An intelligent positioning, blocking and diversion robot for leaks in oil and gas pipelines

Abstract

The present invention discloses an intelligent positioning, plugging and diversion robot for leaking points in oil and gas pipelines without stopping, which includes a plugging and diversion module, a wire-passing connector and a power brake module. The plugging and diversion module achieves plugging through the cooperation of screw rotation and airbag inflation, and has the functions of adjustable plugging length and peristaltic positioning. The power brake module adjusts the speed by adjusting the leakage flow through a rotary valve, and the motor drives the bracket and the extrusion ring to extrude the rubber tube and the slips for braking and anchoring. The wire-passing connector adjusts the position by the rolling of two spheres in the spherical shell. The present invention realizes the functions of accurate positioning of leaking points in oil and gas pipelines, adjustable plugging length, and large flow diversion, meeting the requirements of non-stop maintenance and repair operations of oil and gas pipelines; at the same time, the motor control is used to realize the integration of functions such as speed regulation, braking and anchoring, which reduces the number of modules, reduces the overall length and has better bending performance. The present invention has the characteristics of flexible pipeline leak point plugging operation, high efficiency and low cost.

Description

Technical Field

[0001] The present invention belongs to the field of oil and gas pipeline maintenance and repair equipment, and specifically relates to an oil and gas pipeline leakage point intelligent positioning, blocking and diversion robot. Background Art

[0002] With the continuous improvement of my country's industrialization level, the consumption of fossil energy such as oil and natural gas has also increased rapidly. In the future, the number and length of my country's transportation pipelines will increase significantly. However, with the service life of the pipelines and the defects of their own materials, most pipelines often suffer from corrosion and breakage, which affect the normal operation of the pipelines. At the same time, due to the complexity of my country's geographical environment and the occurrence of geological disasters, such as earthquakes, mudslides, landslides and other natural disasters, pipelines are accidentally damaged. Especially in the north, heating is needed in winter, and the demand for oil and gas is extremely high. Once the operation is stopped, it will have a huge impact. Therefore, the research and development of sealing and diversion equipment that can quickly solve pipeline leaks and ensure uninterrupted transportation of pipelines is very urgent.

[0003] At present, the main plugging and diversion operations for pipeline leakage are carried out by clamp plugging technology. By designing a special clamp device, it is installed on the damaged outer surface of the pipeline and tightening the damaged part of the pipeline to achieve plugging outside the pipeline and diversion inside the pipeline. However, the clamp plugging technology is only suitable for pipeline leakage with a small diameter, small leakage cracks, cracks and corrosion perforations, etc., which has great limitations. There is little research and development in my country on intelligent plugging and diversion robots in pipelines. The existing pipeline intelligent plugging and diversion robots are imperfect in structure and lack functions, and have poor adaptability to complex environments in pipelines. Therefore, the research and development of precise plugging and diversion functions of pipeline intelligent plugging and diversion robots is of great significance. The structure and functions to be improved are mainly divided into the following four aspects:

[0004] (1) It is necessary to realize the crawling function of the pipeline intelligent plugging and diversion robot to achieve fast and accurate positioning, and at the same time meet the requirements of good adaptability to complex environments in oil and gas pipelines, short body, and good cornering performance, so as to achieve the goal of good plugging effect and small economic losses caused by leakage.

[0005] (2) It is necessary to make the sealing length of the pipeline sealing and diversion robot adjustable, and to adapt the sealing length to the leaking parts in the pipeline to improve the sealing efficiency and reduce the sealing cost.

[0006] (3) It is necessary to realize that the pipeline plugging and diversion robot can divert large flow during the plugging process, without affecting the normal oil and gas transportation during the plugging process, and meet normal production needs.

[0007] (4) It is necessary to integrate the various functions of the pipeline intelligent plugging and diversion robot, and use the same driving method for the three major functions of speed regulation, flexible braking, and anchoring, so as to achieve rapid response and coordination between the functions, timely speed regulation, and precise positioning, making the plugging operation simpler and more accurate.

[0008] In order to achieve the design requirements that the existing pipeline plugging and diversion robots must meet in response to engineering needs, improve the plugging efficiency, reduce the losses caused by pipeline oil and gas leakage, and meet normal production needs, it is urgently necessary to propose an intelligent positioning, plugging and diversion robot for oil and gas pipeline leakage points without stopping, so that the pipeline leakage points can be quickly and accurately positioned and plugged, and large-flow diversion can be achieved at the same time, and the plugging cannot be stopped, thereby realizing the rapid plugging and emergency repair of oil and gas pipelines. Summary of the Invention

[0009] (1) Technical problems solved

[0010] The purpose of the present invention is to address the problems existing in the existing pipeline plugging and diversion robots, and to propose an intelligent positioning, plugging and diversion robot for leaking points in oil and gas pipelines. The robot is characterized by comprising a plugging and diversion module, a wire-passing connector, and a power braking module, wherein the plugging and diversion module is connected to the wire-passing connector by bolts, and the wire-passing connector is connected to the power braking module by bolts.

