CN113714219A - Crude oil pipeline cleaning equipment and pipeline cleaning method thereof - Google Patents
Crude oil pipeline cleaning equipment and pipeline cleaning method thereof Download PDFInfo
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- CN113714219A CN113714219A CN202111045520.0A CN202111045520A CN113714219A CN 113714219 A CN113714219 A CN 113714219A CN 202111045520 A CN202111045520 A CN 202111045520A CN 113714219 A CN113714219 A CN 113714219A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing
- B08B9/0321—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing using pressurised, pulsating or purging fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing
- B08B9/0321—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing using pressurised, pulsating or purging fluid
- B08B9/0325—Control mechanisms therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention relates to a crude oil delivery pipeline cleaning device and a method for cleaning a pipeline thereof, wherein a walking device comprises a walking bin, a pair of front support arm wheels are respectively arranged on four bin walls of the walking bin, each front support arm wheel is arranged at one end of a main body supporting piece, the other ends of the two main body supporting pieces are intersected and hinged on the corresponding bin wall, a main body support arm spring is arranged between each main body supporting piece and the corresponding bin wall, and a direct current servo speed reducing motor is arranged on each front support arm wheel; the walking bin is arranged between the battery bin main body and the control bin main body, the multidimensional nozzle is arranged at the front end of the control bin main body, and the high-pressure water pipeline sequentially penetrates through the battery bin main body, the walking bin and the control bin main body and is connected with the multidimensional nozzle; the multi-dimensional spray head comprises a spray head seat, a backward spray nozzle, a lateral spray nozzle and a spray head nozzle; the invention can realize forward injection of high-pressure cleaning water and cleaning of pipeline blockage; spraying to the pipeline wall to clean the attachments on the pipeline wall; and the cleaning solution is sprayed backwards to automatically discharge the residues of the cleaning solution.
Description
Technical Field
The invention relates to cleaning equipment for crude oil pipelines in oil fields, in particular to cleaning equipment for crude oil pipelines and a method for cleaning the pipelines.
Background
In the process of oil field exploitation, a pumping unit pumps well fluid to the ground from a stratum and enters each combined station through a ground pipeline, and the oil, gas and water separation is carried out on the well fluid in the combined station. During the transportation process of the well fluid ground pipeline, various industrial phenomena such as corrosion, wax precipitation, perforation and the like occur in the ground pipeline. Prolonging the service time of the ground pipeline and reducing the maintenance frequency of the ground pipeline are effective auxiliary means and methods for increasing and stabilizing the yield of the oil field.
Most of crude oil produced in China is high-wax crude oil, wax in the crude oil can be separated out and deposited on a pipe wall along with the change of thermal conditions along the pipeline in the pipeline conveying process to form a wax layer with a certain thickness, and the wax layer is accumulated, aged and hardened along with time, so that the circulation radius of the pipeline is reduced, the relative pressure is increased, the conveying capacity of the pipeline is reduced, the operation energy consumption is increased, the corrosion of the pipe wall is accelerated, and the operation and maintenance costs of the pipeline are increased.
The problems of large operation difficulty, long maintenance time, high operation strength and the like exist in the cleaning of the ground pipeline.
Disclosure of Invention
One purpose of the invention is to provide a crude oil pipeline cleaning device, which is used for solving the problems of large difficulty, long maintenance time, large operation intensity and the like of ground pipeline cleaning operation in the prior art; another object of the present invention is to provide a method for cleaning a pipeline by using the cleaning apparatus for crude oil pipeline.
