusion block (111), a piston rod (112), a hydraulic cylinder cover (113), a hydraulic cylinder body (114), a spring (115) and a leakage detection hole (116). Wherein a first roller base (110) is arranged at the uppermost part of the plugging mechanism, a roller (109) is arranged at the circumferential direction of the roller base (110) through a spring (115) and a bolt, a hydraulic cylinder base (101) is fixed at the lower part of the roller base (110) through a bolt, 2 plugging rubber rings (102) are arranged at the circumferential direction of the hydraulic cylinder base (101), a plugging rubber ring clearance ring (103) is arranged between the 2 plugging rubber rings (102), an extrusion bowl (106) is arranged at the lower part of the lower plugging rubber ring (102), a hydraulic cylinder body (114) is fixed at the lower part of the hydraulic cylinder base (101) through a thread, a piston (105) is arranged in the hydraulic cylinder body (114), a hydraulic cylinder cover (113) is fixed at the lower part of the hydraulic cylinder body (114) through a thread, a piston rod (112) is fixed at the lower part of the piston (105) through a thread, and an extrusion block (111) is connected with the piston rod (112) through a thread, the slip connecting rods (108) are arranged in the circumferential direction of the extrusion block (111), an anchoring slip (107) is arranged above each slip connecting rod (108), the second roller base (110) is fixed below the extrusion block (111) through bolts, and the rollers (109) are arranged in the circumferential direction of the second roller base (110) through springs (115) and bolts.
The crawling mechanism (2) comprises a three-position four-way electromagnetic valve (201), an energy accumulator base (202), an energy accumulator (203), a partition plate (204), a motor (205), a miniature hydraulic pump base (206), a miniature hydraulic pump (207), an oil storage cylinder (208), a crawling mechanism hydraulic cylinder cover (209), a crawling mechanism hydraulic cylinder (210), a crawling mechanism piston (211), a PLC control circuit (212), a two-position two-way electromagnetic valve (213), a crawling mechanism upper cover (214), a crawling mechanism lower cover (215), a first layer outer cover (216), a second layer outer cover (217) and a third layer outer cover (218). Wherein the crawling mechanism upper cover (214) is positioned at the uppermost part of the crawling mechanism, a first layer of outer cover (216) is fixed below the crawling mechanism upper cover (214) through threads, a first partition plate (204) is fixed below the first layer of outer cover (216) through threads, a three-position four-way electromagnetic valve (201) is fixed above the partition plate (204) through bolts, an energy accumulator (203) is fixed above the partition plate (204) through an energy accumulator base (202), a second layer of outer cover (217) is fixed below the first partition plate (204) through threads, a second partition plate is fixed below the second layer of outer cover (217) through threads, 2 three-position four-way electromagnetic valves (201) are fixed above the second partition plate through bolts, a motor (205) is fixed above the second partition plate through bolts, a micro hydraulic pump (207) is fixed above the second partition plate through a micro hydraulic pump base (206), and a third layer of outer cover (218) is fixed below the second partition plate through threads, crawl mechanism lower cover (215) and pass through the screw thread fastening in third layer dustcoat (218) below, 3 two-position two-way solenoid valve (213) pass through the bolt fastening in second baffle below, 3 oil storage jar (208) pass through the bolt fastening in second baffle below, PLC control circuit (212) pass through the bolt fastening in second baffle below, crawl mechanism pneumatic cylinder (210) pass through the bolt fastening in second baffle below, crawl mechanism hydraulic cylinder lid (209) pass through the bolt fastening in crawl mechanism pneumatic cylinder (210) below, the end setting of crawl mechanism piston (211) is in crawl mechanism hydraulic cylinder lid (209) below.
