CN109764207A - Robot is intelligently blocked in pipeline - Google Patents
Robot is intelligently blocked in pipeline Download PDFInfo
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- CN109764207A CN109764207A CN201910170928.7A CN201910170928A CN109764207A CN 109764207 A CN109764207 A CN 109764207A CN 201910170928 A CN201910170928 A CN 201910170928A CN 109764207 A CN109764207 A CN 109764207A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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Abstract
Machine Genus Homo is intelligently blocked in pipeline in pipeline maintenance maintaining robot technical field, it is therefore intended that solve the problems, such as that pipeline of the existing technology is complicated, at high cost, technical requirements are high and required precision is high.Robot is intelligently blocked in pipeline of the invention to include the speed adjustment unit being coaxially disposed along conduit axis to be blocked, block unit and unit in anchor；The speed adjustment unit includes at least aerial drainage speed regulating structure, and the relief port size by adjusting aerial drainage speed regulating structure is regulated the speed；It is described block unit include at least two be arranged side by side and and the coaxial elastic deformable body of pipeline to be blocked, the elastic deformable body it is radially deformed；The locking of the whole opposite inner wall of the pipe to be blocked of robot is realized by the unit in anchor.The present invention needs two groups of cooperatings in operation, and position and lock provides the space of a closing isolation at the both ends to service conduit respectively.The present invention is driven to Mechanical Driven, solves the problems, such as that pipeline of the existing technology is complicated, at high cost, technical requirements are high and required precision is high.
Description
Technical field
The invention belongs to pipeline maintenance maintaining robot technical fields, and in particular to intelligently block machine in a kind of pipeline
People.
Background technique
Since what tellurian human inhabitants increased is getting faster, demand of the mankind to resource is also more and more, for life
It deposits and develops, people have started to march to ocean.And the most important resource in ocean is exactly petroleum, since the complexity of marine environment is more
Denaturation, submarine oil letter shoot road, inevitably can be because of trend, earthquake, fault in material etc. original among the process of long service
Because, and the damage for generating conveyance conduit leads to the leakage of oil gas, so that the marine eco-environment is contaminated and destroys, or even danger
And the personal safety of operation on the sea personnel, great negative effect is also brought along to society.
In the prior art, work is blocked in order to complete the maintenance of deep seafloor pipeline, a variety of intelligent closure occurs
Device.Intelligent plugging device can for based on the modules such as hydraulic system, sealing material, automatic control system and products thereof test and
The motion simulation of whole system.The sensor and control element of plugging device need encapsulation process, and sealing material selects high-strength poly- ammonia
Ester material, cable will do corrosion-resistance treatment.Plugging device needs certain motion flexibility, and the connection of all parts is designed to that club is cut with scissors
Connection；Plugging device also needs to guarantee the reliability of hydraulic hose connection, is designed to inside and outside resilient sleeve connection.Existing plugging device
Structure is complicated, and using the systems such as hydraulic, pipeline is complicated, and technical requirements are high, and required precision is high, at high cost.
Summary of the invention
It is an object of the invention to propose intelligently to block robot in a kind of pipeline, it is multiple to solve pipeline of the existing technology
Problem miscellaneous, at high cost, technical requirements are high and required precision is high.
To achieve the above object, it includes coaxial along conduit axis to be blocked that robot is intelligently blocked in pipeline of the invention
The speed adjustment unit of setting blocks unit and unit in anchor；
The speed adjustment unit includes at least aerial drainage speed regulating structure, and the relief port size by adjusting aerial drainage speed regulating structure adjusts
Speed；
It is described block unit include at least two be arranged side by side and and the coaxial elastic deformable body of pipeline to be blocked, it is described
Elastic deformable body is radially deformed；
The locking of the whole opposite inner wall of the pipe to be blocked of robot is realized by the unit in anchor.
The elastic deformable body be block sealing ring, the closures sealing ring by axial force extruding and it is radially deformed.
The unit in anchor includes at least the anchor fluke that fixed cone and the relatively described cone are axially moveable, the anchor
Pawl squeezes inner wall relative to the mobile inner wall direction along pipeline vertically to be blocked of cone and realizes locking.
