An internal scraping and washing device and cleaning method for deep-water pipelines in offshore oil and gas exploitation

Abstract

The present invention relates to an internal scraping and washing device and a cleaning method for deep-water pipelines in offshore oil and gas exploitation, belonging to the technical field of oil pipeline cleaning. The internal scraping and washing device includes a power unit, and a turbine mechanism, a speed reduction mechanism and a pigging mechanism are successively connected in series from top to bottom below the power unit; a plurality of traveling mechanisms are successively connected in series from bottom to top above the power unit. When the pigging of the internal scraping and washing device is carried out, the device will not completely block the pipeline, can ensure the fluidity of the fluid, and the crushed dirt is discharged by the fluid, so it is not easy to cause blockage, and can effectively reduce the risk of pipeline bursting. Since the fluidity can be maintained, the production of the oil production platform can be carried out without interruption, and the platform does not need to provide enough propulsion fluid, which greatly reduces the cost of pigging operation. It can repeatedly charge the power unit by using the turbine to provide power, and can ensure long-distance operation. It solves the problems that the existing pigging device is easy to block the pipeline and there is a risk of pipeline bursting.

Description

Technical Field

[0001] The present invention relates to an internal scraping and washing device and a cleaning method for deep - water pipelines in offshore oil and gas exploitation, belonging to the technical field of oil pipeline cleaning. Background Technique

[0002] With the progress of offshore oilfield exploitation methods and technologies, subsea pipelines are widely used in the development of offshore oilfields. Through subsea pipelines, the production gathering, transportation and storage systems of offshore oil and gas fields can be connected, and can also be connected to the onshore petroleum industry system. The connection objects of subsea pipelines include: pipelines from offshore platforms to the shore, pipelines connecting offshore platforms to subsea Christmas trees, pipelines connecting offshore platforms to each other, pipelines connecting offshore platforms to floating production storage units, pipelines connecting offshore platforms to offshore single - point mooring terminals, or subsea pipelines connecting offshore platforms to offshore associated gas flare towers, and subsea pipelines supporting offshore loading and unloading terminals. As the in - service time of subsea pipelines increases, various types of dirt will be generated inside the pipelines.

[0003] The dirt in subsea pipelines is mainly divided into two types: inorganic scale and organic scale. Inorganic scale includes: deposition of inorganic salts such as calcium carbonate, magnesium carbonate, calcium sulfate / magnesium sulfate to form scale; corrosion of pipeline materials to generate iron oxides and hydroxides; under the action of bacteria such as iron bacteria and sulfate - reducing bacteria, new deep - layer scale is generated under the surface scale. Organic scale includes: a three - dimensional network - structured aggregate formed by the mutual intersection of wax crystals precipitated from the separated crude oil, which wraps the liquid crude oil, forming a solid - liquid non - uniform dispersion system, presenting as a gel - like wax deposit with a certain structural strength; at the same time, asphalt and some other organic substances contained in petroleum will also deposit.

[0004] Pipeline scaling causes the reduction of the pipeline's flow - through area, decreases the pipeline's conveying capacity, increases the conveying resistance, and raises the conveying cost. Seriously, it will cause pipeline blockage, leading to production shutdown accidents. At the same time, pipeline scaling will also cause under - scale corrosion, resulting in pipeline perforation and rupture, and then the leakage of crude oil in the pipeline, polluting the environment and even causing explosions, posing great potential safety hazards.

[0005] The publication number CN203729952U discloses a pipeline pig, which consists of a driving device and a scraping device. The driving device consists of a power leather wrist support, a power leather cup, a throttling nozzle, a slip, a slip stop block, and a slip support. The power leather wrist support is a hollow pipe with an outer shoulder at the upper end and is connected to the slip support through a thread at the lower part; the power leather cup is installed on the outer diameter step of the power leather wrist support and is positioned by the slip support; the throttling nozzle is installed in the lower part of the power leather wrist support and the inner cavity of the slip support; there are evenly distributed liquid outlet holes at an angle to the axis at the bottom of the upper cavity of the slip support, two protruding dovetail grooves distributed at 180° are machined in the middle of the slip support, slips are respectively installed on the protruding dovetail grooves, and a spherical cavity is at the lower end of the slip support, and is connected to the ball head at the upper end of the scraping device through this spherical cavity. This utility model is directly thrown into the oil pipeline, pressurized at the wellhead, and continuously descends along the inner wall of the oil pipeline by relying on the hydraulic action. It has a large through-diameter power, can clean the dirt in the oil pipeline cleanly, and saves costs; the construction success rate is high, and it is safe and reliable.

[0006] The above-mentioned pig can clean and dredge the pipeline, but it is directly thrown into the oil pipeline, and the wellhead cement truck pressurizes from the wellhead. The power leather cup seals the oil pipeline unidirectionally. At the same time, the liquid flow generates a throttling pressure difference through the throttling nozzle. This throttling pressure difference generates a pressure difference above and below the power leather cup, forming a downward driving force to push this utility model to move downward continuously. The one-way slip moves downward along the inner wall of the oil pipeline to ensure that the dirt inside the oil pipeline diameter is cleaned cleanly. Due to the pressure existing at both the bottom and the top of the dirt in the above-mentioned pigging method, and the power leather cup seals the pipeline and pushes the dirt to move downward, the dirt in the pipeline is easy to accumulate at the bottom end of the above-mentioned pig, making the resistance in the pipeline during the dirt cleaning process gradually increase. When the dirt pushed downward completely blocks the pipeline, during the process of continuing to pressurize, there will be a problem that the injection pressure is greater than the bearing capacity of the pipeline, causing the pipeline to burst. Therefore, it is necessary to redesign an internal scraping and washing device and a cleaning method for deep-water pipelines in offshore oil and gas exploitation to solve the above problems. Summary of the Invention

[0007] The purpose of the present invention is to provide an internal scraping and washing device and a cleaning method for deep-water pipelines in offshore oil and gas exploitation, which are not easy to be blocked and can completely clean the dirt, aiming at the deficiencies of the existing technology.

[0008] The technical solution of the present invention is:

[0009] An internal scraping and washing device for deep-water pipelines in offshore oil and gas exploitation, which consists of a power unit, a turbine mechanism, a reduction mechanism, a pigging mechanism, and a traveling mechanism. It is characterized in that: the turbine mechanism, the reduction mechanism, and the pigging mechanism are successively connected in series from top to bottom below the power unit; multiple traveling mechanisms are successively connected in series from bottom to top above the power unit.

