CN116658741B - Pipeline does not stop prosthetic devices in defeated - Google Patents
Pipeline does not stop prosthetic devices in defeated Download PDFInfo
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- CN116658741B CN116658741B CN202310934094.9A CN202310934094A CN116658741B CN 116658741 B CN116658741 B CN 116658741B CN 202310934094 A CN202310934094 A CN 202310934094A CN 116658741 B CN116658741 B CN 116658741B
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- 238000004458 analytical method Methods 0.000 claims abstract description 62
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000007547 defect Effects 0.000 claims abstract description 41
- 238000007789 sealing Methods 0.000 claims abstract description 22
- 230000008439 repair process Effects 0.000 claims abstract description 20
- 238000005259 measurement Methods 0.000 claims abstract description 17
- 230000001133 acceleration Effects 0.000 claims abstract description 12
- 230000009956 central mechanism Effects 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000008263 repair mechanism Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 229920005830 Polyurethane Foam Polymers 0.000 claims description 4
- 239000011496 polyurethane foam Substances 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 4
- 239000012530 fluid Substances 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 230000007797 corrosion Effects 0.000 description 4
- 238000005260 corrosion Methods 0.000 description 4
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- 238000006467 substitution reaction Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000005187 foaming Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 229920002635 polyurethane Polymers 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000035882 stress Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
-
- 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
- F16L55/1645—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a sealing material being introduced inside the pipe by means of a tool moving in the pipe
-
- 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
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
-
- 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
-
- 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
- F16L2101/16—Coating by application of fluent materials, e.g. painting
-
- 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
-
- 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
- F16L2101/60—Stopping leaks
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
Abstract
The application relates to the technical field of pipeline detection, and provides a pipeline continuous transportation internal repair device, which comprises: the device comprises a guide hole, a sealing locking mechanism, an inner cavity central mechanism, a defect repairing mechanism and a ground receiving mechanism, wherein the guide hole is in a cylindrical hollow shape, two ends of the guide hole are respectively provided with a gate, and the sealing locking mechanism comprises a flexible shell, a pressure pin and a torque motor; the inner cavity central mechanism comprises an intelligent analysis control system, an inertial measurement system, a positioning system, a signal transmitter and a power supply system; the intelligent analysis control system is configured to read and analyze the travelling position information, the acceleration information and the angle value information, and analyze the travelling position information to obtain the distance between the device and the defect. The device utilizes the deflector hole and the sealing locking mechanism to form an oil gas passage on one hand, and ensures that the defect part forms a closed working environment on the other hand, so that the influence of oil gas on repairing work is reduced to the greatest extent, and the work of directly cutting and replacing a pipe section with a serious defect is facilitated.
Description
Technical Field
The application relates to the technical field of pipeline detection, in particular to an inner repairing device for a pipeline without stopping transportation.
Background
In recent years, with the rapid development of the petroleum and gas industry in China, the length of long oil and gas pipelines is accumulated to be more than 18 ten thousand kilometers, and the 2025 year is expected to reach 24 ten thousand kilometers. As the operating time of the pipeline is prolonged, the problem of ageing of the pipeline is increasingly prominent. Under the influence of factors such as weather, environment, third party construction damage and the like, damage or corrosion of different degrees can be generated on the inner wall and the outer wall of the pipeline, so that potential safety hazards are brought to the operation of the pipeline. Therefore, the detection and repair of oil and gas pipelines are particularly important.
The existing pipeline repairing technology is mostly concentrated on the external repairing of the pipeline, namely, the operation of welding or repairing the damaged part of the pipeline by adopting a manual or external repairing robot, and the like is performed. However, this method does not repair the defects of the inner wall of the pipe well. To solve the above problems, chinese patent publication No. CN108730669a discloses an intelligent plugging device for repairing submarine pipeline, which comprises a pipe cleaner, a sealing and locking mechanism, a connecting mechanism and a supporting and traveling mechanism. When the pipeline repairing device works, the pipeline repairing device can move to the damaged part of the pipeline to carry out sealing repairing operation. However, the working environment of the device is a pipeline for stopping oil transportation, and the long oil transportation pipeline can cause huge economic loss due to the fact that the oil transportation is stopped due to repairing.