The technical scheme adopted by the invention for solving the technical problems is as follows: the crude oil delivery pipeline cleaning equipment comprises a battery compartment main body, a walking device, a control compartment main body, a multidimensional nozzle and a high-pressure water pipeline, wherein the walking device comprises a walking compartment, four compartment walls of the walking compartment are respectively provided with a pair of front support arm wheels, each front support arm wheel is arranged at one end of a main support piece, the other ends of the two main support pieces are intersected and hinged on the corresponding compartment wall, a main support arm spring is arranged between each main support piece and the corresponding compartment wall, and each front support arm wheel is provided with a direct-current servo speed reduction motor; the walking bin is arranged between the battery bin main body and the control bin main body, the multidimensional nozzle is arranged at the front end of the control bin main body, and the high-pressure water pipeline sequentially penetrates through the battery bin main body, the walking bin and the control bin main body and is connected with the multidimensional nozzle; a charging power supply is arranged in the battery cabin main body, a running controller is arranged in the control cabin main body, and the running controller is respectively connected with each direct current servo speed reducing motor; the multi-dimensional spray head comprises a spray head seat, a backward spray nozzle, a lateral spray nozzle and a spray head nozzle, wherein the front end of the spray head seat is connected with the spray head, the front end of the spray head extends forwards out of the spray head nozzle, the lateral spray nozzle extends outwards from the side surface of the spray head, the spray head seat is cylindrical, the spray head seat extends backwards and obliquely out of the backward spray nozzle, and the high-pressure water pipeline is connected with the spray head seat; the multidimensional nozzle realizes forward injection of high-pressure cleaning water through the nozzle to clean pipeline blockages; spraying to the pipeline wall through a lateral nozzle to clean attachments on the pipeline wall; the backward spray is realized through the backward nozzle, and the automatic discharge of the residues of the cleaning materials is realized.
In the scheme, the charging power supply is a high-capacity lithium ion rechargeable battery, the rechargeable battery is a power battery 18650, the battery compartment main body is divided into a plurality of battery slots, 8 groups of rechargeable batteries are installed in each battery slot, each group of rechargeable batteries is 2 batteries, and the capacity of the whole rechargeable battery is 1 kilometer with load traveling endurance; the battery compartment main body is connected with the walking compartment through bolts, power lines are arranged inside the battery compartment main body and in the walking compartment, and the power lines are respectively connected with the direct current servo speed reducing motor and the operation controller.
In the scheme, the center of the battery compartment main body is a pipeline hole, a battery cavity is defined between each surface of the battery compartment main body and the pipeline hole, and the high-capacity lithium ion rechargeable battery is arranged in the battery cavity; the center of the walking bin main body is also provided with a pipeline hole, and a cavity enclosed between each bin wall of the walking bin and the pipeline hole is used for mounting a circuit board, arranging power lines and control signal lines; the center of the control cabin main body is also provided with a pipeline hole, and a cavity enclosed between each surface of the control cabin main body and the pipeline hole is used for installing a traffic controller and arranging control signal lines; the high-pressure water pipeline sequentially passes through the pipeline hole of the battery bin main body, the pipeline hole of the walking bin and the pipeline hole of the control bin main body and is connected with the spray head seat.
The method for cleaning the pipeline by the crude oil pipeline cleaning equipment comprises the following steps:
after a power supply is started, the crude oil pipeline enters, a running controller sends control information, the control information comprises running distance, speed, direction and time, the running controller controls 8 direct current servo speed reduction motors to rotate according to a preset instruction so as to drive each front support arm wheel to rotate, multi-direction and multi-angle running is realized, and meanwhile, each front support arm wheel adapts to different pipe diameters through a main body support arm spring;
in the advancing process, high-pressure cleaning water reaches the nozzle seat, the backward nozzle, the lateral nozzle and the nozzle through the high-pressure water pipeline, the forward spraying of the high-pressure cleaning water is realized through the nozzle to clean pipeline blockages, the spraying to the pipeline wall is realized through the lateral nozzle to clean pipe wall attachments, and the cleaning of the inner wall of the pipeline is realized through impacting and cleaning sludge, paraffin and rust on the inner wall of the crude oil pipeline; the backward spray is realized through the backward nozzle, so that the residue of the cleaning object is automatically discharged;
after the pipeline is cleaned for a certain distance while advancing forwards, the operation controller sends a preset backward signal to start to automatically backward clean the cleaned residues, so that the residues at the pipeline opening are cleaned, and the problem that the pipeline cannot advance or withdraw due to the fact that the outlet pipeline is blocked by excessive residues is prevented;
the cleaning is carried out in such a way that the pipeline is cleaned forwards for a certain distance and the cleaned residues are flushed out of the pipeline port backwards and backwards until the cleaning of the whole pipeline is finished.