[0010] The described power unit includes a housing, a battery pack, a generator, a controller, and a sealing end cap. The housing is in the shape of a cup. The battery pack is arranged inside the housing. A generator is arranged inside the housing on one side of the battery pack. A controller is arranged inside the housing on the other side of the battery pack. The controller is electrically connected to the battery pack and the generator respectively. A sealing end cap is threadedly installed on the port of the housing on one side of the controller.

[0011] On the circumference of the housing, traveling wheels are evenly installed through traveling wheel support rods. Spring pieces are respectively arranged on the housing on both sides of the traveling wheel support rods, and the spring pieces are abutted and connected to the traveling wheel support rods.

[0012] The controller includes a power management module, a motor control module, and a navigation module.

[0013] The turbine mechanism includes a support housing, a turbine rotor, a turbine stator, a pipe shaft, and a support plate. The support housing is in the shape of a cylinder. The turbine rotor and the turbine stator are arranged inside the support housing. A pipe shaft is connected to the turbine rotor. Support plates are evenly distributed on the circumference of the support housing. The pipe shaft is connected to the generator through an electromagnetic clutch and a universal joint.

[0014] Fixed valve plates are respectively arranged at both ends of the support housing. A rotating valve plate is movably sleeved on the support housing between the support plate and the fixed valve plate. The rotating valve plate is slidably connected to the fixed valve plate. An adjustment gear ring is arranged on the rotating valve plate on one side of the support plate. Flow control motors are symmetrically arranged on the support housing between the support plates. A driving gear is arranged at the end of the output shaft of the flow control motor, and the driving gear meshes with the adjustment gear ring.

[0015] The reduction mechanism includes a reducer housing, a planetary reducer, a sealing cover plate, and a fixing plate. The reducer housing is in the shape of a variable-diameter tubular body. Multiple series-connected planetary reducers are arranged inside the reducer housing. Sealing cover plates are respectively arranged at both ends of the reducer housing. Fixing plates are evenly distributed on the circumference of the reducer housing. The planetary reducer includes a sun gear, a planetary gear, an outer gear ring, an input shaft, and an output shaft. The outer gear ring is fixedly connected to the reducer housing. The input shaft is connected to the pipe shaft through an electromagnetic clutch and a universal joint.

[0016] The pigging mechanism includes a pigging center support cylinder, a connecting rod, and an arc-shaped steel brush. Multiple arc-shaped steel brushes are evenly installed along the circumference on the pigging center support cylinder through the connecting rod. The pigging center support cylinder is connected to the output shaft of the reduction mechanism through a universal joint.

[0017] On the described pigging center support cylinder, steel brush telescopic motors are symmetrically arranged, and a steel brush telescopic lead screw is arranged on the output shaft of the steel brush telescopic motor; a driving slip ring and a connecting slip ring are movably installed on the pigging center support cylinder through slide rails, and the driving slip ring is connected to the connecting slip ring through a buffer sleeve; the connecting slip ring is connected to an arc-shaped steel brush through a connecting rod, and the driving slip ring is connected to the steel brush telescopic lead screw through a lead screw nut.

[0018] A flow guiding cone is installed at the bottom end of the described pigging center support cylinder through an assembly rod.

[0019] The described traveling mechanism includes a traveling center support cylinder, a connecting rod, and a traveler. Travelers are circumferentially and evenly installed on the traveling center support cylinder through the connecting rod; the traveling center support cylinder is connected to the sealing end cover through a universal joint, and the traveling center support cylinders between each traveling mechanism are connected to each other through a universal joint.

[0020] The described traveler includes an assembly bracket, a mounting bracket, a disc motor, a planetary reducer, and a crawler. The mounting brackets are symmetrically installed on the assembly bracket through pins. The mounting bracket is U-shaped, and disc motors are fixedly installed on the inner sides of the two ends of the mounting bracket respectively. A planetary reducer is arranged between the disc motors, and the input shafts of the planetary reducer are respectively connected to the output shafts of the disc motors on the inner sides of the two ends of the mounting bracket; a crawler is wound around between the planetary reducers, and the crawler meshes with the external gear ring of the planetary reducer; the assembly bracket is movably connected to the traveling center support cylinder through a connecting rod.

[0021] Support wheels are evenly arranged on the described assembly bracket, and the support wheels are in abutting connection with the crawler; a tension spring is connected to the mounting bracket, and the end of the tension spring is fixedly connected to the assembly bracket.

[0022] Adjustment motors are symmetrically arranged on the described traveling center support cylinder, and an adjustment lead screw is arranged on the output shaft of the adjustment motor; an adjustment slip ring is movably installed on the traveling center support cylinder through a slide rail, and the adjustment slip ring is connected to the adjustment lead screw through a lead screw nut and is connected to the assembly bracket through a connecting rod.

[0023] The beneficial effects of the present invention are as follows:

[0024] The various mechanisms of the internal scraping and washing device for deep-water pipelines in offshore oil and gas exploitation are connected through universal joints. While ensuring the transmission of kinetic energy, it can effectively improve the turning ability. When pigging, the device will not completely block the pipeline, can ensure the fluidity of the fluid, and discharge the dirt stirred and broken by the fluid, so it is not easy to cause blockage and can effectively reduce the risk of pipeline bursting. Since it can maintain the flow and realize the continuous production operation of the oil production platform, it does not require the platform to provide enough propulsion fluid, greatly reducing the cost of pigging operation. It can repeatedly charge the power unit through the power provided by the turbine and can ensure long-distance operation. It solves the problems that the existing pigging device is easy to block the pipeline and there is a risk of pipeline bursting. Description of the Drawings

[0025] Figure 1 is a structural schematic diagram of the present invention;

[0026] Figure 2 is a sectional schematic diagram of the present invention;

[0027] Figure 3 is a sectional schematic diagram of the power unit of the present invention;

[0028] Figure 4 is a structural schematic diagram of the turbine mechanism of the present invention;

[0029] Figure 5 is a sectional schematic diagram of the turbine mechanism of the present invention;

[0030] Figure 6 is a structural schematic diagram of the rotary valve plate of the present invention;

[0031] Figure 7 is a structural schematic diagram of the speed reduction mechanism of the present invention;

[0032] Figure 8 is a sectional schematic diagram of the speed reduction mechanism of the present invention;

[0033] Figure 9 is a structural schematic diagram of the planetary speed reducer of the present invention;

[0034] Figure 10 is a structural schematic diagram of the pigging mechanism of the present invention;

[0035] Figure 11 is a sectional schematic diagram of the pigging mechanism of the present invention;

[0036] Figure 12 is a structural schematic diagram of the traveling mechanism of the present invention;

[0037] Figure 13 is a sectional schematic diagram of the traveling mechanism of the present invention;

[0038] Figure 14 is a structural schematic diagram of the walker of the present invention.

