Intelligent inspection equipment for oil and gas pipe network SCADA system

Abstract

An intelligent inspection device for an oil and gas pipe network SCADA system comprises an inspection track and an inspection robot matched with the inspection track. The inspection robot is installed on the inspection track in a matched mode, a walking block matched with the inspection track is arranged on the upper portion of the inspection robot, a mechanical arm assembly capable of swinging is installed on the lower portion of the inspection robot through a lifting mechanism, and the bottom end of the mechanical arm assembly is connected with an installation plate. A camera, a laser range finder, an ultrasonic flaw detector and a cleaning mechanism are arranged on the mounting plate, the cleaning mechanism sends air into a water tank by starting an air pump, washing liquid in the water tank is sent into a spray head from a water pipe and then sprayed on an instrument needing to be observed, and then an electric push rod is started to drive a double-sided brush to abut against the instrument; and then the servo motor is started to drive the connecting column to drive the double-sided brush to move, and the instrument is thoroughly cleaned. And meanwhile, the cleaning mechanism can enter a complex oil-gas pipe network through the cooperative action of the lifting mechanism and the mechanical arm assembly, the designated position is monitored and cleaned, and use and maintenance of the whole device are facilitated.

Description

Technical Field

[0001] This utility model relates to the technical field of oil and gas pipeline inspection devices, specifically an intelligent inspection device for an oil and gas pipeline SCADA system. Background Technology

[0002] In the field of oil and gas pipeline transportation, the safe operation of pipelines is of paramount importance due to the high pressure, flammability, and toxicity of the transported media. Any form of leakage or operational anomaly can quickly escalate into a major accident, threatening not only human lives but also potentially causing irreversible environmental pollution. Therefore, implementing an efficient and timely inspection mechanism to monitor and prevent potential risks is a necessary means to ensure the safe operation of oil and gas pipelines.

[0003] Currently, intelligent inspection equipment is widely used in oil and gas pipeline inspections, aiming to improve inspection efficiency and accuracy through automation and intelligence. However, although existing technologies, such as the intelligent instrument data acquisition device for oil and gas pipeline sites disclosed in publication number CN117906027A, have achieved automated data acquisition from intelligent instruments within the oil and gas pipeline network by integrating inspection robots, robotic arms, and data acquisition components, significantly improving inspection efficiency and ease of use, certain limitations still exist. Specifically, although this device effectively reduces the need for external meter reading devices by using a robotic arm to move the data acquisition components, its solution to inaccurate data readings caused by instrument surface contamination relies solely on simple wiping with a wiping strip on the robotic arm. This direct wiping method often fails to thoroughly remove stubborn stains or oil, thus affecting the accuracy and reliability of data acquisition.

[0004] In view of the above-mentioned technical deficiencies, it is necessary to develop a more efficient and comprehensive intelligent inspection device for SCADA systems in oil and gas pipelines to overcome the problem of incomplete instrument cleaning in existing technologies, further improve inspection efficiency and data accuracy, and ensure the safe and stable operation of oil and gas pipelines. Utility Model Content

[0005] The purpose of this invention is to provide an intelligent inspection device for SCADA systems in oil and gas pipeline networks, which can spray detergent onto the instruments and then use a double-sided brush for thorough cleaning, thereby solving the problems mentioned in the background art.

