A downhole bladder plugging robot

Abstract

The application discloses a downhole air bag blocking robot, which comprises a walking device and a multi-chamber air bag located at the back of the walking device; the walking device comprises a walking trunk and an air bag connecting device located above the walking trunk; the air bag connecting device comprises a connecting shell, a protrusion formed between two recesses arranged on the two sides of the middle part of the connecting shell, a front shell and a rear shell connected with the protrusion; a plurality of disengaging assemblies are located in the two recesses and are provided with telescopic rods on the opposite ends of the front shell and the rear shell; before pipeline blocking operation, a hanging ring on the multi-chamber air bag is sleeved on the telescopic rod; during pipeline blocking operation, the multi-chamber air bag is separated from the walking device. The downhole air bag blocking robot disclosed by the application can realize air bag blocking without being limited by well depth.

Description

Technical Field

[0001] This invention relates to the field of pipeline plugging technology, specifically to a downhole airbag plugging robot. Background Technology

[0002] Currently, all drainage pipe dredging, inspection, repair, and water tightness testing operations require airbags to seal the pipe openings. An airbag is a hollow product made of rubber or PVC mesh fabric through a bonding process. It is inflated with compressed air and tightens against the drainage pipe wall to achieve a seal, making it the most commonly used pipe sealing tool. However, most airbags are single-chamber structures. In complex drainage pipe environments containing large amounts of silt, domestic waste, and construction debris, combined with material, processing, and external force factors, airbags are prone to leakage or even bursting, leading to sealing failure and seriously affecting the safety of construction personnel and equipment. Furthermore, the irregular shape and size of the airbag after deflating make it inconvenient for divers to carry, and it is unsuitable for robots to carry it for construction.

[0003] Currently, for vertical shafts less than four meters deep, workers stand at the surface of the shaft opening and use a probe to insert an airbag into the horizontal shaft opening. For shafts deeper than four meters, divers typically descend into the shaft to perform the airbag sealing operation. After descending, the divers first clear construction debris and silt from the sealing area by hand. Then, personnel above ground lower the airbag down into the shaft, and the divers push it into the sealing area of ​​the drainage pipe opening. The divers then return to the surface, where an air compressor inflates the airbag, completing the seal. Because the drainage pipes are filled with sewage containing large amounts of flammable, explosive, and toxic gases, personal injury accidents frequently occur.

[0004] Existing technology, as described in invention patent CN115978341A, is a vehicle-mounted airbag sealing device. This device integrates a vehicle body with the airbag sealing unit. Using a telescopic bracket assembly, the vehicle is simply parked at the manhole opening, and the airbag sealing device is placed in the vertical shaft via the bracket assembly. The airbag then places the airbag in a horizontal shaft to seal the pipe. However, vehicle-mounted airbag sealing devices are only suitable for locations with convenient transportation and ample space. For manholes located in narrow passageways, the vehicle cannot pass through. Furthermore, even vehicle-mounted airbag sealing devices are limited by the length of the telescopic bracket assembly, which restricts the depth to which the device can be lowered into the manhole. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a gasbag plugging device that is not limited by well depth and is easy to carry, and to improve the reliability of safe operation of gasbag plugging.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] A downhole airbag plugging robot, comprising a walking device 100 and a multi-chamber airbag 3400 located on the back of the walking device 100;

[0008] The walking device 100 includes a walking torso 110 and an airbag connecting device 120 located on the walking torso 110. The airbag connecting device 120 includes a connecting housing 121 and a release pin assembly 126. The connecting housing 121 has recesses 122 on both sides of the middle portion, forming a protrusion 123 between the two recesses 122, and a front housing 124 and a rear housing 125 connected to the protrusion 123. A plurality of release pin assemblies 126 are located in the two recesses 122, and telescopic rods 1261 are provided on the opposite ends of the front housing 124 and the rear housing 125.

[0009] Before the pipeline sealing operation, the hanging ring 301 on the multi-chamber airbag 3400 is fitted onto the telescopic rod 1261; during the pipeline sealing operation, the multi-chamber airbag 3400 is detached from the walking device 100.

