CN105665382A - Speed-adjustable pig provided with rotary by-pass valve - Google Patents
Speed-adjustable pig provided with rotary by-pass valve Download PDFInfo
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- CN105665382A CN105665382A CN201610134623.7A CN201610134623A CN105665382A CN 105665382 A CN105665382 A CN 105665382A CN 201610134623 A CN201610134623 A CN 201610134623A CN 105665382 A CN105665382 A CN 105665382A
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- cylinder
- end cap
- annular
- mandrel
- fixed ring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
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- Mechanical Engineering (AREA)
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Abstract
The invention relates to a speed-adjustable pig provided with a rotary by-pass valve. The pig can overcome the defect about the control manner of electrically-controlled by-pass valves. According to the technical scheme, speed collecting wheels are pressed against the inner wall of a pipeline under the spring force and the hydraulic force and drive hydraulic pumps, the hydraulic pumps output high-pressure oil which flows back to an oil tank by the aid of a throttling valve, pressure at the front end of the throttling valve is introduced into an annular oil cylinder, and the annular oil cylinder drives a valve core to rotate and change the flow area. A speed controller of the pig comprises no electrical apparatus elements, the pig is safe and reliable and can be used for long-distance pipeline cleaning, and energy is not required to be stored in a storage battery; pipeline detection equipment can be carried, and pipeline detection and cleaning work can be completed.
Description
Technical field
The present invention relates to a kind of rotary bypass valve speed governing wiper.
Background technology
Oil and gas pipes being carried out in pigging and detection process, the general laws and regulations requirement pigging equipment speed of service is 3.5～5m/s; Pipeline detection equipment preferably detects the quality of data to obtain, it is desirable to the speed of service of equipment is lower than 5m/s; Electromagnetic acoustic detection equipment then requires that its speed of service is lower than 2m/s. Wiper is being changed greatly by pipeline climb and fall section, bending section, hydrops, long-pending sand and fouling section hourly velocity, directly uses conventional wiper can not meet speed controlling requirement.
Existing oil and gas pipes wiper speed control method is active control mode and passive control mode.
Actively controlling to adopt bypass valve control mode, its technical scheme is: gathers wiper speed with mileage wheel or obtains wiper speed with acceleration transducer; Electric-control system is to signal processing; The opening degree of eduction valve is adjusted by motor; Regulating pressure reduction before and after wiper again through eduction valve aperture, adjusting wiper motive force, thus controlling the wiper speed of service.
Passive control mode is indirectly to control wiper speed by pressure medium and the flow of arrival end and the port of export in adjustment pigging operation. Because the compressibility of gas, passive control mode is often difficult to reach better speed controlling effect, and wiper easily causes impact because speed is excessive, causes the problem such as wiper and pipe damage.
Patent CN201410219086.7 discloses a kind of automatic speed regulation wiper, the program adopts half-crossed belt transmission, the easy sideslip of belt and skidding under complex working condition in pipeline, and program speed acquisition wheel is realized by spring tension and support bar, total arrangement length is longer, it is difficult to meet wiper by tube bends means suitable.
Patent CN201410225525.5 discloses a kind of wiper speed acquisition device, and the program adopts the mode of speed acquisition wheel drive hydraulic pump, with extension spring and strut, speed acquisition wheel is pressed on inner-walls of duct. Therefore the program is applied on wiper, and wiper entire length can be relatively long, is unfavorable for that device passes through bend pipe.
Patent CN201410708220.X discloses a kind of wiper speed control with hydraulic system, and wiper speed is converted into the rotation of centroplasm gauge block by the program by hydraulic system, and mass rotates the centrifugal force produced and brake block is produced extruding force. Program mass and link rotatable, be adapted to gas pipeline, and for fluid pipeline, mass rotary resistance is relatively big, and velocity feedback can be a greater impact.
Current active control mode controls electrical consumption electric energy, and the accumulator electric-quantity that wiper carries is limited, and therefore long-distance pipe pigging is restricted.On the other hand, the bypass valve control program of automatically controlled mode is because it is contemplated that manage the interior factors such as medium, pipe shape and become complicated. Actively control mode wiper is still immature for state's internal bypass valve, and abroad such wiper is rented expensive, and current domestic oil and gas pipes pigging is still based on passive control mode. Therefore, develop that applicable working condition wider automatic speed regulation wiper is significant and prospect of the application.