The speed adjustment unit includes:
Adjust the speed shell；
Multiple circumference uniform distributions of the speed regulation housing exterior walls one end are set along the conduit axis direction to be blocked
Speed regulation support wheel, the support wheel and inner wall of the pipe to be blocked contact；
The aerial drainage speed governing valve of described speed regulation housing exterior walls the other end is set along the conduit axis direction to be blocked,
The aerial drainage speed governing valve includes the valve body and spool of coaxial arrangement, is provided with relief port on the valve body and spool side wall, is led to
Cross the size of the registration of relief port opposite on speed regulation driving unit adjustment valve body and spool；
And at least two be co-axially located at driving leather cup on the aerial drainage speed governing valve outer wall, by valve body and spool
Opposite through-hole realizes the circulation of the medium of driving leather cup two sides.
The speed regulation driving unit include be arranged in the speed regulation speed regulating motor of enclosure interior, governor gear deceleration group and
Speed governing power source, the speed regulating motor are connected by the governor gear deceleration group with the spool, drive the spool with respect to valve
Body is rotated about axis, and adjusts the size of via openings opposite on valve body and spool；The speed governing power source and the speed regulating motor
Electrical connection.
The closure unit includes:
Shell is blocked, described closure shell one end and described speed regulation shell one end are connected by a hinge；
Multiple closure support at the speed regulation housing exterior walls both ends is set along the conduit axis direction to be blocked
Wheel, the closure support wheel circumference uniform distribution of every one end；
Cover it is described closure shell outside multiple closure sealing rings, the closure sealing ring from inner ring to outer ring axis of orientation to
Width becomes larger, the male cooperation on multiple sides for blocking sealing ring entirety and closure shell, the protrusion side
It is bonded with the closure sealing ring end face；
Extrusion ring between two neighboring closure sealing ring is set, and the extruding ring set squeezes outside the closure shell
The end face fitting of the end face of pressure ring two sides and two adjacent closure sealing rings；
Cover outside the closure shell and be located at the closure pressure rings of multiple other sides for blocking sealing ring entirety, institute
State an end face for blocking pressure rings and adjacent closure sealing ring end face fitting；
And the closure pressure part with the contact of described closure another end face of pressure rings, the closure pressure part pass through closure
Driving unit, which drives to squeeze, blocks sealing ring.
The closure driving unit includes setting in the intracorporal closure power supply of the closure shell, closure lead screw pair, closure electricity
Machine and closure gear deceleration group, the closure motor blocks lead screw pair by closure gear deceleration group drive and rotates, and then drives
The closure pressure part moves axially in reciprocal fashion, the closure power supply and closure motor electrical connection.
The unit in anchor includes:
Shell in anchor, one end of the shell in anchor and the other end for blocking shell are connected by a hinge；
Multiple supports in anchor at the both ends of housing exterior walls in anchor are set along the conduit axis direction to be blocked
Wheel, the circumference uniform distribution of support wheel in anchor of every one end；
The cone being fixed on the shell in anchor, the outer surface of the cone are the conical surface；
Anchor fluke between the cone conical surface and inner wall of the pipe to be blocked is set, and the conical surface of the cone passes through slide rail pair
It is slidably matched with anchor fluke；
The pressure rings in anchor for covering an end face and the anchor fluke end thereof contacts outside the shell in anchor, pass through the pressure in anchor
Power ring pushes the anchor fluke to slide axially with respect to cone；
And the pressure part in anchor with the contact of another end face of the pressure rings in anchor, the pressure part in anchor is by staying anchor
Driving unit promotion is slided in the axial direction.
The driving unit in anchor includes being arranged in the intracorporal power supply in anchor of the shell in anchor, lead screw pair in anchor, electricity in anchor
Machine and gear deceleration group in anchor, the motor in anchor drive lead screw pair in anchor to rotate by gear deceleration group in anchor, and then drive
The pressure part in anchor moves axially in reciprocal fashion, the power supply in anchor and the motor in anchor electrical connection.