[0039] In the figure: 1, power unit; 2, turbine mechanism; 3, reduction mechanism; 4, pigging mechanism; 5, traveling mechanism; 6, universal joint; 101, outer housing; 102, battery pack; 103, generator; 104, controller; 105, sealing end cover; 106, traveling wheel support rod; 107, evenly installed with traveling wheels; 108, spring plate; 201, support housing; 202, turbine rotor; 203, turbine stator; 204, pipe shaft; 205, support plate; 206, fixed valve plate; 207, rotating valve plate; 208, adjusting gear ring; 209, flow control motor; 210, driving gear; 301, reducer housing; 302, sealing cover plate; 303, fixing plate; 304, sun gear; 305, planet gear; 306, outer gear ring; 307, input shaft; 308, output shaft; 309, electromagnetic clutch; 401, pigging axis support cylinder; 402, connecting rod; 403, arc-shaped steel brush; 404, steel brush telescopic motor; 405, steel brush telescopic lead screw; 406, driving slip ring; 407, connecting slip ring; 408, buffer sleeve; 409, lead screw nut; 410, flow guiding cone; 501, traveling axis support cylinder; 502, assembly bracket; 503, mounting bracket; 504, disc motor; 505, crawler belt; 506, supporting wheel; 507, tension spring; 508, adjusting motor; 509, adjusting lead screw; 510, adjusting slip ring. Detailed implementation manner

[0040] The internal scraping and washing device for deep - water pipelines in offshore oil and gas exploitation consists of a power unit 1, a turbine mechanism 2, a reduction mechanism 3, a pigging mechanism 4 and a traveling mechanism 5. The turbine mechanism 2, the reduction mechanism 3 and the pigging mechanism 4 are successively connected in series from top to bottom under the power unit 1; multiple traveling mechanisms 5 are successively connected in series from bottom to top above the power unit 1. The function of the power unit 1 is to store and distribute electric power, and control or drive the traveling mechanism 5, the turbine mechanism 2, the reduction mechanism 3 and the pigging mechanism 4 through the electric energy in the power unit 1. The function of the turbine mechanism 2 is that during the process of fluid flow impacting the turbine mechanism 2, the turbine mechanism 2 converts the kinetic energy of the fluid into mechanical energy and outputs it outward. On the one hand, the mechanical energy is output to the power unit 1 to drive the power unit 1 to generate electricity, so as to maintain the power supply capacity of the power unit 1 to the outside; on the other hand, it is output to the pigging mechanism 4 through the reduction mechanism 3 to drive the pigging mechanism 4 to rotate for pigging. The function of the reduction mechanism 3 is to reduce the torsion transmitted by the turbine mechanism 2, so that the pigging mechanism 4 can rotate slowly, and at the same time increase the torque on the pigging mechanism 4 to ensure that the inner wall of the pipeline can be cleaned thoroughly. The function of the pigging mechanism 4 is to scrape and clean the dirt on the inner wall of the pipeline through the rotation of the pigging mechanism 4 during the process that the turbine mechanism 2 drives the pigging mechanism 4 to rotate through the reduction mechanism 3, break the dirt on the inner wall of the pipeline, so that the broken dirt can be discharged with the fluid. The traveling mechanism 5 can move along the inner wall of the pipeline under the electric drive of the power unit 1. Furthermore, during the movement of the traveling mechanism 5, the power unit 1, the turbine mechanism 2, the reduction mechanism 3 and the pigging mechanism 4 are pulled to move inside the pipeline, so that during the movement of the pigging mechanism 4 along the pipeline, the inner wall of the pipeline is gradually cleaned. Since the traveling mechanism 5 is driven by the electric power of the power unit 1, the traveling mechanism 5 does not need to be driven by the pressure of the fluid, that is, it can move, so there is no need to seal between the pipeline and the traveling mechanism, which can maintain the fluidity of the fluid, and the flowing fluid can carry away the broken dirt, thus it is not easy to cause blockage and effectively reduces the risk of pipeline bursting.

[0041] The power unit 1 includes a housing 101, a battery pack 102, a generator 103, a controller 104, and a sealing end cap 105. The housing 101 is in the shape of a cup. A battery pack 102 is arranged inside the housing 101. Preferably, the battery pack 102 is formed by connecting multiple 21700 lithium batteries. The function of the battery pack 102 is to store and output electrical energy, thereby driving the electrical equipment on the traveling mechanism 5, the turbine mechanism 2, the reduction mechanism 3, and the pigging mechanism 4, so as to drive or control the traveling mechanism 5, the turbine mechanism 2, the reduction mechanism 3, and the pigging mechanism 4. Inside the housing 101 on one side of the battery pack 102, a generator 103 is arranged to generate electricity through the generator 103 when the electrical energy in the battery pack 102 is exhausted, thereby replenishing the electrical energy of the battery pack 102 and maintaining the power supply capacity of the battery pack 102, enabling the scraping and washing device to operate over a long distance. Inside the housing 101 on the other side of the battery pack 102, a controller 104 is arranged. The controller 104 is electrically connected to the battery pack 102 and the generator 103 respectively. The function of the controller 104 is to control the input, output, and distribution of electricity, thereby controlling the entire scraping and washing device. A sealing end cap 105 is threadedly installed on the port of the housing 101 on one side of the controller 104 to protect and seal the power unit through the cooperation of the sealing end cap 105 and the housing 101, avoiding internal short circuits of the power unit 1 caused by fluid entering the inside of the housing 101, and at the same time avoiding the impact of impurities in the fluid on the internal equipment of the power unit 1.

[0042] On the circumference of the housing 101, traveling wheel support rods 106 are evenly installed movably through pins. Traveling wheels 107 are installed at the ends of the traveling support rods 106. Spring plates 108 are respectively arranged on the housing 101 on both sides of the traveling wheel support rod 106, and the spring plates 108 are in abutting connection with the traveling wheel support rod 106. The function of the traveling wheels 107 is to support the housing 101 through the cooperation of the traveling wheels 107 and the traveling support rods 106, thereby supporting the power unit 1 and avoiding the collision of the power unit 1 with the inner wall of the pipeline. The function of the spring plates 108 is to buffer and support the traveling wheel support rod 106 through the spring plates 108, thereby damping the power unit 1; at the same time, through the cooperation of the spring plates 108 and the pins, the traveling wheel support rod 106 can contract towards the housing 101, thereby increasing the passing ability of the power unit 1 in narrow positions.