[0006] The technical solution adopted by this utility model to solve its technical problem is as follows: an intelligent inspection device for an oil and gas pipeline SCADA system, including an inspection track and a cooperating inspection robot. The inspection robot includes a main shell, a walking block that cooperates with the inspection track is installed on the upper part of the main shell, and a walking wheel is provided on the inner side of the walking block. A lifting mechanism is installed on the lower part of the main shell, and a swingable robotic arm assembly is installed at the bottom of the lifting mechanism. A mounting plate is connected to the bottom end of the robotic arm assembly. A camera, a laser rangefinder, and an ultrasonic flaw detector are connected to the bottom of the mounting plate, wherein the laser rangefinder is located between the camera and the ultrasonic flaw detector. A cleaning mechanism is also provided at the bottom of the mounting plate on the side of the camera. The cleaning mechanism includes a vertically arranged electric push rod, a servo motor is installed at the piston rod end of the electric push rod, and a connecting column is connected to the output end of the servo motor. Double-sided brushes are installed on both sides of the connecting column. A nozzle is also installed at the end of the mounting plate, and the nozzle is located above the double-sided brushes. A walking motor is installed inside the walking block, and the output shaft of the walking motor is connected to the rotation shaft of the walking wheel. The lifting mechanism includes two first connecting rods hinged to the bottom of the main housing. A second connecting rod is hinged to the bottom of each first connecting rod. The two first and two second connecting rods are symmetrically arranged to form a parallelogram mechanism. A lifting plate is hinged to the bottom of the two second connecting rods. A robotic arm assembly is connected to the bottom of the lifting plate. A lifting motor is installed inside the main housing. A vertically arranged lead screw is connected to the output shaft of the lifting motor. A lead screw nut that mates with the lead screw is provided inside the lifting plate. Starting the lifting motor causes the lifting plate to vertically lift and lower along the length of the lead screw. The robotic arm assembly includes a first connecting arm located at the bottom of the lifting mechanism. A second connecting arm is located at the top of the mounting plate. A third connecting arm is hinged between the first and second connecting arms. A first swing motor is installed at the hinge position between the first and third connecting arms, and a second swing motor is installed at the hinge position between the second and third connecting arms. Starting the first swing motor causes the third connecting arm to swing relative to the first connecting arm, and starting the second swing motor causes the second connecting arm to swing relative to the third connecting arm. The mounting plate has a fixing block at one end and a water tank at the top. A water pipe and an air pipe are installed in the water tank. The water pipe is located at the bottom of the water tank and the air pipe is located at the top of the water tank. The fixing block has through holes that cooperate with the water pipe and the air pipe. An air pump is located at the bottom of the mounting plate. The water pipe passes through the lower end of the fixing block and is connected to the nozzle. The air pipe passes through the lower end of the fixing block and is connected to the air outlet of the air pump.

[0007] The positive effects of this utility model are as follows: The intelligent inspection equipment for an oil and gas pipeline SCADA system described in this utility model includes an inspection robot installed on an inspection track. The upper part of the inspection robot has a traveling block that cooperates with the inspection track. The lower part of the inspection robot is equipped with a swingable robotic arm assembly via a lifting mechanism. The bottom end of the robotic arm assembly is connected to a mounting plate, which houses a camera, a laser rangefinder, an ultrasonic flaw detector, and a cleaning mechanism. The cleaning mechanism, by activating an air pump, sends air into a water tank, and then sends the cleaning solution from the tank through a water pipe into a nozzle, which is then sprayed onto the instruments to be observed. An electric actuator then moves a double-sided brush to contact the instrument, and a servo motor drives a connecting column to move the double-sided brush, thoroughly cleaning the instrument. Simultaneously, the coordinated movement of the lifting mechanism and the robotic arm assembly allows the cleaning mechanism to enter complex oil and gas pipeline networks and monitor and clean designated locations, facilitating the use and maintenance of the entire device. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the structure of this utility model;

[0009] Figure 2 yes Figure 1 A magnified view of part of I;

[0010] Figure 3 yes Figure 1 An enlarged view of the sectional view along the AA direction;

[0011] Figure 4 yes Figure 1 View from direction B;

[0012] Figure 5 This is a magnified view of the mounting plate location. Detailed Implementation

[0013] The present invention describes an intelligent inspection device for an oil and gas pipeline SCADA system, such as... Figure 1-5 As shown, it includes an inspection track 1 and a corresponding inspection robot. The inspection track 1 is located at the upper part of the oil and gas pipeline network. The inspection robot can walk along the length of the inspection track 1 and carry out corresponding inspections and troubleshooting of the oil and gas pipeline network at the bottom.

[0014] The inspection robot includes a main shell 2. A walking block 20, which cooperates with the inspection track 1, is mounted on the upper part of the main shell 2. Walking wheels 21 are provided inside the walking block 20, allowing the inspection robot to move along the length of the inspection track 1. A lifting mechanism 3 is mounted on the lower part of the main shell 2. A swingable robotic arm assembly 4 is mounted at the bottom of the lifting mechanism 3. A mounting plate 5 is connected to the bottom end of the robotic arm assembly 4. A camera 6, a laser rangefinder 7, and an ultrasonic flaw detector 8 are connected to the bottom of the mounting plate 5, with the laser rangefinder 7 located between the camera 6 and the ultrasonic flaw detector 8.

