Vertical high-pressure pipeline monitoring robot for compressed air energy storage system

Abstract

The application discloses a vertical high-pressure pipeline monitoring robot of compressed air energy storage system, and mainly relates to the technical field of pipeline robots. The vertical high-pressure pipeline monitoring robot of compressed air energy storage system comprises a cylindrical shell, a walking mechanism is arranged on the cylindrical shell, a plurality of cameras are arranged on the outer wall of the cylindrical shell, a cylindrical monitoring block is hung in the cylindrical shell, a plurality of distance measuring sensors are uniformly arranged on the inner wall of the cylindrical shell along the circumference of the cylindrical shell, a storage bin for placing the cylindrical shell is arranged on the outer wall of the vertical high-pressure pipeline, a winch, a hoisting frame matched with the cylindrical shell and a translation mechanism for pushing and pulling the hoisting frame are arranged in the storage bin, a pulley assembly matched with the steel wire rope of the winch is arranged on the hoisting frame, one end of the steel wire rope away from the winch is fixedly connected with the cylindrical shell, and a sealing door is arranged at the end of the hoisting frame away from the winch. The vertical high-pressure pipeline monitoring robot of compressed air energy storage system can be used for monitoring the state of the inner wall of the pipeline and the deformation of the pipeline, and can complete the monitoring work of the vertical high-pressure pipeline.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline robots, in particular to a vertical high-pressure pipeline monitoring robot of a compressed air energy storage system. BACKGROUND

[0002] At present, the existing compressed air energy storage system mainly uses underground salt caverns as gas storage, and a vertical high-pressure pipeline is used to connect the underground part and the aboveground part of the compressed air energy storage system. During the off-peak period, compressed air is injected into the underground salt cavern through the vertical high-pressure pipeline for energy storage. During the peak period, the compressed air in the underground salt cavern is discharged through another high-pressure pipeline to generate electricity. The vertical high-pressure pipeline will be affected by factors such as alternating stress, alternating temperature and salt rock creep during injection and extraction operation, which will cause deformation of the vertical high-pressure pipeline. In order to ensure the normal operation of the compressed air energy storage system, the operating state of the vertical high-pressure pipeline needs to be monitored to discover pipeline failures in time. However, the existing pipeline robots often cannot be used for monitoring vertical pipelines due to their crawling walking mode. Moreover, they can only monitor the state of the inner wall of the pipeline and cannot monitor whether the pipeline is deformed. SUMMARY

[0003] The present application aims to solve the problems in the prior art and provide a vertical high-pressure pipeline monitoring robot of a compressed air energy storage system, which can be used to monitor the state of the inner wall of the pipeline and the deformation of the pipeline, and can complete the monitoring work of the vertical high-pressure pipeline.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0005] A vertical high-pressure pipeline monitoring robot of a compressed air energy storage system, comprising a cylindrical shell, the outer diameter of the cylindrical shell being smaller than the inner diameter of the vertical high-pressure pipeline, a walking mechanism being arranged on the cylindrical shell, a plurality of cameras being arranged on the outer wall of the cylindrical shell, a cylindrical monitoring block being hoisted in the cylindrical shell, a plurality of distance measuring sensors being uniformly arranged on the inner wall of the cylindrical shell along the circumference of the cylindrical shell, the distance measuring sensors being directed to the monitoring block, and the distance measuring sensors being used to measure the distance between the monitoring block and the point where the distance measuring sensor is located; a storage bin for placing the cylindrical shell being arranged on the outer wall of the vertical high-pressure pipeline, a window being arranged on the vertical high-pressure pipeline and being adapted to the storage bin, a winch, a hoisting frame adapted to the cylindrical shell and a translation mechanism for pushing and pulling the hoisting frame being arranged in the storage bin, a pulley assembly being arranged on the hoisting frame and being adapted to the steel wire rope of the winch, one end of the steel wire rope being fixedly connected to the cylindrical shell and being away from the winch, and a sealing door being arranged on the end of the hoisting frame away from the winch and being used to close the window.

[0006] Preferably, detachable sealing covers are arranged on the upper and lower ends of the cylindrical shell.

[0007] Preferably, the upper portion of the cylindrical shell is provided with a partition plate, the monitoring block is hoisted at the middle portion of the bottom of the partition plate, and the top of the partition plate is provided with an adjusting mechanism for adjusting the distance between the traveling wheels of the traveling mechanism and the cylindrical shell.