Summary of the invention
The purpose of the present invention: in order to overcome the shortcoming of the automatically controlled bypass valve earial drainage control mode of existing wiper, and overcome mass to rotate the shortcoming regulating bypass valve mode, a kind of rotary bypass valve speed governing wiper of special offer.
For reaching above-mentioned purpose, the present invention adopts the technical scheme that:
A kind of rotary bypass valve speed governing wiper, including leather cup, back shroud, cylinder, fuel tank, accumulator, support cylinder, plunger, support, hydraulic pump, speed acquisition wheel, base, end cap, front shroud, transfer frame, spool, mandrel, annular cylinder, choke valve, check valve, it is characterised in that:
Fuel tank and accumulator are arranged in cylinder, and cylinder two ends arrange flange, and cylinder end flange installs leather cup, the outer mounting rear cover plate of leather cup, are connected with back shroud and shell flange; The cylinder other end installs end cap, installs leather cup, installs front shroud outside leather cup, be connected with front shroud and shell flange outside end cap;
End cap is disc, and end cap central arranges through hole, and end cap centre position arranges at least 2 fan-shaped pylones and is evenly arranged at end cap circumferencial direction; Mandrel one end arranges step, the mandrel other end is threaded, mandrel is installed in end cap central bore, mandrel end step is positioned close to cylinder side, mandrel external part installs spool, nut fixed spool are installed in mandrel outer end, are fixed at circumferencial direction by keyway mode between spool and mandrel;
Annular cylinder is annular generally, and annular cylinder is bolted inside end cap, and annular cylinder includes change and fixed ring, and fixed ring is annular generally, and fixed ring is bolted inside end cap, and it is semicircular annular groove that fixed ring arranges cross section; Change is installed in fixed ring outer end, and change is annular generally, and arranging cross section in change is semicircular annular groove; It is circular annular space that the annular groove of fixed ring and the annular groove of change collectively form cross section, arranges fixing plug and motion stops in described annular space, and motion stops side arranges compression spring, and motion stops opposite side leads to hydraulic oil; Change connects transfer frame, and transfer frame center disk is bolted mandrel end; Installing anchor ear outside change, anchor ear is bolted on end cap; It is bolted between fixed ring and fixing plug; It is bolted between change and motion stops;
Spool includes at least 2 fan-shaped blocks, and described fan-shaped block is installed to insert body circumferencial direction and is evenly arranged;
Floor installation is in the middle part of cylinder, and base adopts radial arrangement on cylinder, arranges the groove that cross section is rectangle in the middle of base, and support is installed in the groove in the middle of base, support can in the base between groove in radially sliding along cylinder; Stationary hydraulic pump on support, hydraulic pump power shaft installation rate collection wheel; Pedestal lower end arranges plunger, and plunger is installed in support cylinder, and support cylinder is fixed in the groove in the middle of base, arranges compression spring between the trench bottom in the middle of support and base;
Hydraulic pump inlet port connects fuel tank, and hydraulic pump oil-out is connected to choke valve by check valve, and choke valve outlet is connected to fuel tank;Support cylinder and annular cylinder are set between check valve and choke valve.
Angular contact ball bearing is set between mandrel end step and end cap, angular contact ball bearing is set between spool and end cap.
It is semicircular cannelure that fixed ring arranges cross section, and described annular groove both sides arrange the annular groove that cross section is rectangle, and described cross section is the annular groove interior installation sealing ring of rectangle; Change and fixed ring coupling part arrange the round ring boss that cross section is rectangle, and described boss matches with the annular groove on fixed ring both sides.
The invention have the advantages that: (1) rotary bypass valve speed governing wiper of the present invention is without electric elements, safe and reliable, it is not necessary to by accumulators store energy, it is possible to for long from pipeline cleaning; (2) pipe testing apparatus can be carried, complete the work of pipe detection and pigging; (3) can apply to gas pipeline and fluid pipeline; (4) rotary bypass valve area of passage is big, can reduce wiper front and back end chock pressure difference to greatest extent when impacting and producing, thus reducing impact risk.
Accompanying drawing explanation
Fig. 1 is the structure diagram of the present invention.
Fig. 2 is the A-A direction view of Fig. 1.
