CN112240448B - Hydraulic anchoring plugging device of intelligent pipeline plugging robot - Google Patents
Hydraulic anchoring plugging device of intelligent pipeline plugging robot Download PDFInfo
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- CN112240448B CN112240448B CN202011098030.2A CN202011098030A CN112240448B CN 112240448 B CN112240448 B CN 112240448B CN 202011098030 A CN202011098030 A CN 202011098030A CN 112240448 B CN112240448 B CN 112240448B
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- piston rod
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/10—Means for stopping flow from or in pipes or hoses
- F16L55/12—Means for stopping flow from or in pipes or hoses by introducing into the pipe a member expandable in situ
- F16L55/128—Means for stopping flow from or in pipes or hoses by introducing into the pipe a member expandable in situ introduced axially into the pipe or hose
- F16L55/132—Means for stopping flow from or in pipes or hoses by introducing into the pipe a member expandable in situ introduced axially into the pipe or hose the closure device being a plug fixed by radially deforming the packing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1457—Piston rods
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/149—Fluid interconnections, e.g. fluid connectors, passages
Abstract
The invention relates to a hydraulic anchoring plugging device of an intelligent pipeline plugging robot, which consists of a front wheel, an anchoring mechanism, a plugging mechanism, a rear wheel, a bolt III, a hinged ball head I, a piston rod, a hinged ball head II, a hydraulic pipe joint and a locking screw. According to the invention, the anchoring process of the slips is separated from the plugging process of the plugging rubber, anchoring is firstly carried out, and then plugging is carried out, so that the plugging rubber can be prevented from being scratched by a damaged pipeline, and the plugging process is more reliable; in order to improve the anchoring reliability of the pipeline plugging robot in the pipeline, a plurality of slips are designed to be circumferentially distributed on the periphery of the device, and each slip can slide and be propped open along the radial direction, so that the problem that the slips of the existing device naturally droop or the plastic deformation of a screw hinders the movement of the device is effectively solved; the wheel of the invention has larger rebound amplitude, so that the device can pass through steps with larger size; the novel hydraulic control structure is arranged, the internal hydraulic channel is arranged in the piston rod, and the distribution of internal hydraulic lines is simplified.
Description
Technical Field
The invention relates to the technical field of emergency repair plugging of oil and gas pipelines, in particular to a hydraulic anchoring plugging device of an intelligent pipeline plugging robot.
Background
With the increasing demand of oil and gas energy, the development of transportation lines is rapid, and pipelines become a main mode for transporting fluid media such as petroleum and natural gas by virtue of a series of advantages of large transportation volume, small occupied area, short construction period, relative safety and reliability, low energy consumption, low cost, good benefit and the like. At present, a plurality of oil and gas area pipe networks are formed in China, and with the rapid development of energy industry, the construction of oil and gas pipelines in China will continue to be developed greatly. When the pipeline is in a sudden accident, oil and gas can be leaked, so that the pipeline needs to be maintained and replaced. During maintenance, pipeline plugging technology is inevitably adopted to seal off the conveying medium inside the pipeline. The latest technology at present adopts an in-pipe high-pressure intelligent plugging technology, which is a novel plugging technology developed in the 90 s of the 20 th century, wherein a plugging device enters from a ball-sending end of a pipe cleaner, overcomes steps and elbows in a pipeline to move forwards under the pushing of a pipeline medium, and starts a micro hydraulic system to realize braking and plugging under the control of an ultralow-frequency electromagnetic pulse signal (ELF) when a pipe section to be plugged is reached. After the operation is finished, the ball is automatically unsealed under the control of an ELF signal, and the ball is continuously pushed by the medium in the pipe until the ball collecting end is taken out. The required operation time of such intraductal high pressure intelligence shutoff is shorter, can not leave any other additional installation on the pipeline after the operation is accomplished, has reduced the fault point, greatly reduced cost of maintenance and reduction maintenance time.
However, the existing intelligent pipeline plugging robot anchoring and plugging device has many defects in the application:
(1) the anchoring process of slips and the plugging process of plugging rubber in the existing plugging device are controlled by the same hydraulic cylinder, the slips can scratch a pipeline in the deceleration process of the device, and meanwhile, the scratched pipeline can scratch the plugging rubber which is being plugged, so that the plugging performance of the device is greatly influenced.