At present, no internal repairing device which works under the condition that the pipeline does not stop oil transportation exists at home and abroad, and the pipeline non-stop internal repairing device is designed, so that the repairing mode can be flexibly selected to repair, repair or replace the pipeline section under the condition that the pipeline normally transports oil, the cost of pipeline repairing is reduced, and the pipeline repairing device has practical significance and good application prospect.
Disclosure of Invention
The application provides a pipeline non-stop internal repairing device which is used for solving the problem that the traditional pipeline repairing device cannot efficiently treat defects of the inner wall of a pipeline, and particularly cannot realize non-stop oil transportation.
The application adopts the following technical scheme:
the application provides a pipeline continuous transportation internal repair device, which is characterized by comprising the following components: the device comprises a diversion hole, a sealing locking mechanism, an inner cavity central mechanism, a defect repairing mechanism and a ground receiving mechanism; wherein, the diversion hole penetrates the front and the back of the device along the central axis of the device, the diversion hole is in a cylinder hollow shape, and two ends of the diversion hole are respectively provided with a gate; the sealing locking mechanism comprises a flexible shell, a pressure pin and a torque motor; one end of the flexible shell facing the advancing direction is provided with a round head, the other end of the flexible shell is provided with a flat head, the flexible shell is made of full polyurethane foam materials, and the outer circumferential side surface of the flexible shell is contacted with the inner wall of the pipeline; the torque motor is a frameless torque motor and comprises a rotor ring and a permanent magnet stator ring, a rotating shaft is embedded in the rotor ring, and the rotating shaft drives a brake to output constant rotating torque to control a brake connecting rod; the pressure pin and the torque motor are connected through a transmission connecting rod; the inner cavity central mechanism comprises an intelligent analysis control system, an inertial measurement system, a positioning system, a signal transmitter and a power supply system. The intelligent analysis control system, the inertia measurement system and the power supply system are electrically connected with each other; the intelligent analysis control system, the positioning system and the power supply system are electrically connected; the positioning system, the signal transmitter and the power supply system are electrically connected; the rotating speed of the torque motor is controlled by an intelligent analysis control system;
the intelligent analysis control system is configured to read and analyze the traveling position information, the traveling acceleration information and the traveling angle value information, and analyze the traveling position information to obtain the distance between the device and the defect;
the intelligent analysis control system is configured to adjust the rotating speed of the torque motor so as to control the radial displacement of the pressure tip and adjust the friction force between the sealing and locking mechanism and the pipe wall;
the inertial measurement system is configured to collect the traveling acceleration information and the traveling angle value information and send the traveling acceleration information and the traveling angle value information to the intelligent analysis control system;
the positioning system is configured to send the travel location information to the intelligent analysis control system and the signal transmitter;
the signal transmitter is configured to acquire the traveling position information sent by the positioning system and the analysis data output by the intelligent analysis control system, and send the traveling position information and the analysis data to a receiving mechanism on the ground;
the power supply system is configured to supply power to the torque motor, the intelligent analysis control system, the inertial measurement system, the positioning system, the signal transmitter and the defect repair mechanism;
the ground receiving mechanism comprises a ground receiver and a remote host. The signal transmitter is in wireless connection with the ground receiver through low-frequency electromagnetic waves, and is configured to receive information data composed of gesture information sent by the intelligent analysis control system and information sent to the travelling position by the positioning system, and send the information data to the ground receiver through the low-frequency electromagnetic waves; the ground receiver is in wireless connection with the remote host through low-frequency electromagnetic waves; the surface receiver is configured to receive the information data transmitted by the signal transmitter and the travel position information of the device and transmit it to the remote host.
In one possible embodiment, the pressure pins are each evenly circumferentially distributed 8 inside the flexible casing at the front and rear ends.
In one possible embodiment, the gate comprises 6 gate sheets each circumferentially distributed and of the same size and shape.
In one possible embodiment, the defect repair mechanism is located outside the inner cavity of the device axially midway between the diversion holes; the intelligent analysis control system is positioned at the inner side of the inner cavity of the device and axially in the middle of the diversion hole.
In one possible embodiment, the power supply system is a battery pack.