[0011] The plugging and diversion module includes an outer cover tube, an air bag I, a rubber cup II, an air bag II, a rubber cup III, a screw II, a bolt II, an air chamber I, a gas cylinder, a fixed rod, a clamp, a motor I, a transmission nut I, a fixed polished rod I, a spiral transmission sleeve I, a screw I, an internal thread connection sleeve I, an external thread connection sleeve I, an air chamber II, an electric deflation valve, a motor II, a fixed polished rod II, a transmission nut II, a screw II, a spiral transmission sleeve II, an internal thread connection sleeve II, a transmission baffle, and an electric exhaust valve. , external thread connection sleeve Ⅱ; wherein the rubber leather cup Ⅱ and the rubber leather cup Ⅲ are respectively fixed on the external thread connection sleeve Ⅱ and the external thread connection sleeve Ⅰ by screw Ⅱ, the airbag Ⅰ and the airbag Ⅱ are respectively assembled on the air chamber Ⅰ and the air chamber Ⅱ, the external thread connection sleeve Ⅰ and the internal thread connection sleeve Ⅰ are connected by threads, the external thread connection sleeve Ⅱ and the internal thread connection sleeve Ⅱ are connected by threads, the air chamber Ⅰ is set between the internal thread connection sleeve Ⅱ and the external thread connection sleeve Ⅱ, and the air chamber Ⅱ is set on the internal thread connection sleeve Ⅰ and the external threaded connecting sleeve Ⅰ, the fixing rod is fixed to the inside of the air chamber Ⅰ and the air chamber Ⅱ by bolt Ⅱ, and is connected to the bottle body of the gas cylinder through a clamp, the gas cylinder mouth is connected to the electric exhaust valve, and the electric deflation valve is fixed to the air chamber Ⅰ and the air chamber Ⅱ by a threaded connection, the internal threaded connecting sleeve Ⅰ passes through the transmission baffle and is placed in the outer cover tube, the internal threaded connecting sleeve Ⅱ is located in the outer cover tube, the screw Ⅰ and the screw Ⅱ are respectively connected to the motor Ⅰ and the motor Ⅱ through a keyway, and at the same time pass through the transmission nut Ⅰ and the transmission nut Ⅱ to form a threaded transmission, the motor Ⅰ is fixed to the transmission baffle by bolts, the motor Ⅱ is fixed to the outer cover tube by bolts, the fixed polished rod Ⅰ is fixed to the transmission baffle by interference connection, and passes through the transmission nut Ⅰ, the fixed polished rod Ⅱ is fixed to the outer cover tube by interference connection, and passes through the transmission nut Ⅱ, the spiral transmission sleeve Ⅰ is fixed on the transmission nut Ⅰ, and passes through the outer cover tube to form an interference connection with the air chamber Ⅱ, the spiral transmission sleeve Ⅱ is fixed on the transmission nut Ⅱ, and passes through the transmission baffle to form an interference connection with the air chamber Ⅰ

[0012] The wire connector includes a sphere, a spherical shell, a hexagonal pin, a cylindrical pin, and an outer shell. The sphere has circumferentially distributed screw holes and is connected to the guide tube and the external threaded connecting sleeve I through screws. The spherical shell is connected to the sphere through the cylindrical pin, and the outer shell is connected to the spherical shell through the hexagonal pin.

[0013] The power brake module includes a bracket, a discharge plate, a threaded sleeve, a retaining frame, a guide tube, an extrusion ring, a rubber tube, a slip, a rubber cup I, a control module, a power module, a tapered tube retaining ring, a rubber tapered tube, a slip rod, a cylindrical pin, a slip base, a limit card, a rubber baffle, a motor III, a screw I, a rotary valve, and a bolt I. The discharge plate and the retaining frame are fixed to the guide tube by bolts I, the motor III and the retaining frame are connected and fixed in the guide tube by screws I, and the rotary valve is fixed by interference fit. On the motor shaft, the threaded sleeve is connected to the output shaft of motor III through interference fit, the bracket is connected to the threaded sleeve through threads, the extrusion ring is placed behind the bracket, the rubber tube is placed between the extrusion ring and the rubber baffle, the rubber baffle and the limit card are assembled on the guide tube, the rubber conical tube is placed on the slip base, the slip is placed on the rubber conical tube, the slip, slip rod and slip base are connected by cylindrical pins, the tapered tube retaining ring is connected to the rubber leather cup I by bolts, and the control module and the power module are placed behind the rubber leather cup I in sequence.

[0014] A limiting groove is circumferentially provided at the middle of the guide tube, and a circumferentially distributed bolt connection hole I is provided on the end face of the guide tube.

[0015] The front end edge of the outer cover tube is provided with circumferentially distributed screw connection holes I, the left side of the rear end face is provided with a motor connection hole I, the right side is provided with a spiral transmission sleeve connection hole I, and the middle part is provided with a guide pipe.

[0016] The air chamber I and the air chamber II have the same structure, and bolt connection holes II are symmetrically provided on both end surfaces. A deflation valve thread fixing hole is provided on the left side of the end surface, and a spiral transmission sleeve hole II is provided on the right side. Air bag limit blocks are provided on the inner walls of the end surfaces.

[0017] The transmission nut I has the same structure as the transmission nut II, with a threaded transmission hole at the upper end, a polished rod connection hole at the middle, and a spiral transmission sleeve connection hole III at the lower end.

[0018] The internal thread connection sleeve I and the internal thread connection sleeve II have the same structure, a circular baffle I is provided in the middle, and an internal connection thread is provided inside the front end pipe wall.

[0019] The external thread connection sleeve I has the same structure as the external thread connection sleeve II, with a circular baffle II provided at its rear end, screw connection holes II provided circumferentially along the edge of the circular baffle II, and an external connection thread provided on the outer surface of its front end.

[0020] The transmission baffle is provided with a bolt connection hole III on its circumferential edge, a spiral transmission sleeve connection hole II on the right side, a polished rod fixing hole below the spiral transmission sleeve connection hole II, and a motor connection hole II on the left side.

[0021] The aforementioned intelligent positioning, plugging and diversion robot for leaking oil and gas pipelines without stopping is a method for plugging and diverting oil and gas pipelines without stopping. When performing oil and gas pipeline plugging and diversion operations, its workflow can be divided into five stages: travel speed regulation, braking and anchoring, precise positioning, plugging and diversion, and unblocking and recovery. The steps are as follows:

[0022] S1. Travel speed regulation stage: The intelligent positioning and plugging diversion robot for the leakage point of the oil and gas pipeline is put into the pipeline from the entrance of the finished oil pipeline. At this time, the rotary valve of the power brake module completely coincides with the leakage hole on the leakage plate, and the pipeline plugging and diversion robot is pushed to the target location by the oil and gas medium in the pipeline. When the robot needs to slow down, the motor III drives the rotary valve to rotate, the leakage hole is opened, and the fluid in the pipe moves along the diversion channel of the diversion tube. The pressure difference between the front and rear ends of the robot is reduced, its driving force is reduced, and the movement speed is reduced. When the robot needs to accelerate, the motor III drives the rotary valve to rotate, the leakage hole is closed, and the movement speed is increased. When it is about to reach the designated plugging position, the motor III drives the rotary valve to rotate, the leakage hole is opened, and the speed starts to slow down.