The operation controller in the scheme comprises the following working steps:
firstly, running a controller to perform power-on self-inspection;
secondly, the operation controller detects the capacity of a charging battery in the battery cabin main body;
step three, the operation controller detects whether the direct current servo speed reducing motors on the 8 front support arm wheels rotate normally one by one; each direct current servo reducing motor rotates forwards and reversely for one circle, and if the direct current servo reducing motor is blocked, short-circuited or broken, an alarm is given;
inputting a cleaning distance, a traveling speed and a cleaning water pressure value through a control panel, judging whether the traveling operation of a set distance can be finished or not according to the capacity of the battery by using an operation controller, and alarming when the traveling operation cannot be finished; after the controller starts the washing water pressure plunger pump, detecting a water pressure value, and alarming when the water pressure value is not reached;
fifthly, placing the crude oil pipeline cleaning equipment into a cleaned crude oil pipeline by an operator, and starting the equipment to walk;
step six, the running controller walks according to preset parameters, controls the high-pressure water to be communicated and performs cleaning operation;
seventhly, in the walking process, the running controller detects the water pressure parameter of the high-pressure water in real time;
step eight, when the running controller controls the direct current servo speed reduction motors on the 8 front support arm wheels to rotate, whether the rotating speeds are consistent or not is measured, the running distance is measured accurately, and the cleaning distance is guaranteed;
and step nine, after the preset walking distance is reached, the running controller controls the direct-current servo speed reducing motors on the 8 front arm wheels to rotate reversely, the running controller returns to the operation starting point, the cleaned residues are automatically washed backwards, and the residues at the pipeline port are cleaned.
The invention has the following beneficial effects:
1. the automatic cleaning walking equipment can realize automatic cleaning of the inner wall of the crude oil pipeline and automatic discharge of residues of cleaned objects, is designed and produced aiming at the problems of high difficulty, long maintenance time, high operation intensity and the like of ground pipeline cleaning operation, reduces the labor intensity of workers and prolongs the service time of the pipeline.
2. The invention can realize automatic multidimensional cleaning in the crude oil pipeline, can automatically adapt to the inner diameter of the pipeline, and has the load walking capability of charging for 1 kilometer at a time.
3. The invention is made of stainless steel, is corrosion-resistant and durable.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is a perspective view of the walking device of the present invention;
FIG. 4 is a side view of the walking device of the present invention;
FIG. 5 is a top view of the walking device of the present invention;
FIG. 6 is a perspective view of a front arm wheel of the present invention;
FIG. 7 is a front view of a front arm wheel of the present invention;
FIG. 8 is a side view of a front arm wheel of the present invention;
FIG. 9 is a first perspective view of the battery compartment body according to the present invention;
FIG. 10 is a second perspective view of the battery compartment body according to the present invention;
FIG. 11 is a perspective view of the multi-dimensional nozzle of the present invention;
FIG. 12 is a cross-sectional view of a multi-dimensional showerhead of the present invention;
FIG. 13 is a first perspective view of the control pod body of the present invention;
FIG. 14 is a second perspective view of the control pod body of the present invention;
FIG. 15 is a driving circuit diagram of a DC servo deceleration motor;
FIG. 16 is a block diagram of the internal structure of IR2101 of FIG. 15;
fig. 17 is a control circuit diagram of the secondary battery in the present invention.
In the figure: 1 main part support piece, 2 preceding cantilever wheels, 3 main part support arm springs, 4 battery compartment main parts, 5 shower nozzle seats, 6 back nozzles, 7 side direction nozzles, 8 shower nozzle mouths, 9 control storehouse main parts, 10 high-pressure water lines, 11 pipeline holes, 12 walking storehouses.