Fig. 3 is the B-B direction view of Fig. 1.
Fig. 4 is the partial enlarged drawing of the present invention.
Fig. 5 is the partial enlarged drawing of the present invention.
Fig. 6 is the partial enlarged drawing of the present invention.
Fig. 7 is the hydraulic system principle figure that the present invention includes.
In figure: 1. leather cup; 2. back shroud; 3. cylinder; 4. fuel tank; 5. accumulator; 6. compression spring A; 7. support cylinder; 8. plunger; 9. support; 10. hydraulic pump; 11. speed acquisition is taken turns; 12. base; 13. anchor ear; 14. change; 15. fixing plug; 16. fixed ring; 17. end cap; 18. front shroud; 19. transfer frame; 20. spool; 21. angular contact ball bearing; 22. mandrel; 23. motion stops; 24. compression spring B; 25. sealing ring; 26. piston bolt; 27. annular cylinder; 28. choke valve; 29. check valve.
Detailed description of the invention
The present invention is not by the restriction of following embodiment, it is possible to determine specific embodiment according to technical scheme and practical situation. Below in conjunction with Fig. 1,2,3,4,5,6,7, couple present invention is described below. The position relationships such as upper and lower, left and right are based on what the layout direction of Figure of description 1 was determined.
As it is shown in figure 1, fuel tank 4 and accumulator 5 are arranged in cylinder, cylinder 3 two ends arrange flange, and cylinder 3 end flange installs leather cup 1, the outer mounting rear cover plate 2 of leather cup 1, is connected with back shroud 2 and cylinder 3 flange, fixing leather cup 1. Cylinder 3 other end installs end cap 17, and the outer leather cup 1 of installing of end cap 17, leather cup 1 is outer installs front shroud 18, is connected with front shroud 18 and cylinder 3 flange, fixing leather cup 1.
As it is shown in figure 1, end cap 17 is disc, the centrally disposed through hole of end cap 17, end cap 17 centre position arranges 4 fan-shaped pylones, and is evenly arranged at end cap 17 circumferencial direction. Mandrel 22 one end arranges step, mandrel 22 other end is threaded, mandrel 22 is installed in end cap 17 centre bore, mandrel 22 end step is positioned close to cylinder 3 side, mandrel 22 external part installs spool 20, nut fixed spool 20 are installed in mandrel 22 outer end, are fixed at circumferencial direction by keyway mode between spool 20 and mandrel 22. Angular contact ball bearing 21 is set between mandrel 22 end step and end cap 17, angular contact ball bearing 21 is set between spool 20 and end cap 17.
As shown in Figure 1 and Figure 2, fixed ring 16 generally annular, fixed ring 16 is bolted inside end cap 17, and it is semicircular annular groove that fixed ring 16 arranges cross section.Change 14 is installed in fixed ring 16 outer end, and change 14 generally annular, arranging cross section in change 14 is semicircular annular groove. It is circular annular space that the annular groove of fixed ring 16 and the annular groove of change 14 collectively form cross section, and change 14 and fixed ring 16 collectively form annular cylinder 27. 3 fixing plugs 15 it is set in described annular space and is evenly arranged at fixed ring 16 circumferencial direction, 3 motion stops 23 be set in described annular space and be evenly arranged at fixed ring 16 circumferencial direction. Motion stops 23 side arranges compression spring B 24, and motion stops 23 opposite side leads to hydraulic oil. Change 14 connects transfer frame 19, and transfer frame 19 center disk is bolted mandrel 22 end. Outer 13,3 anchor ears 13 of anchor ear of installing of change 14 are evenly arranged at change 14 circumferencial direction, and anchor ear 13 is bolted on end cap 17. Anchor ear 13 can compress change 14, it is prevented that the hydraulic fluid leak between fixed ring 16 and change 14.
As it is shown on figure 3, end cap 17 centre position arranges 4 fan-shaped pylones, and it is evenly arranged at end cap 17 circumferencial direction. Spool 20 includes 4 fan-shaped blocks, and described fan-shaped block is installed to spool 20 body circumferencial direction and is evenly arranged. Spool 20 rotates the area of passage that can change the middle fan-shaped pylone of end cap 17. The fan-shaped pylone area that end cap 17 centre position is arranged is less than the fan-shaped block area of spool 20, and in any case, spool 20 can completely close the fan-shaped pylone in the middle of end cap 17.