The invention has the benefit that intelligently blocking machine artificially in pipeline of the invention has independent driving speed adjustment unit
Closure robot, overall structure by speed adjustment unit, block unit and unit in anchor and constitute.The robot utilizes speed adjustment unit
Pipeline internal medium is isolated into upstream and downstream two parts, the pressure difference of upstream and downstream generates driving force, drives Robot pipe
Road move ahead, in robot traveling process speed adjustment unit by adjust vent flow come control robot travel speed, it can be achieved that
It full speed aheads, closely slow down and can accurately stop over long distances；When robot, which is moved to, blocks target position, speed adjustment unit drop
The movement speed of low robot, unit in anchor are locked robot and tube wall by anchor fluke, realize robot in pipeline can
By staying anchor；After robot locking in anchor, unit is blocked by compression seal capsule, realizes the isolation and closure of pipeline internal medium.
The robot needs two groups of cooperatings in operation, and Liang Zu robot is successively put into pipeline, and positioning lock is distinguished by Liang Zu robot
The both ends to service conduit are scheduled on, one is provided after progress pipe plugging for piping foundation, maintenance and repairing and closes isolation
Space.The present invention is driven to Mechanical Driven, solves that pipeline of the existing technology is complicated, at high cost, technical requirements are high and smart
Spend demanding problem.
Detailed description of the invention
Fig. 1 is intelligently to block robot overall structure diagram in pipeline of the invention；
Fig. 2 is intelligently to block speed adjustment unit structural schematic diagram in robot in pipeline of the invention；
Fig. 3 is intelligently to block to block cellular construction schematic diagram in robot in pipeline of the invention；
Fig. 4 is intelligently to block cellular construction schematic diagram in anchor in robot in pipeline of the invention；
Wherein: 1, speed adjustment unit, 101, speed regulation shell, 102, driving leather cup, 103, aerial drainage speed governing valve, 104, valve body,
105, spool, 106, speed regulating motor, 107, governor gear deceleration group, 108, speed regulation support wheel, 109, speed governing power source, 2, closure list
Member, 201, closure shell, 202, closure support wheel, 203, closure sealing ring, 204, closure pressure part, 205, closure pressure rings,
206, closure extrusion ring, 207, closure power supply, 208, closure lead screw pair, 209, closure motor, 210, closure gear deceleration group, 3,
Unit in anchor, 301, shell in anchor, 302, support wheel in anchor, 303, cone, 304, anchor fluke, 305, slide rail pair, 306, pressure in anchor
Power ring, 307, pressure part in anchor, 308, power supply in anchor, 309, lead screw pair in anchor, 310, motor in anchor, 311, The gear deceleration in anchor
Group.
Specific embodiment
Embodiments of the present invention are described further with reference to the accompanying drawing.
It includes being coaxially disposed along conduit axis to be blocked that robot is intelligently blocked referring to attached drawing 1, in pipeline of the invention
Speed adjustment unit 1, block unit 2 and unit in anchor 3；
The speed adjustment unit 1 includes at least aerial drainage speed regulating structure, by the big ditty of relief port for adjusting aerial drainage speed regulating structure
Whole speed；
It is described block unit 2 include at least two be arranged side by side and and the coaxial elastic deformable body of pipeline to be blocked, institute
It is radially deformed to state elastic deformable body；
The locking of the whole opposite inner wall of the pipe to be blocked of robot is realized by the unit in anchor 3.
The elastic deformable body is to block sealing ring 203, and the closure sealing ring 203 is squeezed by axial force and radially become
Shape.
The unit in anchor 3 includes at least the anchor fluke that fixed cone 303 and the relatively described cone 303 are axially moveable
304, the anchor fluke 304 squeezes inner wall relative to the mobile inner wall direction along pipeline vertically to be blocked of cone 303 and realizes locking.
Referring to attached drawing 2, the speed adjustment unit 1 includes:
Adjust the speed shell 101；
Multiple circumference that the speed regulation 101 outer wall one end of shell is arranged in along the conduit axis direction to be blocked are equal
The speed regulation support wheel 108 of cloth, the support wheel and inner wall of the pipe to be blocked contact；
The aerial drainage speed regulation of described speed regulation 101 outer wall the other end of shell is set along the conduit axis direction to be blocked
Valve 103, the aerial drainage speed governing valve 103 include the valve body 104 and spool 105 of coaxial arrangement, and valve body 104 and speed regulation shell 101 are solid
It connects, relief port has been evenly distributed on 104 circumference of valve body, spool 105 is mounted in valve body 104, and relief port, spool have also been evenly distributed on circumference
105 are rotated by speed regulating motor 106 and the driving of governor gear deceleration group 107, application valve body 104 and 105 aerial drainage of spool
The registration of mouth, and then travel speed is adjusted by controlled discharge amount.