The application has the beneficial effects that: the device can be used for repairing and repairing the inner wall of the pipeline, replacing the pipeline section and the like, and the oil and gas pipeline is not required to stop oil transportation during working, so that the cost of pipeline repair can be reduced. The sealing and locking structure of the device is controlled by an intelligent analysis control system, so that accurate braking at the defect is realized. The device utilizes the diversion hole and the sealing locking mechanism to form an oil gas passage on one hand, and ensures that the defect part forms a closed working environment on the other hand, so that the influence of oil gas on repairing work is reduced to the greatest extent, and the work of directly cutting and replacing the pipe section with the serious defect is also convenient to carry out. The device is driven by the front-back oil-gas pressure difference, and an additional driving system is not needed. The device transmits pipeline position information and analysis data to a receiving mechanism on the ground in real time, and the transmitted information is rich in variety.
Drawings
In order to more clearly illustrate the technical solution of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic cross-sectional view of a pipeline non-stop internal repair device according to the present application;
FIG. 2 is a schematic view of a flexible housing, pressure pins and gate distribution structure in accordance with an embodiment of the present application;
FIG. 3 is a schematic block diagram of a pipeline non-stop internal repair device according to an embodiment of the present application;
FIG. 4 is a flowchart of a method for using a pipeline non-stop internal repair device according to an embodiment of the present application.
Wherein, 1-diversion holes; 2-a seal locking mechanism; 3-an inner cavity central mechanism; 4-a defect repair mechanism; 5-a ground receiving mechanism; 11-gate; 21-a flexible housing; 22-pressure tip; 23-moment motor; 31-an intelligent analysis control system; 32-an inertial measurement system; 33-a positioning system; 34-a signal transmitter; 35-a power supply system; 51-a surface receiver; 52-a remote host; 111-gate sheets.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. It will be apparent that the described embodiments are some, but not all, embodiments of the application. Based on the embodiments of the present application, other embodiments that may be obtained by those of ordinary skill in the art without making any inventive effort are within the scope of the present application.
Hereinafter, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
Furthermore, in the present application, the terms "upper," "lower," "inner," "outer," and the like are defined relative to the orientation in which the components are schematically depicted in the drawings, and it should be understood that these directional terms are relative concepts, which are used for descriptive and clarity relative thereto, and which may be varied accordingly with respect to the orientation in which the components are depicted in the drawings.
The application is described in further detail below with reference to the drawings and the detailed description.
As can be seen from fig. 1 to 3, the pipeline non-stop internal repair device comprises: the device comprises a diversion hole 1, a sealing locking mechanism 2, an inner cavity central mechanism 3, a defect repairing mechanism 4 and a ground receiving mechanism 5.
The diversion hole 1 is positioned in the center of the device and penetrates through the front and rear of the device along the central axis of the device, and the diversion hole 1 is in a cylindrical hollow shape, so that oil gas can flow through the diversion hole after braking; the two ends of the diversion hole 1 are respectively provided with a gate 11, the gate 11 comprises 6 gate sheets 111 which are respectively distributed along the circumferential direction and have the same size and shape, when the device is driven by oil gas, the gate 11 is closed to enlarge the stressed area of the device, and when the device is braked, the gate 11 is opened, and the gate sheets 111 are controlled by the intelligent analysis control system 31 to retract into the gaps of the flexible shell 21 so as to conduct diversion.
The sealing and locking mechanism 2 comprises a flexible shell 21, a pressure pin 22 and a torque motor 23, as shown in fig. 2, wherein the pressure pin 22 is in a prismatic table shape with a small front end and a large rear end, is positioned at a groove on one side of the flexible shell 21 facing the inner cavity, and is uniformly distributed with 8 front and rear parts along the circumferential direction, and the torque motor 23 is controlled to adjust radial displacement so as to change the friction force between the flexible shell 21 and the pipe wall; the end of the flexible shell 21 facing the advancing direction is provided with a round head, because the device can meet a plurality of conditions in the advancing process of the pipeline, when the dirt on the inner wall of the pipeline is particularly large or the pipeline is subjected to serious diameter changing, the flexible shell 21 can reduce the resistance by adopting a circular arc structure, and can pass through the position with the obstruction in the pipeline more smoothly; the other end of the flexible shell 21 is provided with a flat head, so that the stress area of oil gas pushing is mainly increased, the device is easier to drive, and meanwhile, the installation equipment is more convenient; the outer circumferential side of the flexible casing 21 is in contact with the inner wall of the pipeline and is completely attached; the torque motor 23 is a frameless torque motor and comprises a rotor ring and a permanent magnet stator ring, wherein a rotating shaft is embedded in the rotor ring, and the rotating shaft drives a brake to output constant rotating torque to control a brake connecting rod; the pressure tip 22 and the torque motor 23 are connected through a transmission connecting rod.