(2) The slips in the existing plugging device have two installation modes: firstly, a connecting rod is connected with a plugging device main body, so that slips below the connecting rod cannot be prevented from naturally drooping, and the plugging robot can be possibly prevented from advancing; secondly, the slips are connected through the screws and are ejected out through extrusion of the extrusion bowl, but the screws can be plastically deformed in the mode, so that the slips cannot rebound smoothly, and the slips influence the follow-up movement of the plugging robot.
(3) The wheel on the current plugging device is too little or the degree of can kick-backing is too little, leads to pipeline intelligence plugging robot to meet when great protruding step in the pipeline can not pass through smoothly.
(4) The hydraulic system in the existing plugging device adopts exposed hydraulic pipelines, so that the structure of the device is complex, the sealing performance in the plugging device is poor, and excessive space is wasted by the complex hydraulic pipelines.
Therefore, a new plugging device needs to be invented at present, which can simultaneously realize the anchoring process of the slips and the plugging process of the plugging rubber; the problem that the slips naturally sag or plastic deformation generated by the screws hinders the motion of the intelligent pipeline plugging robot is solved; the wheels are improved so that the plugging device can pass through large-size steps in the pipe; the problem that hydraulic pipelines in the plugging device are distributed too complexly can be solved.
Disclosure of Invention
The invention aims to provide a hydraulic anchoring plugging device of an intelligent pipeline plugging robot aiming at the problems of the existing pipeline plugging device in use, so as to solve the problems of the existing plugging device in use: the anchoring process of slips of the existing plugging device and the plugging process of plugging rubber are controlled by the same hydraulic cylinder, which is not beneficial to realizing plugging after anchoring in the plugging process of the intelligent pipeline plugging robot, so that the plugging rubber can rub with the inner wall of a pipeline for a long distance in the anchoring process to damage the plugging rubber; the existing slips have two installation modes: firstly, a connecting rod is connected with a plugging device main body, the slips below the connecting rod cannot be prevented from naturally drooping, and the plugging robot can be prevented from moving forward; the problem that the intelligent pipeline plugging robot cannot smoothly pass when encountering a large step in a pipeline due to too small wheels or too small rebounding degree on the existing plugging device is solved; the hydraulic system in the existing plugging device adopts exposed hydraulic pipelines which are complex in distribution, so that the sealing performance in the plugging device is poor, and excessive space is wasted by the complex hydraulic pipelines.
The following technical scheme is adopted to solve the technical problems of the invention: the utility model provides a pipeline intelligence shutoff robot anchoring plugging device that surges, its comprises front wheel, anchoring mechanism, plugging mechanism, rear wheel, bolt III, articulated bulb I, piston rod, articulated bulb II, hydraulic pressure coupling, locking screw, its characterized in that: the piston rod is arranged at the center of the device; the hinged ball head I is installed on the outer side of the right end of the piston rod through threaded connection and is used for being connected with the other part on the right side of the pipeline plugging robot; the hinged ball head II is installed on the outer side of the left end of the piston rod through threaded connection and is used for being connected with the other part on the left side of the pipeline plugging robot; the locking screw is installed on the hinged ball head II through threaded connection, the hinged ball head II is prevented from rotating in the movement process of the robot, so that the hinged ball head II is prevented from falling off, and the hydraulic pipe joint is installed at the left end of the piston rod through threaded connection and is used for being connected with other module hydraulic pipelines; anchoring mechanism constitute by slips support, slips, bolt I, pneumatic cylinder I, bolt II, end cover, nut, piston, hydraulic cylinder lid I, bolt IV, bolt VI: the end cover is arranged on the left side of the piston rod and connected with the hinged ball head I through a bolt III, the slip support is arranged on the left side of the end cover and connected with the end cover through a bolt II, the slip support can slide radially relative to the end cover, the slip is arranged on the outer side of the slip support and connected with the slip support through a bolt VI, the hydraulic cylinder I is arranged inside the slip support, the bolt I is arranged on the hydraulic cylinder I through threaded connection, the piston is arranged between the piston rod and the hydraulic cylinder I, the nut is arranged on the right side of the piston and arranged on the piston rod through threaded connection, the hydraulic cylinder cover I is arranged on the left side of the hydraulic cylinder I, and the hydraulic cylinder cover I is arranged on the hydraulic cylinder I through a bolt IV; the anchor plugging mechanism consists of an extrusion bowl, plugging rubber, a rubber support, a hydraulic cylinder II, a hydraulic cylinder cover II and a bolt V: the hydraulic cylinder II is installed on the piston rod, the hydraulic cylinder cover II is installed on the left side of the hydraulic cylinder II, the hydraulic cylinder cover II is installed on the hydraulic cylinder II through a bolt V, the extrusion bowl is installed on the left side of the hydraulic cylinder cover II through bolt connection, the rubber support is installed outside the hydraulic cylinder I, and the plugging rubber is installed on the rubber support; the front wheel is arranged at the left end of the device and is connected and arranged on the extrusion bowl through a bolt; the rear wheel is installed at the right end of the device and is installed on the end cover through bolt connection.