[0043] The controller 104 includes a power management module (QN-SY08 power manager), a motor control module (PLC expansion module FX3SA-14MT-CM programmable logic controller of the FX3SA series, with an 8-channel relay, and the control mode is completed through RS-232 (RS-485 optional)), and a navigation module (consisting of a WTGAHRS1 (ten-axis external antenna) navigation module chip, an ICOF microcontroller, and a CAPTRON probe sensor VA-234-SEP). It can control the generator 103 to synchronously charge each battery of the battery pack 102 through the power management module, and control each battery of the battery pack 102 to synchronously supply power outward, controlling the voltage and current output by the battery pack 102; it can control the voltage and current supplied to each motor through the motor control module, thereby controlling and driving the rotation of each motor; it can perform navigation through the navigation module, detect the internal information of the pipeline through the navigation module, and feedback to the power management module and the motor control module. Through the feedback of the internal pipeline information, the power management module and the motor control module are controlled to drive the internal scraping device to go straight, turn, or contract to pass through a narrow area.

[0044] The turbine mechanism 2 includes a support housing 201, a turbine rotor 202, a turbine stator 203, a pipe shaft 204, and a support plate 205. The support housing 201 is cylindrical. A turbine rotor 202 and a turbine stator 203 are arranged inside the support housing 201. A pipe shaft 204 is connected to the turbine rotor 202; the pipe shaft 204 is connected to the generator 103 through an electromagnetic clutch 309 (Vm34-82T jaw-type electromagnetic clutch) and a universal joint 6. The purpose is to make the turbine rotor 202 rotate under the action of the turbine stator 203 and the fluid during the process of the fluid impacting the turbine rotor 202, convert the kinetic energy of the fluid into the mechanical energy of the rotation of the turbine rotor 202, and then drive the pipe shaft 204 to rotate, so that the pipe shaft 204 drives the generator 103 to rotate through the universal joint 6 during rotation, thereby driving the generator 103 to generate electricity. Support plates 205 are evenly distributed on the circumference of the support housing 201. The function of the support plates 205 is to prevent the support housing 201 from rotating through the frictional force between the support plates 205 and the inner wall of the pipeline and the interaction force between the support plates 205 and the dirt, thereby preventing the turbine stator 203 from rotating, so that the turbine stator 203 can guide the fluid to impact the turbine rotor 202.

[0045] At both ends of the support housing 201, fixed valve plates 206 are respectively arranged to reduce the flow area of the fluid through the fixed valve plates 206, so that the fluid can flow towards the turbine rotor 202 as much as possible under the action of the fixed valve plates 206 to impact the turbine rotor 202; at the same time, the support housing 201 is supported by the cooperation of the fixed valve plates 206 and the support plate 205. A rotating valve plate 207 is movably sleeved on the support housing 201 between the support plate 205 and the fixed valve plate 206, and the rotating valve plate 207 is slidably connected with the fixed valve plate 206; an adjustment gear ring 208 is arranged on the rotating valve plate 207 on one side of the support plate 205, and flow control motors 209 are symmetrically arranged on the support housing 201 between the support plates 205. A driving gear 210 is arranged at the end of the output shaft of the flow control motor 209, and the driving gear 210 meshes with the adjustment gear ring 208. The flow control motor 209 is connected to the battery pack 102 through the motor control module of the controller 104. The function of the flow control motor 209 is to drive the driving gear 210 to rotate through the flow control motor 209, and then drive the adjustment gear ring 208 to rotate during the rotation of the driving gear 210, so as to drive the rotating valve plate 207 to rotate, so that the rotating valve plate 207 cooperates with the fixed valve plate 206 to adjust the flow area of the fluid on the turbine mechanism 2. During the movement of the turbine mechanism 2 along the pipeline, the rotating valve plate 207 coincides with the fixed valve plate 206 to increase the flow area of the fluid and reduce the movement resistance of the turbine mechanism 1; when the turbine mechanism 2 drives the generator 103 of the power unit 1 to generate electricity, the gap between the fixed valve plates 206 is blocked by the rotating valve plate 207, so that a lot of fluid impacts the turbine rotor 202, improving the power output by the turbine mechanism 2, thereby increasing the power generation power of the generator 103 and quickly replenishing the battery pack 102 with electric energy.

[0046] The reduction mechanism 3 includes a reduction gear housing 301, a planetary reducer, a sealing cover plate 302 and a fixing plate 303. The reduction gear housing 301 is a variable-diameter tubular body, and a plurality of series-connected planetary reducers are arranged in the reduction gear housing 301. Sealing cover plates 302 are respectively arranged at both ends of the reduction gear housing 301; fixing plates 303 are evenly distributed on the circumference of the reduction gear housing 301; the planetary reducer includes a sun gear 304, a planetary gear 305, an external gear ring 306, an input shaft 307 and an output shaft 308, and the external gear ring 306 is fixedly connected with the reduction gear housing 301; the function of the fixing plate 303 is to prevent the movement of the reduction gear 301 through the frictional force between the fixing plate 303 and the inner wall of the pipeline and the interaction between the fixing plate 303 and the dirt, so as to prevent the external gear ring of the planetary reducer in the reduction gear housing 301 from rotating, so that the planetary reducer can decelerate normally. The input shaft 307 is connected to the pipe shaft 204 through an electromagnetic clutch 309 (Vm34-82T jaw-type electromagnetic clutch) and a universal joint 6, so that the input shaft 307 can be driven to rotate when the pipe shaft 204 rotates.

[0047] The pigging mechanism 4 includes a pigging axis support cylinder 401, a connecting rod 402 and an arc-shaped steel brush 403. A plurality of arc-shaped steel brushes 403 are circumferentially and uniformly installed on the pigging axis support cylinder 401 through the connecting rod 402; the pigging axis support cylinder 401 is connected to the output shaft 308 of the speed reduction mechanism 3 through a universal joint 6. The function of the arc-shaped steel brush 403 is that during the process that the output shaft 308 of the speed reduction mechanism 3 drives the pigging axis support cylinder 401 to rotate through the universal joint 6, and the pigging axis support cylinder 401 drives the arc-shaped steel brush 403 to rotate through the connecting rod 402, the inner wall of the pipeline is scraped and washed by the rotating arc-shaped steel brush 403, the dirt on the inner wall of the pipeline is scraped and crushed, so that the dirt is separated from the inner wall of the pipeline. Thus, under the carrying of the fluid, the dirt separated from the inner wall of the pipeline is discharged. Since it is discharged outward through the fluid while being separated, it is not easy to cause blockage, and can effectively reduce the risk of pipeline bursting caused by pipeline blockage.

