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Hydraulic feedback speed-controllable pipeline robot

A pipeline robot and hydraulic technology, applied in the direction of special pipes, pipe components, mechanical equipment, etc., can solve the problems of limited battery energy, difficulty in ensuring reliability, complex structure of speed-controlled pipeline robots, etc., and achieve high reliability and simple principle Effect

Inactive Publication Date: 2016-08-03
XIHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the limited energy of the battery itself, the working distance of the electronic speed-controlled pipeline robot is greatly limited
At the same time, the use of electronic structure requires a lot of sensors, motors, drivers, actuators, etc., making the structure of the speed control pipeline robot very complicated, and it is difficult to guarantee the reliability when used in harsh working conditions.

Method used

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  • Hydraulic feedback speed-controllable pipeline robot
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  • Hydraulic feedback speed-controllable pipeline robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0020] Such as figure 1 As shown, the hydraulic feedback speed control pipeline robot includes a housing 1 and a leather cup 2, and at least two leather cups 2 are set on the outer wall of the housing 1. The hydraulic feedback speed control pipeline robot also includes a 1 The internal piston device, the regulating valve 8 arranged at one end of the housing 1, the fluid pump 12 and the speed acquisition wheel 17 used to detect the speed of the robot, the housing 1 has an opening 9 on the end surface of one end, the said The piston device includes a piston cylinder 5, a piston 6 and a telescopic rod 7, the piston cylinder 5 is fixed in the housing 1, the piston 6 is slidingly fitted in the piston cylinder 5, and the piston 6 divides the piston cylinder 5 into an oil chamber and an oil chamber. Non-oil chamber, one end of the telescopic rod 7 is fixed to the piston 6 on the side of the non-oil chamber, the other end of the telescopic rod 7 is connected with a regulating valve 8 ...

Embodiment 2

[0025] Such as figure 2 As shown, the hydraulic feedback speed control pipeline robot includes a housing 1 and a leather cup 2, and at least two leather cups 2 are set on the outer wall of the housing 1. The hydraulic feedback speed control pipeline robot also includes a 1 The internal piston device, the regulating valve 8 arranged at one end of the housing 1, the fluid pump 12 and the speed acquisition wheel 17 used to detect the speed of the robot, the housing 1 has an opening 9 on the end surface of one end, the said The piston device includes a piston cylinder 5, a piston 6 and a telescopic rod 7, the piston cylinder 5 is fixed in the housing 1, the piston 6 is slidingly fitted in the piston cylinder 5, and the piston 6 divides the piston cylinder 5 into an oil chamber and an oil chamber. Non-oil chamber, one end of the telescopic rod 7 is fixed to the piston 6 on the side of the non-oil chamber, the other end of the telescopic rod 7 is connected with a regulating valve 8...

Embodiment 3

[0030] Such as image 3 As shown, the hydraulic feedback speed control pipeline robot includes a housing 1 and a leather cup 2, and at least two leather cups 2 are set on the outer wall of the housing 1. The hydraulic feedback speed control pipeline robot also includes a 1 The internal piston device, the regulating valve 8 arranged at one end of the housing 1, the fluid pump 12 and the speed acquisition wheel 17 used to detect the speed of the robot, the housing 1 has an opening 9 on the end surface of one end, the said The piston device includes a piston cylinder 5, a piston 6 and a telescopic rod 7, the piston cylinder 5 is fixed in the housing 1, the piston 6 is slidingly fitted in the piston cylinder 5, and the piston 6 divides the piston cylinder 5 into an oil chamber and an oil chamber. Non-oil chamber, one end of the telescopic rod 7 is fixed to the piston 6 on the side of the non-oil chamber, the other end of the telescopic rod 7 is connected with a regulating valve 8 ...

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Abstract

The invention relates to a hydraulic feedback speed-controllable pipeline robot. The hydraulic feedback speed-controllable pipeline robot comprises a shell, leather cups, supporting wheels, a piston device, an adjusting valve, a fluid pump and a speed collection wheel. An opening is formed in the end face of one end of the shell. The piston device comprises a piston cylinder, a piston and a telescopic rod. One end of the telescopic rod is fixed to the side, not in an oil cavity, of the piston. The other end of the telescopic rod is provided with the adjusting valve with the opening degree of the opening capable of being adjusted. The oil cavity of the piston cylinder communicates with one end of a liquid inlet pipe. A liquid outlet of the fluid pump communicates with the other end of the liquid inlet pipe. The oil cavity of the piston cylinder further communicates with one end of a liquid return pipe. A liquid inlet of the fluid pump communicates with the other end of the liquid return pipe. The liquid return pipe is further provided with a throttling valve and a liquid storage container capable of balancing the pressure difference between the inside and the outside. The speed collecting wheel is installed on the tail of the shell through an elastic arm and is in transmission connection with the fluid pump. The hydraulic feedback speed-controllable pipeline robot has the advantages that a hydraulic feedback loop is adopted, energy of fluid in the pipeline is fully utilized, and the reliability of the speed-controllable pipeline robot is greatly improved.

Description

technical field [0001] The invention relates to an in-pipe operating machine, in particular to a hydraulic feedback speed-controlled pipeline robot. Background technique [0002] As the main means of fluid transportation, pipelines are widely used in all aspects of production and life, especially in the petrochemical field. As the main means of oil and gas transportation, long-distance pipelines have already accounted for more than 80% of the entire oil and gas transportation. Long-distance pipelines need to be maintained and inspected after they have been in operation for a period of time. In the maintenance stage, low-speed pigging operations are required; in terms of inspection, it is hoped that the inspection equipment will operate at a low speed. The conventional operation method is to reduce the flow rate of the transported fluid to achieve the purpose of low-speed pigging and low-speed detection. But this greatly affects the production efficiency, and due to the un...

Claims

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Application Information

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IPC IPC(8): F16L55/38F16L101/12F16L101/30
CPCF16L55/38F16L2101/12F16L2101/30
Inventor 刘清友任涛张均富
Owner XIHUA UNIV
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