Detailed Description
The invention is further described with reference to the accompanying drawings in which:
referring to fig. 1-14, the crude oil pipeline cleaning equipment comprises a battery compartment main body 4, a traveling device, a control compartment main body 9, a multi-dimensional nozzle and a high-pressure water pipeline 10, wherein the traveling device comprises a traveling compartment 12, four compartment walls of the traveling compartment 12 are respectively provided with a pair of front support arm wheels 2, each front support arm wheel 2 is arranged at one end of a main body support member 1, the other ends of the two main body support members 1 are intersected and hinged on the corresponding compartment wall, a main body support arm spring 3 is arranged between each main body support member 1 and the corresponding compartment wall, and a direct-current servo speed reduction motor is arranged on each front support arm wheel 2; the front support arm wheel 2 is welded with the main body support arm spring 3; the front support arm wheel 2 and the main body supporting piece 1 are connected by a bearing and a flat key. The walking bin 12 is arranged between the battery bin main body 4 and the control bin main body 9, the multidimensional nozzle is arranged at the front end of the control bin main body 9, and the high-pressure water pipeline 10 sequentially penetrates through the battery bin main body 4, the walking bin 12 and the control bin main body 9 and is connected with the multidimensional nozzle; a charging power supply is arranged in the battery cabin main body 4, a running controller is arranged in the control cabin main body 9, and the running controller is respectively connected with each direct current servo speed reducing motor.
The multi-dimensional spray head comprises a spray head seat 5, a backward spray nozzle 6, a lateral spray nozzle 7 and a spray nozzle 8, the front end of the spray head seat 5 is connected with the spray head, the spray nozzle 8 extends forwards from the front end of the spray head, the lateral spray nozzle extends outwards from the side face of the spray head, the spray head seat 5 is cylindrical, the backward spray nozzle extends backwards from the spray head seat 5 in an oblique direction, and the high-pressure water pipeline 10 is connected with the spray head seat 5. The nozzle 8 and the nozzle seat 5 are connected by a bearing and a flat key; the backward nozzle 6 is connected with the nozzle seat 5 by sealing threads; the nozzle seat 5 is connected with the high-pressure water pipeline 10 in a sealing threaded manner. The multi-dimensional spray head is an implementation part for the work of the invention, and can realize the high-pressure cleaning water spray of three dimensions of forward, backward and both sides. The multidimensional nozzle can realize forward injection of high-pressure cleaning water through the nozzle 7 to clean pipeline blockages, and can realize injection to two sides of the pipeline wall through the lateral nozzle 7 to clean attachments on the pipeline wall; the backward spray is realized by the backward nozzle 6, and the residue of the cleaning object is automatically discharged. The automatic discharge speed of the residues of the washed objects is different due to different pressure of the washing water, so that the equipment automatically flushes the residues backwards after washing for a certain distance. At this moment, manual cooperation is needed, and residues at the pipeline opening are cleaned. The problem that the equipment cannot advance or withdraw from the pipeline due to the fact that the outlet pipeline is blocked by excessive residues is solved.
The walking device has the functions of adapting to different pipe diameters and multi-direction and multi-angle running. A direct current servo speed reduction motor is installed on each front support arm wheel 2, the speed and the torque of the motor can be adjusted through a controller inside the control bin main body 8, and the walking support main body is guaranteed to run stably and reliably. The rubber wheel driven by the rotation of the motor needs to be cleaned and replaced regularly, and the long-term contact aging deformation of rubber and oil products is prevented, so that the running stability of the walking device is prevented from being influenced.
The invention is that the charging source is the lithium ion rechargeable battery of high capacity, the rechargeable battery is the power battery 18650, the battery storehouse body 4 is divided into the battery container of multisection, install 8 groups of rechargeable batteries in each battery container, every group of rechargeable batteries is 2 cores, the whole rechargeable battery capacity is to have 1 kilometer of ability of walking of load; the battery compartment main body 4 is connected with the walking compartment 12 through bolts, power lines are arranged inside the battery compartment main body and in the walking compartment, and the power lines are respectively connected with the direct current servo speed reducing motor and the operation controller.