[0023] S2. Braking and anchoring stage: The control module controls the output shaft of motor III to continue rotating, driving the bracket and the extrusion ring to extrude the rubber tube through the threaded sleeve. The rubber tube is subjected to radial deformation and expansion, rubbing against the inner wall of the pipe, thereby realizing a flexible braking function. Motor III further outputs, causing the rubber tube to be extruded and deformed. When the force on the rubber tube reaches the preset value of the limit card, the rubber baffle pushes the limit card to move straight downward through the circumferential limit groove in the middle of the guide tube. The rubber baffle passes through the circumferential limit groove in the middle of the guide tube and begins to squeeze the cava base to move forward. The cava is driven forward along the rubber conical tube by the cava rod, and the cava contacts the inner wall of the pipe. As the output of motor III continues to move forward, the cava is stuck in the inner wall of the pipe, and the robot is anchored at the front and back sides of the target position.

[0024] S3. Precise positioning stage: Slip anchoring, the gas cylinder inflates the airbag II through the electric exhaust valve. After the airbag II expands, it is in close contact with the pipe wall as a support. At the same time, the screw I and screw II respectively form a threaded transmission through the transmission nut I and the transmission nut II to drive the spiral transmission sleeve I and the spiral transmission sleeve II to extend, thereby pushing the airbag I and the air chamber I, and the airbag II and the air chamber II to extend at the same time. Then the gas cylinder inflates the airbag I through the electric exhaust valve. After the airbag I expands, it is in close contact with the pipe wall as a support. The slip anchoring is released, the electric air release valve discharges the gas in the airbag II, and the airbag II is de-expanded and retracted. At the same time, the screw I and screw II respectively form a threaded transmission through the transmission nut I and the transmission nut II to drive the spiral transmission sleeve I and the spiral transmission sleeve II to retract, thereby pushing the airbag I and the air chamber I, and the airbag II and the air chamber II to retract at the same time. Then the rubber tube is squeezed and expanded again for braking, and the slips are anchored, realizing the control of the oil and gas pipeline to continuously transmit the leakage point. The intelligent positioning, blocking and diversion robot accurately reaches the designated work location.

[0025] S4, plugging and diversion stage: The gas cylinder inflates airbags I and II through the electric exhaust valve. After expanding, airbags I and II come into close contact with the pipe wall to seal the leak. At the same time, the leakage holes on the leakage plate are in an open state. The oil and gas flow through the diversion tube, pass through the wire connector, enter the external threaded connection sleeve I, and then flow through the internal threaded connection sleeve I. Then, it enters the diversion pipe in the middle of the outer cover tube, and then flows through the internal threaded connection sleeve II and the external threaded connection sleeve II in sequence, finally achieving plugging and diversion.

[0026] S5. Unsealing and recovery stage: the electric air release valve discharges the gas in airbag I and airbag II, airbag I and airbag II stop expanding and retract, motor III reverses, the bracket and the extrusion ring move backward, the rubber tube begins to recover and retract due to reduced force, and the slip rod and slip slide downward, the anchor is released, and the oil and gas pipeline continues to transmit the leak point. The intelligent positioning and plugging diversion robot is driven by the fluid in the pipe to continue to move forward to the recovery point to complete the recovery.

[0027] (3) Beneficial effects

[0028] The beneficial effects of the present invention are:

[0029] (1) The telescopic mechanism and the plugging mechanism are integrated into a plugging and diversion module to achieve accurate positioning of the oil and gas pipeline leakage point. The single crawling length is long, the precise positioning time is short, the positioning efficiency is high, the overall structure length is short, and the cornering performance is good.

[0030] (2) The retractable design of the plugging module enables the plugging length to be adjusted. When the leakage point exceeds the initial plugging length, the plugging airbag cooperates with the telescopic mechanism to extend to achieve full plugging, with high plugging efficiency.

[0031] (3) Achieve large flow diversion and meet production needs at the same time as blocking, without stopping operations, greatly improving transportation efficiency and reducing economic losses caused by pipeline leakage.

[0032] (4) The three modules of speed regulation, flexible braking and anchoring are controlled by only one motor. The modules can achieve rapid response and cooperate with each other to achieve more precise speed regulation, braking and anchoring functions. The overall system is modular, safe and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is the main view of the present invention;

[0034] Figure 2 This is a diagram showing the plugging and diversion module of the present invention with its cover opened;

[0035] Figure 3 A half-section schematic diagram of a power brake module of the present invention;

[0036] Figure 4A half-section schematic diagram of the wire-passing connector of the present invention;

[0037] Figure 5 This is a schematic diagram of the appearance of the flow guide tube of the present invention;

[0038] Figure 6 This is a schematic diagram of the appearance of the outer cover tube of the present invention;

[0039] Figure 7 Schematic diagram of the appearance of air chambers I and II of the present invention;

[0040] Figure 8 This is a schematic diagram of the appearance of the transmission nut of the present invention;

[0041] Figure 9 Schematic diagram of the appearance of internal thread connection sleeves I and II of the present invention;

[0042] Figure 10 Schematic diagram of the appearance of external thread connection sleeves I and II of the present invention;

[0043] Figure 11 This is a schematic diagram of the appearance of the transmission baffle of the present invention;

[0044] Figure 12 This is a schematic diagram of the oil and gas conduction process of the present invention;

[0045] Figure 13 This is a schematic diagram of the expansion and contraction of the plugging and diversion module of the present invention;

[0046] Figure 14 This is a schematic diagram of crawling positioning of the present invention;

[0047] Figure 15 A flow chart of a method for intelligently locating, blocking and diverting leaks in oil and gas pipelines designed by the present invention;

