CN113803556B

CN113803556B - Intelligent pipeline plugging device and seal checking method

Info

Publication number: CN113803556B
Application number: CN202010528123.8A
Authority: CN
Inventors: 李明; 王晓霖; 张仕民; 王勇; 朱霄霄; 石磊; 丁庆新; 周立国
Original assignee: China Petroleum and Chemical Corp; China University of Petroleum Beijing; Sinopec Dalian Research Institute of Petroleum and Petrochemicals
Current assignee: China Petroleum and Chemical Corp; China University of Petroleum Beijing; Sinopec Dalian Research Institute of Petroleum and Petrochemicals
Priority date: 2020-06-11
Filing date: 2020-06-11
Publication date: 2023-01-10
Anticipated expiration: 2040-06-11
Also published as: CN113803556A

Abstract

The invention discloses an intelligent pipeline plugging device and a sealing checking method, wherein the device comprises: the anchoring plugging unit is arranged in the pipeline, is provided with a central shaft, and comprises an anchoring subunit and a plugging subunit; the anchoring subunit consists of a plurality of anchoring slips which are arranged along the circumferential direction of the central shaft and are driven independently, and each independently driven anchoring slip can move outwards along the radial direction and forms anchoring on the inner wall of the pipeline; after anchoring, the plugging subunit is pressed under the action of an axial force and expands radially to form setting for the pipeline; and the pipe cleaning unit is pivoted at one end of the anchoring plugging unit and is used for cleaning the pipeline and providing traction force for the anchoring plugging unit by receiving a remote control command. The device can effectively solve the technical problem that the plugging device caused by pipeline ovality or circumferential weld has unbalance loading. The seal checking method can effectively ensure the setting efficiency and the effect of the plugging device.

Description

Intelligent pipeline plugging device and seal checking method

Technical Field

The invention relates to the technical field of oil and gas pipeline plugging, in particular to an intelligent pipeline plugging device and a plugging checking method.

Background

The pipeline transportation has the unique advantages of low one-time investment, low transportation cost, high safety, environmental protection and the like, and is particularly suitable for long-distance transportation of inflammable and explosive petroleum and natural gas. With the wide application of the pipelines in natural gas transportation and the increase of service life, higher and higher requirements are put on pipeline maintenance and repair technologies. At present, in the pipelines in use in China, the service life of the pipelines exceeds 62 percent in 20 years, and the service life of the pipelines is close to 85 percent in more than 10 years. Under the combined action of factors such as external force interference, corrosion, material defects and the like, the failures of pipelines, valves and the like are increased gradually, so that the pipelines need to be maintained in a planned way. In the process of maintaining the pipeline, the pipeline plugging technology is inevitably adopted to seal the conveying medium in the pipeline. However, when the existing widely used blocking technology for blocking the repaired pipeline with pressure holes is used for blocking the repaired pipeline, the process is complicated, and the time for influencing the normal transportation of the pipeline is long. Meanwhile, the plugging pressure of the pressurized tapping plugging operation mode is far lower than the normal conveying pressure of the pipeline, so that a pipeline inner plugging device capable of bearing higher pressure in the pipeline must be designed.

In the current petroleum and natural gas consumption market, the stop transmission of any time length is unacceptable for users, so the most effective method for reducing the pipeline stop transmission time is to adopt a high-pressure intelligent blocking technology in a pipeline without stopping transmission during the pipeline maintenance operation. This technique allows energy producers and delivery companies to complete a number of pipe projects that were previously not possible. At present, a suspension type plugging device, also called a disc type plugging device, is widely applied to plugging operation without stopping transportation, and the premise of using the suspension type plugging device is that a hole with the diameter equal to the inner diameter of a pipeline needs to be formed in the pipeline, so that the strength of the pipeline is influenced. The pipeline safety management mode and maintenance technology are also continuously improved, in particular to the application of an intra-pipe high-pressure intelligent plugging technology for plugging the conveying medium in the pipeline maintenance process. In addition, with the increase of the laying length of submarine pipelines and the increase of service life in China, higher requirements are also put forward on plugging in pipeline maintenance. Although the development technology of the pressurized tapping plugging operation process and equipment of the submarine pipeline is mastered in China, the technology is not suitable for plugging the inner layer pipeline of the double-layer pipeline with additional facilities such as electric tracing and the like. Under the condition, the intelligent high-pressure plugging device in the pipe, which can enter from the ball sending end of the pipe cleaner, perform high-pressure plugging in the pipe, and receive from the ball receiving end of the pipe cleaner after plugging removal, is developed, and has important practical significance for plugging the inner-layer pipe for realizing double-layer pipe plugging. The intelligent high-pressure blocking technology in the pipe breaks through the structural limitation that the blocking device must enter the pipeline through the opening when the opening is blocked, the process is simpler, the loss of stopping transportation is less, the blocking pressure is higher, the application field on land and seabed is greatly expanded, and the market application prospect is wide.

