阅读说明：本技术 一种管道智能封堵机器人液动减速锁定装置 (Hydraulic speed reduction locking device of intelligent pipeline plugging robot ) 是由 唐洋 黄顺潇 孙鹏 敬鑫 刘祥 吴杰 刘清友 王国荣 于 2019-12-06 设计创作，主要内容包括：本发明公开了一种管道智能封堵机器人液动减速锁定装置,包括执行块、卡瓦、卡瓦连杆、挤压碗、封堵橡胶、泵座、承压头、液压油管接头、活塞杆、活塞、活塞缸、回弹滑轮、液压泵、控制终端、二位三通电磁阀。本发明实现了卡瓦具有两个开度,且实现了卡瓦撑开时与管道内壁为平行状态,使得其相互接触时为面接触,从而可增大管道智能封堵机器人减速过程的摩擦力,也可增大其锁定过程的锚定力,实现了管道智能封堵机器人先减速后锚定的需求,同时,本发明可有助于管道智能封堵机器精确定位和减小对管道及本体冲击损伤的作用。(The invention discloses a hydraulic speed reduction locking device of an intelligent pipeline plugging robot, which comprises an execution block, a slip connecting rod, an extrusion bowl, plugging rubber, a pump seat, a bearing head, a hydraulic oil pipe joint, a piston rod, a piston cylinder, a rebound pulley, a hydraulic pump, a control terminal and a two-position three-way electromagnetic valve. The invention realizes that the slips have two opening degrees, and the slips are parallel to the inner wall of the pipeline when being propped open, so that the slips are in surface contact when being in mutual contact, thereby increasing the friction force in the deceleration process of the intelligent pipeline plugging robot, increasing the anchoring force in the locking process of the intelligent pipeline plugging robot, realizing the requirement that the intelligent pipeline plugging robot decelerates firstly and then anchors, and simultaneously being beneficial to the accurate positioning of the intelligent pipeline plugging robot and reducing the impact damage to the pipeline and a body.)

1. The utility model provides a pipeline intelligence shutoff robot speed reduction locking device that surges which characterized in that: comprises an execution block (1), a piston rod screw (2), a connecting rod bayonet lock (3), a slip connecting rod (4), a slip (5), an extrusion bowl (6), plugging rubber (7), a pump seat (8), a pump seat bolt (9), a pump cover bolt (10), a pressure-bearing head (11), a hydraulic oil pipe joint (12), a piston rod nut (13), a piston rod (14), a piston (15), a piston cylinder (16), a screw rod (17), a piston cylinder cover (18), a spring (19), a rebound pulley (20), a pump cover (21), a hydraulic pump (22), a control terminal (23), a battery (24), a two-position three-way electromagnetic valve (25) and an oil storage tank (26), wherein the execution block (1) is positioned at the rightmost end of the mechanism, the pressure-bearing head (11) is arranged at the left end of the execution block (1) through clearance fit, and the spring (19) is also used for supporting between, piston rod (14) are fixed at the left end of execution block (1) through piston rod screw (2), piston cylinder (16) are fixed at the left end of piston rod (14) through piston rod nut (13), piston cylinder (16) are fixed at pressure-bearing head (11) right-hand member through piston cylinder cap (18) and screw rod (17), pump block (8) are fixed at pressure-bearing head (11) left end through pump block bolt (9), shutoff rubber (7) are installed at the outer ring side of pump block (8) right-hand member and pressure-bearing head (11), extrusion bowl (6) are installed at the right-hand member and the outer ring side of shutoff rubber (7), slips (5) are connected at execution block (1) left end and are located extrusion bowl (6) outer ring side through connecting rod bayonet lock (3) and slips connecting rod (4), resilience pulley (20) set up in execution block (1) outer ring side.