The pipe cleaning speed regulating mechanism (4) comprises an overflow head (301), a pipe cleaning rubber ring (302), a pipe cleaning rubber ring clearance ring (303), a motor base (304), a screw rod motor (305), a pipe cleaning speed regulating mechanism shell (306), a battery (307), a connecting base (308) and a connecting rod (309). Wherein overflow head (301) are located the top of dredging pipe speed control mechanism, 2 dredging pipe rubber circle (302) set up at overflow head (301) lower extreme, dredging pipe rubber circle clearance ring (303) set up between 2 dredging pipe rubber circle (302), dredging pipe speed control mechanism shell (306) set up in dredging pipe rubber circle (302) below, connecting rod (309) are installed in dredging pipe speed control mechanism shell (306) below through connecting base (308), battery (307) pass through the bolt fastening in dredging pipe mechanism shell (306) top, lead screw motor (305) pass through the bolt fastening in battery (307) top, motor base (304) pass through the threaded fastening in lead screw motor (305) top.
The leakage measuring hole (116) is arranged in the circumferential direction outside the sealing rubber ring clearance ring (103).
(III) advantageous effects
Compared with the prior art, the invention provides the rubber flow control and speed regulation type intelligent pipeline plugging robot which has the following beneficial effects:
1. according to the active speed-adjustable intelligent pipeline plugging robot provided by the invention, the spring in the plugging mechanism can be greatly compressed when the roller is pressed and rebounded when the roller is not pressed, so that the rubber flow control speed regulation type intelligent pipeline plugging robot can smoothly pass through possible obstacles in an oil and gas pipeline.
2. According to the active speed-adjustable intelligent pipeline plugging robot, the crawling mechanism can adjust the rubber flow control speed-adjustable intelligent pipeline plugging robot to a precise plugging position when the rubber flow control speed-adjustable intelligent pipeline plugging robot reaches the position close to the specified plugging position, and safety of plugging and rush repair of an oil and gas pipeline is improved.
3. According to the active speed-adjustable intelligent pipeline plugging robot, the pipe cleaning rubber ring in the pipe cleaning speed adjusting mechanism can adjust the compression deformation, so that the speed of the rubber flow control speed adjustment type intelligent pipeline plugging robot can be adjusted according to the actual working condition when the rubber flow control speed adjustment type intelligent pipeline plugging robot is pushed by fluid media in a pipeline, the consequence that the moving speed of the rubber flow control speed adjustment type intelligent pipeline plugging robot is too fast and out of control is avoided, and the safety of plugging and rush repair of an oil and gas pipeline is improved.
4. According to the active speed-adjustable intelligent pipeline plugging robot, the pipe cleaning rubber ring in the pipe cleaning speed adjusting mechanism can adjust the compression deformation, the rubber flow control speed adjustment type intelligent pipeline plugging robot moves in a long distance, and after the pipe cleaning rubber ring is worn, the part of the compressed pipe cleaning rubber ring for compensating the wear can be adjusted, so that the pipe cleaning speed adjusting mechanism has continuous and efficient pipe cleaning efficiency.