The time required by the intelligent high-pressure plugging operation in the pipe is shorter, the plugging operation without continuous transportation can be realized, other additional devices cannot be left on the pipeline after the operation is finished, the fault points are reduced, and the maintenance cost and the maintenance time are obviously reduced. The intelligent high-pressure plugging device in the pipe enters the pipe through the ball serving end of the pipe cleaner, moves 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 reaching a pipe section to be plugged. 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.

At present, research aiming at the intelligent plugging device still stays at the stage of an engineering prototype, and relatively mature products are few. Particularly, the effectiveness of the pipe inner plugging device needs to be further tested for anchoring and sealing of a pipe section with defects of a large welding line, a large bulge and the like, the problem of unbalance loading of the plugging device caused by pipeline ovality or circumferential welding cannot be effectively solved, and an intelligent pipe plugging device and a plugging testing method are urgently needed, so that the plugging effect can be ensured on the pipe section with the special defects.

The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art that is already known to a person skilled in the art.

Disclosure of Invention

The invention aims to provide an intelligent pipeline plugging device and a sealing checking method, so that the defects of large welding seams, large bulges and the like of the plugging device in the pipeline in the prior art that the anchoring and sealing effects are poor are overcome, and the technical problem of unbalance loading of the plugging device caused by pipeline ovality or circumferential welding seams can be effectively solved.

To achieve the above object, according to a first aspect of the present invention, there is provided a pipeline intelligent plugging device, comprising: the anchoring plugging unit is arranged in the pipeline, has a central shaft, and comprises an anchoring subunit and a plugging subunit; the anchoring subunit consists of a plurality of anchoring slips which are arranged along the circumferential direction of the central shaft and are driven independently, and each independently driven anchoring slip can move outwards along the radial direction and form anchoring on the inner wall of the pipeline; after anchoring, the plugging subunit is pressed under the action of an axial force and expands radially to form setting for the pipeline; and the pigging unit is pivoted at one end of the anchoring plugging unit and is used for cleaning the pipeline and providing traction for the anchoring plugging unit by receiving a remote control command.

Further, among the above-mentioned technical scheme, shutoff subunit suit is fixed in the frame, includes: the first rubber cylinder is arranged on one side far away from the anchor stator unit; the second rubber cylinder is arranged at one side close to the anchoring subunit and is isolated from the first rubber cylinder; the isolating ring is arranged between the first rubber cylinder and the second rubber cylinder and is made of hard materials; under the action of axial force, the first rubber cylinder and the second rubber cylinder both form radial expansion, and a closed annular cavity is formed by an isolation ring between the first rubber cylinder and the second rubber cylinder.

Further, in the above technical solution, the number of the anchoring slips may be an even number. The number of the anchoring slips is preferably eight and is uniformly arranged along the circumferential direction, and the eight anchoring slips are respectively driven by eight independent hydraulic cylinders.

Further, in the above technical scheme, the axial force acting on the plugging sub-unit is from the reaction force of the cylinder barrel of the hydraulic cylinder to the frame after anchoring.

Further, among the above-mentioned technical scheme, the pneumatic cylinder includes: one end of the piston rod penetrates through and is fixed on the hydraulic cylinder, and the other end of the piston rod is pivoted on the slip; and the hydraulic cylinder barrel is used for forming a reaction force on the rack after the hydraulic cylinder pushes the piston rod to realize anchoring of the anchoring slip so as to drive the plugging sub-unit to realize setting of the pipeline.

Further, in the above technical solution, the hardness of the first rubber cylinder is greater than the hardness of the second rubber cylinder, and the difference between the shore hardness of the first rubber cylinder and the shore hardness of the second rubber cylinder is less than 20 degrees.

Further, among the above technical scheme, the anchoring subunit still includes the slip bowl, and the radial direction that the anchoring slips moved outward that realizes the anchoring slips is slided on this slip bowl through the forked tail rail to the anchoring slips.