2. The utility model provides a pipeline intelligence shutoff robot speed reduction locking device that surges which characterized in that: the hydraulic pump (22), the battery (24), the two-position three-way electromagnetic valve (25) and the oil storage tank (26) are arranged at the left end of the pump base (8), and the control terminal (23) is arranged at the left end of the two-position three-way electromagnetic valve (25).

3. The utility model provides a pipeline intelligence shutoff robot speed reduction locking device that surges which characterized in that: the hydraulic oil pipe joint (12) is respectively installed on a hydraulic circuit of the pump base (8) and the pressure-bearing head (11), a hydraulic circuit at the right end of the piston cylinder (16), a hydraulic pump (22), a two-position three-way electromagnetic valve (25) and an oil storage tank (26), and the pump cover (21) is fixed at the left end of the pump base (8) through a pump cover bolt (10).

4. The utility model provides a pipeline intelligence shutoff robot speed reduction locking device that surges which characterized in that: when the intelligent pipeline plugging robot is positioned in a deceleration mode, the opening degree of the slips (5) is controlled to be gradually increased by the hydraulic system along with the fact that the speed of the intelligent pipeline plugging robot is smaller and smaller.

Technical Field

The invention belongs to the technical field of emergency repair and plugging of oil and gas pipelines, and particularly relates to a hydraulic deceleration locking device of an intelligent pipeline plugging robot.

Background

The pipeline transportation is the most economic and reasonable transportation mode of petroleum and natural gas. 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. With the increase of the laying length of pipelines and the increase of service life in China, planned maintenance of the pipelines is needed. During maintenance, pipeline plugging technology is inevitably adopted to seal off the conveying medium inside the pipeline. At present, the pressurized tapping plugging technology is widely used for plugging a maintenance pipeline, and besides the complex process, the technology has long time for influencing the normal transportation of the pipeline. Meanwhile, the plugging pressure of the pressurized tapping plugging operation is far lower than the normal conveying pressure of the pipeline, so that the structural limitation that the plugging device enters the pipeline from the tapping to perform plugging needs to be broken through, and the internal plugging technology of the pipeline capable of bearing higher pressure in the pipeline is researched. The intelligent high-pressure blocking technology in pipe is a new blocking technology developed in 90 s of 20 th century, and the blocking device enters from the ball-delivering end of the pipe cleaner, moves forward under the push of pipeline medium, and starts the micro hydraulic system to realize braking and blocking under the control of an ultralow frequency electromagnetic pulse signal (ELF) when reaching the pipe section to be blocked. 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.

At present, foreign intelligent in-tube occlusion technologies are in a mature stage, such as Smartplug from T-D-Williamson, USA and Tecnoproplug from STATS Group, UK. However, foreign companies perform technical blockages on the technology, provide only technical engineering services, and are expensive to service. With the rapid development of pipeline industry in China, especially the continuous increase of the laying length of submarine pipelines, the demand of intelligent plugging technology in the pipelines is more and more urgent. In order to solve the problems of quick maintenance and pressure test of pipelines in China and accelerate the research of intelligent high-pressure plugging technology and tools in the pipelines, a pipeline plugging mechanism is an indispensable ring.

At present, a large number of hydraulic locking mechanisms of intelligent pipeline plugging robots have no good locking performance, so that the plugging effect is unreliable. The intelligent pipeline plugging robot easily scratches the inner wall of a pipeline during deceleration and even generates sparks, so that serious accidents are caused. When the intelligent pipeline plugging robot moves in a pipeline, the friction is large, and the intelligent pipeline plugging robot needs a long time to reach a target working point.

Aiming at the requirements of the existing intelligent pipeline plugging robot and emergency repair plugging of oil and gas pipelines, the hydraulic speed reduction locking device of the intelligent pipeline plugging robot needs to be invented urgently, and the reliable pipeline plugging effect can be realized; the damage of the intelligent pipeline plugging robot to the inner wall of the pipeline is reduced; the deceleration process of the intelligent pipeline plugging robot is controlled, and the effect of safe deceleration and positioning of the intelligent pipeline plugging robot is achieved; the resistance of the intelligent pipeline plugging robot in the pipeline during movement is reduced, and the time for the intelligent pipeline plugging robot to reach the target working point is shortened.

