Cleaning robot for dirty oil pipeline

Abstract

The utility model discloses a dirty oil pipeline cleaning robot which comprises a main body internally provided with a waste discharge cavity and a cleaning liquid cavity, and a walking mechanism, a dirt suction mechanism and a cleaning mechanism which are arranged on the main body, the dirt suction mechanism is provided with a suction nozzle communicated with the waste discharge cavity, and the suction nozzle is configured to move along a spiral path relative to the main body and suck dirt in the pipeline into the waste discharge cavity under the action of negative pressure; the cleaning mechanism is provided with a nozzle communicating with the cleaning liquid cavity, and the nozzle is used for spraying the cleaning liquid in the cleaning liquid cavity to the inner wall of the pipeline. According to the utility model, the suction nozzle can move along the spiral path relative to the main body, so that the position of the suction nozzle is adjusted on the premise that the main body is not moved, and the dirt suction cleaning area is increased.

Description

Technical Field

[0001] This utility model relates to the technical field of oil pipeline cleaning equipment, and in particular to a robot for cleaning sludge and oil pipelines. Background Technology

[0002] Oilfield development refers to the entire process of developing and putting into operation an oilfield with industrial value based on detailed exploration results and necessary productive development tests, in accordance with national requirements for crude oil production, and taking into account the actual conditions and production patterns of the oilfield. This process aims to ensure the oilfield operates at its predetermined production capacity and achieves its economic benefits for an extended period until the end of development.

[0003] Over time, oil pipelines accumulate a large amount of sediment, which can range from affecting the transport speed to causing blockages. Therefore, it is necessary to use pipeline cleaning devices to clean the oily pipelines. However, these devices typically rely on steel wire brushes to rub the inner wall of the pipeline, a method that can easily scratch or damage the inner wall.

[0004] To address the aforementioned technical problems, existing oil pipe cleaning devices typically include a suction pipe fixedly mounted on the main body. This suction pipe, aided by a sludge pump, draws out the sludge from the oil pipe. However, because the suction pipe is fixed to the main body, its position adjustment depends entirely on the movement of the main body. Therefore, when the sludge area within the pipe is large, multiple adjustments to the relative position of the main body within the oil pipe are necessary to reposition the suction pipe opening relative to the sludge. Consequently, adjusting the suction pipe's position is extremely inconvenient, resulting in low cleaning efficiency. Utility Model Content

[0005] This invention provides a robot for cleaning oily pipes, which solves the problem that in the prior art, the position adjustment of the suction port on the suction pipe of the oil pipe cleaning device depends entirely on the movement of the main body, resulting in the inconvenience of adjusting the position of the suction port and the limitation of suction area and cleaning efficiency.

[0006] This utility model provides a sludge and oil pipeline cleaning robot, which includes a main body with a waste discharge chamber and a cleaning liquid chamber inside, as well as a walking mechanism, a suction mechanism and a cleaning mechanism arranged on the main body.

[0007] The suction mechanism has a suction nozzle that communicates with the waste discharge chamber. The suction nozzle is configured to move along a spiral path relative to the main body and to draw the dirt in the pipe into the waste discharge chamber under negative pressure.

[0008] The cleaning mechanism has a nozzle that communicates with the cleaning liquid chamber, and the nozzle is used to spray the cleaning liquid in the cleaning liquid chamber toward the inner wall of the pipe.

[0009] In one embodiment, the suction mechanism includes a guide member with a spiral guide groove, a movable guide tube slidably disposed on the guide member along the extending direction of the spiral guide groove, and the suction nozzle connected to the movable guide tube; it also includes:

[0010] The telescopic tube has an adaptive length that can be extended or retracted. The first end of the telescopic tube is rotatably arranged around a first rotation axis and is connected to the waste discharge chamber. The second end of the telescopic tube is connected to the movable conduit.

[0011] The telescopic tube can rotate around the first rotation axis to drive the movable guide tube to move along the length direction of the spiral guide groove, thereby realizing the movement of the suction nozzle along the spiral path.

[0012] In one embodiment, a spindle is provided at the end position near the center of the spiral guide groove, the first rotation axis is defined by the axis of the spindle, and the spindle is driven and connected to the power component;

[0013] The first end of the telescopic tube is fixed to the spindle, which is adapted to rotate under the drive of a power component, and drive the telescopic tube to rotate around the spindle.