Drawings
FIG. 1: a front view of the rubber flow control and speed regulation type intelligent pipeline plugging robot;
FIG. 2 is a drawing: a normal moving diagram of the intelligent rubber flow control and speed regulation pipeline plugging robot;
FIG. 3: a preliminary anchoring diagram of the rubber flow control and speed regulation type intelligent pipeline plugging robot;
FIG. 4 is a drawing: a rubber flow control and speed regulation type pipeline intelligent plugging robot crawling graph I;
FIG. 5: a rubber flow control and speed regulation type pipeline intelligent plugging robot crawling graph II;
FIG. 6: a rubber flow control and speed regulation type intelligent pipeline plugging robot plugging and anchoring working diagram;
FIG. 7: a half-sectional view of the normal moving state of the plugging mechanism;
FIG. 8: anchoring the plugging mechanism in a plugging state by using a semi-sectional diagram;
FIG. 9: a crawling mechanism front view;
FIG. 10: uncovering the graph of the crawling mechanism;
FIG. 11: a semi-cut perspective view of the crawling mechanism;
FIG. 12: a pipe cleaning mechanism is in a half-section perspective view;
1-a plugging mechanism; 2-a crawling mechanism; 3-a second parking seal mechanism; 4-pipe cleaning speed regulating mechanism; 101-a hydraulic cylinder base; 102-blocking rubber rings; 103-blocking the rubber ring gap ring; 104-a pressure-bearing head; 105-a piston; 106-a squeezing bowl; 107-anchoring slips; 108-slip joint rod; 109-a roller; 110-a roller base; 111-an extrusion block; 112-a piston rod; 113-hydraulic cylinder cover; 114-hydraulic cylinder; 115-a spring; 116-a leak testing hole; 201-a three-position four-way solenoid valve; 202-accumulator base; 203-an accumulator; 204-a separator; 205-a motor; 206-micro hydraulic pump base; 207-micro hydraulic pump; 208-reserve tube; 209-hydraulic cylinder cover of creeping mechanism; 210-a crawling mechanism hydraulic cylinder; 211-a crawling mechanism piston; 212-PLC control circuit; 213-two-position two-way solenoid valve; 214-crawling mechanism upper cover; 215-lower cover of crawling mechanism; 216 — first layer outer cover; 217-a second layer of outer cover; 218-a third layer outer cover; 301-flow head; 302-cleaning the rubber ring; 303-cleaning the rubber ring gap ring; 304-a motor mount; 305-a lead screw motor; 306-shell of pipe cleaning speed regulating mechanism; 307-a battery; 308-a connection base; 309-connecting rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be noted that these are exemplary and are not intended to limit the scope of the invention.
One embodiment of an active speed-adjustable intelligent pipeline plugging robot is as follows:
the intelligent pipeline plugging robot with the active speed regulation function is characterized in that: comprises a plugging mechanism 1 (1), a crawling mechanism 2, a second parking sealing mechanism 3 and a pipe cleaning and speed regulating mechanism 4. The pigging speed regulating mechanism (4) is located at the lowest end of the device, the second parking sealing mechanism (3) is connected above the pigging speed regulating mechanism (4) through a connecting rod (309), the crawling mechanism is connected above the second parking sealing mechanism (3) through the connecting rod (309), and the first parking sealing mechanism (1) is connected above the crawling mechanism (2) through the connecting rod (309).
The first parking sealing mechanism (1) and the second parking sealing mechanism (3) shown in the attached figure 7 are the same in structure and comprise a hydraulic cylinder base (101), a blocking rubber ring (102), a blocking rubber ring clearance ring (103), a pressure bearing head (104), a piston (105), an extrusion bowl (106), an anchoring slip (107), a slip connecting rod (108), a roller (109), a roller base (110), an extrusion block (111), a piston rod (112), a hydraulic cylinder cover (113), a hydraulic cylinder body (114), a spring (115) and a leakage detection hole (116). Wherein a first roller base (110) is arranged at the uppermost part of the plugging mechanism, a roller (109) is arranged at the circumferential direction of the roller base (110) through a spring (115) and a bolt, a hydraulic cylinder base (101) is fixed at the lower part of the roller base (110) through a bolt, 2 plugging rubber rings (102) are arranged at the circumferential direction of the hydraulic cylinder base (101), a plugging rubber ring clearance ring (103) is arranged between the 2 plugging rubber rings (102), a leakage measuring hole (116) is arranged at the external circumferential direction of the plugging rubber ring clearance ring (103), an extrusion bowl (106) is arranged at the lower part of the plugging rubber ring (102), a hydraulic cylinder body (114) is fixed at the lower part of the hydraulic cylinder base (101) through a thread, a piston (105) is arranged in the hydraulic cylinder body (114), a hydraulic cylinder cover (113) is fixed at the lower part of the hydraulic cylinder body (114) through a thread, a piston rod (112) is fixed at the lower part of the piston (105) through a thread, the extrusion block (111) is connected with the piston rod (112) through threads, the slip connecting rods (108) are arranged in the circumferential direction of the extrusion block (111), an anchoring slip (107) is arranged above each slip connecting rod (108), the second roller base (110) is fixed below the extrusion block (111) through bolts, and the rollers (109) are arranged in the circumferential direction of the second roller base (110) through springs (115) and bolts.
