CN111720652A - A multi-stage speed-adjustable traction device for a pipeline intelligent plugging robot - Google Patents

Abstract

The utility model relates to a multi-stage speed-adjustable traction device for a pipeline intelligent plugging robot, which is composed of a pig main body, an overcurrent pressure relief mechanism and a brake mechanism. The main body of the pig is composed of a skeleton and a leather bowl, and the fluid acts on the leather bowl to generate power; the overcurrent pressure relief mechanism is composed of a valve seat, a valve core I and a valve core II, and the fluid overflow is controlled by the axial movement of the two valve cores. So as to realize speed regulation; the brake mechanism is composed of a rubber cylinder, an extrusion ring and a push rod, and the push rod is driven by a hydraulic cylinder to squeeze the rubber cylinder, so that the expansion effect of the pipe wall realizes the deceleration. The invention can provide traction power for the pipeline intelligent plugging robot to move forward in the pipe; realize multi-stage speed regulation of the pipeline intelligent plugging robot when turning, going up and down slopes and receiving pipe sections; it has a flexible braking device to reduce the impact of changing lines. risk and improve braking performance; the speed control device has a simple structure and rapid response.

Description

A multi-stage speed-adjustable traction device for a pipeline intelligent plugging robot

technical field

The invention relates to a pipeline maintenance and emergency repair tool, in particular to a multi-stage speed-adjustable traction device for a pipeline intelligent plugging robot.

Background technique

Oil and gas energy is still one of the necessary energy sources for strategic energy reserves in various countries in the world. With the obvious improvement of people's living standards, the society's demand for energy is also increasing, and the transportation of oil and gas is a must in production. It is an indispensable step. In the face of the failure of long-distance oil and gas pipelines due to various uncertain factors in the external environment for a long time or the failure caused by the reason of damage, the repair and maintenance of long-distance oil and gas pipelines is very important. In the maintenance operation of long-distance oil and gas pipelines, the damaged section needs to be replaced. First, the intelligent blocking robot of the pipeline is sent to the target position in the pipe to be blocked. , reduce the loss of oil and gas resources.

The pipeline intelligent blocking robot is mainly composed of a traction device and a blocking device. Under the action of the fluid, the traction device is connected to the blocking device to advance in the pipe. Since the pipeline intelligent plugging robot will have up and downhill, cornering and receiving in long-distance oil and gas pipelines, in these cases, the traction device needs to perform multi-level control of the speed to avoid the pipeline intelligent plugging robot speed being too high and the pipeline and receiving The device poses a risk. The traditional speed control traction device is controlled by a motor, which requires high sealing performance; the traditional overcurrent pressure relief device has a complex structure, a limited flow area, and the complicated working conditions in the pipeline have poor speed regulation effect; the existing speed When controlling the traction device, the rotary valve structure is mostly used. When the blade initially rotates, the required torque is large, so it is necessary to configure a high-power motor to increase the power loss; in the pipeline, when the valve body is impacted, the blade is prone to occur. Interference, resulting in the blade stuck and unable to rotate; the traditional braking device is easily deviated by the impact, reducing the braking performance. Therefore, it is necessary to invent a multi-stage speed regulating traction device with obvious speed regulation effect, simple structure, safety and reliability.

SUMMARY OF THE INVENTION

(1) Technical problems solved

In order to solve the above problems, the patent of the present invention provides a multi-stage speed-adjustable traction device for a pipeline intelligent blocking robot for pipeline maintenance. Driven by a double-rod hydraulic cylinder, through the unified hydraulic control of the intelligent pipeline blocking robot, it solves the problems of traditional motor control, which requires high sealing performance and poor reliability; the flexible braking method of extruding rubber cylinders is used to reduce the braking device. Affected by the risk of impact deformation, the braking performance is improved; the overcurrent pressure relief device is used to realize two-level overflow control through the axial movement of the valve core. The pressure relief structure is simple, the required driving pressure is small, and the mechanism responds quickly; The combined use of the flow pressure relief speed regulation mode and the extrusion rubber drum brake has three levels of speed regulation to realize the speed reduction of the pipeline intelligent plugging robot in the downhill section, the bend section and the receiving time, and the speed regulation range is large. , the speed regulation effect is obvious; thus effectively ensuring the safe operation of the pipeline intelligent plugging robot in the pipeline.