[0014] In one embodiment, the first rotation axis is parallel to the moving conduit and both extend radially along the body.

[0015] In one embodiment, the power component is a first motor, which is coaxially and fixedly connected to the spindle.

[0016] In one embodiment, a drainage pump is also provided between the suction nozzle and the movable conduit.

[0017] In one implementation, the first end of the telescopic tube is connected to the waste discharge chamber via a connecting pipe.

[0018] In one embodiment, a mounting base is provided at the front end of the main body, and the suction mechanism is mounted on the mounting base;

[0019] The mounting base is also equipped with a light, a camera, and a fault alarm.

[0020] In one embodiment, the cleaning mechanism is located at the tail end of the main body, and the cleaning mechanism includes a drainage pipe communicating with the cleaning liquid chamber and a shower head sealed to the drainage pipe;

[0021] The shower head has a plurality of spray holes, and the nozzle is defined by the spray holes;

[0022] The shower head is rotatably arranged around a second rotation axis, which passes through the center of the shower head. When the cleaning liquid flows through the spray hole, part of the cleaning liquid can be centrifugally sprayed out.

[0023] In one embodiment, a transmission rod is fixedly provided at the center of one end face of the shower head, the transmission rod extends along the axial direction of the shower head, and is coaxially and fixedly connected to the second motor;

[0024] The second axis of rotation is defined by the axis of the transmission rod.

[0025] Compared with the prior art, the advantages of this utility model are:

[0026] In this embodiment, the main body moves along the inner wall of the oily pipe under the drive of the walking mechanism and moves to the position where dirt is attached; then, the suction nozzle is used to draw the dirt in the oily pipe into the waste discharge chamber under negative pressure, while the suction nozzle moves relative to the main body along a spiral path, thereby adjusting the position of the suction nozzle without moving the main body, so as to increase the cleaning area; then, the cleaning liquid is sprayed onto the inner wall of the pipe by the nozzle to clean the inner wall of the pipe.

[0027] The sludge and oil pipe cleaning robot in this embodiment can be widely used in various sludge pipes, especially suitable for horizontal pipes with internal sludge accumulation, and mainly for cleaning the inner bottom wall of such horizontal pipes. Attached Figure Description

[0028] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings.

[0029] Figure 1 This is a structural diagram of a sludge and oil pipeline cleaning robot;

[0030] Figure 2 This is an installation diagram of the suction mechanism and the mounting base;

[0031] Figure 3 This is an isometric view of the oil suction mechanism from one perspective;

[0032] Figure 4 This is an isometric view of the oil suction mechanism from another perspective;

[0033] Figure 5 This is a schematic diagram of the cleaning mechanism;

[0034] Figure 6 This is a diagram showing the connection between the shower head and the drainage pipe;

[0035] Figure 7 This is a schematic diagram of the elastic telescopic rod and the traveling wheel in the walking mechanism.

[0036] Figure label:

[0037] 1. Main body;

[0038] 2. Walking mechanism; 21. Elastic telescopic rod; 211. Sliding sleeve; 212. Support rod; 213. Limiting slider; 214. Spring; 22. Walking wheel;

[0039] 3. Sewage suction mechanism; 31. Suction nozzle; 32. Guide component; 321. Spiral guide groove; 33. Moving guide tube; 34. Telescopic tube; 35. Mandrel; 36. Connecting tube; 37. First motor;

[0040] 4. Cleaning mechanism; 41. Drainage pipe; 42. Shower head; 421. Spray nozzle; 43. Second motor; 44. Water pump;

[0041] 5. Mounting base; 51. Plate body; 52. Clamping components;

[0042] 6. Mounting plate;

[0043] 7. Lighting; 8. Camera; 9. Fault alarm. Detailed Implementation

[0044] The present invention will be further described below with reference to the accompanying drawings.

[0045] This utility model provides a sludge and oil pipeline cleaning robot, which includes a main body 1, a walking mechanism 2, a suction mechanism 3 and a cleaning mechanism 4 disposed on the main body 1.

[0046] The main body 1 has a separate and non-communicating waste discharge chamber and a cleaning liquid chamber. The waste discharge chamber is used to store oil and sludge and other dirt absorbed from the sludge pipe by the suction mechanism 3. The suction mechanism 3 has a suction nozzle 31 that communicates with the waste discharge chamber. The suction nozzle 31 is configured to move along a spiral path relative to the main body 1 and to draw the dirt accumulated in the sludge pipe into the waste discharge chamber under negative pressure.