Furthermore, among the above-mentioned technical scheme, the left and right sides of anchoring shutoff unit respectively is equipped with the support leather cup, can open on this support leather cup and establish the by-pass hole that is used for preventing suppressing pressure.

Furthermore, among the above-mentioned technical scheme, can open on the right side support leather cup and be used for the pneumatic cylinder to wear to establish fixed through-hole, the right side supports the leather cup and is in built-in state in order to shorten the axis distance between the left and right support leather cup.

Further, in the above technical solution, the teeth of the anchoring slip have a tooth front angle and a tooth back angle, the tooth front angle may be set to be less than 60 °, and the tooth back angle may be set to be greater than 0 °. Preferably, the tooth front angle and the tooth rear angle may each be 45 °.

Further, among the above-mentioned technical scheme, the dredging pipe unit includes: a cup assembly for supporting the pigging unit and cleaning the pipe and low pressure seals; and the sealed cabin is internally provided with a control system for controlling the anchoring and plugging unit, and comprises a battery pack and a circuit board. The pig unit may further comprise an anti-collision head mounted at the outermost end of the pig unit for damping vibrations of the pig unit during pipe overbending and recovery.

In order to achieve the above object, according to a second aspect of the present invention, there is provided a method for testing a pipeline intelligent plugging device, comprising the following steps: the pipeline setting is realized through the anchoring plugging unit; releasing pressure of liquid on the downstream side of the second rubber cylinder, immediately testing the liquid pressure in the closed ring cavity between the first rubber cylinder and the second rubber cylinder through a pressure sensor after the pressure is released, and judging that the second rubber cylinder is qualified in sealing if the liquid pressure in the closed ring cavity is kept unchanged after preset time; and (3) relieving the pressure of the liquid in the closed ring cavity, immediately testing the pressure difference between the upstream side of the first rubber cylinder and the liquid in the closed ring cavity through a pressure sensor after the pressure is relieved, and judging that the first rubber cylinder is qualified in sealing if the pressure difference is kept unchanged after preset time.

Further, in the above technical scheme, the step of decompressing the liquid in the closed ring cavity may specifically adopt: and the liquid in the closed annular cavity is drained to a low-pressure area at the downstream through an electromagnetic directional valve of an oil circuit of the closed annular cavity of the hydraulic system, so that the pressure value of the liquid in the closed annular cavity monitored by the pressure sensor is zero.

Further, in the above technical solution, the pressure of the liquid in the pipe at the upstream side of the first rubber cylinder may be greater than 10MPa.

Compared with the prior art, the invention has the following beneficial effects:

1) The multiple hydraulic cylinders independently drive the multiple slips to realize anchoring, so that the anchoring and sealing effects of a pipe section with the defects of a large welding line, a large bulge and the like can be effectively ensured, and the technical problem of unbalance loading of the plugging device caused by pipeline ovality or circumferential welding can be effectively solved;

2) The double rubber cylinders and the isolation sealing rings between the double rubber cylinders can ensure the sealing effect and facilitate the seal inspection, so that the seal inspection is more effective; the double rubber cylinders adopt different hardness, so that abrasion can be reduced to the maximum extent;

3) The tooth design of the anchoring slip ensures the meshing effect of the teeth and the pipe wall, and the anchoring slip can effectively mesh with the pipe wall and be anchored no matter the upstream or the downstream bears large axial force;

4) After anchoring, the hydraulic cylinder can be further driven to form a reaction force to drive the plugging subunit to perform setting, so that the space is greatly saved, other parts of the plugging device can be more reasonably arranged, and the optimization effect of one cylinder for two purposes is achieved;

5) The right supporting leather cup is provided with a hole and is arranged inwards as much as possible (namely, the right supporting leather cup is closer to the left supporting leather cup compared with the prior art), so that the axial distance between the left supporting leather cup and the right supporting leather cup can be effectively shortened;

6) The sealing leather cup of the pigging unit has certain interference magnitude, can contact with the pipe wall to play a role in low-pressure sealing, is convenient for establishing front and back pressure difference, and has a function of cleaning a pipeline.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood and to make the technical means implementable in accordance with the contents of the description, and to make the above and other objects, technical features, and advantages of the present invention more comprehensible, one or more preferred embodiments are described below in detail with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic diagram of the overall structure of the intelligent pipeline plugging device.