[0008] Preferably, the traveling mechanism comprises a plurality of groups of support arm groups arranged uniformly along the circumference of the cylindrical shell on the outer wall of the cylindrical shell, each group of the support arm groups comprises two support arms arranged in sequence from top to bottom, and the upper support arm extends obliquely upward, and the other support arm extends obliquely downward, one end of the support arm is hinged to the cylindrical shell, and the other end is used for mounting the traveling wheels, and the two support arms in each group of support arm groups are meshed by gears at the end close to the cylindrical shell, the adjusting mechanism comprises a connecting rod hinged to the upper support arm in the support arm group, and a lifting mechanism arranged at the middle portion of the top of the partition plate, and the top of the lifting mechanism is provided with a connecting block, and one end of the connecting rod away from the support arm is hinged to the connecting block.

[0009] Preferably, the connecting block comprises a bottom connecting seat, an upper connecting seat and a top locking seat, the bottom connecting seat is used for connecting with the lifting mechanism, the upper connecting seat is used for hinging with the connecting rod, a connecting rod is vertically arranged on the bottom connecting seat, the top locking seat is fixed at the top of the connecting rod, the upper connecting seat is slidingly connected with the connecting rod, a buffer spring is sleeved on the connecting rod, one end of the buffer spring abuts against the upper connecting seat, and the other end abuts against the bottom connecting seat.

[0010] Preferably, the traveling wheels of the traveling mechanism are provided with hub motors.

[0011] Preferably, the top end of the storage bin is above the ground, and a deflation valve is arranged at the top of the storage bin.

[0012] Preferably, the bottom of the hoisting frame is provided with a sliding block, and the storage bin is provided with a sliding rail matched with the sliding block.

[0013] Preferably, an electromagnetic locking pin for limiting the movement of the sliding block is vertically arranged on the sliding rail, and the electromagnetic locking pin is driven by an electromagnetic push-pull device.

[0014] Preferably, the sealing door is provided with a communication hole and a cover body for closing the communication hole, one end of the cover body is rotationally connected with the sealing door, and a driving motor for driving the cover body to rotate is arranged on the hoisting frame.

[0015] Compared with the prior art, the present application has the following advantages:

[0016] The tubular shell, the walking mechanism constitute the main structure of the pipeline monitoring robot, the main structure drives in the vertical high pressure pipeline in the way of hoisting, the position of the main structure in the vertical high pressure pipeline is controlled through the winch; the camera on the outer wall of the tubular shell is used for monitoring the state of the inner wall of the pipeline; the monitoring block in the tubular shell always keeps vertical state under the action of gravity, when the tubular shell drives to the inclined position of the pipeline, the tubular shell inclines with the monitoring block still in the vertical state, at this time, the distance value monitored by the distance sensor changes, whether the pipeline deforms is reflected through the change of the distance value measured by the distance sensor, the state of the inner wall of the pipeline and the deformation of the pipeline can be monitored, and the monitoring work of the vertical high pressure pipeline is completed. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the structural schematic diagram of the application.

[0018] Figure 2 It is the internal structure schematic diagram of the tubular shell.

[0019] Figure 3 It is Figure 1 the enlarged view of A of

[0020] Reference numerals in the drawings: 1, tubular shell; 2, vertical high pressure pipeline; 3, walking mechanism; 4, camera; 5, monitoring block; 6, distance sensor; 7, storage bin; 8, winch; 9, hoisting frame; 10, translation mechanism; 11, pulley assembly; 12, sealing door; 13, sealing cover; 14, partition; 15, walking wheel; 16, support arm; 17, gear; 18, connecting rod; 19, lifting mechanism; 20, connecting block; 201, bottom connecting seat; 202, upper connecting seat; 203, top locking seat; 204, connecting rod; 205, buffer spring; 21, deflation valve; 22, sliding block; 23, slide rail; 24, electromagnetic lock pin; 25, communication hole; 26, cover; 27, driving motor. DETAILED DESCRIPTION

[0021] The application will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate but not to limit the scope of the application. Furthermore, it should be understood that after reading the content of the present application, those skilled in the art can make various modifications or changes to the application, and these equivalent forms also fall within the scope defined by the present application.

[0022] Embodiment: as Figures 1-3As shown, the vertical high-pressure pipeline monitoring robot of the compressed air energy storage system comprises a cylindrical shell 1, the outer diameter of the cylindrical shell 1 is smaller than the inner diameter of the vertical high-pressure pipeline 2, a walking mechanism 3 is arranged on the cylindrical shell 1, after the cylindrical shell 1 enters the vertical high-pressure pipeline 2, the walking wheels 15 on the walking mechanism 3 abut against the inner wall of the vertical high-pressure pipeline 2, a plurality of cameras 4 are arranged on the outer wall of the cylindrical shell 1, and the cameras are used for monitoring the state of the inner wall of the pipeline.