[0048] In the figure, 1, bracket; 2, discharge plate; 3, threaded sleeve; 4, retaining frame; 5, guide tube; 501, limit groove; 502, bolt connection hole I; 6, extrusion ring; 7, rubber tube; 8, slip; 9, rubber cup I; 10, control module; 11, outer cover tube; 1101, screw connection hole I; 1102, spiral transmission sleeve connection hole I; 1103, motor connection hole I; 1104, guide pipe; 12, airbag I; 13, rubber cup II; 14, airbag II; 15, rubber cup III; 16, wire Connector; 1601, sphere; 1602, spherical shell; 1603, hexagonal pin; 1604, cylindrical pin; 1605, housing; 17, power module; 18, tapered cylinder retaining ring; 19, rubber tapered cylinder; 20, slip rod; 21, screw II; 22, bolt II; 23, air chamber I; 2301, bolt connection hole II; 2302, deflation valve thread fixing hole; 2303, air bag limit block; 2304, spiral transmission sleeve hole; 24, gas cylinder; 25, fixing rod; 26, clamp; 27, motor I; 2 8. Transmission nut I; 2801. Threaded transmission hole; 2802. Polished rod connection hole; 2803. Screw transmission sleeve connection hole III; 29. ​​Fixed polished rod I; 30. Screw transmission sleeve I; 31. Screw rod I; 32. Internal thread connection sleeve I; 3201. Ring baffle I; 3202. Internal connection thread; 33. External thread connection sleeve I; 3301. Ring baffle II; 3302. External connection thread; 3303. Screw connection hole II; 34. Air chamber II; 35. Electric air release valve; 36. Motor II; 37. Fixed Polished rod II; 38. Drive nut II; 39. Screw II; 40. Spiral drive sleeve II; 41. Internal thread connection sleeve II; 42. Drive baffle; 4201. Bolt connection hole III; 4202. Spiral drive sleeve connection hole II; 4203. Polished rod fixing hole; 4204. Motor connection hole II; 43. Electric exhaust valve; 44. External thread connection sleeve II; 45. Cylindrical pin; 46. Slip base; 47. Limit card; 48. Rubber baffle; 49. Motor III; 50. Screw I; 51. Rotary valve; 52. Bolt I. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It is worth mentioning that these are exemplary and are not intended to limit the scope of application of the present invention.

[0050] As attached Figure 1 The robot shown is an intelligent positioning, plugging and diversion robot for leaking oil and gas pipelines, which is characterized by comprising a plugging and diversion module, a wire connector 16 and a power brake module, wherein the plugging and diversion module is connected to the wire connector 16 by bolts, and the wire connector 16 is connected to the power brake module by bolts.

[0051] As attached Figure 1 、 2 The plugging and diversion module shown includes an outer cover tube 11, an air bag I 12, a rubber cup II 13, an air bag II 14, a rubber cup III 15, a screw II 21, a bolt II 22, an air chamber I 23, a gas cylinder 24, a fixing rod 25, a clamp 26, a motor I 27, a transmission nut I 28, a fixed polished rod I 29, a spiral transmission sleeve I 30, a screw I 31, an internal threaded connection sleeve I 32, an external threaded connection sleeve I 33, an air chamber II 34, an electric deflation valve 35, a motor II 36, a fixed polished rod II 37, a transmission nut II 38, a screw II 39, a spiral transmission sleeve II 40, an internal threaded connection sleeve II 41, a transmission Baffle 42, electric exhaust valve 43, external thread connection sleeve II 44; wherein the rubber cup II 13 and the rubber cup III 15 are fixed on the external thread connection sleeve II 44 and the external thread connection sleeve I 33 respectively by screws II 21, the airbag I 12 and the airbag II 14 are respectively assembled on the air chamber I 23 and the air chamber II 34, the external thread connection sleeve I 33 and the internal thread connection sleeve I 32 are connected by threads, the external thread connection sleeve II 44 and the internal thread connection sleeve II 41 are connected by threads, the air chamber I 23 is set between the internal thread connection sleeve II 41 and the external thread connection sleeve II 44, and the air chamber II 34 is set on the internal thread Between the connecting sleeve I 32 and the external threaded connecting sleeve I 33, the fixing rod 25 is fixed to the inside of the air chamber I 23 and the air chamber II 34 by the bolt II 22, and is connected to the bottle body of the gas cylinder 24 by the clamp 26. The port of the gas cylinder 24 is connected to the electric exhaust valve 43, and the electric deflation valve 35 is fixed to the air chamber I 23 and the air chamber II 34 by a threaded connection. The internal threaded connecting sleeve I 32 passes through the transmission baffle 42 and is placed in the outer cover tube 11. The internal threaded connecting sleeve II 41 is located in the outer cover tube 11. The screw I 31 and the screw II 39 are respectively connected to the motor I 27 and the motor II 36 through the keyway, and at the same time pass through the transmission nut I 2 8 forms a threaded transmission with the transmission nut II 38, the motor I 27 is fixed to the transmission baffle 42 by bolts, the motor II 36 is fixed to the outer cover tube 11 by bolts, the fixed polished rod I 29 is fixed to the transmission baffle 42 by interference connection, and passes through the transmission nut I 28, the fixed polished rod II 37 is fixed to the outer cover tube 11 by interference connection, and passes through the transmission nut II 38, the spiral transmission sleeve I 30 is fixed to the transmission nut I 28, and passes through the outer cover tube 11 to form an interference connection with the air chamber II 34, the spiral transmission sleeve II 40 is fixed to the transmission nut II 38, and passes through the transmission baffle 42 to form an interference connection with the air chamber I 23.

[0052] As attached Figure 1 、 4The wire connector 16 shown includes a sphere 1601, a spherical shell 1602, a hexagonal pin 1603, a cylindrical pin 1604, and an outer shell 1605, wherein the sphere 1601 has circumferentially distributed screw holes and is connected to the guide tube 5 and the external threaded connecting sleeve Ⅰ33 through screws, the spherical shell 1602 is connected to the sphere 1601 through the cylindrical pin 1604, and the outer shell 1605 is connected to the spherical shell 1602 through the hexagonal pin 1603.