[0015] The aforementioned lifting mechanism 3 enables the inspection robot to move vertically and vertically on the inspection track 1. The robotic arm assembly 4 can drive the mounting plate 5 at the bottom to swing relative to the lifting mechanism 3 at various angles, thereby enabling it to reach into different complex types of pipelines for inspection and troubleshooting. The lifting mechanism 3 can be an existing lifting cylinder, lifting hydraulic cylinder, or rack and pinion lifting device, which enables the vertical movement of the robotic arm assembly 4. The robotic arm assembly 4 can be an existing serial robotic arm, parallel robotic arm, or hybrid robotic arm, consisting of a base, multiple joints, and a drive device, through which the drive device realizes the rotational movement of multiple joints.

[0016] Camera 6 can capture images of the pipeline network beneath the inspection robot and transmit them to the processing center. Laser rangefinder 7 can detect the distance between the inspection robot and the pipeline network in real time, enabling vertical adjustment of the robot's position and allowing it to move to the appropriate inspection location within the pipeline network. Ultrasonic flaw detector 8 can quickly, conveniently, and non-destructively detect various defects inside the pipeline, such as cracks, porosity, and inclusions, for location, evaluation, and diagnosis.

[0017] To achieve thorough cleaning of all instruments on the pipeline, a cleaning mechanism 9 is provided at the bottom of the mounting plate 5 on one side of the camera 6. The cleaning mechanism 9 includes a vertically arranged electric push rod 901. A servo motor 902 is installed at the piston rod end of the electric push rod 901. The output end of the servo motor 902 is connected to a connecting post 903. Double-sided brushes 904 are installed on both sides of the connecting post 903. A nozzle 906 is also installed at the end of the mounting plate 5. The nozzle 906 is located above the double-sided brushes 904.

[0018] The piston rod of the electric push rod 901 extends and drives the double-sided brush 904 to move down and approach the instrument. The servo motor 902 starts and drives the double-sided brush 904 to rotate and clean the instrument's protective cover. The nozzle 906 can spray cleaning fluid onto the instrument. After that, the double-sided brush 904 is used to rotate and clean, which can further improve the cleaning effect and make the monitored data more accurate.

[0019] Furthermore, a walking motor 22 is installed inside the walking block 20. The output shaft of the walking motor 22 is connected to the rotating shaft of the walking wheel 21. When the walking motor 22 is started, it can drive the inspection robot to move on the inspection track 1.

[0020] Furthermore, to simplify the structure of the lifting mechanism 3 while improving its overall stability and achieving more stable vertical lifting of the bottom structure, the lifting mechanism 3 includes two first connecting rods 30 hinged to the bottom of the main housing 2. Each first connecting rod 30 has a second connecting rod 31 hinged to its bottom. The two first connecting rods 30 and the two second connecting rods 31 are symmetrically arranged to form a parallelogram mechanism. A lifting plate 32 is hinged to the bottom of the two second connecting rods 31. The bottom of the lifting plate 32 is connected to the robotic arm assembly 4. A lifting motor 33 is installed inside the main housing 2. A vertically arranged lead screw 34 is connected to the output shaft of the lifting motor 33. A nut 35 that cooperates with the lead screw 34 is provided inside the lifting plate 32. When the lifting motor 33 is started, it can drive the lifting plate 32 to vertically lift along the length of the lead screw 34.

[0021] Furthermore, to achieve the swinging motion of the robotic arm assembly 4, such as Figure 4 As shown, the robotic arm assembly 4 includes a first connecting arm 40 disposed at the bottom of the lifting mechanism 3, a second connecting arm 41 disposed at the top of the mounting plate 5, and a third connecting arm 42 hinged between the first connecting arm 40 and the second connecting arm 41. A first swing motor 43 is installed at the hinge position of the first connecting arm 40 and the third connecting arm 42, and a second swing motor 44 is installed at the hinge position of the second connecting arm 41 and the third connecting arm 42. When the first swing motor 43 is activated, it can drive the third connecting arm 42 to swing relative to the first connecting arm 40, and when the second swing motor 44 is activated, it can drive the second connecting arm 41 to swing relative to the third connecting arm 42.