The crawling mechanism (2) shown in the attached figures 8-9 comprises a three-position four-way electromagnetic valve (201), an energy accumulator base (202), an energy accumulator (203), a partition plate (204), a motor (205), a micro hydraulic pump base (206), a micro hydraulic pump (207), an oil storage cylinder (208), a crawling mechanism hydraulic cylinder cover (209), a crawling mechanism hydraulic cylinder (210), a crawling mechanism piston (211), a PLC (programmable logic controller) control circuit (212), a two-position two-way electromagnetic valve (213), a crawling mechanism upper cover (214), a crawling mechanism lower cover (215), a first layer outer cover (216), a second layer outer cover (217) and a third layer outer cover (218). Wherein the crawling mechanism upper cover (214) is positioned at the uppermost part of the crawling mechanism, a first layer of outer cover (216) is fixed below the crawling mechanism upper cover (214) through threads, a first partition plate (204) is fixed below the first layer of outer cover (216) through threads, a three-position four-way electromagnetic valve (201) is fixed above the partition plate (204) through bolts, an energy accumulator (203) is fixed above the partition plate (204) through an energy accumulator base (202), a second layer of outer cover (217) is fixed below the first partition plate (204) through threads, a second partition plate is fixed below the second layer of outer cover (217) through threads, 2 three-position four-way electromagnetic valves (201) are fixed above the second partition plate through bolts, a motor (205) is fixed above the second partition plate through bolts, a micro hydraulic pump (207) is fixed above the second partition plate through a micro hydraulic pump base (206), and a third layer of outer cover (218) is fixed below the second partition plate through threads, crawl mechanism lower cover (215) and pass through the screw thread fastening in third layer dustcoat (218) below, 3 two-position two-way solenoid valve (213) pass through the bolt fastening in second baffle below, 3 oil storage jar (208) pass through the bolt fastening in second baffle below, PLC control circuit (212) pass through the bolt fastening in second baffle below, crawl mechanism pneumatic cylinder (210) pass through the bolt fastening in second baffle below, crawl mechanism hydraulic cylinder lid (209) pass through the bolt fastening in crawl mechanism pneumatic cylinder (210) below, the end setting of crawl mechanism piston (211) is in crawl mechanism hydraulic cylinder lid (209) below.
The pigging speed regulating mechanism (4) shown in fig. 10 comprises an overflow head (301), a pigging rubber ring (302), a pigging rubber ring clearance ring (303), a motor base (304), a screw rod motor (305), a pigging speed regulating mechanism shell (306), a battery (307), a connecting base (308) and a connecting rod (309). Wherein overflow head (301) are located the top of dredging pipe speed control mechanism, 2 dredging pipe rubber circle (302) set up at overflow head (301) lower extreme, dredging pipe rubber circle clearance ring (303) set up between 2 dredging pipe rubber circle (302), dredging pipe speed control mechanism shell (306) set up in dredging pipe rubber circle (302) below, connecting rod (309) are installed in dredging pipe speed control mechanism shell (306) below through connecting base (308), battery (307) pass through the bolt fastening in dredging pipe mechanism shell (306) top, lead screw motor (305) pass through the bolt fastening in battery (307) top, motor base (304) pass through the threaded fastening in lead screw motor (305) top.