[0023] A cylindrical monitoring block 5 is hung in the cylindrical shell 1, a plurality of distance measuring sensors 6 are uniformly arranged on the inner wall of the cylindrical shell 1 along the circumference of the cylindrical shell 1, the detection head of the distance measuring sensor 6 points to the monitoring block 5, the distance measuring sensor 6 is used for measuring the distance between the monitoring block 5 and the point where the distance measuring sensor 6 is located, the monitoring block 5 is hung in the cylindrical shell 1 through a lifting rope, the monitoring block 5 always maintains a vertical state under the action of its own gravity, when the cylindrical shell 1 travels to a pipeline inclined position, the cylindrical shell 1 inclines with it while the monitoring block 5 still maintains a vertical state, at this time, the distance value monitored by the distance measuring sensor 6 changes, and whether the pipeline deforms is reflected by the change of the distance value measured by the distance measuring sensor 6.

[0024] A storage bin 7 for placing the cylindrical shell 1 is arranged on the outer wall of the vertical high-pressure pipeline 2, because the internal temperature and pressure of the vertical high-pressure pipeline 2 are high when the compressed air is transported, in order to protect the detection components on the cylindrical shell 1, the cylindrical shell 1 is stored in the storage bin 7. A window corresponding to the storage bin 7 is arranged on the vertical high-pressure pipeline 2, a winch 8, a lifting frame 9 corresponding to the cylindrical shell 1 and a translation mechanism 10 for pushing and pulling the lifting frame 9 are arranged in the storage bin 7, the translation mechanism 10 can be a pneumatic cylinder, an electric push rod or the like, a pulley assembly 11 corresponding to the steel wire rope of the winch 8 is arranged on the lifting frame 9, one end of the steel wire rope away from the winch 8 is fixedly connected with the cylindrical shell 1, and a sealing door 12 for closing the window is arranged at the end of the lifting frame 9 away from the winch 8. The cylindrical shell 1 is adjusted between the storage bin 7 and the vertical high-pressure pipeline 2 through the pushing and pulling of the translation mechanism 10, the pipeline monitoring can be carried out after the cylindrical shell 1 is pushed into the vertical high-pressure pipeline 2, the cylindrical shell 1 is lowered in the vertical high-pressure pipeline 2 under the action of its own gravity through the winch 8, after the monitoring is completed, the cylindrical shell 1 is pulled up through the winch 8, and finally the cylindrical shell 1 is pulled back to the storage bin 7 for storage through the translation mechanism 10, at this time, the sealing door 12 closes the window.

[0025] Preferably, in order to protect the components in the cylindrical shell, detachable sealing covers 13 are arranged at the upper and lower ends of the cylindrical shell 1, the sealing covers 13 can be fixed on the cylindrical shell 1 through bolts, and lifting lugs for connecting with the steel wire rope are welded on the middle part of the top of the top sealing cover 13.

[0026] Preferably, the upper part of the cylindrical shell 1 is provided with a partition plate 14, the monitoring block 5 is hung in the middle of the bottom of the partition plate 14, avoiding the contact between the monitoring block 5 and the inner wall of the cylindrical shell 1, and the top of the partition plate 14 is provided with an adjusting mechanism for adjusting the distance between the walking wheels 15 of the walking mechanism 3 and the cylindrical shell 1.

[0027] Further, the walking mechanism 3 comprises a plurality of groups of support arm groups arranged uniformly along the circumference of the cylindrical shell 1 on the outer wall of the cylindrical shell 1, each group of the support arm groups comprises two support arms 16 arranged in sequence from top to bottom, and the upper support arm 16 extends obliquely upward, and the other support arm 16 extends obliquely downward, one end of the support arm 16 is hinged to the cylindrical shell 1, and the other end is used for mounting the walking wheel 15, and the two support arms 16 in each group of support arm groups are meshed by a gear 17 close to one end of the cylindrical shell 1, the support arm 16 is hinged to the cylindrical shell 1 through a hinge shaft, and the gear 17, the support arm 16 and the hinge shaft are fixedly connected, the adjusting mechanism comprises a connecting rod 18 hinged to the upper support arm 16 in the support arm group and a lifting mechanism 19 arranged in the middle of the top of the partition plate 14, the top of the lifting mechanism 19 is provided with a connecting block 20, one end of the connecting rod 18 away from the support arm 16 is hinged to the connecting block 20, and the lifting mechanism 19 can adopt an electric push rod, the inclination angle between the upper support arm 16 and the cylindrical shell 1 can be adjusted by the lifting of the lifting mechanism 19, and then the distance between the walking wheel 15 and the cylindrical shell 1 is adjusted, at the same time, through gear transmission, the lower support arm 16 can be driven to rotate synchronously, and is adjusted to the position at the same time.

