Clearing robot for pipeline surface adhesive contaminants

A technology of attachments and robots, applied in the directions of manipulators, cleaning methods and utensils, chemical instruments and methods, etc., can solve the problems of limitation, waste of manpower and material resources, threats to safety production, etc., and achieve the effect of high performance, rich development and small size

Inactive Publication Date: 2017-11-07
SHANDONG UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At the same time, the long-term attachment of marine organisms to the surface of the jacket also intensifies the corrosion of the wellhead platform by the marine environment, reduces the smoothness of the conduit wall, and increases the average drift of waves in the surge, sway, and yaw directions of the column legs. force, which poses a huge threat to safe production, so the wellhead platform jacket needs to be cleaned regularly
[0003] At present, our country's cleaning method for marine organisms attache

Method used

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  • Clearing robot for pipeline surface adhesive contaminants
  • Clearing robot for pipeline surface adhesive contaminants
  • Clearing robot for pipeline surface adhesive contaminants

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] like Figure 1-5Shown is a schematic diagram of the structure of the pipeline surface attachment cleaning robot. This example includes an arc-shaped housing. The inner side of the arc-shaped housing is provided with a wheel-type moving mechanism 6 for moving the arc-shaped housing on the pipeline 7 to be cleaned. The vector propulsion mechanism 1 moving along the pipeline 7 to be cleaned, the fixing device 2 for fixing the arc-shaped shell on the pipeline 7 to be cleaned, the high-pressure water gun system for cleaning the pipeline 7 to be cleaned 3, the The water gun rotary mechanism 5 used to adjust the water gun 32 of the high-pressure water gun system 3 in the radial position of the pipeline 7 to be cleaned and the water gun position adjustment mechanism 4 arranged on the water gun rotary mechanism 5 for adjusting the position of the water gun.

[0036] Further, the water gun rotary mechanism 5 includes an arc-shaped rotary bracket 51 arranged on the head of the ar...

Embodiment 2

[0045] Such as Figure 3-4 , 6-8, the second embodiment has many similarities with the first embodiment. There are three main differences.

[0046] One is that the fixing device 2' is a permanent magnetic adsorption device, which includes a plurality of adsorption units, and each adsorption unit consists of two permanent magnets 22' and a yoke 21' to form a B-shaped magnetic circuit; through this device, the surface of the pipeline can be made The attachment cleaning robot is adsorbed on the pipeline 7' to be cleaned.

[0047] Its two, be on the design of wheel type moving mechanism 6 ', comprise arc housing 65 ', two universal rollers 61 ' are respectively installed on the left and right sides of arc housing 65 '; Four universal rollers 61 ' and When the pipeline 7' to be cleaned is in contact, it can roll along the pipeline to be cleaned under the action of external force.

[0048] The third is that the vector propulsion mechanism 1' is a parallel vector propulsion mechan...

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Abstract

The invention discloses a clearing robot for pipeline surface adhesive contaminants and belongs to the technical field of robot preparation. The clearing robot for the pipeline surface adhesive contaminants comprises an arc-shaped shell. A wheel-type moving mechanism used for enabling the arc-shaped shell to move onto a to-be-cleaned pipeline is arranged on the inner side of the arc-shaped shell, and a vector propelling mechanism used for propelling the arc-shaped shell to move along the to-be-cleaned pipeline, a fixing device used for fixing the arc-shaped shell to the to-be-cleaned pipeline, a high-pressure water gun system used for cleaning the to-be-cleaned pipeline, a water gun slewing mechanism used for adjusting the radial position of a water gun, at the to-be-cleaned pipeline, of the high-pressure water gun system and a water gun position and posture adjusting mechanism arranged on the water gun slewing mechanism and used for adjusting the position and posture of the water gun are arranged on the arc-shaped shell. According to the clearing robot for the pipeline surface adhesive contaminants, efficient and comprehensive clearing for the surface contaminants of the to-be-cleaned pipeline can be achieved.

Description

technical field [0001] The invention relates to the technical field of robot preparation, in particular to a robot for cleaning up attachments on the surface of pipelines. Background technique [0002] In recent decades, with the continuous development of my country's offshore oil fields and the development of the offshore oil industry, the wellhead platform, as an important equipment in offshore oil extraction operations, has played an increasingly important role in modern ocean development. However, a large number of marine organisms will be adsorbed on the jacket of the wellhead platform in the seawater full immersion area and tidal range area for a long time. The attached marine organisms change the roughness and damping coefficient of the jacket surface, increase the surface area of ​​the jacket, and also increase the total weight of the jacket, so that the jacket can bear greater weight loads, wave loads, or ocean current forces , the stability of the platform, that i...

Claims

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Application Information

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IPC IPC(8): B08B3/02B25J11/00
Inventor 李静翟龙迎陈原李海鸥胡铭铎
Owner SHANDONG UNIV
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