As shown in the attached figures 2-6, when the rubber flow control and speed regulation type intelligent pipeline plugging robot needs to reach a designated working site for plugging, the rubber flow control and speed regulation type intelligent pipeline plugging robot is put into a pipeline from an inlet of a product oil conveying pipeline, a pipe cleaning and speed regulation mechanism (4) is pushed to move to a target site through an oil-gas medium in the pipeline, when the movement speed of the rubber flow control and speed regulation type intelligent pipeline plugging robot is too slow, a screw rod motor (305) rotationally pushes an overflow head (301) to extrude a pipe cleaning rubber ring (302) to deform, the interception area of the pipe cleaning rubber ring (302) is increased after the pipe cleaning rubber ring is extruded, the movement speed of the intelligent pipeline plugging robot is increased by larger oil-gas thrust, when the movement speed of the rubber flow control and speed regulation type intelligent pipeline plugging robot is too fast, the screw rod motor (305) rotationally pushes the overflow head (301) to reduce the extrusion of the pipe cleaning rubber ring (302), the pipe cleaning rubber ring (302) rebounds and recovers deformation, the interception area is reduced, and smaller oil-gas thrust is applied, so that the movement speed of the intelligent pipeline plugging robot is reduced, and the movement speed of the intelligent pipeline plugging robot with the rubber flow control and speed regulation function is controlled by changing the deformation amount of the pipe cleaning rubber ring (302).
After the rubber flow control speed regulation type intelligent pipeline plugging robot moves for a long distance, the pipe cleaning rubber ring (302) has a certain amount of abrasion consumption, at the moment, the screw rod motor (305) rotationally pushes the overflowing head (301) to extrude the pipe cleaning rubber ring (302) to deform, and the long distance movement before compensation is used for abrasion of the pipe cleaning rubber ring (302), so that the continuous and efficient pipe cleaning effect of the pipe cleaning speed regulation mechanism (4) is achieved.
When the rubber flow control and speed regulation type intelligent pipeline plugging robot needs to be anchored and plugged, the right side of a hydraulic cylinder body (114) in a plugging mechanism (1) is pressurized to enable a piston (105) to be pressed by hydraulic pressure to drive an extrusion block (111) to move towards the direction of a hydraulic cylinder base (101) together, the extrusion block (111) pushes an anchoring slip (107) to expand along the inclined plane of an extrusion bowl (106) through a slip connecting rod (108) until the extrusion block abuts against the inner wall of a pipeline, the rubber flow control and speed regulation type intelligent pipeline plugging robot is gradually decelerated to stop by the friction force between the anchoring slip (107) and the inner wall of the pipeline, the plugging mechanism (1) is in an anchoring state at the moment, the hydraulic cylinder body (114) continues to be pressurized, the anchoring slip (107) is anchored on the inner wall of the pipeline at the moment, the hydraulic cylinder base (101) moves towards the extrusion bowl (106), and a plugging rubber ring (102) is extruded and deformed to fill a circumferential gap, so that the effect of sealing the pipeline is achieved, the plugging mechanism (1) is in a plugging state at this time. When the intelligent plugging robot for the rubber flow control speed regulation pipeline needs to remove plugging, the left side of a hydraulic cylinder body (114) in the plugging mechanism (1) is pressurized, a hydraulic cylinder base (101) moves in the direction away from an extrusion bowl (106), a plugging rubber ring (102) recovers to deform, the plugging mechanism (1) is in a plugging state at the moment, the left side of the hydraulic cylinder body (114) is continuously pressurized, a piston (105) is driven by hydraulic pressure to drive an extrusion block (111) to move in the direction away from the hydraulic cylinder base (101), the extrusion block (111) pulls an anchoring slip (107) to shrink along the inclined plane of the extrusion bowl (106) through a slip connecting rod (108) until the extrusion block leaves the inner wall of the pipeline, and the plugging mechanism (1) is in the plugging state at the moment.
When the rubber flow control and speed regulation type intelligent pipeline plugging robot needs to accurately move to a plugging place, the rubber flow control and speed regulation type intelligent pipeline plugging robot is anchored through a rear anchoring mechanism, a PLC control circuit (212) controls a three-position four-way electromagnetic valve (201) to be opened, meanwhile, the PLC control circuit (212) controls a micro hydraulic pump (207) to work, hydraulic oil is pumped into the robot from an oil inlet cylinder (208), a creeping mechanism piston (211) is pushed to extend out, the rubber flow control and speed regulation type intelligent pipeline plugging robot moves forwards, the rubber flow control and speed regulation type intelligent pipeline plugging robot is anchored by matching with a plugging mechanism (1), the rear plugging mechanism (1) is released from anchoring, and the rubber flow control and speed regulation type intelligent pipeline plugging robot extends forwards.