[0028] Preferably, the connecting block 20 comprises a bottom connecting seat 201, an upper connecting seat 202 and a top locking seat 203, the bottom connecting seat 201 is used for connecting with the lifting mechanism 19, the upper connecting seat 202 is used for hinging with the connecting rod 18, a connecting rod 204 is vertically arranged on the bottom connecting seat 201, the top locking seat 203 is fixed on the top of the connecting rod 204, the upper connecting seat 202 is slidingly connected with the connecting rod 204, a buffer spring 205 is sleeved on the connecting rod 204, one end of the buffer spring 205 abuts against the upper connecting seat 202, and the other end abuts against the bottom connecting seat 201, and floating support is adopted, so that the walking wheel 15 can be provided with buffer.

[0029] Preferably, the walking wheel 15 of the walking mechanism 3 is provided with a wheel hub motor, and the walking wheel 15 can actively travel.

[0030] Preferably, the top end of the storage bin 7 is above the ground, and a deflation valve 21 is arranged on the top of the storage bin 7, after the cylindrical shell 1 is pulled back to the storage bin 7 for storage, the window is closed by the sealing door 12, the deflation valve 21 is opened, and the high-pressure gas in the storage bin 7 is discharged.

[0031] Preferably, in order to ensure the stability of the translation of the hoisting frame, the bottom of the hoisting frame 9 is provided with a sliding block 22, and the storage bin 7 is horizontally provided with a sliding rail 23 matched with the sliding block 22.

[0032] Preferably, the sliding rail 23 is vertically provided with an electromagnetic locking pin 24 for limiting the movement of the sliding block 22, the electromagnetic locking pin 24 is driven by an electromagnetic push-pull device, the top of the sliding rail 23 is provided with a mounting groove matched with the electromagnetic push-pull device, the electromagnetic locking pin 24 is a wedge-shaped block, and the inclined surface of the wedge-shaped block faces the window, when the sealing door 12 closes the window, the vertical surface of the electromagnetic locking pin 24 abuts against the sliding block 22, limiting the sliding direction of the sliding block to the window, and the electromagnetic push-pull device is used to adjust the height of the electromagnetic locking pin 24. The electromagnetic push-pull device is composed of an electromagnet, a permanent magnet and a return spring, the permanent magnet is fixedly connected with the electromagnetic locking pin 24, and the return spring is located between the electromagnet and the permanent magnet, by adjusting the polarity of the electromagnet, the distance between the electromagnet and the permanent magnet is adjusted.

[0033] Preferably, the sealing door 12 is provided with a communication hole 25 and a cover 26 for closing the communication hole, one end of the cover 26 is rotatably connected with the sealing door 12 through a pivot, the cover 26 is fixedly connected with the pivot, and the hoisting frame 9 is provided with a driving motor 27 for driving the cover 26 to rotate, the driving motor 27 is in transmission connection with the pivot, by driving the cover 26 to rotate through the driving motor 27, the opening and closing of the communication hole 25 is completed, after the communication hole 25 is opened, the vertical high-pressure pipeline 2 and the storage bin 7 can be balanced in air pressure, and the sealing door 12 is conveniently pushed open.

Claims

1. A vertical high pressure pipeline monitoring robot for compressed air energy storage systems, characterized by: The utility model provides a kind of vertical high-pressure pipeline monitoring device, including cylindrical shell (1), the outer diameter of the cylindrical shell (1) is less than the inner diameter of vertical high-pressure pipeline (2), walking mechanism (3) is equipped on the cylindrical shell (1), the outer wall of the cylindrical shell (1) is equipped with several cameras (4), cylindrical monitoring block (5) is hoisted in the cylindrical shell (1) by sling, the inner wall of the cylindrical shell (1) is evenly equipped with several distance sensors (6) along the circumference of the cylindrical shell (1), the distance sensor (6) is directed to monitoring block (5), and distance sensor (6) is used to measure the distance between monitoring block (5) and the point where distance sensor (6) is located;The outer wall of the vertical high-pressure pipeline (2) is equipped with storage bin (7) for placing cylindrical shell (1), the vertical high-pressure pipeline (2) is equipped with window corresponding to storage bin (7), winch (8) is equipped in storage bin (7), hoisting frame (9) corresponding to cylindrical shell (1) and translation mechanism (10) for pushing and pulling hoisting frame (9) are equipped, the distance between cylindrical shell (1) and vertical high-pressure pipeline (2) is adjusted by the push and pull of translation mechanism (10), pulley assembly (11) corresponding to the wire rope of winch (8) is equipped on hoisting frame (9), the end of the wire rope away from winch (8) is fixedly connected with cylindrical shell (1), and the end of hoisting frame (9) away from winch (8) is equipped with sealing door (12) for closing window.