[0022] Furthermore, such as Figure 5 As shown, the mounting plate 5 has a fixing block 905 at one end, and a water tank 907 at the top. A water pipe 908 and an air pipe 910 are installed inside the water tank 907. The water pipe 908 is located at the bottom of the water tank 907, and the air pipe 910 is located at the top of the water tank 907. The fixing block 905 has through holes that mate with the water pipe 908 and the air pipe 910. An air pump 909 is located at the bottom of the mounting plate 5. The water pipe 908 extends through the lower end of the fixing block 905 and connects to the nozzle 906, while the air pipe 910 extends through the lower end of the fixing block 905 and connects to the air outlet of the air pump 909.

[0023] An air filter can be installed at the intake end of the air pump 909 to prevent dust from being drawn in and clogging the nozzle 906. The air pump 909 is started to draw in outside air, which is then sent into the water tank 907 through the air pipe 910. The pressure in the water tank 907 increases, and the washing liquid in the water tank 907 is sent into the nozzle 906 through the water pipe 908. The liquid is then sprayed onto the instrument to be observed. Next, the electric push rod 901 is activated to drive the double-sided brush 904 to contact the instrument, and the servo motor 902 is activated to drive the double-sided brush 904 to rotate and clean the instrument.

[0024] If the lens of camera 6 needs to be cleaned, move the double-sided brush 904 below the nozzle 906, spray cleaning solution onto the double-sided brush 904, then start the electric push rod 901 to bring the double-sided brush 904 into contact with the lens of camera 6, and then start the servo motor 902 to clean camera 6 with the double-sided brush 904, so as to achieve accurate monitoring of the bottom pipeline by the inspection robot.

[0025] When using the intelligent inspection equipment for an oil and gas pipeline SCADA system as described in this utility model, firstly, temperature, pressure, flow, liquid level, and integrated dynamometers and other detection instruments are installed on the oil and gas pipeline. Simultaneously, pipeline control equipment is installed. An inspection track 1 is installed near the oil and gas pipeline, and an inspection robot is mounted on the inspection track 1, allowing a camera 6 to observe the oil and gas pipeline and the detection instruments. The intelligent inspection equipment and control equipment are connected to the headquarters' SCADA system via a network. The headquarters controls the inspection robot to move along the inspection track 1 for inspection, observing the oil and gas equipment and the detection instruments through the camera 6. Data from the detection instruments is collected and transmitted to the SCADA system for storage and comparison, and then reviewed by headquarters personnel. If the SCADA system detects a problem with the collected data, it promptly alerts headquarters personnel and controls the relevant control equipment to take appropriate measures.

[0026] The laser rangefinder 7 provides distance information for the intelligent inspection equipment, works with the camera 6 to avoid obstacles, and measures the distance and position of some equipment. The ultrasonic flaw detector 8 emits ultrasonic waves to inspect oil and gas pipelines, improving the functionality of the intelligent instrument data acquisition device in the oil and gas pipeline site. Other intelligent instruments can also be installed for more comprehensive inspection.

[0027] If dust or other impurities adhere to the detection instrument or camera 6, affecting observation, start the air pump 909 to spray the washing liquid in the water tank 907 onto the detection instrument or the double-sided brush 904, start the electric push rod 901 to attach the double-sided brush 904 to the detection instrument or to the camera 6, and then start the servo motor 902 to drive the double-sided brush 904 to wipe and clean.

[0028] If maintenance is required on the robotic arm assembly 4 and the equipment connected below it, or when the water tank 907 is used up, start the lifting motor 33 to move the robotic arm assembly 4 and the equipment connected below it downwards for maintenance or to add washing liquid to the water tank 907. Then start the lifting motor 33 to rotate in the opposite direction to move the robotic arm assembly 4 and the equipment connected below it vertically upwards to reset it.

[0029] The SCADA system, short for Supervisory Control and Data Acquisition, involves configuration software and data transmission links. It is a computer-based DCS and power automation monitoring system with wide applications in power, metallurgy, petroleum, chemical, gas, and railway industries, encompassing data acquisition, monitoring, control, and process control. In power systems, SCADA systems are the most widely used and technologically mature. It plays a crucial role in remote control systems, monitoring and controlling field equipment to achieve data acquisition, equipment control, measurement, parameter adjustment, and various signal alarms—the so-called "four remote" functions. RTUs (Remote Terminal Units) and FTUs (Feeder Terminal Units) are essential components, playing a significant role in modern substation integrated automation construction. This utility model describes an intelligent inspection device for an oil and gas pipeline SCADA system that can be used in conjunction with a SCADA system.