The flexible shell 21 is made of a full polyurethane foam material, the deformation amount of the flexible shell 21 made of the full polyurethane foam material is up to more than 60%, the flexible shell has high elasticity and toughness, the passing ability in a pipeline is extremely high, the flexible shell 21 is easy to pass through a bent pipe, and the flexible shell 21 can be broken by improving the pressure in the pipeline even if blocking occurs, so that the blocking pipe can be automatically removed.
The lumen hub 3 includes an intelligent analysis control system 31, an inertial measurement system 32, a positioning system 33, a signal transmitter 34, and a power supply system 35. The intelligent analysis control system 31, the inertial measurement system 32 and the power supply system 35 are electrically connected with each other; the intelligent analysis control system 31, the positioning system 33 and the power supply system 35 are electrically connected; the positioning system 33, the signal emitter 34 and the power supply system 35 are electrically connected; the rotational speed of the torque motor 23 is controlled by an intelligent analytical control system 31.
The intelligent analysis control system 31 has analysis and control functions configured to: the travel position information from the positioning system 33 and the travel acceleration information and travel angle value information from the inertial measurement system 32 may be read and analyzed, and the travel position information analyzed to derive the distance of the device from the defect, the intelligent analysis control system 31 is further configured to: the rotating speed of the torque motor 23 is controlled, so that the radial displacement of the pressure tip 22 is regulated in a linkage manner, the friction force between the sealing locking mechanism 2 and the pipe wall is changed, braking and releasing braking at a defect position are realized, the opening and closing of the gate 11 are controlled, the gate 11 is opened before braking, oil gas enters the deflector hole 1 and the gate 11 is closed after braking, the weight of the device is increased, the device can be decelerated before starting, and then the sealing braking mechanism is started. The inertial measurement system 32 is configured to collect the travel acceleration information and the travel angle value information, better determine the pipeline trend, and send the travel acceleration information and the travel angle value information to the intelligent analysis control system 31. The positioning system 33 is configured to send the travel location information to the intelligent analysis control system 31 and the signal transmitter 34. The signal transmitter 34 is configured to acquire the traveling position information transmitted by the positioning system 33 and the analysis data output by the intelligent analysis control system 31, and transmit the traveling position information and the analysis data to the ground receiver 51 of the ground receiving mechanism 5 in the form of a low-frequency electromagnetic wave signal.
The defect repairing mechanism 4 adopts lining repair to scratches, cracks, weld defects and the like on the inner wall of the pipeline, adopts filling composite material repair to the corrosion of the inner wall of the pipeline, and can consider that the damaged pipe section is directly cut off and replaced from the outside of the pipeline when the pipeline is seriously damaged.
Specifically, the defect repair mechanism 4 is positioned at the outer side of the inner cavity of the device and axially in the middle of the diversion hole 1; the intelligent analysis control system 31 is positioned at the inner side of the inner cavity of the device and axially in the middle of the diversion hole 1.
The ground receiving mechanism 5 includes a ground receiver 51 and a remote host 52; the surface receiver 51 is a device capable of receiving a low-frequency electromagnetic wave signal, and the surface receiver 51 locates the device according to the transmission time of the signal after receiving the low-frequency electromagnetic wave signal. The reason for positioning by using the low-frequency signal is that the buried pipeline is buried under the ground, and the high-frequency signal is not suitable for transmitting by penetrating the ground, so the low-frequency signal is selected for information transmission. The ground receiver 51 may be a computer with analysis capability, a single-chip microcomputer, a server, or other various electronic devices, and the specific type is not limited.
In some embodiments, since the length of the in-service pipeline is unknown, it may be necessary to arrange a plurality of surface receivers 51, and in order to save cost, the surface receivers 51 may only have the capability of receiving and transmitting low-frequency electromagnetic wave signals, and the signal transmitter 34 is wirelessly connected with the surface receivers 51 through the low-frequency electromagnetic wave. The signal transmitter 34 is configured to receive information data composed of the posture information transmitted by the intelligent analysis control system 31 and the traveling position information transmitted by the positioning system 33, and transmit the information data to the ground receiver 51 through a low-frequency electromagnetic wave; the ground receiver 51 is wirelessly connected with the remote host 52 through low-frequency electromagnetic waves; the surface receiver 51 is configured to receive the information data transmitted by the signal transmitter 34 and the travel position information of the device and transmit it to the remote host 52.