2. The vertical high-pressure pipeline monitoring robot of compressed air energy storage systems according to claim 1, characterized in that: The upper and lower ends of the cylindrical shell (1) are equipped with detachable sealing covers (13).

3. The vertical high-pressure pipeline monitoring robot of compressed air energy storage systems according to claim 1, characterized in that: The upper part in the cylindrical shell (1) is equipped with a partition (14), the monitoring block (5) is hoisted in the middle of the bottom of the partition (14), and the top of the partition (14) is equipped with an adjusting mechanism for adjusting the distance between the walking wheels (15) of the walking mechanism (3) and the cylindrical shell (1).

4. The vertical high-pressure pipeline monitoring robot of compressed air energy storage systems according to claim 3, characterized in that: The walking mechanism (3) includes several groups of support arm groups arranged uniformly along the circumference of the cylindrical shell (1) on the outer wall of the cylindrical shell (1), each group of support arm groups includes two support arms (16) arranged from top to bottom in sequence, and the upper support arm (16) extends obliquely upward, and the other support arm (16) extends obliquely downward, one end of the support arm (16) is hinged to the cylindrical shell (1), the other end is used for mounting the walking wheel (15), and the two support arms (16) in each group of support arm groups are meshed by gears (17) at one end close to the cylindrical shell (1), the adjusting mechanism includes a connecting rod (18) hinged to the upper support arm (16) in the support arm group, a lifting mechanism (19) arranged in the middle of the top of the partition (14), and a connecting block (20) arranged at the top of the lifting mechanism (19), and one end of the connecting rod (18) away from the support arm (16) is hinged to the connecting block (20).

5. The vertical high-pressure pipeline monitoring robot of compressed air energy storage systems according to claim 4, characterized in that: The connecting block (20) comprises a bottom connecting seat (201), an upper connecting seat (202) and a top locking seat (203), the bottom connecting seat (201) is used for connecting with the lifting mechanism (19), the upper connecting seat (202) is used for hinging with the connecting rod (18), a connecting rod (204) is vertically arranged on the bottom connecting seat (201), the top locking seat (203) is fixed on the top of the connecting rod (204), the upper connecting seat (202) is in sliding connection with the connecting rod (204), a buffer spring (205) is sleeved on the connecting rod (204), one end of the buffer spring (205) is in abutment with the upper connecting seat (202), and the other end is in abutment with the bottom connecting seat (201).

6. The vertical high-pressure pipeline monitoring robot of compressed air energy storage systems of claim 1, wherein: The walking mechanism (3) is internally provided with a hub motor.

7. The vertical high-pressure pipeline monitoring robot of compressed air energy storage systems according to claim 1, characterized in that: The top of the storage bin (7) is above the ground, and a deflation valve (21) is arranged on the top of the storage bin (7).

8. The vertical high-pressure pipeline monitoring robot of compressed air energy storage systems according to claim 1, characterized in that: The bottom of the lifting frame (9) is provided with a sliding block (22), and the storage bin (7) is internally provided with a sliding rail (23) matched with the sliding block (22).

9. The vertical high-pressure pipeline monitoring robot of compressed air energy storage systems according to claim 8, characterized in that: The sliding rail (23) is vertically provided with an electromagnetic locking pin (24) for limiting the movement of the sliding block (22), and the electromagnetic locking pin (24) is driven by an electromagnetic push-pull device.

10. The vertical high-pressure pipeline monitoring robot of compressed air energy storage systems of claim 1, wherein: The sealing door (12) is provided with a communication hole (25) and a cover (26) for closing the communication hole, and after the communication hole (25) is opened, the vertical high-pressure pipeline (2) and the storage bin (7) can be balanced in pressure, one end of the cover (26) is rotatably connected with the sealing door (12), and a driving motor (27) for driving the cover (26) to rotate is arranged on the sealing door (12).

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