[0010] Advantages: The walking device carries multi-chamber airbags down the well, allowing airbag sealing operations to be performed without being limited by well depth. The robot's small size and light weight make it suitable for use in confined spaces at wellheads or in locations with poor transportation, such as tunnels and forests. This robot does not require a dedicated vehicle; ordinary transport tools, such as a tricycle or two workers, can be used for transport. The multi-chamber design also solves the problem of remaining airbags safely sealing the leak even if a single chamber leaks, further improving the reliability of airbag sealing.

[0011] In one embodiment of the present invention, the airbag connecting device 120 further includes a roller assembly 127, which is located between the pin release assembly 126 and the protrusion 123. When the multi-chamber airbag 3400 is disengaged from the walking device 100, the roller assembly 127 and the multi-chamber airbag 3400 roll and rub against each other.

[0012] In one embodiment of the present invention, the multi-chamber airbag 3400 includes two independent airbag chambers 300 connected in sequence, and a transition chamber 400 is provided between the two independent airbag chambers 300; wherein, each independent airbag chamber 300 includes a cylinder 310, a front seal 320 and a rear seal 330, the front seal 320 and the rear seal 330 being connected to both ends of the cylinder 310 respectively; the multi-chamber airbag 3400 also includes a sealing plate 340 and an air nozzle 360, the sealing plate 340 being detachably connected to the front seal 320, and a straight-through air nozzle 350 being provided on the sealing plate 340, the straight-through air nozzle 350 and the air nozzle 360 ​​being connected by a connecting pipe 370; the independent airbag chambers 300 and the transition chamber 400 are connected to the airbag inflation / deflation device 500 through the straight-through air nozzle 350 and the air nozzle 360.

[0013] In one embodiment of the present invention, the sealing plate 340 includes an inner plate 341 and an outer plate 342; the inner plate 341 and the outer plate 342 are detachably connected and clamp onto the front seal 320, and the clamping surfaces of the inner plate 341 and the outer plate 342 are provided with matching circumferential grooves 3412; the straight air nozzle 350 is fixedly connected to the inner plate 341.

[0014] In one embodiment of the present invention, an axial intermediate crease 311, a radial crease 312, and an axial outer edge crease 313 are provided on the multi-chamber airbag 3400; wherein, the axial intermediate crease 311 is located between the central axis of the multi-chamber airbag 3400 and the outer edge of the multi-chamber airbag 3400; the axial outer edge crease 313 is located at the outer edge of the multi-chamber airbag 3400; the radial crease 312 is located on the independent airbag compartment 300 at the tail; the crease direction of the axial intermediate crease 311 and the axial outer edge crease 313 is folded towards the central axis of the multi-chamber airbag 3400.

[0015] In one embodiment of the present invention, both the front seal 320 and the rear seal 330 are provided with sealing radial creases 3230, the sealing radial creases 3230 are located at the middle position of the front seal 320 and the rear seal 330 respectively, and the length of the sealing radial creases 3230 is less than the diameter of the cylinder 310; the folding direction of the sealing radial creases 3230 is the direction in which the front seal 320 and the rear seal 330 of each independent airbag chamber 300 are concave inward towards the cylinder 310.

[0016] In one embodiment of the present invention, when the multi-chamber airbag 3400 deflates, it deforms in the direction set by the crease, including: the independent airbag chambers 300 are sucked down and folded towards the central axis of the multi-chamber airbag 3400 along the axial middle crease 311; at the same time, the front seal 320 and the rear seal 330 of each independent airbag chamber 300 are recessed into the cylinder 310 in the folding direction of the sealing radial crease 3230; the connecting pipe 370 located in the transition chamber 400 is stretched; and the connecting pipe 370 located in the independent airbag chamber 300 directly connected to the airbag inflation device 500 is contracted and deformed.

[0017] In one embodiment of the present invention, the independent airbag compartment 300 and the transition compartment 400 are arranged in an unequal three-compartment layout, with the independent airbag compartments 300 at both ends being large compartments and the transition compartment 400 being small compartments.

[0018] In one embodiment of the present invention, the multi-chamber airbag 3400 is inflated in the following order: the independent airbag chamber 300 and the transition chamber 400 are connected in sequence.