Specifically, as shown in fig. 3, in this embodiment, the ground receiver 51 can forward the low-frequency electromagnetic wave signal carrying data sent by the signal transmitter 34 to the remote host 52, and the remote host 52 can analyze and process the low-frequency electromagnetic wave signal to obtain information such as an operation posture and an operation position of the device. The remote host 52 may be a computer with analysis capability, a tablet computer, a server, a single-chip microcomputer, or other various electronic devices, and the specific type is not limited.
The power supply system 35 is configured to supply power to the torque motor 23, the intelligent analysis control system 31, the inertial measurement system 32, the positioning system 33, the signal transmitter 34, and the defect repair mechanism 4. The power supply system 35 is a battery pack having two types: series and parallel. The parallel battery packs require the same voltage of each battery, the output voltage is equal to the voltage of one battery, and the parallel battery packs can provide stronger current; the series battery pack has no excessive requirements, and can provide higher voltage as long as the capacity of the battery is almost guaranteed.
The intelligent analysis control system 31 adopts an STM32 monolithic chip manufactured by ST corporation as a central processing unit. An external clock circuit is adopted to provide a clock for the singlechip, and a typical reset circuit is adopted to realize the starting and resetting of the singlechip; a typical DCDC power supply chip is adopted to convert the power supply of the power supply system 35 into a 3.3V direct current power supply required by the singlechip; and an RS485 chip is adopted to realize communication of an RS485 bus. The singlechip is connected with the positioning system 33 through an RS485 communication interface and reads the position information; the singlechip is connected with the inertial measurement system 32 through an RS485 communication interface and reads the travelling acceleration information and the angle value information; the singlechip is connected with the signal emitter 34 through an RS485 communication interface, and transmits the data analyzed and processed by the intelligent analysis control system 31 to the signal emitter 34. The singlechip is connected with the torque motor 23 through an RS485 communication interface and sends a motor rotation speed control signal to the torque motor 23; the singlechip is connected with the gate sheet 111 through an RS485 communication interface and controls the expansion and contraction of the gate sheet 111. After the device is stably locked, the defect repairing mechanism 4 is used for sealing the corroded or leaked part on the pipe wall by starting a motor in the defect repairing mechanism 4 to throw repairing liquid in the internal liquid tank to repair the pipeline. Specifically, after the sealing and locking mechanism 2 is completely started to complete braking of the device and the defect repairing mechanism 4 is aligned to the position of the defect, the intelligent analysis control system 31 starts the defect repairing mechanism 4, and the repairing liquid in the internal liquid tank is thrown to the corrosion or leakage position on the pipe wall to seal through the motor inside the defect repairing mechanism 4, so that the repairing of the pipeline is realized. After the repair is completed, the intelligent analysis control system 31 controls the torque motor 23 to reversely rotate, the sealing and locking state is released, and meanwhile, the gate 11 is closed, so that the device continues to advance under the pushing of fluid.
The intelligent analysis control system 31 controls the rotation of the torque motor 23 and when braking starts according to the following braking control algorithm:
s1: the linear velocity of the fluid medium in the pipeline is known asThe density of the fluid medium in the pipeline is +.>The radius of the pipeline is>. And at a certain moment the speed of the device is +.>，ΔtA short time increment of the thrust applied to the device for the fluid pushing the device. Then for the fluid pushing the device, according to the momentum theorem, there is:
；
wherein,,the resistance of the device to the fluid, which is equal to the thrust of the fluid to the device, is obtained by:
；
s2: the idle mass of the known device isThe friction force between the flexible shell 21 and the inner wall of the pipeline is +.>For the motion state of the device, there are:
；
substitution intoAlgebraic transformation is performed, and two sides are integrated to obtain:
；
after integration, finishing to obtain:
；
it follows that after a period of time, the speed of the deviceWill stabilize at:
；
s3: the radius of the deflector hole 1 is known asThe length of the device is +.>After the preliminary deceleration by opening the rear shutter 11, the mass of the fluid filled in the diversion hole 1 is +.>The method comprises the following steps:
。
s4: the seal lock mechanism 2 is opened immediately after the initial deceleration, assuming that the friction force between the flexible casing 21 and the inner wall of the pipe at this time isAnd->Then for the motion state of the device, there are:
；
substitution into、/>Algebraic transformation is performed, and two sides are integrated to obtain:
；
after integration, finishing to obtain:
；
it follows that if the final device speed is 0 after a certain period of time, it is necessary to satisfy the following conditions:
；
the pressure tip 22 must generate pressure：
；
Wherein,,is the dynamic friction factor between the full polyurethane foaming material and the metal pipe wall.