[0053] As attached Figure 1 、 3 The power brake module shown includes a bracket 1, a discharge plate 2, a threaded sleeve 3, a retaining frame 4, a guide tube 5, an extrusion ring 6, a rubber tube 7, a slip 8, a rubber cup Ⅰ 9, a control module 10, a power module 17, a conical tube retaining ring 18, a rubber conical tube 19, a slip rod 20, a cylindrical pin 45, a slip base 46, a limit card 47, a rubber baffle 48, a motor III 49, a screw Ⅰ 50, a rotary valve 51, and a bolt Ⅰ 52, wherein the discharge plate 2 and the retaining frame 4 are fixed to the guide tube 5 by the bolt Ⅰ 52, the motor III 49 and the retaining frame 4 are connected and fixed in the guide tube 5 by the screw Ⅰ 50, and the rotary valve 51 is fixed by the screw Ⅰ 52. The interference fit is fixed on the motor shaft, the threaded sleeve 3 is connected to the output shaft of motor III 49 through an interference fit, the bracket 1 is connected to the threaded sleeve 3 through a thread, the extrusion ring 6 is placed behind the bracket 1, the rubber tube 7 is placed between the extrusion ring 6 and the rubber baffle 48, the rubber baffle 48 and the limit card 47 are assembled on the guide tube 5, the rubber conical tube 19 is placed on the cava base 46, the cava 8 is placed on the rubber conical tube 19, the cava 8, the cava rod 20 and the cava base 46 are connected by a cylindrical pin 45, the conical tube retaining ring 18 is connected to the rubber leather cup I9 by bolts, and the control module 10 and the power supply module 17 are placed behind the rubber leather cup I9 in sequence.

[0054] As attached Figure 5 As shown, a limiting groove 501 is circumferentially provided at the middle of the guide tube 5, and a circumferentially distributed bolt connection holes I 502 are provided on the end surface of the guide tube 5.

[0055] As attached Figure 6 The outer cover tube 11 shown has circumferentially distributed screw connection holes I1101 on the front edge of the front end face, a motor connection hole I1103 on the left side of the rear end face, a spiral transmission sleeve connection hole I1102 on the right side, and a guide pipe 1104 in the middle.

[0056] As attached Figure 7 The air chamber Ⅰ23 shown has the same structure as the air chamber Ⅱ34, and bolt connection holes Ⅱ2301 are symmetrically provided on the upper and lower end surfaces of the two end surfaces, a deflation valve threaded fixing hole 2302 is provided on the left side of the two end surfaces, and a spiral transmission sleeve hole Ⅱ2304 is provided on the right side, and an airbag limit block 2303 is provided on the inner wall of the two end surfaces.

[0057] As attached Figure 8The transmission nut I 28 shown has the same structure as the transmission nut II 38 , with a threaded transmission hole 2801 at the upper end, a polished rod connection hole 2802 at the middle, and a spiral transmission sleeve connection hole III 2803 at the lower end.

[0058] As attached Figure 9 The internal thread connecting sleeve I 32 shown has the same structure as the internal thread connecting sleeve II 41 , with a circular baffle I 3201 provided in the middle and an internal connecting thread 3202 provided inside the front end pipe wall.

[0059] As attached Figure 10 The external threaded connection sleeve I33 shown has the same structure as the external threaded connection sleeve II44, with a circular baffle II3301 provided at its rear end, screw connection holes II3303 provided circumferentially along the edge of the circular baffle II3301, and an external connection thread 3302 provided on the outer surface of its front end.

[0060] As attached Figure 11 The transmission baffle 42 shown is provided with a bolt connection hole III 4201 on the circumference of its edge, a spiral transmission sleeve connection hole II 4202 on the right side, a polished rod fixing hole 4203 below the spiral transmission sleeve connection hole II 4202, and a motor connection hole II 4204 on the left side.

[0061] As attached Figure 12 、 13 14 is the core working process of the present invention, and the overall working process of the present invention is as follows:

[0062] When the oil and gas pipeline leakage point intelligent positioning plugging diversion robot needs to reach the designated plugging location, the oil and gas pipeline leakage point intelligent positioning plugging diversion robot is put into the pipeline from the finished oil pipeline entrance. At this time, the rotary valve (51) of the power brake module completely coincides with the leakage hole on the leakage plate (2), and the pipeline plugging diversion robot is pushed to the target location by the oil and gas medium in the pipeline. When the robot needs to slow down, the motor III (49) drives the rotary valve (51) to rotate, the leakage hole is opened, and the fluid in the pipeline moves along the diversion channel of the diversion tube (5). The pressure difference between the front and rear ends of the robot is reduced, the driving force is reduced, and the movement speed is reduced. When the robot needs to accelerate, the motor III (49) drives the rotary valve (51) to rotate, the leakage hole is closed, the leakage flow is reduced, the front and rear pressure difference increases, the driving force increases, and the movement speed increases. When the robot is about to reach the designated plugging position, the motor III (49) drives the rotary valve (51) to rotate, the leakage hole is opened, and the robot starts to slow down. At the same time, the output shaft of the motor III (49) continues to rotate through the threaded sleeve (3) to drive the bracket (1) and the extrusion ring (6) to squeeze the rubber tube (7). The rubber tube (7) is subjected to force and radially deforms and expands to rub the inner wall of the pipe, thereby realizing a flexible braking function. The motor III (49) further outputs, causing the rubber tube (7) to be squeezed and deformed. When the force on the rubber tube (7) reaches the predetermined value of the limit card (47), the rubber baffle (48) pushes the limit card (47) through the guide tube (5). The circumferential limiting groove (501) moves straight downward, the rubber baffle (48) passes through the circumferential limiting groove (501) in the middle of the guide tube (5), and begins to squeeze the slip base (46) to move forward, and drives the slip (8) to move forward along the rubber conical tube (19) through the slip rod (20), and the slip (8) contacts the inner wall of the pipeline. As the motor III (49) outputs and continues to move forward, the slip (8) is stuck in the inner wall of the pipeline, and the robot is anchored at the front and rear sides of the target position and stops moving.