After the intelligent pipeline plugging robot achieves stretching forward, the PLC control circuit (212) controls the three-position four-way solenoid valve (201) to be opened, meanwhile, the PLC control circuit (212) controls the micro hydraulic pump (207) to work, hydraulic oil is pumped into the intelligent pipeline plugging robot from the oil inlet cylinder (208), the piston (23) is pushed to drive the piston rod (20) to retract, the rear portion of the intelligent pipeline plugging robot with the rubber flow control and speed regulation functions retracts, the intelligent pipeline plugging robot is anchored by matching with the rear portion plugging mechanism (1), the front portion plugging mechanism (1) is released from anchoring, the retraction of the intelligent pipeline plugging robot is achieved, and one stroke of the intelligent pipeline plugging robot which stretches forward is completed. The process is circulated, the crawling effect of the rubber flow control and speed regulation type intelligent pipeline plugging robot can be realized, and therefore the purpose of controlling the rubber flow control and speed regulation type intelligent pipeline plugging robot to accurately move to a specified working place is achieved. When the intelligent rubber flow control and speed regulation pipeline plugging robot reaches a specified working place, the two plugging mechanisms perform plugging and anchoring actions, so that the purpose of plugging an oil and gas transportation pipeline is achieved.
When the intelligent rubber flow control and speed regulation pipeline plugging robot reaches a target position for plugging, high-pressure liquid is injected into the leakage measuring hole (116) in the circumferential direction to the outside, when the rubber plugging is completely plugged, the injected high-pressure liquid maintains the pressure for a long time, and if the high-pressure liquid leaks, the rubber plugging is unreliable and needs to be plugged again.
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 an initiative adjustable speed formula pipeline intelligence shutoff robot which characterized in that: the device comprises a first parking sealing mechanism (1), a crawling mechanism (2), a second parking sealing mechanism (3) and a pigging speed regulating mechanism (4), wherein the pigging speed regulating mechanism (4) is located at the lowest end of the device, the second parking sealing mechanism (3) is connected above the pigging speed regulating mechanism (4) through a connecting rod (309), the crawling mechanism is connected above the second parking sealing mechanism (3) through the connecting rod (309), and the first parking sealing mechanism (1) is connected above the crawling mechanism (2) through the connecting rod (309);
the first parking sealing mechanism (1) and the second parking sealing mechanism (3) are identical in structure and comprise a hydraulic cylinder base (101), a blocking rubber ring (102), a blocking rubber ring clearance ring (103), a pressure-bearing head (104), a piston (105), an extrusion bowl (106), an anchoring slip (107), a slip connecting rod (108), a roller (109), a roller base (110), an extrusion block (111), a piston rod (112), a hydraulic cylinder cover (113), a hydraulic cylinder body (114), a spring (115) and a leakage detection hole (116);
wherein a first roller base (110) is arranged at the uppermost part of the plugging mechanism, a roller (109) is arranged at the circumferential direction of the roller base (110) through a spring (115) and a bolt, a hydraulic cylinder base (101) is fixed at the lower part of the roller base (110) through a bolt, 2 plugging rubber rings (102) are arranged at the circumferential direction of the hydraulic cylinder base (101), a plugging rubber ring clearance ring (103) is arranged between the 2 plugging rubber rings (102), an extrusion bowl (106) is arranged at the lower part of the plugging rubber ring (102) at the lower part, a hydraulic cylinder body (114) is fixed at the lower part of the hydraulic cylinder base (101) through a thread, a piston (105) is arranged in the hydraulic cylinder body (114), a hydraulic cylinder cover (113) is fixed at the lower part of the hydraulic cylinder body (114) through a thread, a piston rod (112) is fixed at the lower part of the piston (105) through a thread, and an extrusion block (111) is connected with the piston rod (112) through a thread, the slip connecting rods (108) are arranged in the circumferential direction of the extrusion block (111), an anchoring slip (107) is arranged above each slip connecting rod (108), the second roller base (110) is fixed below the extrusion block (111) through bolts, and the rollers (109) are arranged in the circumferential direction of the second roller base (110) through springs (115) and bolts.