[0048] On the pigging center support cylinder 401, steel brush telescopic motors 404 are symmetrically arranged. The steel brush telescopic motors 404 are connected to the battery pack 102 through the motor control module of the controller 104. A steel brush telescopic lead screw 405 is arranged on the output shaft of the steel brush telescopic motor 404; a driving slip ring 406 and a connecting slip ring 407 are movably installed on the pigging center support cylinder 401 through slide rails, and the driving slip ring 406 is connected to the connecting slip ring 407 through a buffer sleeve 408; the connecting slip ring 407 is connected to the arc-shaped steel brush 403 through a connecting rod 402, and the driving slip ring 406 is connected to the steel brush telescopic lead screw 405 through a lead screw nut 409. The function is to drive the steel brush telescopic lead screw 405 to rotate through the steel brush telescopic motor 404, so that during the rotation of the steel brush telescopic lead screw 405, the steel brush telescopic lead screw 405 drives the driving slip ring 406 to slide on the pigging center support cylinder 401 through the lead screw nut 409, and the driving slip ring 406 can drive the connecting slip ring 407 to slide on the pigging center support cylinder 401 through the buffer sleeve 408. Since a four-bar mechanism is formed among the arc-shaped steel brush 403, the connecting rod 402 between the arc-shaped steel brush 403 and the pigging center support cylinder 401, the pigging center support cylinder 401, and the connecting rod 402 between the arc-shaped steel brush 403 and the connecting slip ring 407, when adjusting the relative position of the connecting slip ring 407 on the pigging center support cylinder 401, the distance between the arc-shaped steel brush 403 and the pigging center support cylinder 401 can be adjusted, so that the arc-shaped steel brush 403 can contract inward or expand outward relative to the pigging center support cylinder 401. Thus, driven by the steel brush telescopic motor 404, the arc-shaped steel brush 403 can contract inward, thereby increasing the ability of the arc-shaped steel brush 403 to pass through a narrow area, or the arc-shaped steel brush 403 can be gradually expanded outward, so that the arc-shaped steel brush 403 gradually scrapes the dirt. The function of the buffer sleeve 408 is to enable the connecting slip ring 407 to slide adaptively relative to the driving slip ring 406 through the elasticity of the buffer sleeve 408, and then enable the arc-shaped steel brush 403 to contract or expand adaptively, avoiding frequent adjustment through the steel brush telescopic motor 404, thereby saving electric energy and enabling the internal scraping and washing device to operate farther.

[0049] A flow guiding cone 410 is installed at the bottom end of the pigging center support cylinder 401 through an assembly rod. The function of the flow guiding cone 410 is to guide the fluid flow, increase the flow velocity of the fluid on one side of the inner wall of the pipeline through the flow guiding cone 410, and then increase the carrying capacity of the fluid to carry away the dirt separated from the pipe wall.

[0050] The traveling mechanism 5 includes a traveling axis support cylinder 501, a connecting rod 402, and a traveler. Travelers are evenly installed circumferentially on the traveling axis support cylinder 501 through the connecting rod 402; the traveling axis support cylinder 501 is connected to the sealing end cover 105 through a universal joint 6, and the traveling axis support cylinders 501 between the respective traveling mechanisms 5 are connected to each other through the universal joint 6. The function of the traveler is to drive the traveling axis support cylinder 501 to move along the pipeline by the movement of the traveler along the inner wall of the pipeline, thereby driving the power unit 1, the turbine mechanism 2, the reduction mechanism 3, and the pigging mechanism 4 to move along the pipeline, and at the same time adjusting the moving speeds of the power unit 1, the turbine mechanism 2, the reduction mechanism 3, and the pigging mechanism 4.

[0051] The traveler includes an assembly bracket 502, a mounting bracket 503, a disk motor 504, a planetary reducer, and a crawler 505. The mounting brackets 503 are symmetrically installed on the assembly bracket 502 through pins. The mounting bracket 503 is U-shaped, and disk motors 504 are fixedly installed on the inner sides of the two ends of the mounting bracket 503 respectively. The disk motors 504 are connected to the battery pack 102 through the motor control module of the controller 104; a planetary reducer is arranged between the disk motors 504. The input shafts 307 of the planetary reducer are respectively connected to the output shafts of the disk motors 504 on the inner sides of the two ends of the mounting bracket 503, and the planet carrier of the planetary reducer is fixedly connected to the disk motor 504; a crawler 505 is wound around the planetary reducer, and the crawler 505 meshes with the external gear ring 306 of the planetary reducer; the assembly bracket 502 is movably connected to the traveling axis support cylinder 501 through the connecting rod 402. The function of the disk motor 504 is to drive the planetary reducer between the disk motors 504 to rotate through the disk motor 504, and then drive the crawler 505 meshing with the external gear ring 306 of the planetary reducer to rotate, so that the crawler 505 drives the traveler to move along the inner wall of the pipeline during rotation, thereby driving the traveling mechanism 5 to move along the inner wall of the pipeline, enabling the traveling mechanism 5 to drag the power unit 1, the turbine mechanism 2, the reduction mechanism 3, and the pigging mechanism 4 to move, or adjusting the moving speeds of the power unit 1, the turbine mechanism 2, the reduction mechanism 3, and the pigging mechanism 4 in the pipeline.

[0052] The mounting bracket 502 is evenly provided with supporting wheels 506, which are connected to the crawler 505. The supporting wheels 506 are used to tighten the crawler 505 through the supporting wheels 506, maintain the meshing state between the crawler 505 and the outer gear ring 306 of the planetary reducer, and ensure that the outer gear ring 306 of the planetary reducer can drive the crawler 505 to rotate during the rotation process. The mounting bracket 503 is connected with a tension spring 507, and the end of the tension spring 507 is fixedly connected to the mounting bracket 502. Since the plane where the connection point of the tension spring 507 and the assembly bracket 502 is located is higher than the axial plane of the mounting frame 503, under the tension of the tension spring 507, the mounting frame 503 will lift the disc motor 504 upward with the pin shaft between the mounting frame 503 and the assembly bracket 502 as the axis. Under the symmetrical arrangement of the mounting frame 503, the two ends of the crawler 505 will follow the lifting of the disc motor 504 and rise upward, so that the crawler 505 as a whole presents an inverted trapezoidal shape. Therefore, when facing a curved pipe, when the middle section of the crawler 505 fits the inner wall of the pipe, the two ends of the crawler 505 will also fit the inner wall of the pipe under the tension of the tension spring 507, ensuring that the crawler 505 fits the inner wall of the pipe.