Fig. 2 is a schematic structural diagram of an anchoring plugging unit in the intelligent pipeline plugging device.

FIG. 3 is a schematic view of the structure of the anchoring sub-unit in the anchoring plugging unit (showing the slip seat and a set of hydraulic cylinder and slip)

Fig. 4 is a schematic radial cross-sectional view of the anchoring stator unit in the anchoring plugging unit of the present invention.

Fig. 5 is a schematic view in partial cross section in the axial direction of the anchor sub-unit in the anchoring plugging unit according to the present invention.

Fig. 6 is a schematic view of the anchoring plugging process of the anchoring plugging unit according to the present invention.

Fig. 7 is a schematic diagram of the deblocking process of the anchored plugging unit of the present invention.

Fig. 8 is a schematic structural diagram of a pigging unit in the intelligent pipeline plugging device.

Fig. 9 is a schematic overbending diagram of an anchoring plugging unit in the intelligent pipeline plugging device.

Figure 10 is a schematic diagram of the bend passing index test of figure 9.

FIG. 11 is a schematic representation of the tooth geometry of the anchoring slips of the present invention.

Fig. 12 is a partially enlarged view of fig. 11 at a.

FIG. 13 is a schematic view of the forces applied to the teeth and the tooth rake and relief angles.

Description of the main reference numbers:

1-anchoring plugging unit, 11-left supporting leather cup, 12-first rubber cylinder, 13-isolating ring, 14-second rubber cylinder, 15-slip seat, 16-anchoring slip, 17-piston rod, 17A-hydraulic cylinder barrel, 18-right supporting leather cup, 19-downstream side rack, 19A-upstream side rack, 101-dovetail rail, 102-hydraulic cylinder hinged joint, 2-pipe cleaning unit, 21-leather cup assembly, 22-sealed bin and 23-anti-collision head.

Detailed Description

The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.

Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.

Spatially relative terms, such as "below," "lower," "upper," "above," "upper," and the like, may be used herein for ease of description to describe one element or feature's relationship to another element or feature in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the object in use or operation in addition to the orientation depicted in the figures. For example, if the article in the drawings is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the element or feature. Thus, the exemplary term "below" can encompass both an orientation of below and above. The articles may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative terms used herein should be interpreted accordingly.

As used herein, the terms "first," "second," and the like are used to distinguish two different elements or regions, and are not intended to define a particular position or relative relationship. In other words, the terms "first," "second," and the like may also be interchanged with one another in some embodiments.

Example 1

As shown in fig. 1, the intelligent pipeline plugging device (i.e. intelligent plugging device in pipe) of the present invention is composed of an anchoring plugging unit 1 and a section of pigging unit 2. When plugging operation is carried out, after a defective pipeline is cut off, a temporary ball-sending cylinder is installed on the pipeline, the temporary ball-sending cylinder is opened to send the intelligent pipeline plugging device into the pipeline, and then liquid medium with certain pressure is injected into the pipeline through the temporary ball-sending cylinder to push the plugging device to run in the pipeline to reach an appointed position. After reaching the designated position, the remote control center realizes communication with the plugging device through an ultralow frequency electromagnetic pulse signal with the frequency range of 3-30Hz, and starts a control system in the plugging device. The control system is arranged in the pigging unit of the plugging device and controls the anchoring plugging unit of the plugging device to complete setting, seal checking and unsealing actions.

As further shown in fig. 2, the anchoring plugging unit 1 is arranged in a pipeline and has a central axis (refer to fig. 4, 6 and 7), comprising an anchoring subunit and a plugging subunit. Wherein the anchoring sub-unit consists of a plurality of individually driven anchoring slips 16 (see fig. 4) arranged in the circumferential direction of the central shaft, each individually driven anchoring slip 16 being movable outwards in a radial direction and forming an anchor at the inner wall of the pipe 3 (see fig. 4). After anchoring, the plugging sub-unit is compressed and radially expanded under the action of an axial force to form a setting seal for the pipeline 3.

Preferably, but not limitatively, the number of anchoring slips 16 may be set to an even number. The number of the anchoring slips 16 in the embodiment is eight, and the anchoring slips 16 are uniformly arranged along the circumferential direction, and the eight anchoring slips 16 are respectively driven by eight independent hydraulic cylinders.

