RU2793812C1 - In-line self-propelled device - Google Patents

Abstract

FIELD: machinery.

SUBSTANCE: invention relates to in-line self-propelled devices and is intended for automating the construction and operation of main pipelines, as well as for towing control and diagnostic equipment for diagnosing the pipe condition. The invention relates to self-propelled in-line devices and is intended for automating the construction and operation of main pipelines. The in-line self-propelled device includes at least one section (1) adapted to articulated connection with additional identical sections and representing a linear drive of reciprocating motion, made in the form of a frame (2) equipped with spring-loaded rollers with a carriage (3) capable of moving in the longitudinal direction. The carriage (3) consists of coaxial longitudinal sleeves (4, 5) with pistons (6, 7) and coaxial transverse sleeves (8) with plungers (9). The carriage (3) is equipped with two crescent-shaped spacer links (10) connected to the corresponding plunger (9) through the slider (12), which is made so that their projection onto a plane passing through the longitudinal axes of the longitudinal and transverse sleeves (4, 5, 8) has a configuration with an inner side made with a straight section (13) and facing the longitudinal sleeves (4, 5), and an outer side made with an arcuate section (14) forming a corresponding contact patch with the inner surface of the pipe.

EFFECT: providing the possibility of passing inside the pipeline of any configuration.

3 cl, 3 dwg

Description

The invention relates to self-propelled in-line devices and is intended for automating the construction and operation of main pipelines. In addition, the invention can be used for towing control and diagnostic for diagnosing the condition of the pipe, as well as for towing any other equipment, products and materials.

The task of towing control and diagnostic equipment inside a pipe over long distances often involves the application of a force that exceeds the capabilities of in-line self-propelled devices. At the same time, the maximum traction force is limited by the force of pressing the elements of such devices to the pipe, due to which movement is ensured. Increasing the pressing force allows you to increase the maximum traction force, but this leads to an increase in friction and a decrease in the energy efficiency of the device used as a whole. Also, the maximum pressure is often limited by the allowable dimensions of the respective node and cannot be increased. At the same time, the low energy efficiency of self-propelled devices leads to the need for a permanent connection to a power source using a cable, which does not allow the device to be used on long sections of a pipeline, or a pipeline with a large number of curved bends.

The above features give rise to the problem of the need to create a self-propelled device that provides the creation of a large traction force that is a multiple of the weight of the device itself for moving inside the pipeline, including various sections: straight, vertical, steeply curved, also T-shaped bends, while this problem is associated with an increase in the maximum length investigated section of the pipe (pipeline).

From the description to patent US 5018451 (published 05/28/191) a tool is known that includes a carriage, which is two identical units, each of which is made as a body part having parallel vertical walls (relative to the longitudinal direction of the pipe), each unit is equipped with rollers and retractable legs with support pads that are designed to contact the surface of the pipe, while said legs are extended to various radial ranges. The nodes are interconnected by means of parallel drive cylinders. The drive cylinders are connected to the nodes in such a way that on the straight section of the pipe the walls of the two nodes have a parallel arrangement, and on the turning section of the pipe, the support nodes are located with mutual rotation, provided by the hinge connection of each cylinder with the corresponding wall of the support node. Thus, the drive alternately increases and decreases the distance between parallel support nodes in straight sections, when one of the support nodes is in a fixed (stationary) position by extending the legs until the support platforms stop against the pipe surface; in the presence of steeply curved bends, the movement is also overcome due to the fixed position of one of the nodes (the first node) and the extension of parallel cylinders to different lengths with the mutual inclined position of the nodes, as mentioned above.

When using a known tool, some negative features appear. In particular, this device does not ensure the passage of T-bends due to the fact that when passing a T-shaped bend, the rollers protruding beyond the walls of the nodes and the support legs with support platforms abut against the edge, which can be sharp at the junction of pipes or rounded with with a minimum radius less than the radius of the roller. Therefore, such an abutment prevents movement of the device.