2. The active speed-adjustable intelligent pipeline plugging robot according to claim 1, wherein the crawling mechanism (2) comprises a three-position four-way electromagnetic valve (201), an energy accumulator base (202), an energy accumulator (203), a partition plate (204), a motor (205), a micro hydraulic pump base (206), a micro hydraulic pump (207), an oil storage cylinder (208), a crawling mechanism hydraulic cylinder cover (209), a crawling mechanism hydraulic cylinder (210), a crawling mechanism piston (211), a PLC (212), a two-position two-way electromagnetic valve (213), a crawling mechanism upper cover (214), a crawling mechanism lower cover (215), a first layer outer cover (216), a second layer outer cover (217) and a third layer outer cover (218).
3. The intelligent pipeline plugging robot with the adjustable speed as claimed in claim 2, wherein the upper cover (214) of the crawling mechanism is located at the uppermost position of the crawling mechanism, the first layer of housing (216) is fixed below the upper cover (214) of the crawling mechanism through threads, the first partition plate (204) is fixed below the first layer of housing (216) through threads, the three-position four-way solenoid valve (201) is fixed above the partition plate (204) through bolts, the energy accumulator (203) is fixed above the partition plate (204) through the energy accumulator base (202), the second layer of housing (217) is fixed below the first partition plate (204) through threads, the second partition plate is fixed below the second layer of housing (217) through threads, the 2 three-position four-way solenoid valves (201) are fixed above the second partition plate through bolts, the motor (205) is fixed above the second partition plate through bolts, the micro hydraulic pump (207) is fixed above the second partition plate through the micro hydraulic pump base (206), third layer dustcoat (218) pass through the screw thread to be fixed in second baffle below, crawl mechanism lower cover (215) pass through the screw thread to be fixed in third layer dustcoat (218) below, 3 two-position two-way solenoid valve (213) pass through the bolt fastening in second baffle below, 3 oil storage jar (208) pass through the bolt fastening in second baffle below, PLC control circuit (212) pass through the bolt fastening in second baffle below, crawl mechanism pneumatic cylinder (210) pass through the bolt fastening in second baffle below, crawl mechanism hydraulic cylinder lid (209) pass through the bolt fastening in crawl mechanism pneumatic cylinder (210) below, the end setting of crawl mechanism piston (211) is in crawl mechanism hydraulic cylinder lid (209) below.
4. The active speed-adjustable intelligent pipeline plugging robot according to claim 1, wherein the pipe cleaning speed adjusting mechanism (4) comprises an overflow head (301), a pipe cleaning rubber ring (302), a pipe cleaning rubber ring clearance ring (303), a motor base (304), a screw rod motor (305), a pipe cleaning speed adjusting mechanism shell (306), a battery (307), a connecting base (308) and a connecting rod (309).
5. The active speed-adjustable intelligent pipeline plugging robot according to claim 4, wherein the overflow head (301) is located at the uppermost end of the pipe cleaning speed adjusting mechanism, 2 pipe cleaning rubber rings (302) are arranged at the lower end of the overflow head (301), a pipe cleaning rubber ring clearance ring (303) is arranged between the 2 pipe cleaning rubber rings (302), a pipe cleaning speed adjusting mechanism shell (306) is arranged below the pipe cleaning rubber rings (302), a connecting rod (309) is arranged below the pipe cleaning speed adjusting mechanism shell (306) through a connecting base (308), a battery (307) is fixed above the pipe cleaning mechanism shell (306) through bolts, a lead screw motor (305) is fixed above the battery (307) through bolts, and a motor base (304) is fixed above the lead screw motor (305) through threads.