[0053] The travel axis support cylinder 501 is symmetrically provided with an adjustment motor 508, and an adjustment screw 509 is provided on the output shaft of the adjustment motor 508; an adjustment slip ring 510 is movably installed on the travel axis support cylinder 501 through a slide rail, and the adjustment slip ring 510 is connected to the adjustment screw 509 through a screw nut 409 and connected to the assembly bracket 502 through a connecting rod 402. The function of the adjustment motor 508 is to drive the adjustment screw 509 to rotate through the adjustment motor 508, so that during the rotation of the adjustment screw 509, the adjustment screw 509 drives the adjustment slip ring 510 to slide on the travel axis support cylinder 501 through the screw nut 409. Since the walking device, the connecting rod 402 between the assembly bracket 502 and the walking axis support tube 501, the walking axis support tube 501, and the connecting rod 402 between the assembly bracket 502 and the adjustment slip ring 510 form a four-bar mechanism, when adjusting the relative position of the adjustment slip ring 510 on the walking axis support tube 501, the distance between the walking device and the walking axis support tube 501 can be adjusted, so that the walking device can shrink inward or expand outward relative to the walking axis support tube 501, thereby under the drive of the adjustment motor 508, the walking device can shrink inward, thereby increasing the ability of the walking device to pass through narrow areas, or expand the walking device outward to ensure that the crawler 505 of the walking device fits the inner wall of the pipeline. In order to ensure the friction between the crawler 505 and the inner wall of the pipeline, no buffer sleeve is set on the adjustment slip ring 510.

[0054] The cleaning method of the offshore oil and gas production deepwater pipeline comprises the following steps:

[0055] Preparatory work before cleaning operation:

[0056] Taking the pig launcher of the oil production platform as the initial coordinate system, collect the laying track of the oil pipeline and convert it into a corresponding track curve in the space coordinate system. The specific implementation method is to send a foam pig with an inertial navigation system installed inside the pipeline, or use an ROV (remotely operated vehicle) equipped with an inertial navigation system to make the inertial navigation system travel along the laying track of the pipeline, and generate a track curve in the space coordinate system after collecting and processing the data.

[0057] Add a filtering and collecting device between the oil storage device of the oil production platform and the oil pipeline to prevent the dirt scraped by the pig from entering the oil storage system. At the same time, collect the dirt through the filtering and collecting device to prevent environmental pollution.

[0058] Assemble and debug the internal scraping device for the deep-water pipeline of offshore oil and gas exploitation:

[0059] According to the operating parameters related to the pipeline object cleaned by the internal scraping device for the deep-water pipeline of offshore oil and gas exploitation this time, such as the fluid flow velocity, pipeline size, radius of the elbow section, and scale layer thickness. After analysis and calculation, obtain the corresponding parameter settings of the internal scraping device for the deep-water pipeline of offshore oil and gas exploitation, such as the required driving force, deformation size, traveling speed, and the number of series-connected of each mechanism. After determination, assemble each mechanism and check and debug the functions of each mechanism, such as completing the initial alignment of the navigation module of the controller 104 of the power unit 1 of the internal scraping device for the deep-water pipeline of offshore oil and gas exploitation, inputting the track curve in the corresponding space coordinate system of the pipeline, setting the traveling speed range of the internal scraping device for the deep-water pipeline of offshore oil and gas exploitation, and starting to return to the position for pigging.

[0060] The following content is based on the internal scraping device for the deep-water pipeline of offshore oil and gas exploitation, which selects 2 walking mechanisms 5, 1 power unit 1, 1 turbine mechanism 2, 1 reduction mechanism 3, and 1 pigging mechanism 4. Each mechanism is connected by a universal joint 6. The traveling speed inside the pipeline is set to 1 m / s. The oil production platform pre-adjusts the fluid flow velocity inside the pipeline within the range of 1.11 - 1.92 m / s.

[0061] Launch and travel of the internal scraping device for the deep-water pipeline of offshore oil and gas exploitation:

[0062] Install the internal scraping and washing device of the deep - water pipeline for offshore oil and gas production, which has been installed and debugged, into the ball - sending cylinder of the ball - sending device on the oil production platform. Close the cylinder cover at the rear end of the ball - sending device, open the valve at the front end of the ball - sending device, and let the production fluid enter the ball - sending cylinder of the ball - sending device. After the ball - sending cylinder is filled with fluid, open the locking mechanism of the ball - sending cylinder, release and start the internal scraping and washing device of the deep - water pipeline for offshore oil and gas production. By adjusting the motor 508, adjusting screw rod 509, screw - rod nut 409, adjusting slip ring 510, and connecting rod 402, lift the crawler 505 of the walker of the traveling mechanism 5, so that the crawler 505 fits the pipeline. After the crawler 505 is in place, start the disc motor 504 of the walker. The disc motor 504 drives the crawler 505 to start rotating through the planetary reducer, driving the internal scraping and washing device of the deep - water pipeline for offshore oil and gas production to resist the fluid resistance and enter the oil - transportation pipeline, and move towards the subsea Christmas tree.

[0063] During the traveling process, the pigging mechanism 4 remains in the contracted state and does not perform pigging; the turbine mechanism 2 remains in the idling state and does not do external work to reduce the resistance during traveling. The power control unit real - time monitors the traveling speed and battery remaining capacity of the device, compares the traveling trajectory generated in real - time by the navigation module of the controller 104 with the pre - input route trajectory, obtains its own position and the remaining distance from the subsea Christmas tree.