[0063] When the intelligent positioning, plugging and diversion robot for the oil and gas pipeline leakage point starts to anchor, the pipeline robot runs in the pipeline and uses the feedback of the detection equipment to operate the robot to the damaged part of the pipeline so that the damaged part of the pipeline is between the airbag I (12) and the airbag II (14) installed in the plugging and diversion module. At this time, the airbag I (12) and the airbag II (14) are inflated through the gas cylinder (24) connected in the air chamber I (23) and the air chamber II (34) through the electric exhaust valve (43). After the airbag I (12) and the airbag II (14) are expanded, they are in close contact with the pipe wall. At this time, the telescopic plugging module and the pipe wall form a sealing area, and the liquid in the pipeline no longer leaks from the damaged part. Emergency repair work can be started. At the same time, the liquid is discharged from the guide pipe between the internal threaded connecting sleeve I (32), the external threaded connecting sleeve I (33), the internal threaded connecting sleeve II (41) and the external threaded connecting sleeve II (44) to ensure that the pipeline is not interrupted.

[0064] When the oil and gas pipeline leakage point intelligent positioning plugging and diversion robot needs to adjust the plugging length, the motor I (27) and the motor II (36) respectively drive the screw rod I (31) and the screw rod II (39) to rotate, and the screw rod I (31) and the transmission nut I (28) drive the spiral transmission sleeve I (30) to extend through the thread transmission, and the spiral transmission sleeve I (30) is fixed on the air chamber II (34), thereby pushing the air bag II (14) and the air chamber II (34) to extend, and the screw rod II (39) and the transmission nut II (38) drive the spiral transmission sleeve II (40) to extend through the thread transmission, and the spiral transmission sleeve II (40) is fixed on the air chamber I (23), thereby pushing the air bag I (12) and the air chamber I (23) to extend, and the two motors respectively control the extension and contraction of the air bag I (12) and the air bag II (14), thereby achieving adjustable plugging length, as shown in the attached figure. Figure 13 The figure shows a schematic diagram of the working process of the telescopic blocking module with variable blocking length according to the present invention.

[0065] When the intelligent positioning, plugging and diversion robot for leaking oil and gas pipelines needs to be precisely positioned, assuming that the pipeline robot is in a state where it has not yet reached the designated position, it is first anchored by the slips (8), and the gas cylinder (24) inflates the airbag II (14) through the electric exhaust valve (43). After the airbag II (14) expands, it is in close contact with the pipe wall as a support. At the same time, the screw rod I (31) and the screw rod II (39) respectively form a threaded transmission through the transmission nut I (28) and the transmission nut II (38) to drive the spiral transmission sleeve I (30) and the spiral transmission sleeve II (40) to extend, and the spiral transmission sleeve I (30) is fixed on the air chamber II (34), and the spiral transmission sleeve II (40) is fixed on the air chamber I (23), thereby pushing the airbag I (12) and the air chamber I (23), and the airbag II (14) and the air chamber II (34) to extend at the same time. Then the gas cylinder (24) is electrically exhausted. The air valve (43) inflates the airbag I (12). After the airbag I (12) expands, it contacts the pipe wall closely as a support. The anchoring of the slip (8) is released. The electric deflation valve (35) discharges the gas in the airbag II (14). The airbag II (14) is released and retracts. At the same time, the screw rod I (31) and the screw rod II (39) respectively drive the spiral transmission sleeve I (30) and the spiral transmission sleeve II (40) to retract through the transmission nut I (28) and the transmission nut II (38). The spiral transmission sleeve I (30) is fixed on the air chamber II (34), and the spiral transmission sleeve II (40) is fixed on the air chamber I (23). This pushes the airbag I (12) and the air chamber I (23), and the airbag II (14) and the air chamber II (34) to retract at the same time, thereby realizing the function of controlling the oil and gas pipeline to continuously transmit the leakage point intelligent positioning and blocking diversion robot to accurately reach the designated work location, as shown in the attached figure. Figure 14 The figure shows a schematic diagram of the crawling positioning workflow of the present invention.

[0066] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications can be made based on the above descriptions. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications derived therefrom remain within the scope of protection of the present invention.