At least two are co-axially located at the driving leather cup 102 on 103 outer wall of aerial drainage speed governing valve, pass through 104 He of valve body
Opposite through-hole realizes the circulation of the medium of driving 102 two sides of leather cup on spool 105；The medium of the application meaning is wait block
Pipeline in circulate medium, can be water, gas, oil etc.；
And speed regulating motor 106, governor gear deceleration group 107 and speed regulation electricity inside the speed regulation shell 101 are set
Source 109, the speed regulating motor 106 are connected by the governor gear deceleration group 107 and the spool 105, drive the spool
105 opposite valve bodies 104 are rotated about axis, and adjust the size of via openings opposite on valve body 104 and spool 105；104 He of valve body
Spool 105 relatively rotates, and adjusts the size of through-hole relative area opposite on valve body 104 and spool 105, i.e. adjustment driving leather cup
The size of 102 media of both sides flow-through openings, so that the variation of controlled discharge amount controls robot by the control to vent flow
The pressure difference at both ends changes, and then realizes the adjusting of travel speed.The speed governing power source 109 and the speed regulating motor 106 are electrically connected.
Double drive leather cup 102 is efficient to produce the driving force of traveling using medium differential pressure, and robot is by speed regulation branch
The support of support wheel 108 can move forward in pipeline；It, can after speed regulating motor 106 increases square by 107 reduction of speed of governor gear deceleration group
The spool 105 of driving aerial drainage speed governing valve 103 rotates, and adjusts the openings of sizes of via openings, the i.e. size of relief port opening,
To which the variation of controlled discharge amount controls the pressure difference variation at robot both ends by the regulation to vent flow, and then realizes and advance
The adjusting of speed.
Referring to attached drawing 3, the closure unit 2 includes:
Shell 201 is blocked, described 201 one end of closure shell and described 101 one end of speed regulation shell are connected by a hinge；
Multiple closure branch at the speed regulation 101 outer wall both ends of shell are set along the conduit axis direction to be blocked
Support wheel 202,202 circumference uniform distribution of closure support wheel of every one end；
Multiple closure sealing rings 203 outside the closure shell 201 are covered, the closure sealing ring 203 is outside by inner ring
Ring direction axial width becomes larger, and multiple protrusions for blocking the whole side of sealing ring 203 and blocking on shell 201 are matched
It closes, the protrusion side and 203 end face of closure sealing ring fitting；
Extrusion ring between two neighboring closure sealing ring 203 is set, and the extruding ring set is in the closure shell 201
Outside, the end face fitting of the end face of extrusion ring two sides and two adjacent closure sealing rings 203；
It covers outer in the closure shell 201 and is located at multiple closure pressures for blocking the whole other side of sealing ring 203
Power ring 205, an end face for blocking pressure rings 205 and adjacent 203 end face of closure sealing ring fitting；
With the closure pressure part 204 of described closure another end face of pressure rings 205 contact；
And closure power supply 207, closure lead screw pair 208, closure 209 and of motor in the closure shell 201 are set
Gear deceleration group 210 is blocked, the closure motor 209 drives closure lead screw pair 208 to rotate by blocking gear deceleration group 210,
And then the closure pressure part 204 is driven to move axially in reciprocal fashion, the closure power supply 207 and the closure motor 209 are electrically connected
It connects.
201 both ends of shell are blocked equipped with closure support wheel 202, it is ensured that robot can lower resistance movement in pipeline；It blocks
Shell 201, which is provided with, blocks motor 209, after blocking motor 209 by blocking 210 reduction of speed of gear deceleration group increasing square, by power
It passes to and blocks lead screw pair 208, block the driving of lead screw pair 208 closure pressure part 204 and closure pressure rings 205 are blocked along robot
The axial movement of shell 201, under the action of blocking the axial compression of pressure rings 205, by the intermediate power transmission for blocking extrusion ring 206
Effect, two closure sealing rings 203 are generated compressive deformation by axial compression, so that radial expansion deformation is generated, it is radial to expand
Closure sealing ring 203 and tube wall after act on, and realize the blocking and sealing of medium.