[0019] In one embodiment of the present invention, the order of deflating the multi-chamber airbag 3400 is as follows: first deflate the independent airbag chamber 300, and then deflate the transition chamber 400.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. The unequal-spaced three-compartment design solves both the safety sealing problem and reduces the length of the airbag, facilitating its entry and exit from the shaft. The unequal-spaced three-compartment layout features large compartments at both ends and a small compartment in the middle; a single large compartment can meet the sealing capacity requirements. When the airbag is not leaking, all three compartments simultaneously inflate against the inner wall of the drainage pipe, increasing the safety factor. If a single compartment leaks or a foreign object punctures a middle compartment, causing leaks in the small middle compartment and an adjacent large compartment, the remaining large compartment will still provide normal sealing. The small middle compartment, compared to the three large compartments, shortens the airbag length while still ensuring that leaks in two adjacent compartments do not affect the safety sealing.

[0022] 2. By appropriately lengthening the air pipe through the intermediate compartment, the partition can be deformed to both sides when the airbag deflates.

[0023] 3. To ensure that the rear folded portion of the airbag does not press against the tube wall and prevent it from unfolding when inflated in the folded state, and to prevent the air tube in the transition chamber from being unable to extend and affecting inflation, the inflation sequence is as follows: the independent airbag compartment and the transition chamber are connected sequentially. To ensure that the airbag can flatten during deflation and collapse, the deflation sequence is as follows: first deflate the independent airbag compartment, then deflate the transition chamber.

[0024] 4. To prevent the airbag from forming bulges due to irregular stacking of the middle section during airbag inhalation and deflation, which would affect airbag folding, the axial middle crease, axial outer edge crease, and sealing radial crease play a guiding role. During air inhalation and deflating, the sealing radial crease deforms according to the crease setting direction.

[0025] 5. The straight-through nozzle is used for quick connection with the multi-core air tube assembly to inflate and deflate the airbag. The inner and outer connecting plates clamp the airbag sealing layer and fasten it. The clamping mating surface is designed with matching circumferential concave and convex grooves to clamp the airbag sealing layer and enhance the sealing performance.

[0026] 6. The sludge removal device shreds and mixes the hardened sludge settled at the bottom of the drainage pipe with water to form a slurry. This slurry is then pumped out and discharged outside the blocked area. Small solid particles are filtered by the sludge removal device and mixed with the sludge to form a slurry, which is then pumped away and discharged. Larger solid debris is pushed forward by the sludge removal device outside the blocked area. The sludge removal device cleans the blocked area, and then uses multi-chamber airbags to seal the pipe within the blocked area. Both processes are integrated into the moving device, improving industrial efficiency. The sludge removal device removes sharp building objects or wall remnants from the blocked area, preventing the multi-chamber airbags from being punctured and further improving the reliability of the airbag sealing.

[0027] 7. The suction hopper is hinged to the lower part of the walking device and softly connected to the upper part. A flexible hose connects the suction port to the mud pump inlet, allowing the suction hopper to swing upwards around the junction point. The dredging device uses its own weight to press against the silt, cutting and agitating it. This prevents the robot's weight from pressing heavily on the spiral roller, which would cause excessive rotational resistance, and also prevents the spiral roller from being too high when encountering hard debris, thus avoiding the rear wheels of the dredging device and the middle and front wheels from being suspended in the air, significantly reducing the robot's walking drive force.

[0028] 8. The spiral blades are wound in a conical shape on the drum, and the spiral directions of a pair of spiral blades are opposite, so that the diameter of the spiral roller is largest in the middle position in the longitudinal direction, and the point of largest diameter of the spiral roller is directly opposite the suction port. During the rotation of the spiral blades, the hard silt at the bottom of the drainage pipe is shredded and mixed with water into a paste-like slurry. Through the rotation of the spiral blades with different spiral directions on the left and right, the slurry is collected from both sides towards the middle position directly opposite the suction port, and then sucked in and discharged by the slurry pump.

[0029] 9. The difference in upper radius formed by the height of a pair of spiral blades and the arcuate side of the front baffle is greater than the difference in lower radius formed by the height of a pair of spiral blades and the arcuate side of the bottom plate. The suction hopper is designed in an "eccentric funnel shape," with the radius difference between the spiral roller and the front baffle and bottom plate being larger at the top and smaller at the bottom. This allows for a looser feed and damped discharge, achieving a large upper feed space and a small lower discharge space, reducing ineffective sludge removal and improving sludge removal efficiency. Furthermore, the suction port, which is wider at the front and narrower at the back, generates a certain guiding and compressive force on the sludge.