[0047] The cleaning fluid chamber within the main body 1 is used to store cleaning fluid, which can be an oil stain remover or pure water. The cleaning mechanism 4 has a nozzle connected to the cleaning fluid chamber, which is used to spray the cleaning fluid from the chamber onto the inner wall of the pipe. The stored cleaning fluid is sprayed out by the nozzle of the cleaning mechanism 4 to clean the inner wall of the oily pipe.

[0048] In this embodiment, the main body 1 moves along the inner wall of the oily pipe under the drive of the walking mechanism 2 and moves to the position where dirt is attached; then, the suction nozzle 31 is used to draw the dirt in the oily pipe into the waste discharge chamber under negative pressure, and at the same time, the suction nozzle 31 moves relative to the main body 1 along a spiral path, thereby adjusting the position of the suction nozzle 31 without moving the main body 1, so as to increase the cleaning area; then, the cleaning liquid is sprayed onto the inner wall of the pipe by the nozzle to clean the inner wall of the pipe.

[0049] The sludge and oil pipe cleaning robot in this embodiment can be widely used in various sludge pipes, especially suitable for horizontal pipes with internal sludge accumulation, and mainly for cleaning the inner bottom wall of such horizontal pipes.

[0050] The following is an explanation of the suction mechanism 3.

[0051] The suction mechanism 3 also includes a spindle 35, a guide 32, a moving guide tube 33, a telescopic tube 34, and a connecting tube 36.

[0052] The suction nozzle 31, the moving guide tube 33, the telescopic tube 34, and the connecting tube 36 are connected in sequence. The connecting tube 36 is connected to the waste discharge chamber, so that the dirt sucked up by the suction nozzle 31 is discharged into the liquid discharge chamber.

[0053] A spiral guide groove 321 is formed on the guide member 32. A spindle 35 is provided at the end of the spiral guide groove 321 near the center. The first end of the telescopic tube 34 is fixed to the spindle 35 and rotates about a first rotation axis defined by the axis of the spindle 35. The first end of the telescopic tube 34 is connected to the connecting tube 36. The axial length of the telescopic tube 34 can adaptively extend and retract, and the second end of the telescopic tube 34 is connected to the moving guide tube 33. The moving guide tube 33 is slidably disposed on the spiral guide groove 321 of the guide member 32, and the moving guide tube 33 can slide along the extension direction of the spiral guide groove 321. The spindle 35 is parallel to the moving guide tube 33 and both extend radially along the main body 1. The spindle 35 is driven and connected to a power component; the power component can be a first motor 37 coaxially fixedly connected to the spindle 35. The first motor 37 is electrically connected to a controller.

[0054] With this configuration, the first motor 37 drives the spindle 35 to rotate, and the spindle 35 drives the telescopic tube 34 to rotate around the first rotation axis defined by the spindle 35, causing the second end of the telescopic tube 34 to be displaced and driving the moving guide tube 33 to move along the length direction of the spiral guide groove 321, thereby causing the suction nozzle 31 to move along the spiral path.

[0055] In this embodiment, a drainage pump is also provided between the suction nozzle 31 and the moving conduit 33. The drainage pump is a YG vertical pipeline oil pump. The vertical pipeline oil pump can adopt the basic performance parameters of an IS type centrifugal pump and is suitable for high-temperature and corrosion-resistant oily chemical scenarios.

[0056] In this embodiment, a mounting base 5 is provided at the front end of the main body 1, and the suction mechanism 3 is mounted on the mounting base 5. Specifically, the mounting base 5 includes a plate 51, a spindle 35, a guide 32, a connecting pipe 36, and a moving guide 33, all located below the plate 51, and the plate 51 and the guide 32 are arranged parallel to each other. The connecting pipe 36 is fixed to the bottom wall of the plate 51, and the first motor 37 is mounted on the plate 51. The output shaft of the first motor 37 extends through the plate 51 to the bottom of the plate 51 and is coaxially fixedly mounted with the spindle 35.

[0057] A plurality of clamping members 52 are formed on the bottom wall of the plate 51. The clamping members 52 are located on the outer periphery of the guide member 32 and can cooperate with each other to clamp and fix the guide member 32.