Claims

1. An intelligent positioning, blocking and diversion robot for leaks in oil and gas pipelines, characterized by: It comprises a blocking and diverting module, a wire-passing connector (16), and a power brake module, wherein the blocking and diverting module is connected to the wire-passing connector (16) via bolts, and the wire-passing connector (16) is connected to the power brake module via bolts; The blocking and diversion module comprises an outer cover tube (11), an air bag I (12), a rubber cup II (13), an air bag II (14), a rubber cup III (15), a screw II (21), a bolt II (22), an air chamber I (23), an air cylinder (24), a fixing rod (25), a clamp (26), an electric motor I (27), a transmission nut I (28), a fixed polished rod I (29), a spiral transmission sleeve I (30), a screw rod I (31), an internal thread connection sleeve I (32), an external thread connection sleeve I (33), an air chamber II (34), an electric deflation valve (35), a electric motor II (36), a fixed polished rod II (37), a transmission nut II (38), a screw rod II (39), a spiral transmission sleeve II (40), an internal thread connection sleeve Ⅱ (41), transmission baffle (42), electric exhaust valve (43), external thread connection sleeve Ⅱ (44); wherein the rubber cup Ⅱ (13) and the rubber cup Ⅲ (15) are fixed on the external thread connection sleeve Ⅱ (44) and the external thread connection sleeve Ⅰ (33) respectively by screw Ⅱ (21); the air bag Ⅰ (12) and the air bag Ⅱ (14) are respectively assembled on the air chamber Ⅰ (23) and the air chamber Ⅱ (34); the external thread connection sleeve Ⅰ (33) and the internal thread connection sleeve Ⅰ (32) are connected by threads; the external thread connection sleeve Ⅱ (44) and the internal thread connection sleeve Ⅱ (41) are connected by threads; the air chamber Ⅰ (23) is set between the internal thread connection sleeve Ⅱ (41) and the external thread connection sleeve Ⅱ (44); the air chamber Ⅱ (34) is set Between the internal thread connection sleeve I (32) and the external thread connection sleeve I (33), the fixing rod (25) is fixed to the inside of the air chamber I (23) and the air chamber II (34) through the bolt II (22), and is connected to the bottle body of the gas cylinder (24) through the clamp (26). The mouth of the gas cylinder (24) is connected to the electric exhaust valve (43). The electric exhaust valve (35) is fixed to the air chamber I (23) and the air chamber II (34) through a threaded connection. The internal thread connection sleeve I (32) passes through the transmission baffle (42) and is placed in the outer cover tube (11). The internal thread connection sleeve II (41) is located in the outer cover tube (11). The screw rod I (31) and the screw rod II (39) are connected to the motor I (27) and the motor II (36) respectively through the keyway, and pass through the transmission respectively. The nut I (28) and the transmission nut II (38) form a threaded transmission, the motor I (27) is fixed to the transmission baffle (42) by bolts, the motor II (36) is fixed to the outer cover tube (11) by bolts, the fixed polished rod I (29) is fixed to the transmission baffle (42) by interference connection and passes through the transmission nut I (28), the fixed polished rod II (37) is fixed to the outer cover tube (11) by interference connection and passes through the transmission nut II (38), the spiral transmission sleeve I (30) is fixed to the transmission nut I (28) and passes through the outer cover tube (11) to form an interference connection with the air chamber II (34), the spiral transmission sleeve II (40) is fixed to the transmission nut II (38) and passes through the transmission baffle (42) to form an interference connection with the air chamber I (23); The wire-passing connector (16) comprises a sphere (1601), a spherical shell (1602), an inner hexagonal pin (1603), a cylindrical pin (1604), and an outer shell (1605), wherein the sphere (1601) has circumferentially distributed screw holes and is connected to the guide tube (5) and the external threaded connection sleeve I (33) through screws, the spherical shell (1602) is connected to the sphere (1601) through the cylindrical pin (1604), and the outer shell (1605) is connected to the spherical shell (1602) through the inner hexagonal pin (1603); The power brake module comprises a bracket (1), a discharge plate (2), a threaded sleeve (3), a retaining frame (4), a guide tube (5), an extrusion ring (6), a rubber tube (7), a slip (8), a rubber cup I (9), a control module (10), a power module (17), a conical tube retaining ring (18), a rubber conical tube (19), a slip rod (20), a cylindrical pin (45), a slip base (46), a limit card (47), a rubber baffle (48), a motor III (49), a screw I (50), a rotary valve (51), and a bolt I (52), wherein the discharge plate (2) and the retaining frame (4) are fixed to the guide tube (5) by means of the bolt I (52), the motor III (49) and the retaining frame (4) are connected and fixed in the guide tube (5) by means of the screw I (50), and the rotary valve ( 51) is fixed on the motor shaft by interference fit, the threaded sleeve (3) is connected to the output shaft of the motor III (49) by interference fit, the bracket (1) and the threaded sleeve (3) are connected by threads, the extrusion ring (6) is placed behind the bracket (1), the rubber tube (7) is placed between the extrusion ring (6) and the rubber baffle (48), the rubber baffle (48) and the limit card (47) are assembled on the guide tube (5), the rubber conical tube (19) is placed on the slip base (46), the slip (8) is placed on the rubber conical tube (19), the slip (8), the slip rod (20) and the slip base (46) are connected by a cylindrical pin (45), the conical tube retaining ring (18) is connected to the rubber leather cup I (9) by bolts, and the control module (10) and the power module (17) are placed behind the rubber leather cup I (9) in sequence.

2. The intelligent positioning, blocking and diversion robot for leaking oil and gas pipelines according to claim 1 is characterized by: A limiting groove (501) is circumferentially provided at the middle of the guide tube (5), and a circumferentially distributed bolt connection holes I (502) are provided at the end surface of the guide tube (5).

3. The intelligent positioning, blocking and diversion robot for leaking oil and gas pipelines according to claim 1 is characterized by: The front end edge of the outer cover tube (11) is provided with circumferentially distributed screw connection holes I (1101), the left side of the rear end face is provided with a motor connection hole I (1103), the right side is provided with a spiral transmission sleeve connection hole I (1102), and the middle part is provided with a guide pipe (1104).

4. The intelligent positioning, blocking and diversion robot for leaking oil and gas pipelines according to claim 1 is characterized by: The air chamber I (23) has the same structure as the air chamber II (34), and bolt connection holes II (2301) are symmetrically provided on both end surfaces. A deflation valve thread fixing hole (2302) is provided on the left side of the two end surfaces, and a spiral transmission sleeve hole II (2304) is provided on the right side. Air bag limit blocks (2303) are provided on the inner walls of the two end surfaces.

5. The intelligent positioning, blocking and diversion robot for leaking oil and gas pipelines according to claim 1 is characterized by: The transmission nut I (28) has the same structure as the transmission nut II (38), with a threaded transmission hole (2801) provided at the upper end, a polished rod connection hole (2802) provided in the middle, and a spiral transmission sleeve connection hole III (2803) provided at the lower end.

6. The intelligent positioning, blocking and diversion robot for leaking oil and gas pipelines according to claim 1 is characterized by: The internal thread connection sleeve I (32) has the same structure as the internal thread connection sleeve II (41), with a circular baffle I (3201) provided in the middle and an internal connection thread (3202) provided inside the front end pipe wall.