The piston rod inside set up a hydraulic channel I, as the passageway of hydraulic oil business turn over pneumatic cylinder I, the inside hydraulic channel II that sets up of piston rod, as another passageway of hydraulic oil business turn over pneumatic cylinder I, the piston rod middle part sets up a piston structure, the inside hydraulic channel III that sets up of piston rod, as the passageway of hydraulic oil business turn over pneumatic cylinder II, the inside hydraulic channel IV that sets up of piston rod, as another passageway of hydraulic oil business turn over pneumatic cylinder II.
The slip support set up the latch on the outer arc surface for the restriction slip, slip support is inside to set up a direction through-hole I, makes bolt I slide along through-hole I.
The end cover circumference evenly set up 8 and locate direction through-hole II for bolt II and slips support can be for the end cover radial slip.
The front wheel comprises wheel carrier, pull rod, front fork, wheel, lock nut, backing ring, spring: the wheel is installed between two front forks, and the front fork passes through the bolt and installs on the wheel carrier, and the pull rod is installed inside the wheel carrier, and the spring mounting is inside the wheel carrier, and the backing ring is installed on the spring right side, and lock nut installs on the spring right side to install at the pull rod right-hand member through threaded connection.
The invention has the beneficial effects that: 1) the slip anchoring process and the plugging rubber plugging process are carried out separately, anchoring and then plugging can be carried out in the moving process, and plugging is carried out after the plugging robot stops, so that the plugging process is more reliable; 2) in order to meet the anchoring and plugging effect of the pipeline plugging robot in an oil pipeline, a plurality of slips are designed to be circumferentially distributed on the periphery of the device, each slip limits relative movement between the slip and an extrusion bowl and between the slip and a top end disc through two screws, the extrusion bowl can extrude the slips to enable the slips to slide and open radially, and the problem that the slip of the existing device naturally drops or the screws generate plastic deformation to block the movement of the plugging robot is solved; 3) the wheel can be rebounded to the outer contour position of the device to the maximum extent, so that the plugging device can pass through a step with a larger size; 4) the invention provides a novel hydraulic control structure, wherein four hydraulic channels are arranged in a piston rod, the requirement of a hydraulic system of the device can be met, and exposed complex hydraulic pipelines are omitted, so that the device structure is simpler.
Drawings
FIG. 1 is a cross-sectional view of the present invention;
FIG. 2 is an external view of the present invention;
FIG. 3 is a front end view of the present invention;
FIG. 4 is a cross-sectional view of the invention prior to occlusion;
FIG. 5 is a cross-sectional view of the invention after occlusion;
FIG. 6 is a cross-sectional view of a piston rod A of the present invention;
FIG. 7 is a cross-sectional view of a piston rod B of the present invention;
FIG. 8 is an external view of the slip spider;
FIG. 9 is an exterior view of the end cap;
FIG. 10 is an exterior view of the front wheel of the present invention;
FIG. 11 is a partial cross-sectional view of the front wheel of the present invention.
In the figure, 1-front wheel, 2-extrusion bowl, 3-sealing rubber, 4-rubber support, 5-slip support, 6-slip, 7-bolt I, 8-hydraulic cylinder I, 9-bolt II, 10-rear wheel, 11-bolt III, 12-hinged ball I, 13-piston rod, 14-end cap, 15-nut, 16-piston, 17-hydraulic cylinder cover I, 18-bolt IV, 19-hydraulic cylinder II, 20-hydraulic cylinder cover II, 21-bolt V, 22-hinged ball II, 23-hydraulic pipe joint, 24-bolt VI, 25-locking screw, 101-wheel frame, 102-pull rod, 103-front fork, 104-wheel, 105-locking nut, 106-backing ring, 107-spring, 501-latch, 502-guide through hole I, 1301-hydraulic channel I, 1302-hydraulic channel II, 1303-piston structure, 1304-hydraulic channel III, 1305-hydraulic channel IV, 1401-guide through hole II.