To ensure movement, the control of the drive operation is a complex process, since for a fixed position of a particular node, it is necessary to consistently create a pressing force on the support legs. In this case, there is no self-braking force component, therefore, it becomes necessary to expend additional energy on pressing the support pads (when fixing the assembly) and on removing the force to move one of the parts.

To move the analyzed device on curved sections of the pipe, a feedback mechanism and a separate control of the cylinders are required, since tilting the front assembly to a certain angle is required.

The device according to US patent 5018451 is characterized by the complexity of the design due to the large number of elements that must be installed and controlled separately. This factor imposes restrictions on the application of the maximum traction force and, in addition, complicates the implementation of the product in an explosion-proof design.

In the description to the patent RU 2475909 (published on February 20, 2013), a device is disclosed for moving along internal surfaces, including internal surfaces of pipelines having bends of various shapes. This device includes a reciprocating movement drive, moving parts made in the form of a connected housing and a rod, equipped with spacer elements that provide one-sided adhesion to the inner surface, while the spacer elements of each of the moving parts are made in the form of symmetrically located relative to the longitudinal axis of the linear drive reciprocating - translational movement of at least two spacer links inclined towards it, the inner ends of which are pivotally connected to the moving parts of the linear drive of the reciprocating motion, and the outer ends - with sliders spring-loaded for pressing against the inner surface of the pipeline.

This device has a limitation for use when moving inside a pipeline of variable diameter, including those due to local defects that violate the correct shape of the pipe cross section, or when moving along a pipe surface that has areas with a smooth or lubricated inner surface. So, for the movement of the device and the creation of traction force, it is necessary to fulfill the condition of self-braking of the sliders relative to the inner surface of the pipe, which is provided from the condition (90 ° - α _1…i )≤ρ ₁ ... _i , where: α _1…i ° - angles between the directions of action forces from the spacer links to the corresponding sliders and the inner surface in contact with them; ρ ₁ ... _i ° - friction angles in the corresponding kinematic pairs slider - inner surface. With a low coefficient of friction between the pipe and the sliders, caused by the smooth surface of the pipe or the presence of a lubricant, it will be necessary to maximize the angle α ₁ , however, if the pipe section changes downwards due to the geometric conditions of the structure, the angle α1 will sharply decrease, and the required condition (90 ° - α _1…i )≤ρ ₁ … _i will not be fulfilled, which will lead to slipping of the device in the pipe. A similar situation arises when passing curved sections of the pipe, where, due to the geometric conditions of this section, the actual angle α ₁ will change significantly, and in a certain situation the condition (90° - α _{1 ... i} )≤ρ ₁ ... _i will not be fulfilled and the device will stop.

In addition, this device does not guarantee the passage of a pipe section with a T-shaped branch, on which there is a sharp edge, or the edge is rounded with a small radius, because the spacer element can abut against the protruding surface.

In the description to the patent RU 2743787 (published on February 26, 2021), a device is disclosed, the design of which is improved compared to the specified predecessor - the invention RU 2475909 and is aimed at providing the possibility of forward and reverse movement.

Thus, the device according to patent RU 2743787 includes a reciprocating drive, moving parts made in the form of a connected body and a rod, equipped with spacer elements that provide one-sided engagement with the inner surface, while the spacer elements of each of the moving parts are made in the form of symmetrically located relative to the longitudinal axis of the linear drive of reciprocating motion is at least two spacer links inclined to it, the inner ends of which are pivotally connected to the moving parts of the linear drive of reciprocating motion, and the outer ends - with sliders spring-loaded for pressing against the inner surface of the pipeline. The spacer links are made elastic, spring-loaded to press the sliders to the inner surface; on the rod with the retractable movable part of the drive, a bushing is movably mounted, pivotally connected to the inner ends of the rigid links inclined symmetrically to the elastic spacer links; the outer ends of the rigid links are pivotally connected to the sliders through the axis of rotation common with the elastic spacer links, while the bushing and the retractable movable part are provided with contact elements of their mutual fixation.

However, when using the device according to patent RU 2743787, it is found that there is no possibility of passing through T-shaped bends, since the device contains protruding parts - spacer elements with a slider, which can rest against the edge of the T-shaped branch.