[0058] In this embodiment, the mounting base 5 is also equipped with a lighting lamp 7, a camera 8, and a fault alarm 9. The camera 8 is located between the lighting lamp 7 and the fault alarm 9. The lighting inside the sludge pipe is usually poorly lit, so the lighting lamp 7 can be used for illumination. Under lighting conditions, the camera 8 can capture images of the sludge inside the pipe and send them to an external monitoring device. Based on the sludge condition, the camera 8 controls the walking mechanism 2 to move or stop, allowing the sludge pipe cleaning robot to move to the sludge location. Furthermore, the camera 8 can also capture images of the suction mechanism 3 to monitor its operation. When a malfunction is detected in the suction mechanism, the fault alarm 9 sounds an alarm, reminding personnel to inspect and repair it.

[0059] The cleaning mechanism 4 is described below.

[0060] The cleaning mechanism 4 is located at the tail end of the main body 1, and the cleaning mechanism 4 includes a water pump 44, a drain pipe 41, a shower head 42, and a second motor 43.

[0061] The cleaning liquid chamber, water pump 44, drainage pipe 41 and shower head 42 are connected in sequence. The water pump 44 is used to draw the cleaning liquid in the cleaning liquid chamber and drive the cleaning liquid to flow through the drainage pipe 41 and the shower head 42, and spray it out from the shower head 42.

[0062] The shower head 42 and the drain pipe 41 are rotatably and sealed together. The shower head 42 has several spray holes 421, and the nozzles are defined by the spray holes 421. The shower head 42 is rotatably arranged around a second rotation axis, which passes through the center of the shower head 42. The cleaning liquid can be centrifugally sprayed out when it flows through the spray holes 421.

[0063] A transmission rod is fixedly installed at the center of one end face of the shower head 42. The transmission rod extends along the axial direction of the shower head 42 and is coaxially and fixedly connected to the second motor 43. The second rotation axis is defined by the axis of the transmission rod. Optionally, the transmission rod passes through the longitudinal section of the drain pipe 41 and is coaxially and fixedly connected to the second motor 43. The second motor 43 is fixed on the mounting plate 6.

[0064] The second motor 43 is electrically connected to the controller.

[0065] The following describes the walking mechanism 2.

[0066] The main body 1 is cylindrical. The walking mechanism 2 includes multiple elastic telescopic rods 21 fixed at equal angles along the circumference of the outer wall of the main body 1, and walking wheels 22 fixedly installed on the elastic telescopic rods 21 at the ends away from the main body 1. The elastic telescopic rod 21 includes an axially telescopically sleeved sliding sleeve 211 and a support rod 212. A limit slider 213 is fixed on one end of the support rod 212 that extends into the sliding sleeve 211. The limit slider 213 slides in cooperation with the inner wall of the sliding sleeve 211. A spring 214 is provided inside the sliding sleeve 211. The two ends of the spring 214 are fixedly connected to the limit slider 213 and the inner wall of the sliding sleeve 211, respectively.

[0067] Spring 214 is a compression spring. When the main body 1 enters the sludge pipe, the traveling wheel 22 abuts against the inner wall of the sludge pipe. At this time, spring 214 is compressed and deformed. Therefore, under the action of elastic telescopic rod 21 and traveling wheel, the main body 1 can travel deep inside the sludge pipe. When the main body 1 leaves the inner cavity of the sludge pipe, spring 214 returns to its original position under its own elastic force and drives the support rod 212 to extend relative to the sliding sleeve 211 until spring 214 abuts the limiting slider 213 against the inner wall of the shaft end of the sliding sleeve 211.

[0068] The basic principle of the sludge and oil pipeline cleaning robot in this embodiment of the invention is as follows:

[0069] First, the main body 1 moves along the inner wall of the oily pipe under the drive of the walking mechanism 2, turns on the lighting 7 and the camera 8, and judges the oily condition inside the pipe based on the image information captured by the camera 8, thereby determining the size of the area to be cleaned and the cleaning time.