Detailed Description
The invention will be further described with reference to the accompanying drawings, without limiting the scope of the invention to the following description:
as shown in fig. 1-11, a hydraulic anchoring plugging device of intelligent pipeline plugging robot, which comprises a front wheel 1, an anchoring mechanism, a plugging mechanism, a rear wheel 10, a bolt iii 11, a hinged ball head i 12, a piston rod 13, a hinged ball head ii 22, a hydraulic pipe joint 23 and a locking screw 25, and is characterized in that: the piston rod 13 is arranged at the center of the device; the hinged ball head I12 is installed on the outer side of the right end of the piston rod 13 through threaded connection; the hinged ball head II 22 is installed on the outer side of the left end of the piston rod 13 through threaded connection; the locking screw 25 is installed on the hinged ball head II 22 through threaded connection, and the hydraulic pipe joint 23 is installed at the left end of the piston rod 13 through threaded connection; anchoring mechanism constitute by slips support 5, slips 6, bolt I7, pneumatic cylinder I8, bolt II 9, end cover 14, nut 15, piston 16, hydraulic cylinder lid I17, bolt IV 18, bolt VI 24: the end cover 14 is arranged on the left side of a piston rod 13 and is connected with a hinged ball head I12 through a bolt III 11, a slip support 5 is arranged on the left side of the end cover 14 and is connected with the end cover 14 through a bolt II 9, a slip 6 is arranged on the outer side of the slip support 5 and is connected with the slip support 5 through a bolt VI 24, a hydraulic cylinder I8 is arranged inside the slip support 5, a bolt I7 is arranged on the hydraulic cylinder I8 through threaded connection, a piston 16 is arranged between the piston rod 13 and the hydraulic cylinder I8, the piston 16 and the hydraulic cylinder I8 are in clearance fit, the piston 16 and the piston rod 13 are in clearance fit, a nut 15 is arranged on the right side of the piston 16 and is arranged on the piston rod 13 through threaded connection, a hydraulic cylinder cover I17 is arranged on the left side of the hydraulic cylinder I8, and a hydraulic cylinder cover I17 is arranged on the hydraulic cylinder I8 through a bolt IV 18; the anchor plugging mechanism consists of an extrusion bowl 2, plugging rubber 3, a rubber support 4, a hydraulic cylinder II 19, a hydraulic cylinder cover II 20 and a bolt V21: a hydraulic cylinder II 19 is installed on the piston rod 13, a hydraulic cylinder cover II 20 is installed on the left side of the hydraulic cylinder II 19, a hydraulic cylinder cover I17 is installed on the hydraulic cylinder II 19 through a bolt V21, an extrusion bowl 2 is installed on the left side of the hydraulic cylinder cover II 20 through bolt connection, a rubber support 4 is installed outside the hydraulic cylinder I8, and plugging rubber 3 is installed on the rubber support 4; the front wheel (1) is arranged at the left end of the device and is connected and arranged on the extrusion bowl (2) through a bolt; the rear wheel 10 is mounted at the right end of the device and is mounted on the end cap 14 by means of a bolted connection.
In the invention, a hydraulic channel I1301 is arranged in a piston rod 13, a hydraulic channel II 1302 is arranged in the piston rod 13, a piston structure 1303 is arranged in the middle of the piston rod 13, a hydraulic channel III 1304 is arranged in the piston rod 13, and a hydraulic channel IV 1305 is arranged in the piston rod 13.
The slip support 5 is provided with a latch 501 on an outer arc surface, and a guide through hole I502 is arranged in the slip support 5.
The end cover 14 of the invention is uniformly provided with 8 guide through holes II 1401 in the circumferential direction.
The front wheel 1 of the invention is composed of a wheel frame 101, a pull rod 102, a front fork 103, a wheel 104, a locking nut 105, a backing ring 106 and a spring 107: the wheel 104 is installed between two front forks 103, the front forks 103 are installed on the wheel frame 101 through bolts, the pull rod 102 is installed inside the wheel frame 101, the spring 107 is installed inside the wheel frame 101, the backing ring 106 is installed on the right side of the spring 107, and the locking nut 105 is installed on the right side of the spring 107 and installed on the right end of the pull rod 102 through threaded connection.