6. The active adjustable speed intelligent pipeline plugging robot according to claim 1, wherein a leakage detecting hole (116) is arranged in an outer annular direction of the plugging rubber ring clearance ring (103).
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| CN202110229624.0A CN112815179B (en) | 2021-03-02 | 2021-03-02 | Initiative adjustable speed formula pipeline intelligence shutoff robot |
| JP2021113064A JP6964319B1 (en) | 2021-03-02 | 2021-07-07 | Active position adjustable pipe cleaning robot and how to use it |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110229624.0A CN112815179B (en) | 2021-03-02 | 2021-03-02 | Initiative adjustable speed formula pipeline intelligence shutoff robot |
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| CN112815179A CN112815179A (en) | 2021-05-18 |
| CN112815179B true CN112815179B (en) | 2022-04-15 |
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| CN114833149B (en) * | 2022-04-28 | 2023-03-24 | 浙江上鑫生态建设有限公司 | Intelligence pipeline desilting dolly |
| 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 |
| CN116336387B (en) * | 2023-05-30 | 2023-07-21 | 山西国新科莱天然气有限公司 | Atmospheric natural gas recovery equipment |
| CN116398716B (en) * | 2023-06-06 | 2023-08-11 | 福建佳园生态建设有限公司 | Pipeline limiting assembly for intelligent irrigation equipment |
| CN117600186B (en) * | 2024-01-23 | 2024-05-03 | 成都理工大学 | Pipeline dredging robot |
| CN117646844B (en) * | 2024-01-30 | 2024-04-02 | 西南石油大学 | Accurate positioning and inner detection pipeline intelligent plugging robot |
| CN117655012B (en) * | 2024-02-01 | 2024-04-19 | 潍坊威特尔管业有限公司 | Remote liquid supply pipeline cleaning device and method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5208936A (en) * | 1991-05-09 | 1993-05-11 | Campbell Douglas C | Variable speed pig for pipelines |
| DE102008012868A1 (en) * | 2007-04-02 | 2008-10-09 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Flow element i.e. telescopic element, for hydraulic system of motor vehicle, has plug and socket connected with hydraulic system, where element includes hydraulic length changeable between plug and socket |
| KR101585909B1 (en) * | 2009-01-27 | 2016-01-18 | 가부시끼 가이샤 구보다 | Pipe joint |
| CN102758988B (en) * | 2012-07-12 | 2014-04-09 | 中国石油大学(北京) | Pneumatic pipeline plugging mechanism |
| CN105570609B (en) * | 2016-01-29 | 2019-02-12 | 中北大学 | Adaptive crawling device in six wheel brace type pipelines |
| CN108730669A (en) * | 2018-06-19 | 2018-11-02 | 哈尔滨工程大学 | A kind of intelligent plugging device for submarine pipeline reparation |
| CN109737264B (en) * | 2019-03-07 | 2023-08-18 | 北华大学 | Brake type intelligent plugging robot in pipeline |
| CN110762288A (en) * | 2019-11-18 | 2020-02-07 | 西南石油大学 | Accurate positioning fine-tuning device of intelligent pipeline plugging robot |
| CN111720652B (en) * | 2020-06-30 | 2021-10-15 | 西南石油大学 | Multi-stage speed-regulating traction device of intelligent pipeline plugging robot |
| CN112240448B (en) * | 2020-10-14 | 2022-03-22 | 西南石油大学 | Hydraulic anchoring plugging device of intelligent pipeline plugging robot |
| CN112228687B (en) * | 2020-10-16 | 2021-04-27 | 西南石油大学 | Intelligent plugging robot control system for oil and gas pipeline |
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2021
- 2021-03-02 CN CN202110229624.0A patent/CN112815179B/en active Active
- 2021-07-07 JP JP2021113064A patent/JP6964319B1/en active Active
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| JP2022134071A (en) | 2022-09-14 |
| CN112815179A (en) | 2021-05-18 |
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