[0070] When the area of ​​oil stains accumulated in the sludge pipe is large, the first motor 37 and the diversion pump are started. The first motor 37 drives the spindle 35 to rotate. The spindle 35 drives the telescopic tube 34 to rotate around the first rotation axis defined by the spindle 35, so that the second end of the telescopic tube 34 is displaced and drives the moving guide tube 33 to move along the length direction of the spiral guide groove 321, thereby causing the suction nozzle 31 to move along the spiral path. At the same time, under the pressure of the diversion pump, the suction nozzle 31 draws the dirt in the sludge pipe into the waste discharge chamber, thereby adjusting the position of the suction nozzle 31 without moving the main body 1, so as to improve the removal area and cleaning efficiency of the oil stains inside the pipe.

[0071] After the area has been cleaned, the robot body 1 continues to move forward while the second motor 43 and water pump 44 are activated. The water pump 44 draws the cleaning fluid into the shower head 42, and the second motor 43 drives the shower head 42 to rotate. The cleaning fluid is then centrifugally sprayed out through the spray holes 421 on the shower head 42 to clean the inside of the pipes.

[0072] Although the present invention has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A sludge and oil pipeline cleaning robot, characterized in that, It includes a main body with a waste discharge chamber and a cleaning liquid chamber inside, as well as a walking mechanism, a suction mechanism and a cleaning mechanism installed on the main body; The suction mechanism has a suction nozzle that communicates with the waste discharge chamber. The suction nozzle is configured to move along a spiral path relative to the main body and to draw the dirt in the pipe into the waste discharge chamber under negative pressure. The cleaning mechanism has a nozzle that communicates with the cleaning liquid chamber, and the nozzle is used to spray the cleaning liquid in the cleaning liquid chamber toward the inner wall of the pipe.

2. The sludge and oil pipeline cleaning robot according to claim 1, characterized in that, The suction mechanism includes a guide member with a spiral guide groove, a movable guide tube slidably disposed on the guide member along the extending direction of the spiral guide groove, and the suction nozzle is connected to the movable guide tube; it also includes: The telescopic tube has an adaptive length that can be extended or retracted. The first end of the telescopic tube is rotatably arranged around a first rotation axis and is connected to the waste discharge chamber. The second end of the telescopic tube is connected to the movable conduit. The telescopic tube can rotate around the first rotation axis to drive the movable guide tube to move along the length direction of the spiral guide groove, thereby realizing the movement of the suction nozzle along the spiral path.

3. The sludge and oil pipeline cleaning robot according to claim 2, characterized in that, A spindle is provided at the end position near the center of the spiral guide groove, the first rotation axis is defined by the axis of the spindle, and the spindle is driven and connected to the power component; The first end of the telescopic tube is fixed to the spindle, which is adapted to rotate under the drive of a power component, and drive the telescopic tube to rotate around the spindle.

4. The sludge and oil pipeline cleaning robot according to claim 2, characterized in that, The first rotation axis is parallel to the moving conduit and both extend radially along the body.

5. The sludge and oil pipeline cleaning robot according to claim 3, characterized in that, The power component is a first motor, which is coaxially and fixedly connected to the spindle.

6. The sludge and oil pipeline cleaning robot according to any one of claims 2-5, characterized in that, A drainage pump is also provided between the suction nozzle and the movable conduit.

7. The sludge and oil pipeline cleaning robot according to claim 2, characterized in that, The first end of the telescopic tube is connected to the waste discharge chamber via a connecting pipe.

8. The sludge and oil pipeline cleaning robot according to claim 1, characterized in that, The front end of the main body is provided with a mounting base, and the sewage suction mechanism is mounted on the mounting base; The mounting base is also equipped with a light, a camera, and a fault alarm.

9. The sludge and oil pipeline cleaning robot according to claim 1, characterized in that, The cleaning mechanism is located at the tail end of the main body, and the cleaning mechanism includes a drainage pipe communicating with the cleaning liquid chamber and a shower head that is sealed to the drainage pipe. The shower head has a plurality of spray holes, and the nozzle is defined by the spray holes; The shower head is rotatably arranged around a second rotation axis, which passes through the center of the shower head. The cleaning liquid can be centrifugally sprayed out when it flows through the spray hole.

10. The sludge and oil pipeline cleaning robot according to claim 9, characterized in that, A transmission rod is fixedly provided at the center of one end face of the shower head. The transmission rod extends along the axial direction of the shower head and is coaxially and fixedly connected to the second motor. The second axis of rotation is defined by the axis of the transmission rod.

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