The center of the battery compartment main body 4 is a pipeline hole 11, a battery cavity is defined between each surface of the battery compartment main body 4 and the pipeline hole 11, and a high-capacity lithium ion rechargeable battery is arranged in the battery cavity; the center of the walking bin main body is also provided with a pipeline hole 11, and a cavity enclosed between each bin wall of the walking bin and the pipeline hole 11 is used for mounting a circuit board, arranging power lines and control signal lines; the center of the control cabin main body 9 is also provided with a pipeline hole 11, and a cavity enclosed between each surface of the control cabin main body 9 and the pipeline hole 11 is used for installing a traffic controller and arranging control signal lines; the high-pressure water pipeline 10 passes through the pipeline hole 11 of the battery cabin body 4, the pipeline hole 11 of the walking cabin 12 and the pipeline hole 11 of the control cabin body 9 in sequence to be connected with the spray head seat 5. The battery compartment main body 4 is connected with the walking compartment 12 through bolts, and power lines are arranged in the two cavities.
The operation controller of the whole set of equipment is installed in the control cabin main body 9, and all control information such as walking distance, speed, direction, time and the like is sent out by the control cabin main body 9. The control cabin main body 9 is connected with the walking cabin 12 through bolts, and control signal wires are arranged in the two cavities.
The method for cleaning the pipeline by the crude oil pipeline cleaning equipment comprises the following steps:
after a power supply is started, the crude oil pipeline enters, a running controller sends control information, the control information comprises running distance, speed, direction and time, the running controller controls 8 direct current servo speed reduction motors to rotate according to a preset instruction so as to drive each front support arm wheel 2 to rotate, multi-direction and multi-angle running is realized, and meanwhile, each front support arm wheel 2 adapts to different pipe diameters through a main body support arm spring 3;
in the advancing process, high-pressure cleaning water reaches the nozzle seat 5, the backward nozzle 6, the lateral nozzle 7 and the nozzle 8 through the high-pressure water pipeline 10, the high-pressure cleaning water is sprayed forwards through the nozzle 8 to clean pipeline blockages, the high-pressure cleaning water is sprayed to the pipeline wall through the lateral nozzle 7 to clean pipeline wall attachments, and sludge, paraffin and rust on the inner wall of the pipeline are cleaned through impact; the backward spray is realized through the backward nozzle 6, and the automatic discharge of the residues of the cleaning materials is realized;
after the pipeline is cleaned for a certain distance while advancing forwards, the operation controller sends a preset backward signal to start to automatically backward clean the cleaned residues, so that the residues at the pipeline opening are cleaned, and the problem that the pipeline cannot advance or withdraw due to the fact that the outlet pipeline is blocked by excessive residues is prevented;
the cleaning is carried out in such a way that the pipeline is cleaned forwards for a certain distance and the cleaned residues are flushed out of the pipeline port backwards and backwards until the cleaning of the whole pipeline is finished.
The operation controller in the scheme comprises the following working steps:
firstly, running a controller to perform power-on self-inspection;
secondly, the operation controller detects the capacity of a charging battery in the battery cabin main body;
step three, the operation controller detects whether the direct current servo speed reducing motors on the 8 front support arm wheels rotate normally one by one; each direct current servo reducing motor rotates forwards and reversely for one circle, and if the direct current servo reducing motor is blocked, short-circuited or broken, an alarm is given;
inputting a cleaning distance, a traveling speed and a cleaning water pressure value through a control panel, judging whether the traveling operation of a set distance can be finished or not according to the capacity of the battery by using an operation controller, and alarming when the traveling operation cannot be finished; after the controller starts the washing water pressure plunger pump, detecting a water pressure value, and alarming when the water pressure value is not reached;
fifthly, placing the crude oil pipeline cleaning equipment into a cleaned crude oil pipeline by an operator, and starting the equipment to walk;
step six, the running controller walks according to preset parameters, controls the high-pressure water to be communicated and performs cleaning operation;
seventhly, in the walking process, the running controller detects the water pressure parameter of the high-pressure water in real time;
step eight, when the running controller controls the direct current servo speed reduction motors on the 8 front support arm wheels to rotate, whether the rotating speeds are consistent or not is measured, the running distance is measured accurately, and the cleaning distance is guaranteed;
and step nine, after the preset walking distance is reached, the running controller controls the direct-current servo speed reducing motors on the 8 front arm wheels to rotate reversely, the running controller returns to the operation starting point, the cleaned residues are automatically washed backwards, and the residues at the pipeline port are cleaned.