Taking into account the action of the pressing force from the spring or cylinder, the condition for the movement of the analyzed device is provided only by self-braking. Therefore, the use of the known device is possible only in those pipelines where the condition of self-braking is fulfilled.

In addition, during the passage of T-branches, the conditions for self-braking deteriorate significantly, since due to a change in the direction of forces in the contact of the device with the pipe, a much larger friction angle is required.

The device according to patent RU 2743787 is chosen as the closest analogue.

The technical problem solved by the invention is to expand the functionality while achieving the technical result:

- ensuring the possibility of passing any conuration inside the pipeline;

- increase of energy efficiency.

The proposed in-line self-propelled device includes at least one section, made with the possibility of articulated connection with additional identical sections and representing a linear drive of reciprocating motion, made in the form of a frame equipped with spring-loaded rollers with a carriage capable of moving in the longitudinal direction and representing coaxial longitudinal sleeves with pistons and coaxial transverse sleeves with plungers, in addition, the longitudinal sleeves are installed coaxially with the frame, and the transverse sleeves are installed in a direction close to perpendicular relative to the direction of the longitudinal sleeves, the first longitudinal sleeve is a carriage movement sleeve, the second longitudinal sleeve is a section movement sleeve , moreover, the corresponding pistons of the longitudinal sleeves, which are the piston for moving the carriage and the piston for moving the section, are installed motionless relative to the frame, the transverse sleeves are installed between the said pistons, the carriage is equipped with two crescent-shaped spacer links pivotally connected to the first longitudinal sleeve in the direction of travel with the possibility of rotation relative to of the specified hinge connection in the plane passing through the axes of the longitudinal and transverse sleeves, while the end sections of the spacer links spaced from the hinge joint are connected to the plungers of the corresponding transverse sleeves, and the crescent shape of each spacer link is made so that its projection onto the plane passing through the longitudinal axes longitudinal and transverse sleeves, has a configuration with an inner side made with a straight section and facing the longitudinal sleeves, and an outer side made with an arcuate section, the connection of each specified end section of the link with the corresponding plunger is organized through a slider capable of moving along the surface of the straight section with the possibility of rotation in the plane of the axes of the longitudinal and transverse sleeves, while the longitudinal and transverse sleeves are made with the possibility of communication with the system for supplying the working medium in the cavity of the sleeves, providing a pressure drop for the occurrence of a force pushing the carriage and the frame in opposite directions with the possibility of forming a contact patch of the arcuate section corresponding sickle-shaped link with the inner surface of the pipe.

In this device:

- centering rollers are installed in two planes perpendicular to the longitudinal axis of the section so that each plane has at least two centering rollers directed in opposite directions;

- a direction close to perpendicular is chosen with a deviation not exceeding 10 degrees from the perpendicular direction, based on the condition of preventing plunger misalignment.

To disclose the essence of the invention, an example of an in-line self-propelled device is considered below in accordance with the drawings, which show:

- figure 1 - General view of the device when moving on a straight section of the pipe (longitudinal section);

- figure 2 - General view when moving on a pipeline section with a T-shaped outlet (longitudinal section);

- in figure 3 - a general view when moving on a pipeline section, a steeply curved bend (longitudinal section).

The device may include one or more articulated sections, representing a linear reciprocating drive.

Section 1 includes a frame 2 with a carriage 3 installed inside the frame 2, which ensures the movement of the frame and the carriage in opposite directions.

The carriage 3 consists of a sleeve 4 of the movement of section 1 and a sleeve 5 of the movement of the carriage 3, and the sleeve 4 and the sleeve 5 contain fixed pistons: the piston 6 of the section movement and the piston 7 of the carriage movement.

Sleeves 4, 5 inside the frame 2 are oriented horizontally.

Taking into account the longitudinal direction of the frame 2 and sleeves 4, 5 when installed inside the pipe, transverse sleeves 8 with installed plungers 9 are installed between the fixed pistons 6 and 7.