7. The intelligent positioning, blocking and diversion robot for leaking oil and gas pipelines according to claim 1 is characterized by: The external thread connection sleeve I (33) has the same structure as the external thread connection sleeve II (44), and a circular baffle II (3301) is provided at its rear end, a screw connection hole II (3303) is provided along the circumferential edge of the circular baffle II (3301), and an external connection thread (3302) is provided on the outer surface of its front end.

8. The intelligent positioning, blocking and diversion robot for leaking oil and gas pipelines according to claim 1 is characterized by: The transmission baffle (42) is provided with a bolt connection hole III (4201) on the circumference of its edge, a spiral transmission sleeve connection hole II (4202) is provided on the right side, a polished rod fixing hole (4203) is provided below the spiral transmission sleeve connection hole II (4202), and a motor connection hole II (4204) is provided on the left side.

9. The intelligent positioning, blocking and diversion robot for leaking oil and gas pipelines according to claim 1 is characterized by: A plugging and diversion method for an oil and gas pipeline leak point using an intelligent positioning, plugging and diversion robot is proposed. The workflow for plugging and diverting oil and gas pipeline leaks can be divided into five stages: speed regulation, braking and anchoring, precise positioning, plugging and diversion, and unblocking and recovery. The steps are as follows: S1, travel speed regulation stage: the oil and gas pipeline continuous leakage point intelligent positioning plugging diversion robot is put into the pipeline from the entrance of the finished oil pipeline. At this time, the rotary valve (51) of the power brake module completely coincides with the leakage hole on the leakage plate (2), and the pipeline plugging diversion robot is pushed to the target location by the oil and gas medium in the pipeline. When the robot needs to slow down, the motor III (49) drives the rotary valve (51) to rotate, the leakage hole is opened, and the fluid in the pipeline moves along the diversion channel of the diversion tube (5). The pressure difference between the front and rear ends of the robot is reduced, the driving force is reduced, and the movement speed is reduced. When the robot needs to accelerate, the motor III (49) drives the rotary valve (51) to rotate, the leakage hole is closed, the leakage flow is reduced, the front and rear pressure difference increases, the driving force increases, and the movement speed increases. When the robot is about to reach the designated plugging position, the motor III (49) drives the rotary valve (51) to rotate, the leakage hole is opened, and the speed starts to decrease; S2, braking anchoring stage: the control module (17) controls the output shaft of the motor III (49) to continue rotating through the threaded sleeve (3) to drive the bracket (1) and the extrusion ring (6) to squeeze the rubber tube (7). The rubber tube (7) is subjected to force and radially deforms and expands to rub against the inner wall of the pipe, thereby realizing a flexible braking function. The motor III (49) further outputs and causes the rubber tube (7) to be squeezed and deformed. When the force on the rubber tube (7) reaches the preset value of the limit card (47), the rubber baffle (48) pushes the limit card ( 47) moves straight downward through the limiting groove (501) on the circumferential side of the guide tube (5), the rubber baffle (48) passes through the limiting groove (501) on the circumferential side of the guide tube (5), and begins to squeeze the slip base (46) to move forward, and drives the slip (8) to move forward along the rubber conical tube (19) through the slip rod (20), and the slip (8) contacts the inner wall of the pipe. As the motor III (49) outputs and continues to move forward, the slip (8) is stuck in the inner wall of the pipe, and the robot is anchored at the front and rear sides of the target position; S3, precise positioning stage: the slip (8) is anchored, the gas cylinder (24) inflates the airbag II (14) through the electric exhaust valve (43), and the airbag II (14) is inflated and in close contact with the pipe wall as a support. At the same time, the screw rod I (31) and the screw rod II (39) respectively form a threaded transmission through the transmission nut I (28) and the transmission nut II (38) to drive the spiral transmission sleeve I (30) and the spiral transmission sleeve II (40) to extend, thereby pushing the airbag I (12) and the air chamber I (23), the airbag II (14) and the air chamber II (34) to extend at the same time. Then the gas cylinder (24) inflates the airbag I (12) through the electric exhaust valve (43), and the airbag I (12) is inflated and in close contact with the pipe wall. With close contact as support, the cava (8) is released from anchoring, the electric deflation valve (35) discharges the gas in the airbag II (14), and the airbag II (14) is released from expansion and retracts. At the same time, the screw rod I (31) and the screw rod II (39) respectively drive the spiral transmission sleeve I (30) and the spiral transmission sleeve II (40) to retract through the transmission nut I (28) and the transmission nut II (38), thereby pushing the airbag I (12) and the air chamber I (23), and the airbag II (14) and the air chamber II (34) to retract at the same time. Subsequently, the rubber cylinder (7) is squeezed and expanded to brake, and the cava (8) is anchored, thereby realizing the control of the oil and gas pipeline to continuously transmit the leakage point. The intelligent positioning and blocking diversion robot accurately reaches the designated work location; S4, blocking and diversion stage: the gas cylinder (24) inflates the airbag I (12) and the airbag II (14) through the electric exhaust valve (43). After the airbag I (12) and the airbag II (14) expand, they are in close contact with the pipe wall to achieve blocking of the leak point. At the same time, the leakage hole on the leakage plate (2) is in an open state. The oil and gas flows through the guide tube (5), passes through the wire connector (16), enters the external threaded connection sleeve I (33), and then flows through the internal threaded connection sleeve I (32). Then, it enters the diversion pipe (1104) in the middle of the outer cover tube (11), and then flows through the internal threaded connection sleeve II (41) and the external threaded connection sleeve II (44) in sequence, finally achieving blocking and diversion; S5, unsealing and recovery stage: the electric deflation valve (35) discharges the gas in the airbag I (12) and the airbag II (14), the airbag I (12) and the airbag II (14) are de-expanded and retracted, the motor III (49) is reversed, the bracket (1) and the extrusion ring (6) move backward, the rubber tube (7) starts to recover and retract due to the reduced force, and at the same time the slip rod (20) and the slip (8) slide downward, the anchoring is released, the oil and gas pipeline continues to transmit the leakage point intelligent positioning and plugging diversion robot driven by the fluid in the pipe to continue to move forward to the recovery point, and the recovery is completed.

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