Disclosure of Invention

Technical problem to be solved

The invention provides a hydraulic speed-reducing locking device of an intelligent pipeline plugging robot, which aims to plug an oil and gas transportation pipeline, so that the pipeline maintenance operation can be safely carried out. The slip connecting rod of the mechanism is connected with the slip, so that the contact area between the slip and the inner wall of the pipeline is increased, and the intelligent pipeline plugging robot has good locking performance; the opening of the slips is controlled by using a hydraulic system, so that the aim of controlling the speed reduction process of the intelligent pipeline plugging robot is fulfilled, and the effect of safe speed reduction and positioning of the intelligent pipeline plugging robot is fulfilled; by means of the elastic pulleys, friction force of the intelligent pipeline plugging robot during movement in the pipeline is reduced, and time for the intelligent pipeline plugging robot to reach a target working point is shortened.

(II) technical scheme

The utility model provides a pipeline intelligence shutoff robot speed reduction locking device that surges which characterized in that: comprises an execution block (1), a piston rod screw (2), a connecting rod bayonet lock (3), a slip connecting rod (4), a slip (5), an extrusion bowl (6), plugging rubber (7), a pump seat (8), a pump seat bolt (9), a pump cover bolt (10), a pressure-bearing head (11), a hydraulic oil pipe joint (12), a piston rod nut (13), a piston rod (14), a piston (15), a piston cylinder (16), a screw rod (17), a piston cylinder cover (18), a spring (19), a rebound pulley (20), a pump cover (21), a hydraulic pump (22), a control terminal (23), a battery (24), a two-position three-way electromagnetic valve (25) and an oil storage tank (26), wherein the execution block (1) is positioned at the rightmost end of the mechanism, the pressure-bearing head (11) is arranged at the left end of the execution block (1) through clearance fit, and the spring (19) is also used for supporting between, piston rod (14) are fixed at the left end of execution block (1) through piston rod screw (2), piston cylinder (16) are fixed at the left end of piston rod (14) through piston rod nut (13), piston cylinder (16) are fixed at pressure-bearing head (11) right-hand member through piston cylinder cap (18) and screw rod (17), pump block (8) are fixed at pressure-bearing head (11) left end through pump block bolt (9), shutoff rubber (7) are installed at the outer ring side of pump block (8) right-hand member and pressure-bearing head (11), extrusion bowl (6) are installed at the right-hand member and the outer ring side of shutoff rubber (7), slips (5) are connected at execution block (1) left end and are located extrusion bowl (6) outer ring side through connecting rod bayonet lock (3) and slips connecting rod (4), resilience pulley (20) set up in execution block (1) outer ring side.

Furthermore, the hydraulic pump (22), the battery (24), the two-position three-way electromagnetic valve (25) and the oil storage tank (26) are arranged at the left end of the pump base (8), and the control terminal (23) is arranged at the left end of the two-position three-way electromagnetic valve (25).

Furthermore, hydraulic oil pipe joints (12) are respectively installed on a hydraulic circuit of the pump base (8) and the pressure-bearing head (11), a hydraulic circuit of the right end of the piston cylinder (16), a hydraulic pump (22), a two-position three-way electromagnetic valve (25) and an oil storage tank (26), and a pump cover (21) is fixed at the left end of the pump base (8) through a pump cover bolt (10).

Furthermore, when the intelligent pipeline plugging robot decelerates and positions, along with the fact that the speed of the intelligent pipeline plugging robot is smaller and smaller, the hydraulic system controls the opening of the slips (5) to be gradually increased, and therefore the effects of safely decelerating and positioning the intelligent pipeline plugging robot and reducing damage to the inner wall of the pipeline are achieved.