(2) Technical solutions

The following technical solutions adopted by the patent of the present invention to solve its technical problems are: a multi-stage speed-adjustable traction device for a pipeline intelligent plugging robot, which is mainly composed of a pig main body, an overcurrent pressure relief mechanism and a brake mechanism, an anti-collision frame and a The leather cup is connected to the front end of the device by bolts, the brake mechanism is placed on the frame, the double-rod hydraulic cylinder is installed on the hydraulic cylinder mounting frame by screws, and then the whole is put into the installation groove in the frame, and then installed on the installation groove The overcurrent pressure relief mechanism is finally connected to the mounting hole II at the rear end of the skeleton with bolts to realize the axial fixation of each part in the installation groove. Rod, valve core I and valve core II. Valve core I is connected to one side rod of the double-rod hydraulic cylinder through threads. In the initial state of the double-rod hydraulic cylinder, valve core I is in the valve core hole of valve core II. , the valve core II is installed on the valve seat, and the limit rod is installed on the threaded hole of the valve core II through the limit through hole of the valve seat; the brake mechanism is composed of a rubber cylinder, an extrusion ring, a push ring and a pull rod , the rubber cylinder is sleeved on the boss of the frame, the pull rod is installed in the guide groove on the frame, the extrusion ring is sleeved on the frame and fixed with the pull rod by screws, and the push ring is connected to the other side of the double-rod hydraulic cylinder through threads. on the side rod; the main body of the pig is composed of a leather cup and a skeleton, and the leather cup is connected to the front mounting hole I and the rear mounting hole II of the framework through bolts.

The extrusion ring is provided with four circumferential reinforcing ribs and through holes.

The rear end of the skeleton is provided with four rear mounting holes II, two symmetrical mounting slots and two hydraulic pipeline through holes I, the middle section is provided with a boss and a guide slot, and the front end is provided with three front mounting holes. I.

The connection base is provided with a hinged ball connection groove, four bolt connection through holes in the circumferential direction, two hydraulic pipeline through holes II and a flow hole.

The valve seat is provided with a symmetrical mounting boss, a through-flow hole II and four circumferential limit through-holes.

The valve core II is provided with four circumferential threaded holes I and through-flow holes I.

The hydraulic cylinder mounting frame is provided with symmetrical mounting posts and two hydraulic joints notches.

(3) Beneficial effects

The beneficial effects of the present invention are: (1) to provide traction power for the pipeline intelligent plugging robot to move forward in the pipe; (2) to realize the multi-level speed regulation of the pipeline intelligent plugging robot when passing bends, going up and down slopes and receiving pipe sections; (3) ) It has a flexible braking device, which reduces the risk of being impacted and turns and improves the braking performance; (4) The speed regulating device has a simple structure and quick response.

Description of drawings

Fig. 1 is the oblique side view of the appearance of the present invention;

Fig. 2 is a half-section schematic diagram of the present invention;

FIG. 3 is a schematic diagram of the first-level speed regulation state of the present invention;

FIG. 4 is a schematic diagram of the second-level speed regulation state of the present invention;

Fig. 5 is the three-stage speed regulation state schematic diagram of the present invention;

Fig. 6 is the schematic diagram of the crash frame of the present invention;

FIG. 7 is a schematic diagram of the appearance of a tie rod of the present invention;

Figure 8 is a schematic view of the appearance of the extrusion ring of the present invention;

Fig. 9 is the schematic diagram of the oblique side of the skeleton of the present invention;

Figure 10 is a schematic diagram of a quarter cross-sectional view of the skeleton of the present invention;

FIG. 11 is a schematic view of the appearance of the connection base of the present invention.