As further shown in fig. 2 to 5, the anchoring subunit further includes a slip bowl 15, and the slip bowl 15 is fixedly connected to both the downstream rack 19 (i.e., the right rack in fig. 3) and the upstream rack 19A (i.e., the left rack in fig. 3). Eight parallel hydraulic cylinders push the respective anchoring slips 16 under control of the control system. One end of each hydraulic cylinder is connected with the rack 19 through a hinged joint 102 of the hydraulic cylinder, the other end of each hydraulic cylinder is pivoted on the anchoring slips 16 through the piston rods 17, namely the tails of the eight anchoring slips 16 are connected with the eight piston rods 17 through hinges, dovetail rails 101 are arranged at corresponding positions on the slip seat 15, the lower structure of each anchoring slip 16 is matched with the dovetail rails 101, the anchoring slips 16 can move along the dovetail rails 101 fixed on the slip seat 15 under the pushing of the eight piston rods 17, the anchoring slips 16 slide on the inclined slip seat 15 through the dovetail rails 101 to realize outward movement of the anchoring slips 16 in the radial direction, and finally the slips 16 are contacted with the inner wall of the pipeline 3 to finish slip setting. Eight slips use eight pneumatic cylinders to drive alone, can effectively guarantee also can effectively anchor at the pipeline section that has great welding seam.

As further shown in FIGS. 11-13, the teeth of the anchoring slip 16 have a tooth rake angle

And tooth clearance angle

. The difference between these two angles affects the biting effect of the teeth with the tube wall. And the adjustment and the change of the angle can realize the bidirectional anchoring of the plugging device. Compared with the mostly adopted one-way slips in the prior art, the plugging device provided by the invention has the advantages that the anchoring slips can be meshed and anchored with the pipe wall no matter the upstream or the downstream of the plugging device is subjected to large axial force. One-way slip tooth rake angle in the prior art

Typically set at 60 deg. tooth relief angle

The general setting is 0 degree, the slip can only realize unidirectional anchoring, namely, the axial load can only be applied to one side of the tooth front angle of the slip, if the one side of the tooth rear angle is stressed, the slip can not follow the pipe wall anchorAnd, at all, slippage will occur. The invention optimizes the tooth form of the slip, wherein the front angle of the tooth is set to be less than 60 degrees, and the back angle of the tooth is set to be more than 0 degree. Preferably, but not limitatively, the tooth rake angle

Set to 45 degrees of tooth relief angle

Also set up to 45, the slips this moment can realize two-way anchoring, no matter axial load is applyed the left side of slips or the right side promptly, and the slips can both be effectively anchored with the pipe wall, and anchoring effect is best, can not take place to skid.

As further shown in fig. 3, the hydraulic cylinder includes a hydraulic cylinder 17A in addition to the piston rod 17, after the hydraulic cylinder pushes the piston rod 17 to realize anchoring of the anchoring slip 16, the hydraulic cylinder is continuously driven to operate, at this time, because the anchoring slip 16 cannot move, the hydraulic cylinder 17A forms a reaction force to the rack 19, and the right rack 19 and the left rack 19A in fig. 3 both adopt fixed connection (convenient to install and adopt a split design), so that the reaction force acting on the right rack 19 can together pull the plugging subunit sleeved and fixed on the left rack 19A, and further drive the plugging subunit to realize setting of the pipeline. The counterforce is the axial force acting on the plugging subunit after the anchoring. The eight hydraulic cylinders can drive the anchoring subunit to realize anchoring of the slips and the inner wall of the pipeline, and further drive the hydraulic cylinders to form a reaction force to drive the plugging subunit to perform setting, so that the space is greatly saved, other parts of the plugging device can be more reasonably arranged, and the optimization effect of 'one cylinder for two purposes' is achieved.