(III) advantageous effects

Compared with the prior art, the invention provides a hydraulic deceleration locking device of an intelligent pipeline plugging robot, which has the following beneficial effects:

1. the contact area between the slips and the inner wall of the pipeline is increased, so that the friction force of the intelligent pipeline plugging robot in the deceleration process can be increased, the anchoring force of the intelligent pipeline plugging robot in the locking process can be increased, the requirements of the intelligent pipeline plugging robot on deceleration and then anchoring are met,

2. the opening of the slips is controlled by using the hydraulic system, so that the deceleration process of the intelligent pipeline plugging robot is controlled, and the effects of safely decelerating and positioning the intelligent pipeline plugging robot and reducing the damage to the inner wall of the pipeline are achieved.

3. By means of the elastic pulleys, friction force of the intelligent pipeline plugging robot during movement in the pipeline is reduced, and time for the intelligent pipeline plugging robot to reach a target working point is shortened.

Drawings

FIG. 1: front view of hydraulic speed-reducing locking device of intelligent pipeline plugging robot

FIG. 2 is a drawing: front view of hydraulic speed reduction locking device of intelligent pipeline plugging robot

FIG. 3: right view of hydraulic speed reduction locking device of intelligent pipeline plugging robot

FIG. 4 is a drawing: left view of hydraulic speed reduction locking device of intelligent pipeline plugging robot

FIG. 5: pipeline intelligence shutoff robot hydraulic reduction locking device locking shutoff structure cross-sectional view

FIG. 6: hydraulic speed reduction locking device pump cover inside figure 1 of intelligent pipeline plugging robot

FIG. 7: hydraulic speed reduction locking device pump cover inside figure 2 of intelligent pipeline plugging robot

1-an execution block; 2-piston rod screw; 3-connecting rod bayonet lock; 4-slip link; 5-slips; 6-extruding the bowl; 7-plugging rubber; 8-a pump seat; 9-pump mount bolts; 10-pump housing bolts; 11-a pressure-bearing head; 12-hydraulic oil pipe joint; 13-piston rod nut; 14-a piston rod; 15-a piston; 16-a piston cylinder; 17-a screw; 18-piston cylinder head; 19-a spring; 20-a rebound sheave; 21-pump housing; 22-a hydraulic pump; 23-a control terminal; 24-a battery; 25-two-position three-way solenoid valve; 26-oil storage tank.

Detailed Description

As shown in the attached figures 1-7, a hydraulic speed reduction locking device of a pipeline intelligent plugging robot is characterized in that: comprises an execution block (1), a piston rod screw (2), a connecting rod bayonet lock (3), a slip connecting rod (4), a slip (5), an extrusion bowl (6), plugging rubber (7), a pump seat (8), a pump seat bolt (9), a pump cover bolt (10), a pressure-bearing head (11), a hydraulic oil pipe joint (12), a piston rod nut (13), a piston rod (14), a piston (15), a piston cylinder (16), a screw rod (17), a piston cylinder cover (18), a spring (19), a rebound pulley (20), a pump cover (21), a hydraulic pump (22), a control terminal (23), a battery (24), a two-position three-way electromagnetic valve (25) and an oil storage tank (26), wherein the execution block (1) is positioned at the rightmost end of the mechanism, the pressure-bearing head (11) is arranged at the left end of the execution block (1) through clearance fit, and the spring (19) is also used for supporting between, piston rod (14) are fixed at the left end of execution block (1) through piston rod screw (2), piston cylinder (16) are fixed at the left end of piston rod (14) through piston rod nut (13), piston cylinder (16) are fixed at pressure-bearing head (11) right-hand member through piston cylinder cap (18) and screw rod (17), pump block (8) are fixed at pressure-bearing head (11) left end through pump block bolt (9), shutoff rubber (7) are installed at the outer ring side of pump block (8) right-hand member and pressure-bearing head (11), extrusion bowl (6) are installed at the right-hand member and the outer ring side of shutoff rubber (7), slips (5) are connected at execution block (1) left end and are located extrusion bowl (6) outer ring side through connecting rod bayonet lock (3) and slips connecting rod (4), resilience pulley (20) set up in execution block (1) outer ring side.