As shown in Figure 4, base 12 is installed in the middle part of cylinder 3, and base 12 adopts radial arrangement on cylinder 3. Arranging the groove that cross section is rectangle in the middle of base 12, support 9 is installed in the groove in the middle of base 12, support 9 can in the groove in the middle of base 12 radially sliding along cylinder 3. Stationary hydraulic pump 10 on support 9, hydraulic pump 10 power shaft installation rate collection wheel 11, speed acquisition wheel 11 rotarily drives hydraulic pump 10 and works. Support 9 lower end arranges plunger 8, and plunger 8 is installed in support cylinder 6, and support cylinder 6 is fixed in the groove in the middle of base 12. Compression spring A6 is set between the trench bottom in the middle of support 9 and base 12.
As shown in Fig. 5, Fig. 2, the cross section of fixed ring 16 is semicircular cannelure, and described annular groove both sides arrange the annular groove that cross section is rectangle, and described cross section is the annular groove interior installation sealing ring 25 of rectangle. Change 14 and fixed ring 16 coupling part arrange the round ring boss that cross section is rectangle, and described boss matches with the annular groove on fixed ring 16 both sides. In such manner, it is possible to prevent the hydraulic fluid leak in the annular chamber of fixed ring 16 and change 14 composition. Being connected by piston bolt 26 between fixed ring 16 and fixing plug 15,3 fixing plugs 15 maintain static, and the annular space between fixed ring 16 and change 14 is divided into 3 parts.
As shown in Figure 6, being connected by piston bolt 26 between change 14 and motion stops 23, slide in the annular space that motion stops 23 is formed between fixed ring 16 and change 14, such motion stops 23 can drive change 14 to rotate.
As it is shown in fig. 7, hydraulic pump 10 inlet port connects fuel tank 4, hydraulic pump 10 oil-out is connected to choke valve 28 by check valve 29, and choke valve 28 outlet is connected to fuel tank 4. Support cylinder 6 and annular cylinder 27 are set between check valve 29 and choke valve 28. Hydraulic pump 10 rotates, and is transported to support cylinder 6, annular cylinder 27 and choke valve 28 by after the hydraulic oil supercharging in fuel tank 4, and hydraulic oil is flow back in fuel tank 4 by choke valve 28. Choke valve 28 front end produces choke pressure, and is delivered to support cylinder 6 and annular cylinder 27.
The operation principle of the present invention is:
Speed acquisition wheel 11 is pressed on inner-walls of duct by compressing spring A6 and support cylinder 6, and wiper travels forward under the differential pressure action of front and back, and speed acquisition wheel 11 rotarily drives hydraulic pump 10 and works. Hydraulic oil flow back into fuel tank 4 after choke valve 28, and choke valve 28 front end produces choke pressure and is delivered to support cylinder 6 and annular cylinder 27. In annular cylinder 27, motion stops 23 drives change 14 to overcome the thrust of compression spring B 24 to rotate, and change 14 is rotated by transfer frame 19 and mandrel 22 band movable valve plug 20.
The wiper speed of service increases drive speed acquisition and takes turns 11 rotating speeds increases, speed acquisition wheel 11 driving hydraulic pump 10 works, hydraulic pump 10 rotating speed is more high so choke valve 28 flow increases, therefore the choke pressure that choke valve 28 front end produces increases, thus causing pressure in annular cylinder 27 to increase, motion stops 23 makes spool 20 aperture increase by intermediary agency, thus reducing wiper front and back end choke pressure, wiper speed can decrease.
In like manner, when wiper speed reduces time, spool 20 aperture can reduce, and wiper front and back end choke pressure increases, and wiper speed can increase. So, the wiper speed of service can be more steady.