As further shown in fig. 2, the plugging sub-unit is fixed to the rack (upstream side rack, i.e., left side rack 19A in fig. 2) in a sleeved manner, and the plugging sub-unit further includes: a first glue cylinder 12, a second glue cylinder 14 and a spacer ring 13. Wherein, the first glue cylinder 12 is disposed at a side far away from the anchor subunit (i.e. upstream side), and the second glue cylinder 14 is disposed at a side close to the anchor subunit (i.e. downstream side) and is disposed separately from the first glue cylinder 12. The spacer ring 13 is disposed between the first rubber cylinder 12 and the second rubber cylinder 14 and is made of a hard material. Under the action of the axial force, the first rubber cylinder 12 and the second rubber cylinder 14 can form radial expansion, and the isolating ring 13 between the first rubber cylinder and the second rubber cylinder forms a closed ring cavity. The double rubber cylinders can realize double sealing, and the sealed annular cavity between the two rubber cylinders can be conveniently used for sealing inspection. Preferably, but not limitatively, the hardness of the first rubber sleeve 12 is greater than that of the second rubber sleeve 14, and the difference between the shore hardness of the first rubber sleeve 12 and that of the second rubber sleeve 14 is less than 20 degrees. Referring to fig. 2, the anchored slip bowl 15 is in a static state at this time, the second rubber cylinder 14 expands first under the action of the axial force, the first rubber cylinder 12 generates a stroke in the direction of the right side in fig. 2 in the expansion process, if the hardness of the first rubber cylinder 12 is low, large abrasion is liable to occur, so that the service life of the plugging device is affected, and the abrasion can be reduced to the maximum extent because the two rubber cylinders adopt different hardnesses.

As further shown in fig. 2, the left and right sides of the anchoring plugging unit 1 are respectively provided with a supporting cup, i.e. a left supporting cup 11 and a right supporting cup 18, and the supporting cups are provided with a bypass hole (not shown) for preventing pressure build-up. The supporting cup has higher hardness, so that the anchoring plugging unit 1 and the axis of the pipeline 3 can be kept parallel in the movement process. Preferably, but not limitatively, in order to enable the overall size of the anchoring plugging unit 1 to meet the requirement of passing through a 5D curve, the right supporting cup 18 is internally arranged, and holes are formed in the right supporting cup 18 and a mounting part thereof, so that the mounting and fixing of the hydraulic cylinder are realized. Specifically, a through hole for a hydraulic cylinder to penetrate and fix is formed in the right supporting cup 18, the right supporting cup 18 is in a built-in state (namely, the right supporting cup is closer to the left supporting cup 11 compared with the prior art) so as to shorten the axial distance between the left supporting cup and the right supporting cup, and because the positions of the left supporting cup and the right supporting cup are basically the extreme positions of two ends of the whole plugging device, if the axial distance between the left supporting cup and the right supporting cup is effectively shortened according to the scheme of the invention, the whole plugging device can be more smoothly bent in a pipeline. Adopt the trompil on the right side supports leather cup 18 and inwards set up in the axial direction, thereby both can guarantee that the pneumatic cylinder wears to establish fixedly from the through-hole and realize the installation mutually noninterfere of right side support leather cup 18 and pneumatic cylinder, can make the whole size of shutoff and anchoring unit satisfy again and pass through 5D bend requirement. The requirement of the 5D bend means that the radius of the central line of the pipe elbow is 5 times of the outer diameter of the pipe (see fig. 9 and 10).

As further shown in fig. 6, the intelligent plugging device of the present invention is shown in pre-setting and post-setting states; as further shown in fig. 7, the state of the intelligent plugging device of the present invention before and after deblocking is shown. When plugging operation is carried out, when the plugging device runs to a fault pipe section through a volume method, a remote control center realizes communication with the plugging device through an ultralow frequency electromagnetic pulse signal, a control system in the plugging device is started, eight hydraulic cylinders connected in parallel firstly push slips to anchor under the control of the control system, the slips continuously drive a hydraulic system after being in contact with a pipe wall, at the moment, the piston rod is fixed due to the contact of the anchoring slips and the pipe wall, a cylinder barrel of the hydraulic cylinder moves reversely, a rack pushes double rubber cylinders under the pushing of the cylinder barrel of the hydraulic cylinder, the radial expansion of the double rubber cylinders is in high-pressure contact with the inner wall of a pipeline, and the effect of plugging a liquid medium in the pipe is realized. After the setting of the anchoring plugging unit is finished, the positive pressure of the anchoring slips and the pipe wall is further increased under the action of the pressure in the pipe, so that the plugging device is firmly fixed at the plugging position, and meanwhile, the rack continues to extrude the double rubber cylinders under the action of the pressure in the pipe, so that the contact stress of the rubber cylinders and the pipe wall is increased, and the final purpose of efficient plugging is ensured. After the operation of the fault pipe section is finished, the remote communication control system activates an unsealing loop of the hydraulic system, the plugging subunit is unsealed firstly, then the anchoring subunit is unsealed, and finally the plugging device returns to the ball collecting barrel along the pressure direction of the pipeline for recovery.