The working process of the invention is as follows:
the working state I is as follows: in the process of plugging the pipeline robot, firstly, external hydraulic oil is pressed to a hydraulic channel II 1302 through a hydraulic pipe joint 23, the hydraulic oil flows into a right chamber of a hydraulic cylinder I8 through the hydraulic channel II 1302, the hydraulic cylinder I8 moves rightwards under the action of the hydraulic oil and simultaneously extrudes a slip support 5 to move radially outwards until a slip 6 arranged on the outer side of the slip support extrudes a pipeline 26, and the anchoring process is completed; then, external hydraulic oil is pressed to the hydraulic channel III 1304 through the hydraulic pipe joint 23, the hydraulic oil flows into a right cavity of the hydraulic cylinder II 19 through the hydraulic channel III 1304, the hydraulic cylinder II 19 moves rightwards under the action of the hydraulic oil, meanwhile, the extrusion bowl 2 mounted on the hydraulic cylinder cover II 20 is driven to move rightwards, the plugging rubber 3 is extruded in the process that the extrusion bowl 2 moves rightwards, until the plugging rubber 3 is extruded to completely plug the pipeline 26, and the plugging process is completed.
And a second working state: in the process of removing the blockage of the pipeline robot, firstly, external hydraulic oil is pressed to a hydraulic channel I1301 through a hydraulic pipe joint 23, the hydraulic oil flows into a left chamber of a hydraulic cylinder I8 through the hydraulic channel I1301, the hydraulic cylinder I8 moves leftwards under the action of the hydraulic oil, meanwhile, a bolt I7 arranged on the hydraulic cylinder I8 drives a slip support 5 to move radially inwards until the initial position is recovered, and the process of removing the anchoring is completed; external hydraulic oil is pressed to the hydraulic channel IV 1305 through the hydraulic pipe connector 23, the hydraulic oil flows into a left chamber of the hydraulic cylinder II 19 through the hydraulic channel IV 1305, the hydraulic cylinder II 19 moves leftwards under the action of the hydraulic oil, meanwhile, the extrusion bowl 2 mounted on the hydraulic cylinder cover II 20 is driven to move leftwards, the extrusion of the plugging rubber 3 is released in the process that the extrusion bowl 2 moves leftwards, and the plugging releasing process is completed until the hydraulic cylinder II 19 moves to the position before plugging.
And repeating the steps when plugging is carried out again.
Finally, it should be noted that: although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that: modifications and equivalents may be made thereto without departing from the spirit and scope of the invention and it is intended to cover in the claims the invention as defined in the appended claims.
Claims (5)
1. The utility model provides a pipeline intelligence shutoff robot anchoring plugging device that surges, it comprises front wheel (1), anchoring mechanism, plugging mechanism, rear wheel (10), bolt III (11), articulated bulb I (12), piston rod (13), articulated bulb II (22), hydraulic pressure coupling (23), locking screw (25), its characterized in that: the piston rod (13) is arranged at the center of the device; the hinged ball head I (12) is installed on the outer side of the right end of the piston rod (13) through threaded connection; the hinged ball head II (22) is installed on the outer side of the left end of the piston rod (13) through threaded connection; the locking screw (25) is installed on the hinged ball head II (22) through threaded connection, and the hydraulic pipe joint (23) is installed at the left end of the piston rod (13) through threaded connection; anchoring mechanism constitute by slips support (5), slips (6), bolt I (7), pneumatic cylinder I (8), bolt II (9), end cover (14), nut (15), piston (16), hydraulic cylinder lid I (17), bolt IV (18), bolt VI (24): an end cover (14) is arranged on the left side of a piston rod (13) and is connected with a hinged ball head I (12) through a bolt III (11), a slip support (5) is arranged on the left side of the end cover (14), and is connected with an end cover (14) through a bolt II (9), a slip (6) is arranged on the outer side of a slip bracket (5), and is connected with a slip support (5) through a bolt VI (24), a hydraulic cylinder I (8) is arranged inside the slip support (5), a bolt I (7) is arranged on the hydraulic cylinder I (8) through threaded connection, a piston (16) is arranged between a piston rod (13) and the hydraulic cylinder I (8), a nut (15) is arranged on the right side of the piston (16), is installed on a piston rod (13) through threaded connection, a hydraulic cylinder cover I (17) is installed on the left side of a hydraulic cylinder I (8), the hydraulic cylinder cover I (17) is arranged on the hydraulic cylinder I (8) through a bolt IV (18); the plugging mechanism consists of an extrusion bowl (2), plugging rubber (3), a rubber support (4), a hydraulic cylinder II (19), a hydraulic cylinder cover II (20) and a bolt V (21): the hydraulic cylinder II (19) is installed on the piston rod (13), the hydraulic cylinder cover II (20) is installed on the left side of the hydraulic cylinder II (19), the hydraulic cylinder cover II (20) is installed on the hydraulic cylinder II (19) through a bolt V (21), the extrusion bowl (2) is installed on the left side of the hydraulic cylinder cover II (20) through bolt connection, the rubber support (4) is installed outside the hydraulic cylinder I (8), and the plugging rubber (3) is installed on the rubber support (4); the front wheel (1) is arranged at the left end of the device and is connected and arranged on the extrusion bowl (2) through a bolt; the rear wheel (10) is arranged at the right end of the device and is connected and arranged on the end cover (14) through a bolt.