[0030] 10. The pitch and upper radius difference of each spiral blade are set according to the solid particle throughput capacity of the mud pump. The upper radius difference is designed to be smaller than the solid particle throughput capacity of the mud pump, thus blocking larger solid particles. When larger solid particles are stuck between the spiral blade and the suction hopper, they are extruded by the reverse rotation of the spiral roller. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of a downhole airbag plugging robot according to an embodiment of the present invention.

[0032] Figure 2 and Figure 3 This is a schematic diagram of the airbag connection device according to an embodiment of the present invention.

[0033] Figure 4 This is a schematic diagram of a multi-chamber airbag according to an embodiment of the present invention.

[0034] Figure 5 This is a partially enlarged view of the sealing plate according to an embodiment of the present invention.

[0035] Figure 6 and Figure 7 This is a schematic diagram of the creases in an embodiment of the present invention.

[0036] Figures 8 to 10 This is a schematic diagram of the folding of the multi-chamber airbag before it is lowered into the well, according to an embodiment of the present invention.

[0037] Figure 11 and Figure 12 This is a schematic diagram of the folding of the multi-chamber airbag after downhole exhaust according to an embodiment of the present invention.

[0038] Figures 13 to 16 This is a schematic diagram of an airbag inflation / deflation device according to an embodiment of the present invention.

[0039] Figures 17 to 19 This is a schematic diagram illustrating various working states of the multi-chamber airbag according to an embodiment of the present invention.

[0040] Figure 20 This is a schematic diagram of Embodiment 2 of the present invention.

[0041] Figure 21 This is a schematic diagram of the dredging device according to an embodiment of the present invention.

[0042] Figure 22 This is a schematic diagram of the suction hopper according to an embodiment of the present invention.

[0043] Figure 23 This is a cross-sectional view of the drum according to an embodiment of the present invention.

[0044] Figure 24 This is a schematic diagram of the spiral roller and pipe according to an embodiment of the present invention.

[0045] Figure 25 This is a schematic diagram of robot dredging according to an embodiment of the present invention.

[0046] Figure 26 This is a schematic diagram of robot obstacle removal according to an embodiment of the present invention.

[0047] Figure 27 This is a schematic diagram of a robot overcoming obstacles according to an embodiment of the present invention. Detailed Implementation

[0048] To facilitate understanding of the technical solution of the present invention by those skilled in the art, the technical solution of the present invention will now be further described in conjunction with the accompanying drawings.

[0049] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0050] Example 1

[0051] Please see Figures 1 to 3As shown, this invention provides a downhole airbag plugging robot, including a walking device 100 and a multi-chamber airbag 3400 located on the back of the walking device 100. The walking device 100 includes a walking torso 110 and an airbag connecting device 120 located on the walking torso 110. The airbag connecting device 120 includes a connecting housing 121 and a pin release assembly 126. Recesses 122 are provided on both sides of the middle portion of the connecting housing 121, forming a protrusion 123 between the two recesses 122, and a front housing 124 and a rear housing 125 connected to the protrusion 123. Multiple pin release assemblies 126 are located within the two recesses 122, and telescopic rods 1261 are provided at the opposite ends of the front housing 124 and the rear housing 125. Before the pipe plugging operation, the hanging ring 301 on the multi-chamber airbag 3400 is shown in the figure. Figure 10 As shown, it is fitted onto the telescopic rod 1261. During pipeline sealing operations, the multi-chamber airbag 3400 detaches from the traveling device 100.

[0052] Please see Figures 1 to 3 As shown, in one embodiment of the present invention, a rear lifting ring 111 is provided at the tail of the walking torso 110, and magnetic lifting rings 112 are provided on both sides. When the robot is to be lowered into the well, it is fixed to the rear lifting ring 111 and the magnetic lifting rings 112 by a lifting rope. When the robot is placed at the bottom of the inspection well by the lifting frame and the lifting rope, the magnetic lifting rings 112 lose power and detach from the walking torso 110.

[0053] Please see Figures 1 to 3 As shown, in one embodiment of the present invention, the airbag connecting device 120 further includes a roller assembly 127, which is located in the recess 122. The roller assembly 127 is located between the detachment assembly 126 and the protrusion 123. When the multi-chamber airbag 3400 is detached from the walking device 100, the roller assembly 127 and the multi-chamber airbag 3400 roll and rub against each other.