As further shown in fig. 1 and 8, the pigging unit 2 of the plugging device of the present invention is pivotally connected to one end of the anchoring plugging unit 1 for cleaning the pipeline 3 and providing traction to the anchoring plugging unit 1 by receiving remote control commands. The pigging unit 2 comprises a cup assembly 21 and a capsule 22, wherein the cup assembly 21 is used to support the pigging unit and to clean the pipes and the low pressure seals. The cup assembly 21 includes a support cup and a seal cup. The sealing leather cup has certain interference magnitude, can contact with the pipe wall to play a role in low-pressure sealing, is convenient for establishing front and back pressure difference, and has the function of cleaning the pipeline. The supporting leather cup plays a role in supporting the pigging unit 2, and the rigid framework of the pigging unit 2 is prevented from contacting with the pipe wall after the sealing leather cup is seriously abraded. The control system for controlling the anchoring plugging unit 1 is arranged in the sealed cabin 22 and comprises a battery pack, a circuit board and the like, and is a control center of the whole intelligent plugging device in the pipe, and the control system controls the hydraulic system to work, so that the eight hydraulic cylinders simultaneously act and smoothly complete the actions of setting and unsealing. Preferably, but not limitatively, the pigging unit 2 further comprises a crash head 23 mounted at the outermost end of the pigging unit 2, i.e. to the right in fig. 8, for eliminating vibrations of the pigging unit during pipe overbending and recovery. Therefore, the anti-collision head is made of flexible rubber materials, and can play a role in buffering when obstacles appear in the operation process of the pigging unit 2 or impact occurs in the ball collecting process, so that the risk that the pigging unit 2 is possibly seriously impacted in the operation process is reduced.

Example 2

The invention discloses a seal checking method of an intelligent pipeline plugging device, which comprises the following steps: firstly, the pipeline setting is realized through the anchoring plugging unit 1 of the intelligent plugging device in the embodiment 1; secondly, releasing pressure of liquid on the downstream side (i.e. the right side in fig. 2) of the second rubber cylinder 14, immediately testing the liquid pressure in the closed ring cavity between the first rubber cylinder 12 and the second rubber cylinder 14 through a pressure sensor after the pressure is released, and judging that the second rubber cylinder 14 is qualified in sealing if the liquid pressure in the closed ring cavity remains unchanged after a preset time; then, the liquid in the closed loop cavity is decompressed, the pressure difference between the upstream side (i.e. the left side in fig. 2) of the first rubber cylinder 12 and the liquid in the closed loop cavity is immediately tested through a pressure sensor after the decompression, and if the pressure difference is kept unchanged after a preset time, the first rubber cylinder 12 is judged to be sealed and qualified.

Further, in order to measure and read pressure data, the liquid in the closed ring cavity is decompressed in the following way: and liquid in the closed ring cavity is drained to a low-pressure area at the downstream through an electromagnetic directional valve of an oil circuit of the closed ring cavity of the hydraulic system, so that the pressure value of the liquid in the closed ring cavity monitored by the pressure sensor is zero.

The intelligent plugging device provided by the invention can ensure that the pressure in the plugging pipe is finally realized to be more than 10MPa after the setting and the seal checking are qualified.

The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. Any simple modifications, equivalent changes and modifications made to the above exemplary embodiments shall fall within the scope of the present invention.

Claims

1. An intelligent pipeline plugging device, comprising:

the anchoring plugging unit is arranged in the pipeline, has a central shaft, and comprises an anchoring subunit and a plugging subunit; the anchoring subunit consists of a plurality of anchoring slips which are arranged along the circumference of the central shaft and are driven independently, and each independently driven anchoring slip can move outwards along the radial direction and form an anchor on the inner wall of the pipeline; after anchoring, the plugging subunit is pressed under the action of an axial force and expands radially to form a setting seal for the pipeline; the anchoring slips are driven by a hydraulic cylinder, and the axial force acting on the plugging sub-unit comes from the reaction force of a cylinder barrel of the hydraulic cylinder to the rack after anchoring;

and the pigging unit is pivoted at one end of the anchoring and plugging unit and is used for cleaning the pipeline and providing traction force for the anchoring and plugging unit by receiving a remote control command.