As shown in fig. 5-7, a hydraulic speed reduction locking device of pipeline intelligent plugging robot is characterized in that: the hydraulic pump (22), the battery (24), the two-position three-way electromagnetic valve (25) and the oil storage tank (26) are arranged at the left end of the pump base (8), and the control terminal (23) is arranged at the left end of the two-position three-way electromagnetic valve (25).

As shown in fig. 5-7, a hydraulic speed reduction locking device of pipeline intelligent plugging robot is characterized in that: the hydraulic oil pipe joint (12) is respectively installed on a hydraulic circuit of the pump base (8) and the pressure-bearing head (11), a hydraulic circuit at the right end of the piston cylinder (16), a hydraulic pump (22), a two-position three-way electromagnetic valve (25) and an oil storage tank (26), and the pump cover (21) is fixed at the left end of the pump base (8) through a pump cover bolt (10).

As shown in the attached figure 1, the hydraulic speed reduction locking device of the intelligent pipeline plugging robot is characterized in that: when the intelligent pipeline plugging robot is positioned in a deceleration mode, the opening degree of the slips (5) is controlled to be gradually increased by the hydraulic system along with the fact that the speed of the intelligent pipeline plugging robot is smaller and smaller.

During the deceleration stage of the intelligent pipeline plugging robot, the control terminal (23) controls the two-position three-way electromagnetic valve (25) to enable the hydraulic pump (22) to pump liquid of the oil storage tank (26) into the right side of the piston cylinder (16), so that the piston cylinder cover (18) moves rightwards to drive the extrusion bowl (6) to move rightwards, the slips (5) move upwards along the inclined plane of the extrusion bowl (6) until contacting the inner wall of the pipeline, in the process, the sawtooth surfaces of the slips (5) are always parallel to the inner wall of the pipeline, the moving speed of the intelligent pipeline plugging robot in the pipeline is smaller, the hydraulic pressure on the right side of the piston cylinder (16) is higher, the opening degree of the slips (5) is larger, and the friction force of the slips (5) on the inner wall of. Therefore, the intelligent pipeline plugging robot can slow down, scratches of the slips (5) on the inner wall of the pipeline are reduced, and sparks possibly caused by the slips rubbing the inner wall of the pipeline when the plugging device decelerates too fast are avoided, so that major accidents are avoided.

When pipeline intelligence shutoff robot shutoff stage, the aperture of slips (5) still need increase to certain time for pipeline intelligence shutoff robot locks reliably in the pipeline, and the right side of piston cylinder (16) continues to pressurize this moment, and pump seat (8) continues to move right, and extrusion bowl (6) are motionless, and extrusion shutoff rubber (7) warp and fill up the pipeline inner wall, reach the purpose of shutoff pipeline.

When pipeline intelligence shutoff robot deblocking stage, two-position three way solenoid valve (25) are controlled in control terminal (23), make hydraulic pump (22) squeeze into the left side of piston cylinder (16) with the liquid of oil storage tank (26), thereby make piston cylinder lid (18) remove left, drive pump base (8) remove left, shutoff rubber (7) resume former shape gradually, drive extrusion bowl (6) remove left afterwards, slips (5) move down along the inclined plane of extrusion bowl (6), until slips (5) no longer contact pipeline inner wall.

When the plugging device moves in the pipeline, the rebound pulley (20) can be tightly attached to the inner wall of the pipeline all the time due to the thrust action of the spring inside the rebound pulley (20), even if the pipe diameter changes a little in different places, so that the friction force of the plugging device in the pipeline during moving is reduced, and the time of the intelligent pipeline plugging robot reaching a target working point is shortened.