Figure 12 is an exploded view of the speed control valve of the present invention;

Fig. 13 is a partial enlarged schematic view of the speed regulating valve of the present invention;

Figure 14 is a schematic diagram of the appearance of the valve seat of the present invention;

Figure 15 is a schematic diagram of the appearance of the valve core II of the present invention;

Figure 16 is a schematic view of the appearance of the hydraulic cylinder mounting frame of the present invention;

In the figure, 1-collision frame, 101-hook, 102-bolt connection through hole, 2-leather cup, 3-tie rod, 301-threaded connection hole, 302-push table, 4-plastic cylinder, 5-extrusion ring , 501- Reinforcing Rib, 502- Through Hole, 6- Frame, 601- Rear Mounting Hole II, 602- Mounting Slot, 603- Boss, 604-, 605- Guide Slot, 606- Hydraulic Line Through Hole I, 7 - Connecting base, 701- Ball joint groove, 702- Bolt connection through hole, 703- Hydraulic pipeline through hole II, 704- Flow hole, 8- Valve seat, 801- Mounting boss, 802- Through flow hole II, 803-Limit through hole, 9-Limit rod, 10-Spool Ⅱ, 1001-Thread hole Ⅰ, 1002-Through hole Ⅰ, 11-Spool Ⅰ, 12-Double rod hydraulic cylinder, 13-Hydraulic cylinder installation Rack, 1301-installation boss, 1302-pipeline installation notch, 14-push ring.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings, and the protection scope of the present invention is not limited to the following description:

As shown in Figures 1 to 16, a multi-stage speed-adjustable traction device for an intelligent pipeline plugging robot includes 1- an anti-collision frame, 2- a leather cup, 3- a tie rod, 4- a rubber barrel, and 5- an extrusion ring , 6-skeleton, 7-connection base, 8-valve seat, 9-limiting rod, 10-spool Ⅱ, 11-spool Ⅰ, 12-double-rod hydraulic cylinder, 13-hydraulic cylinder mounting frame, 14-push The anti-collision frame 1 is connected to the front end of the device by bolts, the leather cup 2 is installed on the front and rear ends of the frame 6 by bolts, the pull rod 3 is installed in the guide groove 605 of the frame 6, and the rubber cylinder 4 is put on the boss 603 of the frame 6 , the double-rod hydraulic cylinder 12 is installed on the hydraulic cylinder mounting frame 13 by screws, and then the whole is put into the installation groove 602 in the frame 6 of the pig main body, and then the overcurrent pressure relief mechanism is installed on the installation groove 602, Finally, the connecting base 7 is bolted to the mounting hole II 601 at the rear end of the frame 6 to realize the axial fixation of the parts in the mounting groove 602 .

The working process of the present invention is as follows:

During normal operation, the speed control traction device of the pipeline intelligent blocking robot is connected to the pipeline intelligent blocking robot at the rear, and is sent into the oil and gas pipeline through the teeing device. At this time, the pipeline intelligent blocking robot speed controls the overcurrent pressure relief mechanism of the traction device. All flow passages are closed. Driven by the fluid behind, the towed pipeline intelligent blocking robot moves forward in the pipeline. When the intelligent pipeline plugging robot runs too fast in the pipe, the hydraulic oil is injected into the double-rod hydraulic cylinder (12) in the speed control traction device of the intelligent pipeline plugging robot, and the valve core I (11) follows the direction of the rod on the right side of the piston. Moving forward, the valve core II (10) loses the restriction of the valve core I (11), and moves forward under the push of the rear fluid, the channel between the valve core II (10) and the valve seat (8) is gradually opened, and the fluid Through this, the pressure difference before and after the speed control traction device of the pipeline intelligent plugging robot is reduced, and the first-level speed reduction is realized. When the valve core II (10) reaches the maximum displacement, the limit rod (9) in the valve core II (10) and the valve seat (8) limits the movement of the valve core II (10). When the piston rod of the The pressure difference between the front and rear of the traction device is reduced again to achieve a two-stage deceleration. At the same time, the rod on the left side of the piston of the double-rod hydraulic cylinder (12) moves forward, and the push ring (15) on the rod acts on the push table (302) of the pull rod (3) to push the pull rod (3) to move forward, The tie rod (3) and the extrusion ring (5) are fixed, all the extrusion rings (5) are pulled and moved forward, when the valve core I (11) passes through the flow hole I (1002) of the valve core II (10) ) is completely withdrawn, the extrusion ring (5) begins to act on the rubber cylinder (4), and as the piston of the double-rod hydraulic cylinder (12) continues to move forward, the extrusion ring (5) squeezes the rubber cylinder ( 4), the rubber cylinder (4) expands and gradually contacts the inner wall of the pipe, the friction force increases, and then brakes to achieve three-stage deceleration.