[0064] When the remaining power of the battery pack 102 is about to run out (after traveling for 20 minutes, about 1.36 km, the power runs out), the power unit 1 controls the disc motor 504 of the traveling mechanism 5 to stop working, and controls the adjusting motor 508 to increase the contact pressure between the crawler 505 and the pipe wall to achieve frictional self - locking, so that the internal scraping and washing device of the deep - water pipeline for offshore oil and gas production is locked in the pipeline. After the traveling mechanism 5 is locked in the pipeline, start the flow - control motor 209 of the turbine mechanism 2. The flow - control motor 209 drives the rotary valve plate 207 to rotate through the driving gear 210 and adjusting gear ring 208, so that the rotary valve plate 207 and the fixed valve plate 206 cooperate to close the flow - through area, converge the flow towards the turbine rotor 202, and start the electromagnetic clutch 309 between the turbine mechanism 2 and the generator 103. The turbine mechanism 2 drives the generator 103 to charge the battery pack 102. After about 1 hour, the charging is completed. Control the adjusting motor 508 to slightly lower the walker, reduce the contact pressure between the crawler 505 and the pipe wall to release the frictional self - locking, and start the disc motor 504 to drive the internal scraping and washing device of the deep - water pipeline for offshore oil and gas production to move forward.

[0065] In this way, cycle through a traveling, locking, and charging cycle of about 1.5 hours. By continuously cycling through this 1.5 - hour cycle, the internal scraping and washing device of the deep - water pipeline for offshore oil and gas production moves forward continuously in the pipeline. Finally, according to the comparison between the traveling trajectory generated in real - time by the navigation module and the pre - input route trajectory, it is judged that it has reached the subsea Christmas tree.

[0066] Return and pigging of the internal scraping and washing device for deep - water pipelines in offshore oil and gas exploitation:

[0067] After the internal scraping and washing device for deep - water pipelines in offshore oil and gas exploitation reaches the subsea production tree, the internal scraping and washing device for deep - water pipelines in offshore oil and gas exploitation starts to return for pigging operation along the fluid flow direction in the pipeline. The controller 104 of the power unit 1 starts the flow control motor 209 of the turbine mechanism 2 to drive the rotary valve plate 207 to rotate. The rotary valve plate 207 cooperates with the fixed valve plate 206 to close the flow area, collect the flow for the turbine mechanism 2, and start the electromagnetic clutch 309 between the turbine mechanism 2 and the reduction mechanism 3. The torque output by the turbine mechanism 2 is reduced by the reduction mechanism 3 and the torque is increased to drive the pigging mechanism 4 to rotate. The controller 104 of the power unit 1 controls the steel brush telescopic motor 404 to drive the arc - shaped steel brush 403 to lift, so that the arc - shaped steel brush 403 contacts the inner wall of the pipeline, and starts to rotate and scrape to remove the dirt on the inner wall of the pipeline.

[0068] Since the rotary valve plate 207 reduces the flow area of the fluid, a large pressure difference is formed before and after the turbine mechanism 2. Under the fluid pressure, the turbine mechanism 2 is pushed, and then the entire internal scraping and washing device for deep - water pipelines in offshore oil and gas exploitation returns in the pipeline. At this time, the traveling mechanism 5 only plays a role in speed regulation and is no longer the main power. When the internal scraping and washing device for deep - water pipelines in offshore oil and gas exploitation travels in the pipeline at a relatively high speed, the arc - shaped steel brush 403 cannot completely remove the dirt, the pigging effect is not good, and it is easy to miss a large area. In this case, increase the friction between the crawler 505 and the pipeline to reduce the speed. When the internal scraping and washing device for deep - water pipelines in offshore oil and gas exploitation travels very slowly in the pipeline, to ensure the operation efficiency, start the disc motor 504 to increase the traveling speed of the internal scraping and washing device for deep - water pipelines in offshore oil and gas exploitation. If the power of the battery pack 102 is exhausted, stop for charging.

[0069] When the internal scraping and washing device for deep - water pipelines in offshore oil and gas exploitation returns to the platform and enters the pig launcher, close the valve at the front end, pump out the production fluid inside the pig launcher. After the liquid inside the pig launcher is drained, open the cover at the rear end of the pig launcher, take out the internal scraping and washing device for deep - water pipelines in offshore oil and gas exploitation. After checking and cleaning the device, this pigging operation is completed.

[0070] The various mechanisms of the internal scraping and flushing device for deep-water pipelines in offshore oil and gas exploitation are connected by a universal joint 6. While ensuring the transmission of kinetic energy, it can effectively improve the turning ability. During pigging, the device will not completely block the pipeline, can ensure the fluidity of the fluid, and discharge the dirt broken by agitation through the fluid, thus not easily causing blockage and effectively reducing the risk of pipeline bursting. Since it can maintain fluid flow and enable continuous production operation of the oil production platform without the need for the platform to provide sufficient propulsion fluid, the pigging operation cost is greatly reduced. It can repeatedly charge the power unit 1 through the power provided by the turbine and can ensure long-distance operation. It solves the problems that the existing pigging devices are prone to block the pipeline and there is a risk of pipeline bursting.