The circuit of the invention comprises:
1. a control bin circuit:
each front support arm wheel 2 is provided with a direct-current brushless permanent magnet motor (direct-current servo speed reduction motor), the direct-current brushless permanent magnet motor is output in a double-shaft mode, and each shaft is provided with an auxiliary wheel. The driving circuit of each dc brushless permanent magnet motor is shown in fig. 15, and the circuit is composed of 3 IR2101 chips, 6 MOS transistors and matched resistors and capacitors.
The IR2101 is a dual-channel, gate-driven, high-voltage, high-speed power driver, which employs a highly integrated level shifting technique, greatly simplifying the control requirements of the logic circuit on the power device, and improving the reliability of the driving circuit. Meanwhile, the upper tube is electrified by adopting an external bootstrap capacitor, so that the number of driving power supplies is greatly reduced compared with that of other IC drives, the size of a control transformer and the number of power supplies are reduced in engineering, the product cost is reduced, and the system reliability is improved.
The IR2101 integrates DIP, SOIC packaging using HVIC and latch anti-interference manufacturing processes. Its main characteristics include: the suspension channel power supply adopts a bootstrap circuit; the grid driving voltage range of the power device is 10-20V; the logic power supply range is 5-20V, and + 5V offset is allowed between the logic power supply ground and the power ground; the CNOS Schmitt input end with the pull-down resistor is convenient to match with LSTTL and CMOS levels; separate low-side and high-side input channels. A block diagram of the internal structure of the IR2101 is shown in FIG. 16. In FIG. 16, HIN is logic input high; LIN is logic input low; VB is high-end floating supply; HO is the high side gate driver output; vs is the high-end floating supply return; voc is the power supply; LO is the low-side gate driver output; COM is a public end.
Principle of motor driving circuit:
referring to fig. 15, U1, U2 and U3 are IR2101 integrated driving chips, Q1, Q2, Q3, Q4, Q5 and Q6 are MOS transistors, and SQ1, SQ2, SQ3, SQ4, SQ5 and SQ6 are three-phase six-path SVPWM waves output by the controller. Wherein SQ1, SQ3 and SQ5 are upper arms of SVPWM waves, SQ2, SQ4 and SQ5 are lower arms of SVPWM waves, and because the SVPWM waves output by the controller cannot directly drive high-power MOS transistors, the bootstrap capacitors C6, C7 and C13 are charged by the capacitor bootstrap function of the IR2101 through the diodes D1, D2 and D3, and the diodes D1, D2 and D3 adopt the fast recovery function of the schottky diode, thereby increasing the capacitor charging voltage and reducing the energy consumption in the turn-off process. Therefore, the signal voltage of the driving MOS tube is boosted to have the function of expanding the signal output, the on-off of the Q1, Q2, Q3, Q4, Q5 and Q6 can be orderly controlled by the expanded signal SVPWM wave, and the driving signals of the upper arm and the lower arm of the same phase are complementary in the circuit.
When the SQ1 input is high, the H _ ON _1 output is also high, and Q1 can be controlled to be ON by the capacitive bootstrap function of IR2101, at which time Q2 cannot be driven because the LO output is low, so Q2 is in the off state, and at the same time SQ4 also inputs a high level, i.e., H _ ON _4 is high, so that Q4 is in the ON state, and at this time Q3 is in the off state, so +60V → Q1 → FET _ U load FET _ V → Q4 → GND forms a path. Conversely, when SQ1 and SQ4 are low and SQ2 and SQ3 are high, that is, the main current direction of the current is +60V → Q3 → FET _ V load FET _ U → Q2 → GND, the 6 MOS transistor switching devices are alternately turned on and off in sequence, and thus three-phase ac power is formed at the load. In practical application, dead time is added to protect the whole circuit in order to prevent short circuit caused by simultaneous conduction of the upper arm and the lower arm. And the FET _ U, FET _ V, FET _ W is a connecting wire of the direct-current brushless permanent magnet motor.