Finally, it should be noted that the above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: this patent can still be modified. Or equivalent replacements, without departing from the spirit and scope of the present invention, any modifications or partial replacements shall be included in the scope of the claims of the present invention.

Claims (6)

1. A multi-stage speed-adjustable traction device for an intelligent pipeline plugging robot, which is mainly composed of a pig main body, an overcurrent pressure relief mechanism and a braking mechanism. The anti-collision frame (1) and the leather cup (2) are connected to the At the front end of the device, the brake mechanism is placed on the frame (6), the double-rod hydraulic cylinder (12) is mounted on the hydraulic cylinder mounting frame (13) by screws, and then the whole is put into the mounting groove (602) in the frame (6). ), then install the overcurrent pressure relief mechanism on the installation groove (602), and finally connect the base (7) to the installation hole II (601) at the rear end of the skeleton (6) with bolts to realize the The axial fixing of parts is characterized in that: the overcurrent pressure relief mechanism is composed of a valve seat (8), a limit rod (9), a valve core I (11) and a valve core II (10). (11) It is connected to one side rod of the double-rod hydraulic cylinder (12) by threads. When the double-rod hydraulic cylinder (12) is in the initial state, the valve core I (11) is in the valve core hole of the valve core II (10). In (1002), the valve core II (10) is installed on the valve seat (8), and the limit rod (9) is installed on the valve core II (10) through the limit through hole (803) of the valve seat (8). on the threaded hole (1001); the brake mechanism is composed of a rubber cylinder (4), an extrusion ring (5), a push ring (5) and a pull rod (3), and the rubber cylinder (4) is sleeved on the skeleton (6) On the boss (603), the tie rod (3) is installed in the guide groove (605) on the skeleton (6), and the extrusion ring (5) is sleeved on the skeleton (6) and fixed with the tie rod (3) by screwing, The push ring (15) is threaded on the other side rod of the double-rod hydraulic cylinder (12); the pig main body is composed of a leather cup and a skeleton, and the leather cup (2) is connected to the skeleton (6) by bolts ) on the front mounting hole I (604) and the rear mounting hole II (601). 2 . The multi-stage speed-adjustable traction device of a pipeline intelligent sealing robot according to claim 1 , wherein the extrusion ring ( 5 ) is provided with four circumferential reinforcing ribs ( 501 ) and Through hole (502). 3. The multi-stage speed-adjustable traction device for an intelligent pipeline blocking robot according to claim 1, wherein the rear end of the frame (6) is provided with four rear end mounting holes II (601), There are two symmetrical mounting grooves (602) and two hydraulic pipeline through holes I (606), a boss (603) and a guide groove (605) are provided in the middle, and three front mounting holes I (604) are provided at the front end. . 4. The multi-stage speed-adjustable traction device of a pipeline intelligent blocking robot according to claim 1, wherein the connecting base (7) is provided with a hinged ball connecting groove (701), and four circumferentially Bolt connection through holes (702), two hydraulic pipeline through holes II (703) and flow holes (704). 5. The multi-stage speed-adjustable traction device for an intelligent pipeline blocking robot according to claim 1, characterized in that: the valve seat (8) is provided with a symmetrical mounting boss (801), a through-flow hole II (802) and four circumferential limit through holes (803). 6. The multi-stage speed-adjustable traction device for an intelligent pipeline plugging robot according to claim 1, wherein the valve core II (10) is provided with four circumferential threaded holes I (1001). and through the flow hole I (1002).

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