Claims (3)
1. a rotary bypass valve speed governing wiper, including leather cup, back shroud, cylinder, fuel tank, accumulator, support cylinder, plunger, support, hydraulic pump, speed acquisition wheel, base, end cap, front shroud, transfer frame, spool, mandrel, annular cylinder, choke valve, check valve, it is characterised in that:
Fuel tank and accumulator are arranged in cylinder, and cylinder two ends arrange flange, and cylinder end flange installs leather cup, the outer mounting rear cover plate of leather cup, are connected with back shroud and shell flange; The cylinder other end installs end cap, installs leather cup, installs front shroud outside leather cup, be connected with front shroud and shell flange outside end cap;
End cap is disc, and end cap central arranges through hole, and end cap centre position arranges at least 2 fan-shaped pylones and is evenly arranged at end cap circumferencial direction; Mandrel one end arranges step, the mandrel other end is threaded, mandrel is installed in end cap central bore, mandrel end step is positioned close to cylinder side, mandrel external part installs spool, nut fixed spool are installed in mandrel outer end, are fixed at circumferencial direction by keyway mode between spool and mandrel;
Annular cylinder is annular generally, and annular cylinder is bolted inside end cap, and annular cylinder includes change and fixed ring, and fixed ring is annular generally, and fixed ring is bolted inside end cap, and it is semicircular annular groove that fixed ring arranges cross section; Change is installed in fixed ring outer end, and change is annular generally, and arranging cross section in change is semicircular annular groove; It is circular annular space that the annular groove of fixed ring and the annular groove of change collectively form cross section, arranges fixing plug and motion stops in described annular space, and motion stops side arranges compression spring, and motion stops opposite side leads to hydraulic oil; Change connects transfer frame, and transfer frame center disk is bolted mandrel end; Installing anchor ear outside change, anchor ear is bolted on end cap; It is bolted between fixed ring and fixing plug; It is bolted between change and motion stops;
Spool includes at least 2 fan-shaped blocks, and described fan-shaped block is installed to insert body circumferencial direction and is evenly arranged;
Floor installation is in the middle part of cylinder, and base adopts radial arrangement on cylinder, arranges the groove that cross section is rectangle in the middle of base, and support is installed in the groove in the middle of base, support can in the base between groove in radially sliding along cylinder; Stationary hydraulic pump on support, hydraulic pump power shaft installation rate collection wheel; Pedestal lower end arranges plunger, and plunger is installed in support cylinder, and support cylinder is fixed in the groove in the middle of base, arranges compression spring between the trench bottom in the middle of support and base;
Hydraulic pump inlet port connects fuel tank, and hydraulic pump oil-out is connected to choke valve by check valve, and choke valve outlet is connected to fuel tank;Support cylinder and annular cylinder are set between check valve and choke valve.
2. a kind of rotary bypass valve speed governing wiper according to claim 1, it is characterised in that: angular contact ball bearing is set between mandrel end step and end cap, angular contact ball bearing is set between spool and end cap.
3. a kind of rotary bypass valve speed governing wiper according to claim 1, it is characterised in that: it is semicircular cannelure that fixed ring arranges cross section, and described annular groove both sides arrange the annular groove that cross section is rectangle, described cross section be rectangle annular groove in sealing ring is installed; Change and fixed ring coupling part arrange the round ring boss that cross section is rectangle, and described boss matches with the annular groove on fixed ring both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610134623.7A CN105665382B (en) | 2016-03-10 | 2016-03-10 | A kind of rotary by-passing valve speed governing wiper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610134623.7A CN105665382B (en) | 2016-03-10 | 2016-03-10 | A kind of rotary by-passing valve speed governing wiper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105665382A true CN105665382A (en) | 2016-06-15 |