Referring to attached drawing 4, the unit in anchor 3 includes:
Shell in anchor 301, one end of the shell in anchor 301 and the other end for blocking shell 201 are connected by hinge
It connects；
Multiple branch in anchor at the 301 outer wall both ends of shell in anchor are set along the conduit axis direction to be blocked
Support wheel 302,302 circumference uniform distribution of support wheel in anchor of every one end；
The cone 303 being fixed on the shell in anchor 301, the outer surface of the cone 303 are the conical surface, i.e. cone 303
Inner cylinder face and the contact of 301 external cylindrical surface of the shell in anchor, male cone (strobilus masculinus) are opposite with the inner wall of pipeline to be blocked；
Anchor fluke 304 between 303 conical surface of cone and inner wall of the pipe to be blocked, the conical surface of the cone 303 are set
It is slidably matched by slide rail pair 305 and anchor fluke 304；
The pressure rings in anchor 306 in 301 304 end thereof contacts of an outer end face and the anchor fluke of shell in anchor are covered, are passed through
The pressure rings in anchor 306 push the opposite cone 303 of the anchor fluke 304 to slide axially；
With the pressure part in anchor 307 of described another end face of pressure rings in anchor 306 contact；
And power supply in anchor 308, lead screw pair in anchor 309,310 and of motor in anchor in the shell in anchor 301 are set
Gear deceleration group in anchor 311, the motor in anchor 310 drive lead screw pair in anchor 309 to rotate by gear deceleration group in anchor 311,
And then the pressure part in anchor 307 is driven to move axially in reciprocal fashion, the power supply in anchor 308 and the motor in anchor 310 are electrically connected
It connects.
301 both ends of shell in anchor are equipped with support wheel in anchor 302, it is ensured that robot can lower resistance movement in pipeline；In anchor
Shell 301 is provided with motor in anchor 310, after motor in anchor 310 increases square by 311 reduction of speed of gear deceleration group in anchor, by power
Lead screw pair in anchor 309 is passed to, lead screw pair drives pressure part in anchor 307 and pressure rings in anchor 306 along robot shell in anchor 301
Axial movement, pressure rings in anchor 306 push slide rail pair 305 of the anchor fluke 304 in cone 303 to generate diametrically using the conical surface
Displacement, so that anchor fluke 304 be made to contact with inner wall of the pipe, as motor in anchor 310 loads, the thrust acted on anchor fluke 304 will
Continue to increase, to realize positive lock of the robot in pipeline.
Speed regulation support wheel 108 in the present embodiment blocks support wheel 202 and 302 structure of support wheel in anchor is identical, and right
The connection relationship between speed regulation shell 101, closure shell 201 and shell in anchor 301 answered is also identical, to adjust the speed support wheel
108 structures and its speed regulation shell 101 between connection for: the speed regulation support wheel 108 include vertical fluid flow direction
Support frame, the setting of vertical fluid flow direction connects in support frame inner support spring and by pin shaft and the support frame upper end
The support wheel ontology connect, the pin shaft and fluid flow direction it is vertical and and support frame it is vertical, support spring one end and support frame
Inside end thereof contacts, the other end and pin shaft external cylindrical surface contact, support wheel ontology not only to robot provide advance friction
Power also realizes the small variable diameter of robot by support spring, more smoothly to be provided safeguard by bend pipe；Simultaneously to robot
It plays a supportive role, ensures operation of the robot in pipeline.
Connection in this implementation between two neighboring unit, which is adopted, to be hinged, and type of attachment is identical, i.e. 1 He of speed adjustment unit
The connection structure connected between closure unit 2 and unit in anchor 3 and principle between closure unit 2 is identical, specifically: it is intermediate
One end of connecting rod two end and two points of connecting rods is rotatably assorted respectively, the other end of two point connecting rods and the shell of two neighboring unit
Hingedly, that is, be located at speed adjustment unit 1 and block unit 2 between two points of connecting rod two ends respectively with speed regulation shell 101 and block shell
201 is hinged, positioned at the two points of connecting rod two ends blocked between unit 2 and unit in anchor 3 respectively with block shell 201 and shell in anchor
Body 301 is hinged.