The transverse sleeves 8 are installed relative to the longitudinal sleeves 4, 5 in a position close to perpendicular, and the deviation from the vertical is no more than 10 degrees in order to reduce the parasitic tangential component of the force, leading to misalignment of the plungers 9 and the occurrence of an additional load on the sliding surface (the inner surface of the pipe ).

Section 1 is equipped with two identically made two spacing links 10 crescent-shaped, performing the function of stops in the inner surface of the pipe; one end of each link 10 is pivotally connected to the sleeve 4 (swivel connection 11), and the other end - spaced from the point of attachment - is connected to the slider 12, which, in turn, is connected to the corresponding plunger 9.

Opening the shape of crescent spacer links 10 through the projection onto a plane passing through the longitudinal axes of the longitudinal 4, 5 and transverse sleeves 8, makes it possible to describe a section 13 with a flat surface facing the longitudinal sleeves 4 and 5, and a section of a convex shape 14 (in orthogonal projection arc 14) designed to rest against the inner surface of the pipe with the formation of a corresponding contact patch.

It should be noted that sections 13 with a flat surface of two links 10 when moving the proposed device along a straight section are parallel to each other or are in a position close to parallel (in the longitudinal direction).

In an exemplary implementation of the proposed device, the spacer links 10 are made with an additional section 15, also having a flat surface; figures 1, 2, 3 show a device with a possible embodiment of spacer links 10 with two sections 13 and 15 with a flat surface.

Sections 13 with a flat surface are organized to connect the spacer links 10 with the corresponding plungers 9 of the sleeves 8, while the connection is carried out by means of a slider 12 mounted on the plunger 9 with the ability to move along the straight section 13 and rotate relative to this plunger due to the hinge connection (position not indicated ).

Section 1 is equipped with centering rollers 16, which, with the help of springs 17, are pressed against the pipe surface. The rollers 16 are located in two planes and are oriented in the transverse direction relative to the longitudinal axis of the section 1, and these rollers 16 are installed so that in each plane perpendicular to the longitudinal axis, there are at least two differently directed rollers. Such an arrangement of the rollers 16 leads to a uniform centering of the device, while ensuring a coaxial position with the pipe in a straight section of the pipeline.

For clarity, figures 1-3 show two sections 1 connected by a hinge connection 18 through an intermediate rod 19, which ensures the rigidity of the connection between the sections. Section 1 is connected to the slave equipment (not shown in the drawings).

For autonomous operation of the device, each section can be equipped with equipment that provides oil supply to the cavities of the sleeves: a pump station with valve equipment and a battery pack (not shown in the figures).

Device control can be organized through an external cable connection, or using a wireless method of information transfer. The device can also be autonomous and controlled by the program from a common controller for all sections, installed in any of the sections.

The supply of oil as a working medium into the cavity of the sleeves 4 and 5 is carried out through the channels 20 made in the pistons 6 and 7. To generate a force pushing the carriage 3 and the frame 2 in opposite directions, from the cavity of the sleeve 4 move section 1 into the cavity of the transverse sleeves 8 oil enters through the hole 21, made in the end wall of the sleeve 4.

The device works as follows.

Two sections 1 introduced inside the pipe are centered using spring-loaded rollers 16.

After section 1 is installed in the inner space of the pipe, the flow of the working medium through the channels of the rods 20 of the corresponding pistons 6 and 7 flows from the cavity of the sleeve 4 to the cavity of the sleeve 5, the pressure of the working medium in the cavity of the sleeve 4 decreases, and in the cavity of the sleeve 5 increases, which leads to an increase in the force on the piston 7 and a decrease in the force on the piston 6. Due to the presence of a hole 21 on the end wall of the sleeve 4, the pressure of the working medium in the cavity of the sleeve 8 decreases and the friction force of the sickle-shaped links 10 with the pipe surface decreases. At the moment when the force from the pressure of the working medium on the piston 7 exceeds the force of the working medium on the piston 6 by the friction force of the sickle-shaped links 10 against the pipe, the carriage 3 starts to move along the longitudinal axis of the device. The movement continues until carriage 3 reaches its end position.