[0030] The technical solution of this utility model is not limited to the scope of the embodiments described herein. All technical contents not described in detail herein are publicly known technologies.

Claims

1. An intelligent inspection device for oil and gas pipeline network SCADA system, comprising an inspection track (1) and a matched inspection robot, characterized in that: The inspection robot comprises a main shell (2), a walking block (20) installed on the upper part of the main shell (2) and matched with the inspection track (1), a walking wheel (21) arranged on the inner side of the walking block (20), a lifting mechanism (3) installed on the lower part of the main shell (2), a swingable mechanical arm assembly (4) installed on the bottom of the lifting mechanism (3), an installation plate (5) connected to the bottom end of the mechanical arm assembly (4), a camera (6), a laser range finder (7) and an ultrasonic flaw detector (8) connected to the bottom of the installation plate (5), wherein the laser range finder (7) is arranged between the camera (6) and the ultrasonic flaw detector (8), and a cleaning mechanism (9) is further arranged on the bottom of the installation plate (5) on the side of the camera (6), wherein the cleaning mechanism (9) comprises a vertical electric push rod (901), a servo motor (902) installed on the piston rod end of the electric push rod (901), and a connecting column (903) connected to the output end of the servo motor (902), and double-sided brushes (904) are arranged on the two sides of the connecting column (903), and a spray head (906) is further arranged on the end of the installation plate (5), and the spray head (906) is arranged on the upper side of the double-sided brushes (904).

2. The intelligent inspection device for oil and gas pipeline network SCADA systems of claim 1, wherein: The walking block (20) is internally provided with a walking motor (22), and the output shaft of the walking motor (22) is connected with the rotating shaft of the walking wheel (21).

3. The intelligent inspection device for oil and gas pipeline network SCADA systems of claim 1, wherein: The lifting mechanism (3) comprises two first connecting rods (30) hingedly connected to the bottom of the main shell (2), a second connecting rod (31) hingedly connected to the bottom of each first connecting rod (30), the two first connecting rods (30) and the two second connecting rods (31) are symmetrically arranged to form a parallelogram mechanism, the bottom of each second connecting rod (31) is hingedly connected with a lifting plate (32), the lifting plate (32) is connected with the mechanical arm assembly (4), a lifting motor (33) is arranged in the main shell (2), a vertical screw rod (34) is arranged on the output shaft of the lifting motor (33), a screw nut (35) matched with the screw rod (34) is arranged in the lifting plate (32), and the lifting motor (33) can drive the lifting plate (32) to vertically ascend and descend along the length direction of the screw rod (34).

4. The intelligent inspection device for oil and gas pipeline network SCADA systems of claim 1, wherein: The mechanical arm assembly (4) comprises a first connecting arm (40) arranged on the bottom of the lifting mechanism (3), a second connecting arm (41) arranged on the top of the installation plate (5), a third connecting arm (42) hingedly connected between the first connecting arm (40) and the second connecting arm (41), a first swing motor (43) arranged at the hinged position of the first connecting arm (40) and the third connecting arm (42), a second swing motor (44) arranged at the hinged position of the second connecting arm (41) and the third connecting arm (42), the first swing motor (43) can drive the third connecting arm (42) to swing relative to the first connecting arm (40), and the second swing motor (44) can drive the second connecting arm (41) to swing relative to the third connecting arm (42).

5. The intelligent inspection device for oil and gas pipeline network SCADA systems of claim 1, wherein: The end of the mounting plate (5) is provided with a fixing block (905), the top of the mounting plate (5) is provided with a water tank (907), the water tank (907) is provided with a water pipe (908) and an air pipe (910), the water pipe (908) is located at the bottom of the water tank (907), the air pipe (910) is located at the top of the water tank (907), the fixing block (905) is provided with through holes matched with the water pipe (908) and the air pipe (910), the bottom of the mounting plate (5) is provided with an air pump (909), the water pipe (908) is connected with a spray head (906) and passes out from the lower end of the fixing block (905), and the air pipe (910) is connected with the air outlet of the air pump (909) and passes out from the lower end of the fixing block (905).

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