Claims (9)
1. intelligently blocking robot in pipeline, which is characterized in that including the speed regulation list being coaxially disposed along conduit axis to be blocked
First (1) blocks unit (2) and unit in anchor (3)；
The speed adjustment unit (1) includes at least aerial drainage speed regulating structure, and the relief port size by adjusting aerial drainage speed regulating structure adjusts
Speed；
It is described block unit (2) include at least two be arranged side by side and and the coaxial elastic deformable body of pipeline to be blocked, it is described
Elastic deformable body is radially deformed；
The locking of the whole opposite inner wall of the pipe to be blocked of robot is realized by the unit in anchor (3).
2. intelligently blocking robot in pipeline according to claim 1, which is characterized in that the elastic deformable body is to block
Sealing ring (203), the closure sealing ring (203) by axial force squeeze and it is radially deformed.
3. intelligently blocking robot in pipeline according to claim 1, which is characterized in that the unit in anchor (3) is at least
Including the anchor fluke (304) that fixed cone (303) and the relatively described cone (303) are axially moveable, anchor fluke (304) phase
Inner wall is squeezed to cone (303) mobile inner wall direction along pipeline vertically to be blocked and realizes locking.
4. intelligently blocking robot in pipeline described in any one of -3 according to claim 1, which is characterized in that the speed regulation
Unit (1) includes:
It adjusts the speed shell (101)；
Along the conduit axis direction setting to be blocked in the multiple circumference uniform distributions for adjusting the speed shell (101) outer wall one end
Speed regulation support wheel (108), the support wheel and inner wall of the pipe to be blocked contact；
Aerial drainage speed governing valve along the conduit axis direction setting to be blocked in described speed regulation shell (101) outer wall the other end
(103), the aerial drainage speed governing valve (103) includes the valve body (104) and spool (105) of coaxial arrangement, the valve body (104) and valve
It is provided with relief port on core (105) side wall, by opposite on speed regulation driving unit adjustment valve body (104) and spool (105)
The size of the registration of relief port；
And at least two be co-axially located at driving leather cup (102) on aerial drainage speed governing valve (103) outer wall, passes through valve body
(104) opposite through-hole realizes the circulation of the medium of driving leather cup (102) two sides and on spool (105).
5. intelligently blocking robot in pipeline according to claim 4, which is characterized in that the speed regulation driving unit includes
Speed regulating motor (106), governor gear deceleration group (107) and the speed governing power source internal in speed regulation shell (101) are set
(109), the speed regulating motor (106) is connected by the governor gear deceleration group (107) and the spool (105), drives institute
It states spool (105) to be rotated about axis with respect to valve body (104), adjusts via openings opposite on valve body (104) and spool (105)
Size；The speed governing power source (109) and the speed regulating motor (106) electrical connection.
6. intelligently blocking robot in pipeline according to claim 4, which is characterized in that the closure unit (2) includes:
It blocks shell (201), the closure shell (201) one end and described speed regulation shell (101) one end are connected by a hinge；
Multiple closure support along the conduit axis direction setting to be blocked at described speed regulation shell (101) outer wall both ends
It takes turns (202), closure support wheel (202) circumference uniform distribution of every one end；
Multiple closure sealing rings (203) outside in closure shell (201) are covered, the closure sealing ring (203) is by interior circumferential direction
Outer ring direction axial width becomes larger, on multiple sides for blocking sealing ring (203) entirety and closure shell (201)
Male cooperation, the protrusion side and the fitting of the closure sealing ring (203) end face；
Extrusion ring between two neighboring closure sealing ring (203) is set, and the extruding ring set is in the closure shell (201)
Outside, the end face of extrusion ring two sides and adjacent two end faces for blocking sealing ring (203) are bonded；
Cover the closure pressure in closure shell (201) outside and positioned at multiple other sides for blocking sealing ring (203) entirety
Power ring (205), an end face for blocking pressure rings (205) and adjacent closure sealing ring (203) end face fitting；
And the closure pressure part (204) with the contact of described closure pressure rings (205) another end face, the closure pressure part
(204) extruding is driven to block sealing ring (203) by blocking driving unit.