2. The hydraulic anchoring plugging device of the intelligent pipeline plugging robot of claim 1, wherein: the hydraulic cylinder is characterized in that a hydraulic channel I (1301) is arranged inside the piston rod (13), a hydraulic channel II (1302) is arranged inside the piston rod (13), a piston structure (1303) is arranged in the middle of the piston rod (13), a hydraulic channel III (1304) is arranged inside the piston rod (13), and a hydraulic channel IV (1305) is arranged inside the piston rod (13).
3. The hydraulic anchoring plugging device of the intelligent pipeline plugging robot of claim 1, wherein: the slip support (5) is provided with a latch (501) on an outer arc surface, and a guide through hole I (502) is arranged inside the slip support (5).
4. The hydraulic anchoring plugging device of the intelligent pipeline plugging robot of claim 1, wherein: the end cover (14) is evenly provided with 8 guide through holes II (1401) in the circumferential direction.
5. The hydraulic anchoring plugging device of the intelligent pipeline plugging robot of claim 1, wherein: the front wheel (1) consists of a wheel frame (101), a pull rod (102), a front fork (103), a wheel (104), a locking nut (105), a backing ring (106) and a spring (107): the wheel (104) is installed between two front forks (103), the front forks (103) are installed on the wheel carrier (101) through bolts, the pull rod (102) is installed inside the wheel carrier (101), the spring (107) is installed inside the wheel carrier (101), the backing ring (106) is installed on the right side of the spring (107), and the locking nut (105) is installed on the right side of the spring (107) and installed at the right end of the pull rod (102) through threaded connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011098030.2A CN112240448B (en) | 2020-10-14 | 2020-10-14 | Hydraulic anchoring plugging device of intelligent pipeline plugging robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011098030.2A CN112240448B (en) | 2020-10-14 | 2020-10-14 | Hydraulic anchoring plugging device of intelligent pipeline plugging robot |
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| CN112240448A CN112240448A (en) | 2021-01-19 |
| CN112240448B true CN112240448B (en) | 2022-03-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112815179B (en) * | 2021-03-02 | 2022-04-15 | 西南石油大学 | Initiative adjustable speed formula pipeline intelligence shutoff robot |
| CN115289316B (en) * | 2022-08-03 | 2023-03-28 | 西南石油大学 | Small-pipe-diameter small-flow oil and gas pipeline intelligent maintenance and first-aid repair robot and method |
| CN117167583B (en) * | 2023-10-26 | 2024-01-30 | 国机传感科技有限公司 | Intelligent pipeline plugging device |
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| CN111720652B (en) * | 2020-06-30 | 2021-10-15 | 西南石油大学 | Multi-stage speed-regulating traction device of intelligent pipeline plugging robot |
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| DE3515972A1 (en) * | 1985-05-03 | 1986-11-06 | Klinger Ag, Zug | Device for shutting off a coaxial conduit |
| CN105627027A (en) * | 2016-04-01 | 2016-06-01 | 西南石油大学 | Pipeline plugging device tightly jacked and sealed through hydraulic pressure |
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