When the carriage 3 reaches the extreme position, the direction of the flow of the working medium changes. From the cavity of the sleeve 5, the working medium is directed through the channels of the rods 20 into the cavity of the sleeve 4, which leads to an increase in the pressure of the working medium in the cavity of the sleeve 4. The presence of an opening 21 on the end wall of the sleeve leads to the fact that from the cavity of the sleeve 4 the working medium also fills the cavity of the sleeves 8, equalizing the pressure of the working medium in the cavities of the sleeves 8 and 4. The pressure of the working medium creates a force on the plungers 9, which is transmitted through the sliders 12 to the links 10, which are pressed against the pipe surface through the contact patch, increasing the friction force. With an increase in pressure in the cavity of the sleeve 4, a force is created on the piston 6, however, the movement of the carriage 3 does not occur, because the friction force of the links 10 on the pipe exceeds the difference between the force on the piston 6 and the force on the piston 7. At the moment when the force from the pressure of the working medium on the piston 6 exceeds the force of the working medium on the piston 7 by the amount of force necessary for the movement of the device and associated through the rigid connection of all sections, the frame 2 moves, which, through the rigid connection 19 of the hinges 18, drives the entire device and creates a traction force to move the coupled driven equipment. For one cycle of reciprocating motion of the linear actuator, the device moves by the value L (Fig. 1).

The geometric dimensions of the links 10 are selected so that when sections 1 pass through a straight section of the pipe without defects with a diameter corresponding to the nominal size, the links 10 are pressed against its surface with the formation of a contact patch of the convex surface 14 of each link 10, while sections 13 with a flat surface and the axis of the plungers 9 are mutually perpendicular, respectively, the direction of the reaction of the supporting surface of the sliders 12 and the direction of the force of the working medium on the plungers 9 makes a deployed angle (or an angle close to 180 degrees).

In fact, for a movable device, the diameter of the pipeline is continuously changing. This occurs due to the deviation of the size of the inner diameter within the tolerance, the presence of defects on the inner surface of the pipe, as well as the design change in the diameter of the pipeline or the presence of bends designed to change the direction of the pipelines. Based on this circumstance, the spacer links 10 deviate, sliding along the surface of the pipe, repeating its contour. Consequently, the straight section 13 (section 13 with a flat surface) changes its position relative to the plunger 9 or, in other words, rotates through a certain angle α (Fig. 2). The limit values of this angle provide sufficient conditions for the passage of pipeline sections, the geometry deviations of which are within the dimensions for which this model of the device is intended. Significant deviations of the value of the angle α from the straight line leads to the occurrence of a warping force, which adversely affects the reliability of the device. For this reason, when choosing the angle α formed by the flat surface of the section 13 and the axis of the plunger 9, the optimal value is not less than 75 degrees.

As shown in figure 2, when moving the sections 1 on the pipeline section having a T-shaped bend, the link 10 facing the interior of the T-shaped bend rotates through an angle determined by the design of the device. Link 10, located opposite, in the half cycle, in which the working medium flows from the cavity of the sleeve 5 to the cavity of the sleeve 4, provides sufficient force to move the frame and driven equipment. In the half cycle, during which the carriage 3 moves, the pressure in the cavity of the cylinders 8 is minimal, therefore, when the surface 14 of the link 10 runs into a sharp or rounded lump of the T-shaped branch, the link 10 turns and the surface 14 falls on a straight section of the pipeline.

When sections 1 pass a steeply curved section of the pipeline, the two sections rotate due to the presence of hinges 18 and the rod 19, and with a continuous change in the angle of inclination of the flat section 13 relative to the plunger, they occupy a position on the next straight section of the pipeline.

Paying attention to the movement of the slider 12 along the section 13 with a flat surface, it should be noted that such movement can be limited by the stroke length of the plunger 9. The determination of the boundaries of the movement of the slider 12 along the section 13 occurs due to engineering calculation, which includes the following factors: pipe diameter, radius of the branch, limiting dimensions of pipeline defects.