| CN105665382B CN105665382B (en) | 2017-07-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610134623.7A Expired - Fee Related CN105665382B (en) | 2016-03-10 | 2016-03-10 | A kind of rotary by-passing valve speed governing wiper |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106287108A (en) * | 2016-11-19 | 2017-01-04 | 西南石油大学 | A kind of combination type speed governing wiper |
| CN106369008A (en) * | 2016-10-19 | 2017-02-01 | 西南石油大学 | In-pipe hydraulic station driven by screw |
| CN106362997A (en) * | 2016-10-31 | 2017-02-01 | 西南石油大学 | Autoroatation type tube cleaner driven by worm and gear |
| CN106382179A (en) * | 2016-10-19 | 2017-02-08 | 西南石油大学 | Turbine-driven in-pipe power generator |
| CN106424032A (en) * | 2016-11-19 | 2017-02-22 | 西南石油大学 | Pipe cleaning device with automatic brake device |
| CN106694481A (en) * | 2016-12-05 | 2017-05-24 | 西南石油大学 | Bypass tube cleaner with slug flow control function |
| CN109764207A (en) * | 2019-03-07 | 2019-05-17 | 北华大学 | Robot is intelligently blocked in pipeline |
| CN111022829A (en) * | 2019-12-04 | 2020-04-17 | 大连海事大学 | Fluid energy-taking speed-adjustable leather cup type pipeline robot power device |
| CN112297025A (en) * | 2020-10-30 | 2021-02-02 | 河南工业大学 | Remote pneumatic conveying pipeline pigging robot |
| CN114769242A (en) * | 2022-05-17 | 2022-07-22 | 宜宾学院 | Jet type pipe cleaning device with front rotary valve |
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| CN103977994A (en) * | 2014-05-23 | 2014-08-13 | 西南石油大学 | Automatic speed adjusting pipe cleaner |
| CN204477598U (en) * | 2015-02-28 | 2015-07-15 | 魏林 | A kind of hydraulic drive type pipeline cleaning robot |
| CN204620573U (en) * | 2015-05-12 | 2015-09-09 | 西南石油大学 | A kind of wiper speed control |
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| JPS60111811A (en) * | 1983-11-24 | 1985-06-18 | Sanwa Kizai Co Ltd | Cleaning device for inner wall of smoke stack or the like |
| RU2299099C2 (en) * | 2005-07-21 | 2007-05-20 | Валерий Павлович Панченко | Device for purification of the internal surfaces of the pipelines |
| CN103977994A (en) * | 2014-05-23 | 2014-08-13 | 西南石油大学 | Automatic speed adjusting pipe cleaner |
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Cited By (18)
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|---|---|---|---|---|
| CN106369008B (en) * | 2016-10-19 | 2017-12-15 | 西南石油大学 | A kind of intraluminal fluid pressure station of screw drive |
| CN106369008A (en) * | 2016-10-19 | 2017-02-01 | 西南石油大学 | In-pipe hydraulic station driven by screw |
| CN106382179A (en) * | 2016-10-19 | 2017-02-08 | 西南石油大学 | Turbine-driven in-pipe power generator |
| CN106382179B (en) * | 2016-10-19 | 2018-09-28 | 西南石油大学 | Generator in a kind of turbo-driven pipe |
| CN106362997A (en) * | 2016-10-31 | 2017-02-01 | 西南石油大学 | Autoroatation type tube cleaner driven by worm and gear |
| CN106362997B (en) * | 2016-10-31 | 2018-07-17 | 西南石油大学 | A kind of rotation type wiper of worm and gear driving |
| CN106424032B (en) * | 2016-11-19 | 2018-08-14 | 西南石油大学 | A kind of wiper with dead-man's device |
| CN106287108A (en) * | 2016-11-19 | 2017-01-04 | 西南石油大学 | A kind of combination type speed governing wiper |
| CN106424032A (en) * | 2016-11-19 | 2017-02-22 | 西南石油大学 | Pipe cleaning device with automatic brake device |
| CN106694481A (en) * | 2016-12-05 | 2017-05-24 | 西南石油大学 | Bypass tube cleaner with slug flow control function |
| CN106694481B (en) * | 2016-12-05 | 2019-03-22 | 西南石油大学 | A kind of bypass pipe cleaner with slug flow control |
| CN109764207A (en) * | 2019-03-07 | 2019-05-17 | 北华大学 | Robot is intelligently blocked in pipeline |
| CN109764207B (en) * | 2019-03-07 | 2023-08-18 | 北华大学 | Intelligent plugging robot in pipeline |
| CN111022829A (en) * | 2019-12-04 | 2020-04-17 | 大连海事大学 | Fluid energy-taking speed-adjustable leather cup type pipeline robot power device |
| CN111022829B (en) * | 2019-12-04 | 2021-06-25 | 大连海事大学 | Fluid energy-taking speed-adjustable leather cup type pipeline robot power device |
| CN112297025A (en) * | 2020-10-30 | 2021-02-02 | 河南工业大学 | Remote pneumatic conveying pipeline pigging robot |
| CN112297025B (en) * | 2020-10-30 | 2023-07-28 | 河南工业大学 | Remote pneumatic conveying pipeline cleaning robot |
| CN114769242A (en) * | 2022-05-17 | 2022-07-22 | 宜宾学院 | Jet type pipe cleaning device with front rotary valve |
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