Claims

1. An internal scraping device for deep-water pipelines in offshore oil and gas exploitation, which is composed of a power unit (1), a turbine mechanism (2), a speed reduction mechanism (3), a pigging mechanism (4) and a traveling mechanism (5), and is characterized in that: Below the power unit (1), a turbine mechanism (2), a reduction mechanism (3), and a pigging mechanism (4) are connected in series from top to bottom in sequence; above the power unit (1), a plurality of traveling mechanisms (5) are connected in series from bottom to top in sequence; The power unit (1) includes a housing (101), a battery pack (102), a generator (103), and a controller (104). The battery pack (102) is arranged inside the housing (101), and the generator (103) is arranged inside the housing (101) on one side of the battery pack (102); the controller (104) is arranged inside the housing (101) on the other side of the battery pack (102), and the controller (104) is electrically connected to the battery pack (102) and the generator (103) respectively; traveling wheels (107) are evenly installed on the circumference of the housing (101) through traveling wheel support rods (106), and the controller (104) includes a power management module, a motor control module, and a navigation module; The turbine mechanism (2) includes a support housing (201), a turbine rotor (202), a turbine stator (203), a pipe shaft (204), and a support plate (205). The support housing (201) is in a cylindrical shape, and the turbine rotor (202) and the turbine stator (203) are arranged inside the support housing (201). A pipe shaft (204) is connected to the turbine rotor (202); support plates (205) are evenly distributed on the circumference of the support housing (201); the pipe shaft (204) is connected to the generator (103) through an electromagnetic clutch (309) and a universal joint (6); Fixed valve plates (206) are respectively arranged at both ends of the support housing (201). A rotating valve plate (207) is movably sleeved on the support housing (201) between the support plate (205) and the fixed valve plate (206), and the rotating valve plate (207) is slidably connected to the fixed valve plate (206); an adjustment gear ring (208) is arranged on the rotating valve plate (207) on one side of the support plate (205), and flow control motors (209) are symmetrically arranged on the support housing (201) between the support plates (205). A driving gear (210) is arranged at the end of the output shaft of the flow control motor (209), and the driving gear (210) meshes with the adjustment gear ring (208); The input shaft (307) of the reduction mechanism (3) is connected to the pipe shaft (204) through an electromagnetic clutch (309) and a universal joint (6); The pigging mechanism (4) includes a pigging center support cylinder (401), a connecting rod (402), and an arc-shaped steel brush (403). A plurality of arc-shaped steel brushes (403) are evenly installed on the pigging center support cylinder (401) along the circumference through the connecting rod (402); the pigging center support cylinder (401) is connected to the output shaft (308) of the reduction mechanism (3) through a universal joint (6); On the described pigging center support cylinder (401), steel brush telescopic motors (404) are symmetrically arranged, and a steel brush telescopic lead screw (405) is arranged on the output shaft of the steel brush telescopic motor (404); on the pigging center support cylinder (401), a driving slip ring (406) and a connecting slip ring (407) are movably installed through slide rails, and the driving slip ring (406) is connected to the connecting slip ring (407) through a buffer sleeve (408); the connecting slip ring (407) is connected to an arc-shaped steel brush (403) through a connecting rod (402), and the driving slip ring (406) is connected to the steel brush telescopic lead screw (405) through a lead screw nut (409); at the bottom end of the described pigging center support cylinder (401), a flow guide cone (410) is installed through an assembly rod; When the remaining power of the battery pack (102) is about to be exhausted, the traveling mechanism (5) is locked in the pipeline by friction self-locking, the flow control motor (209) of the turbine mechanism (2) is started, and the flow control motor (209) drives the rotary valve plate (207) to rotate through a driving gear (210) and an adjusting gear ring (208), so that the rotary valve plate (207) cooperates with the fixed valve plate (206) to close the flow area, converge the flow to the turbine rotor (202), and the electromagnetic clutch (309) between the turbine mechanism (2) and the generator (103) is started, and the turbine mechanism (2) drives the generator (103) to charge the battery pack (102); When pigging, the controller (104) of the power unit (1) starts the flow control motor (209) of the turbine mechanism (2) to drive the rotary valve plate (207) to rotate, the rotary valve plate (207) cooperates with the fixed valve plate (206) to close the flow area, converge the flow to the turbine mechanism (2), and the electromagnetic clutch (309) between the turbine mechanism (2) and the reduction mechanism (3) is started, and the torque output by the turbine mechanism (2) is reduced by the reduction mechanism (3) to increase the torque and drive the pigging mechanism (4) to rotate; the controller (104) of the power unit (1) controls the steel brush telescopic motor (404) to drive the arc-shaped steel brush (403) to lift, so that the arc-shaped steel brush (403) contacts the inner wall of the pipeline and starts to rotate and sweep to remove the dirt on the inner wall of the pipeline.

2. The internal scraping and washing device for deep - water pipelines in offshore oil and gas exploitation according to claim 1, wherein: The described outer shell (101) is in the shape of a cup, and a sealing end cover (105) is threadedly installed on the port of the outer shell (101) on one side of the controller (104); spring pieces (108) are respectively arranged on the outer shell (101) on both sides of the traveling wheel support rod (106), and the spring pieces (108) are in abutting connection with the traveling wheel support rod (106).

3. The internal scraping and washing device for deep-water pipelines in offshore oil and gas exploitation according to claim 1, wherein: The described speed reduction mechanism (3) includes a speed reducer housing (301), a planetary speed reducer, a sealing cover plate (302), and a fixing plate (303). The speed reducer housing (301) is in the shape of a variable-diameter tubular body. A plurality of serially-connected planetary speed reducers are arranged inside the speed reducer housing (301). Sealing cover plates (302) are respectively arranged at both ends of the speed reducer housing (301). Fixing plates (303) are evenly distributed on the circumference of the speed reducer housing (301). The described planetary speed reducer includes a sun gear (304), a planetary gear (305), an external gear ring (306), an input shaft (307), and an output shaft (308). The external gear ring (306) is fixedly connected to the speed reducer housing (301).

4. The internal scraping and washing device for deep-water pipelines in offshore oil and gas exploitation according to claim 1, wherein: The described traveling mechanism (5) includes a traveling axis support cylinder (501), a connecting rod (402), and a traveler. Travelers are evenly installed along the circumference on the traveling axis support cylinder (501) through the connecting rod (402). The traveling axis support cylinder (501) is connected to the sealing end cover (105) through a universal joint (6). The traveling axis support cylinders (501) between the respective traveling mechanisms (5) are connected to each other through the universal joint (6).

5. The internal scraping and washing device for deep - water pipelines in offshore oil and gas exploitation according to claim 4, characterized in that: The described traveler includes an assembly bracket (502), a mounting bracket (503), a disc motor (504), a planetary speed reducer, and a crawler (505). Mounting brackets (503) are symmetrically installed on the assembly bracket (502) through pins. The mounting bracket (503) is in a U shape. Disc motors (504) are respectively fixedly installed on the inner sides of both ends of the mounting bracket (503). A planetary speed reducer is arranged between the disc motors (504). The input shafts (307) of the planetary speed reducer are respectively connected to the output shafts of the disc motors (504) on the inner sides of both ends of the mounting bracket (503). A crawler (505) is wound around between the planetary speed reducers. The crawler (505) meshes with the external gear ring (306) of the planetary speed reducer. The described assembly bracket (502) is movably connected to the traveling axis support cylinder (501) through the connecting rod (402). Support wheels (506) are evenly arranged on the described assembly bracket (502). The support wheels (506) are in abutting connection with the crawler (505). A tension spring (507) is connected to the mounting bracket (503). The end of the tension spring (507) is fixedly connected to the assembly bracket (502).

6. The internal scraping and washing device for deep-water pipelines in offshore oil and gas exploitation according to claim 5, characterized in that: Adjustment motors (508) are symmetrically arranged on the traveling axis support cylinder (501). An adjustment lead screw (509) is arranged on the output shaft of the adjustment motor (508). An adjustment slip ring (510) is movably installed on the traveling axis support cylinder (501) through a slide rail. The adjustment slip ring (510) is connected to the adjustment lead screw (509) through a lead screw nut (409) and is connected to the assembly bracket (502) through the connecting rod (402).

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