7. intelligently blocking robot in pipeline according to claim 6, which is characterized in that the closure driving unit includes
Closure power supply (207) in closure shell (201) is set, blocks lead screw pair (208), block motor (209) and block
Gear deceleration group (210), the closure motor (209) drive closure lead screw pair (208) to turn by blocking gear deceleration group (210)
It is dynamic, and then the closure pressure part (204) is driven to move axially in reciprocal fashion, the closure power supply (207) and the closure motor
(209) it is electrically connected.
8. intelligently blocking robot in pipeline according to claim 6, which is characterized in that the unit in anchor (3) includes:
Shell in anchor (301), one end of the shell in anchor (301) and the other end for blocking shell (201) pass through hinge
Connection；
Multiple supports in anchor along the conduit axis direction setting to be blocked at the shell in anchor (301) outer wall both ends
It takes turns (302), support wheel in anchor (302) circumference uniform distribution of every one end；
The cone (303) being fixed on the shell in anchor (301), the outer surface of the cone (303) are the conical surface；
The anchor fluke (304) between the cone (303) conical surface and inner wall of the pipe to be blocked, the cone of the cone (303) are set
Face is slidably matched by slide rail pair (305) and anchor fluke (304)；
The pressure rings in anchor (306) in the shell in anchor (301) end face and the anchor fluke (304) end thereof contacts outside are covered, are led to
Crossing the pressure rings in anchor (306) pushes the anchor fluke (304) to slide axially with respect to cone (303)；
And the pressure part in anchor (307) with the contact of the pressure rings in anchor (306) another end face, the pressure part in anchor
(307) it is slided in the axial direction by the promotion of driving unit in anchor.
9. intelligently blocking robot in pipeline according to claim 8, which is characterized in that the driving unit in anchor includes
The power supply in anchor (308) that is arranged in the shell in anchor (301), lead screw pair in anchor (309), motor in anchor (310) and stay anchor
Gear deceleration group (311), the motor in anchor (310) drive lead screw pair in anchor (309) to turn by gear deceleration group in anchor (311)
It is dynamic, and then the pressure part in anchor (307) is driven to move axially in reciprocal fashion, the power supply in anchor (308) and the motor in anchor
(310) it is electrically connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910170928.7A CN109764207B (en) | 2019-03-07 | 2019-03-07 | Intelligent plugging robot in pipeline |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910170928.7A CN109764207B (en) | 2019-03-07 | 2019-03-07 | Intelligent plugging robot in pipeline |
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| CN109764207A true CN109764207A (en) | 2019-05-17 |
| CN109764207B CN109764207B (en) | 2023-08-18 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110578852A (en) * | 2019-09-23 | 2019-12-17 | 中国石油大学(华东) | Intelligent pipeline plugging device and plugging method thereof |
| CN110792873A (en) * | 2019-12-06 | 2020-02-14 | 西南石油大学 | Hydraulic speed reduction locking device of intelligent pipeline plugging robot |
| CN111425695A (en) * | 2020-03-30 | 2020-07-17 | 武汉理工大学 | Pipeline leakage monitoring and plugging device |
| CN117646844A (en) * | 2024-01-30 | 2024-03-05 | 西南石油大学 | Accurate positioning and inner detection pipeline intelligent plugging robot |
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| CN110578852A (en) * | 2019-09-23 | 2019-12-17 | 中国石油大学(华东) | Intelligent pipeline plugging device and plugging method thereof |
| CN110578852B (en) * | 2019-09-23 | 2021-08-27 | 中国石油大学(华东) | Intelligent pipeline plugging device and plugging method thereof |
| CN110792873A (en) * | 2019-12-06 | 2020-02-14 | 西南石油大学 | Hydraulic speed reduction locking device of intelligent pipeline plugging robot |
| CN111425695A (en) * | 2020-03-30 | 2020-07-17 | 武汉理工大学 | Pipeline leakage monitoring and plugging device |
| CN111425695B (en) * | 2020-03-30 | 2021-06-08 | 武汉理工大学 | Pipeline leakage monitoring and plugging device |
| CN117646844A (en) * | 2024-01-30 | 2024-03-05 | 西南石油大学 | Accurate positioning and inner detection pipeline intelligent plugging robot |
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