2. Battery compartment circuit design
The battery compartment is composed of 10 battery slots, and each battery slot can be provided with 2 sections 18650 lithium ion rechargeable batteries, and the total number of the battery slots is 20. The 20 batteries form a power source of the device, the charging management, the discharging management and the temperature management of the batteries need to be completed by a set of circuits, and the control circuit is shown in fig. 17: HT4901 is a chip integrating a charging management module, an electric quantity detection and LED indication module, and a voltage boosting and discharging management module. The performance parameters of the chip are fully applied in the design, an S1 starting signal is given out through the controller, the battery voltage and electric quantity parameters are detected through the Bat _ V, and the battery electric quantity distribution is comprehensively proportioned.
In 20 batteries in the battery compartment, the power output is 16, and the full charge voltage of each battery is 3.7V and 4.2V. Thus. The power output voltage range is 59.2V-67.2V, and the power output voltage supplies power to the motor. In addition, the cascade voltage range of the 4 batteries is 14.8V-16.8V, and the partial voltage supplies power to the controller.
Claims (5)
1. A crude oil pipeline cleaning equipment which characterized in that: the cleaning equipment for the crude oil delivery pipeline comprises a battery compartment main body (4), a walking device, a control compartment main body (9), a multi-dimensional nozzle and a high-pressure water pipeline (10), wherein the walking device comprises a walking compartment (12), four compartment walls of the walking compartment (12) are respectively provided with a pair of front support arm wheels (2), each front support arm wheel (2) is arranged at one end of a main support piece (1), the other ends of the two main support pieces (1) are intersected and hinged on the corresponding compartment wall, a main support arm spring (3) is arranged between each main support piece (1) and the corresponding compartment wall, and each front support arm wheel (2) is provided with a direct-current servo speed reduction motor; the walking bin (12) is arranged between the battery bin main body (4) and the control bin main body (9), the multidimensional nozzle is arranged at the front end of the control bin main body (9), and the high-pressure water pipeline (10) sequentially penetrates through the battery bin main body (4), the walking bin (12) and the control bin main body (9) and is connected with the multidimensional nozzle; a charging power supply is arranged in the battery bin main body (4), a running controller is arranged in the control bin main body (9), and the running controller is respectively connected with each direct-current servo speed reduction motor; the multi-dimensional spray head comprises a spray head seat (5), a backward spray nozzle (6), a lateral spray nozzle (7) and a spray head nozzle (8), wherein the front end of the spray head seat (5) is connected with the spray head, the front end of the spray head forwards extends out of the spray head nozzle (8), the lateral spray nozzle outwards extends out of the side face of the spray head, the spray head seat (5) is cylindrical, the spray head seat (5) backwards and obliquely extends out of the backward spray nozzle (6), and a high-pressure water pipeline (10) is connected with the spray head seat (5); the multidimensional nozzle realizes forward injection of high-pressure cleaning water through the nozzle (8) to clean pipeline blockages; the spraying to the pipeline wall is realized through a lateral nozzle (7), and the attachments on the pipeline wall are cleaned; the backward spray is realized through the backward nozzle (6), and the automatic discharge of the residues of the cleaning materials is realized.
2. The crude oil pipeline cleaning apparatus according to claim 1, wherein: the charging power supply is a high-capacity lithium ion rechargeable battery, the rechargeable battery is a power battery 18650, the battery compartment main body (4) is divided into a plurality of battery slots, 8 groups of rechargeable batteries are installed in each battery slot, each group of rechargeable batteries is 2 cores, and the capacity of the whole rechargeable battery is 1 kilometer with load traveling endurance; the battery compartment main body (4) is connected with the walking bin (12) through bolts, power lines are arranged inside the battery compartment main body (4) and in the walking bin (12), and the power lines are respectively connected with the direct-current servo speed reduction motor and the operation controller.