2. The intelligent pipeline plugging device of claim 1, wherein the plugging sub-unit is fixed to the rack in a sleeved manner and comprises:

the first rubber cylinder is arranged on one side far away from the anchor stator unit;

the second rubber cylinder is arranged at one side close to the anchoring subunit and is isolated from the first rubber cylinder;

the isolating ring is arranged between the first rubber cylinder and the second rubber cylinder and is made of hard materials;

under the action of the axial force, the first rubber cylinder and the second rubber cylinder are expanded in the radial direction, and the isolation ring between the first rubber cylinder and the second rubber cylinder forms a closed ring cavity.

3. The intelligent pipeline plugging device of claim 1 or 2, wherein the number of anchoring slips is an even number.

4. The intelligent pipeline plugging device of claim 3, wherein the number of the anchoring slips is eight and the anchoring slips are evenly arranged along the circumferential direction, and the eight anchoring slips are driven by eight independent hydraulic cylinders respectively.

5. The intelligent pipeline plugging device of claim 4, wherein the hydraulic cylinder comprises:

one end of the piston rod penetrates through and is fixed on the hydraulic cylinder, and the other end of the piston rod is pivoted on the slip;

and the hydraulic cylinder barrel is used for forming the reaction force on the rack after the hydraulic cylinder pushes the piston rod to realize the anchoring of the anchoring slip so as to drive the plugging sub-unit to realize the setting of the pipeline.

6. The intelligent pipeline plugging device of claim 2, wherein the hardness of the first rubber cylinder is greater than the hardness of the second rubber cylinder, and the difference in shore hardness between the first rubber cylinder and the second rubber cylinder is less than 20 degrees.

7. The intelligent pipeline plugging device of claim 1, wherein the anchor stator unit further comprises a slip bowl on which the anchoring slips slide via dovetail rails to effect outward movement of the anchoring slips in the radial direction.

8. The intelligent pipeline plugging device according to claim 4, wherein a support leather cup is arranged on each of the left side and the right side of the anchoring plugging unit, and a bypass hole for preventing pressure building is formed in each support leather cup.

9. The intelligent pipeline plugging device of claim 8, wherein the right support cup is provided with a through hole for the hydraulic cylinder to be fixedly inserted, and the right support cup is in a built-in state to shorten the axial distance between the left and right support cups.

10. The intelligent pipeline plugging device of claim 1, wherein the teeth of the anchoring slips have a tooth rake angle and a tooth relief angle, the tooth rake angle is less than 60 ° and the tooth relief angle is greater than 0 °.

11. The intelligent pipeline plugging device of claim 10, wherein the front and rear tooth angles are 45 °.

12. The intelligent pipeline plugging device of claim 1, wherein the pigging unit comprises:

a cup assembly for supporting the pig unit and cleaning the pipe and low pressure seals;

and the sealed cabin is internally provided with a control system for controlling the anchoring plugging unit, and comprises a battery pack and a circuit board.

13. The intelligent pipeline plugging device of claim 12, wherein the pigging unit further comprises an anti-collision head mounted at the outermost end of the pigging unit for eliminating vibration of the pigging unit during pipe overbending and recovery.

14. The method for testing the intelligent pipeline plugging device according to any one of claims 1 to 13 is characterized by comprising the following steps of:

the pipeline setting is realized through the anchoring plugging unit;

releasing pressure of liquid on the downstream side of the second rubber cylinder, immediately testing the liquid pressure in the closed ring cavity between the first rubber cylinder and the second rubber cylinder through a pressure sensor after the pressure is released, and judging that the second rubber cylinder is qualified in sealing if the liquid pressure in the closed ring cavity is kept unchanged after preset time;

and (3) relieving the pressure of the liquid in the closed ring cavity, immediately testing the pressure difference between the upstream side of the first rubber cylinder and the liquid in the closed ring cavity through a pressure sensor after the pressure is relieved, and judging that the first rubber cylinder is qualified in sealing if the pressure difference is kept unchanged after a preset time.

15. The seal inspection method of the intelligent pipeline plugging device according to claim 14, wherein the step of decompressing the liquid in the closed loop cavity specifically comprises: and the liquid in the closed annular cavity is drained to a low-pressure area at the downstream through an electromagnetic directional valve of an oil circuit of the closed annular cavity of the hydraulic system, so that the pressure value of the liquid in the closed annular cavity monitored by the pressure sensor is zero.

16. The seal testing method of the intelligent pipeline plugging device according to claim 14 or 15, wherein the pressure of the liquid in the pipeline on the upstream side of the first rubber cylinder is greater than 10MPa.