And the Young's modulus of the full polyurethane foaming material is known asThe thickness between the flexible housing 21 and the tube wall is +.>The front end extrusion area of the pressure tip 22 is +.>Then calculate formula +.>Wherein σ is stress, i.e. pressure +.>And extrusion area->ɛ is the strain, i.e. the displacement +.>And thickness->Is defined by the ratio of the displacement of the pressure tip 22:
；
and the torque motor 23 makes one turn to make the displacement of the pressure tip 22 beThe torque motor 23 then needs to be turned for a number of turns +.>The method comprises the following steps:
；
s5: when the deceleration braking is started, depending on the distance traveled during the braking phase, when the condition is satisfiedAt this time, the following approximate calculation is performed:
；
finally, the distance from the defect (namely the braking distance) is obtainedAt this time, deceleration braking needs to be started.
；
The application provides a pipeline continuous transportation internal repair device, referring to fig. 4, the application method comprises the following steps:
step S100: pipeline inspection determines the location and type of defect.
Specifically, before the pipeline is repaired, the specific position and type of the defect are determined through pipeline detection, meanwhile, the pressure and flow of the pipeline are adjusted, and the device is in a normal running state.
Step S200: and adjusting the pressure and flow of the pipeline, and enabling the device to enter the pipeline.
Specifically, the device enters the target conduit and is advanced by the fluid medium within the conduit. The intelligent analysis control system 31 in operation analyzes the travel position information collected from the positioning system 33 at the moment, the travel acceleration information and the travel angle value information collected from the inertial measurement system 32, and judges the relative position with the defect and whether the brake needs to be started or not.
Step S300: the intelligent analysis control system analyzes the position and motion information.
Step S400: and judging whether the speed is stable and reaches the braking distance. If the determination result is yes, the following step S500 is executed, and if the determination result is no, the previous step S300 is repeatedly executed.
Specifically, when the speed is stable and the device reaches the braking distance, the intelligent analysis control system 31 controls to open the gate sheet 111 at the rear side so that the pipeline medium enters the diversion hole 1, and then closes the gate sheet 111 at the rear side so that the diversion hole 1 is filled with the pipeline medium, and the dead weight of the device is increased to perform preliminary deceleration.
Step S500: increasing dead weight for preliminary deceleration.
Specifically, after the primary deceleration, the intelligent analysis control system 31 immediately controls the torque motor 23 to start autorotation, and increases the radial displacement of the pressure tip 22, so that the flexible shell 21 is extruded to increase the friction between the flexible shell and the pipe wall to finally realize braking, and the defect after braking is right opposite to the intelligent analysis control system 31.
Step S600: and starting the sealing locking mechanism to realize braking.
Specifically, after the device is stationary, the intelligent analysis control system 31 controls the gate 11 before and after opening so that the pipe medium passes through the diversion holes 1.
Step S700: and (5) repairing defects in a targeted manner.
Specifically, the defect repairing mechanism is used for repairing the damage or corrosion of the inner wall of the pipeline in a targeted manner, and if the defect is serious, the pipe section between the front and rear sealing and locking mechanisms 2 of the device can be directly cut off and replaced from the outside operation of the pipeline.
Step S800: releasing the brake continues to advance.
Specifically, after the repair is completed, the intelligent analysis control system 31 controls the torque motor 23 to reversely rotate, so that the pressure tip 22 stops extruding the flexible housing 21, simultaneously closes the rear gate 11 and the front gate 11 in sequence, finally releases the braking state, and continues to advance to the next defect.