Based on the foregoing, it follows that when the sections pass through critical sections of the pipeline (change in the diameter of the tube, the presence of bends), the implementation of each spacer link with a longitudinal sleeve - the first in the direction of the section - makes it possible to organize the stops of the links while providing a contact patch throughout the movement of the section (excluding the constant contact of one of the spacer links is a pipe section with a T-shaped branch).

Thus, the proposed device provides the possibility of passing inside the pipeline of any configuration, having constrictions and bends, as well as a variable diameter due to the presence of internal defects.

Based on an example demonstrating the operation of the proposed device, an increase in energy efficiency is achieved by providing a direct connection between the pressure of the working medium in the cavity of the piston of the section movement and the cavities of the plungers of the transverse sleeves. The friction between the crescent-shaped spacer links and the pipe, necessary to create the traction force, occurs only simultaneously with the occurrence of the traction force, and at the moment when it is required to move the carriage, the pressure in the cavity of the plungers of the transverse sleeves is minimal and there are no additional losses for the movement of the carriage.

The expansion of the functionality of the product occurs due to an increase in traction. The greatest force of pressing the spacer links is provided by the creation of pressure of the working medium in the cavity of the plungers of the transverse sleeves. The use of a working medium to create a preload force instead of the use of springs, as in the technical solution according to patent 2743787, allows you to increase this force with significantly smaller assembly dimensions.

In addition, the expansion of the functionality of the product is characterized by the fact that when passing the curved bends, the magnitude of the traction force is maintained. In contrast to the technical solution according to patent 2743787, in the proposed device, the preload force of the spacer links is always constant, regardless of the angle of inclination of the corresponding spacer link. Consequently, the device retains the value of the traction force at lower values of the angle of friction, as well as when changing the shape and dimensions of the pipe, leading to a change in the angle of inclination of the sickle-shaped link relative to the longitudinal axis.

The undoubted advantage of the proposed device in the context of expanding functionality is the use of a device with an autonomous power source. Thus, the energy efficiency of the device makes it possible to increase the length of the investigated section of the pipeline, providing the passage of this section with battery power instead of cable power.

Claims (3)

1. In-line self-propelled device, including at least one section, made with the possibility of articulated connection with additional identical sections and representing a linear drive of reciprocating motion, made in the form of a frame equipped with spring-loaded rollers with a carriage capable of moving in the longitudinal direction and representing coaxial longitudinal sleeves with pistons and coaxial transverse sleeves with plungers; moreover, the corresponding pistons of the longitudinal sleeves, which are the displacement piston of the carriage and the piston of the section movement, are installed motionless relative to the frame, the transverse sleeves are installed between the said pistons, the carriage is equipped with two crescent-shaped spacer links hingedly connected to the first longitudinal sleeve in the direction of travel with the possibility of rotation relative to the specified hinge connection in a plane passing through the axes of the longitudinal and transverse sleeves, while the end sections of the spacer links spaced from the hinge joint are connected to the plungers of the corresponding transverse sleeves, and the crescent shape of each spacer link is made so that its projection onto a plane passing through the longitudinal axes of the longitudinal and transverse sleeves, has a configuration with an inner side made with a straight section and facing the longitudinal sleeves, and an outer side made with an arcuate section, the connection of each specified end section of the link with the corresponding plunger is organized through a slider capable of moving along the surface of the straight section with the possibility rotation in the plane of the axes of the longitudinal and transverse sleeves, while the longitudinal and transverse sleeves are made with the possibility of communication with the system for supplying the working medium in the cavity of the sleeves, providing a pressure drop for the occurrence of a force pushing the carriage and the frame in opposite directions with the possibility of forming a contact patch of the arcuate section of the corresponding sickle-shaped link with the inner surface of the pipe. 2. In-line self-propelled tool according to claim 1, characterized in that the rollers are installed in two planes perpendicular to the longitudinal axis of the section so that in each plane there are at least two rollers directed in opposite directions. 3. In-line self-propelled tool according to claim 1, characterized in that the direction, close to perpendicular, is selected with a deviation not exceeding 10 degrees from the perpendicular direction, based on the condition to prevent the plunger from being skewed.

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