3. The crude oil pipeline cleaning apparatus according to claim 2, wherein: the center of the battery compartment main body (4) is provided with a pipeline hole (11), a battery cavity is defined between each surface of the battery compartment main body (4) and the pipeline hole (11), and a high-capacity lithium ion rechargeable battery is arranged in the battery cavity; the center of the walking bin main body is also provided with a pipeline hole (11), and a cavity surrounded between each bin wall of the walking bin (12) and the pipeline hole (11) is used for mounting a circuit board, arranging power lines and controlling signal lines; the center of the control cabin main body (9) is also provided with a pipeline hole (11), and a cavity surrounded between each surface of the control cabin main body (9) and the pipeline hole (11) is used for installing a traffic controller and arranging control signal lines; the high-pressure water pipeline (10) passes through the pipeline hole of the battery bin main body, the pipeline hole of the walking bin and the pipeline hole of the control bin main body in sequence and is connected with the spray head seat (5).
4. A method for cleaning a pipeline by the crude oil transportation pipeline cleaning apparatus according to claim 3, characterized by comprising the steps of:
after a power supply is started, the crude oil pipeline cleaning equipment enters a crude oil pipeline, a running controller sends control information, the control information comprises a running distance, a speed, a direction and time, the running controller controls 8 direct current servo speed reduction motors to rotate according to a preset instruction so as to drive each front support arm wheel to rotate, multi-direction and multi-angle running is realized, and meanwhile, each front support arm wheel (2) adapts to different pipe diameters through a main body support arm spring (3);
in the advancing process, high-pressure cleaning water reaches a spray head seat (5), a backward spray nozzle (6), a lateral spray nozzle (7) and a spray head nozzle (8) through a high-pressure water pipeline (10), forward spraying of the high-pressure cleaning water is achieved through the spray head nozzle (8), pipeline blockage is cleaned, spraying to the pipeline wall is achieved through the lateral spray nozzle (7), pipe wall attachments are cleaned, sludge, paraffin and rust on the inner wall of the pipeline are cleaned through impact, and the inner wall of the pipeline is cleaned; the backward spray is realized through the backward nozzle (6), and the automatic discharge of the residues of the cleaning materials is realized;
after the pipeline is cleaned for a certain distance while advancing forwards, the operation controller sends a preset backward signal to start to automatically backward clean the cleaned residues, so that the residues at the pipeline opening are cleaned, and the problem that the pipeline cannot advance or withdraw due to the fact that the outlet pipeline is blocked by excessive residues is prevented;
the cleaning is carried out in such a way that the pipeline is cleaned forwards for a certain distance and the cleaned residues are flushed out of the pipeline port backwards and backwards until the cleaning of the whole pipeline is finished.
5. The method for cleaning a pipeline by crude oil transportation pipeline cleaning equipment according to claim 4, wherein: the operation controller comprises the following working steps:
firstly, running a controller to perform power-on self-inspection;
secondly, the operation controller detects the capacity of a charging battery in the battery cabin main body;
step three, the operation controller detects whether the direct current servo speed reducing motors on the 8 front support arm wheels rotate normally one by one; each direct current servo reducing motor rotates forwards and reversely for one circle, and if the direct current servo reducing motor is blocked, short-circuited or broken, an alarm is given;
inputting a cleaning distance, a traveling speed and a cleaning water pressure value through a control panel, judging whether the traveling operation of a set distance can be finished or not according to the capacity of the battery by using an operation controller, and alarming when the traveling operation cannot be finished; after the controller starts the washing water pressure plunger pump, detecting a water pressure value, and alarming when the water pressure value is not reached;
fifthly, placing the crude oil pipeline cleaning equipment into a cleaned crude oil pipeline by an operator, and starting the equipment to walk;
step six, the running controller walks according to preset parameters, controls the high-pressure water to be communicated and performs cleaning operation;
seventhly, in the walking process, the running controller detects the water pressure parameter of the high-pressure water in real time;
step eight, when the running controller controls the direct current servo speed reduction motors on the 8 front support arm wheels to rotate, whether the rotating speeds are consistent or not is measured, the running distance is measured accurately, and the cleaning distance is guaranteed;
and step nine, after the preset walking distance is reached, the running controller controls the direct-current servo speed reducing motors on the 8 front arm wheels to rotate reversely, the running controller returns to the operation starting point, the cleaned residues are automatically washed backwards, and the residues at the pipeline port are cleaned.
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| CN113714219B (en) | 2023-07-25 |
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