Step S900: judging whether defects still exist. If the result is yes, the previous step S300 is repeatedly executed, and if the result is no, the pipeline is directly separated.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (5)
1. A pipeline non-stop endoprosthesis device, the device comprising: the device comprises a deflector hole (1), a sealing and locking mechanism (2), an inner cavity central mechanism (3), a defect repairing mechanism (4) and a ground receiving mechanism (5), wherein:
the flow guide hole (1) penetrates through the front and rear of the device along the central axis of the device, the flow guide hole (1) is in a cylindrical hollow shape, and two ends of the flow guide hole (1) are respectively provided with a gate (11);
the sealing and locking mechanism (2) comprises a flexible shell (21), a pressure tip (22) and a torque motor (23); one end of the flexible shell (21) facing the advancing direction is provided with a round head, the other end of the flexible shell is provided with a flat head, the flexible shell (21) is made of full polyurethane foam, and the outer circumferential side surface of the flexible shell (21) is contacted with the inner wall of the pipeline; the torque motor (23) is a frameless torque motor and comprises a rotor ring and a permanent magnet stator ring, a rotating shaft is embedded in the rotor ring, a brake is driven by the rotating shaft, and a constant rotating torque can be output to control a brake connecting rod; the pressure pin (22) and the torque motor (23) are connected through a transmission connecting rod;
the inner cavity central mechanism (3) comprises an intelligent analysis control system (31), an inertial measurement system (32), a positioning system (33), a signal transmitter (34) and a power supply system (35); the intelligent analysis control system (31), the inertial measurement system (32) and the power supply system (35) are electrically connected with each other; the intelligent analysis control system (31), the positioning system (33) and the power supply system (35) are electrically connected; the positioning system (33), the signal transmitter (34) and the power supply system (35) are electrically connected; the rotating speed of the torque motor (23) is controlled by the intelligent analysis control system (31);
the intelligent analysis control system (31) is configured to read and analyze the traveling position information, the traveling acceleration information and the traveling angle value information, and analyze the traveling position information to obtain the distance between the device and the defect;
the intelligent analysis control system (31) is further configured to control the rotating speed of the torque motor (23) so as to regulate the radial displacement of the pressure tip (22) in a linkage manner, and therefore the friction force between the sealing locking mechanism (2) and the pipe wall is changed;
the inertial measurement system (32) is configured to collect the travel acceleration information and the travel angle value information and send the travel acceleration information and the travel angle value information to the intelligent analysis control system (31);
-the positioning system (33) is configured to send the travel position information to the intelligent analysis control system (31) and the signal transmitter (34);
the signal transmitter (34) is configured to acquire the travel position information transmitted by the positioning system (33) and analysis data output by the intelligent analysis control system (31), and transmit the travel position information and the analysis data to the ground receiving mechanism (5);
-the power supply system (35) is configured to supply power to the torque motor (23), the intelligent analysis control system (31), the inertial measurement system (32), the positioning system (33), the signal transmitter (34), the defect repair mechanism (4);
the ground receiving mechanism (5) comprises a ground receiver (51) and a remote host (52); the signal transmitter (34) is wirelessly connected with the ground receiver (51) through low-frequency electromagnetic waves, and the signal transmitter (34) is configured to receive information data composed of attitude information sent by the intelligent analysis control system (31) and the traveling position information sent by the positioning system (33) and send the information data to the ground receiver (51) through low-frequency electromagnetic waves; the ground receiver (51) is in wireless connection with the remote host (52) through low-frequency electromagnetic waves; the surface receiver (51) is configured to receive the information data transmitted by the signal transmitter (34) and the travel position information of the device and transmit it to the remote host (52).
2. The pipeline non-stop internal repair device according to claim 1, wherein 8 pressure pins (22) are uniformly distributed in the circumferential direction inside the flexible shell (21) at the front and rear ends.
3. The pipeline non-stop internal repair device according to claim 1, wherein the gate (11) comprises 6 gate sheets (111) which are respectively distributed along the circumferential direction and have the same size and shape.
4. The pipeline non-stop internal repair device according to claim 1, characterized in that the defect repair mechanism (4) is located outside the inner cavity of the device, axially in the middle of the diversion hole (1); the intelligent analysis control system (31) is positioned at the inner side of the inner cavity of the device and is axially and centrally positioned in the diversion hole (1).
5. The pipeline non-stop endoprosthesis device of claim 1, wherein the power supply system (35) is a battery.
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| CN202310934094.9A CN116658741B (en) | 2023-07-28 | 2023-07-28 | Pipeline does not stop prosthetic devices in defeated |
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