[0054] Please see Figures 1 to 3 As shown, in one embodiment of the present invention, the detachment assembly 126 ensures that the multi-chamber airbag 3400 and the traveling device 100 are integrated when the pipe is lowered into the well. When sealing is required, the telescopic rod 1261 opens, and the multi-chamber airbag 3400 detaches from the traveling device 100. Under conditions of high water level, full water, or large pipe diameter, the multi-chamber airbag 3400 detaches from the traveling device 100 and floats upward. At this time, the detachment force of the roller assembly 127 is a non-powered roller, which can rotate freely, changing the sliding friction of the incomplete detachment of the multi-chamber airbag 3400 from the traveling device 100 into rolling friction, preventing the traveling device 100 from dragging the multi-chamber airbag 3400 out. The traveling device 100 withdraws from the lower part of the multi-chamber airbag 3400 to the inspection well and is lifted to the inlet by a hoisting rope. The multi-chamber airbag 3400 is inflated by the airbag inflation / deflation device 500, see... Figure 17As shown, the airbag is inflated, breaking through the plastic tape and tightening onto the pipe wall to complete the seal. When the water level is low or the pipe diameter is small, the disengagement force of the roller assembly 127 is a powered roller. When the traveling device 100 releases the multi-chamber airbag 3400 through the release pin assembly 126, the roller assembly 127 rotates in the opposite direction, i.e., in the opposite direction to the disengagement of the traveling device 100, generating a forward force that pushes the multi-chamber airbag 3400 forward, preventing the multi-chamber airbag 3400 from being incompletely disengaged from the traveling device 100. Through the rotational conveying of the roller assembly 127, the multi-chamber airbag 3400 and the traveling device 100 are separated, and the traveling device 100 is withdrawn to the inspection well. The multi-chamber airbag 3400 is inflated by the airbag inflation / deflation device 500, breaking through the plastic tape and tightening onto the pipe wall to complete the seal.

[0055] Please see Figures 1 to 3 As shown, in one embodiment of the present invention, the walking device 100 is capable of turning, moving forward, and moving backward underground. Vehicle body lights 1245 and underground cameras 1246 are provided at both ends of the front housing 124 and the rear housing 125; and a pair of vehicle body lights 1245 are provided on both sides of each underground camera 1246. The pair of vehicle body lights 1245 are staggered at 45° to prevent light reflection from affecting the underground cameras 1246. The underground cameras 1246 are wide-angle cameras used to capture the situation inside the pipeline. A radar (not shown) and a power signal connector 113 are also provided on the walking body 110. The power signal connector 113 connects the dredging device 200, radar, pin removal assembly 126, roller assembly 127, vehicle body lights 1245, underground cameras 1246, and the drive device on the walking device 100 to the controller above ground.

[0056] Please see Figure 1 , Figure 4 and Figure 5 As shown, in one embodiment of the present invention, the multi-chamber airbag 3400 includes two independently connected airbag chambers 300, with a transition chamber 400 between the two independently connected airbag chambers 300. Each independently connected airbag chamber 300 includes a cylinder 310, a front seal 320, and a rear seal 330, which are respectively connected to both ends of the cylinder 310. The multi-chamber airbag 3400 also includes a sealing plate 340 and an air nozzle 360. The sealing plate 340 is detachably connected to the front seal 320, and a straight-through air nozzle 350 is provided on the sealing plate 340. The straight-through air nozzle 350 and the air nozzle 360 ​​are connected via a connecting pipe 370. The independently connected airbag chambers 300 and the transition chamber 400 are connected to the airbag inflation / deflation device 500 via the straight-through air nozzle 350 and the air nozzle 360.

[0057] Please see Figure 1 , Figure 4 and Figure 5 As shown, in one embodiment of the present invention, there are multiple air nozzles 360. The air nozzles 360 are respectively fixed on the rear seal 330 of the independent airbag compartment 300 directly connected to the airbag inflation / deflation device 500, and also on the front seal 320 of the independent airbag compartment 300 indirectly connected to the airbag inflation / deflation device 500. The number of through air nozzles 350 depends on the number of independent airbag compartments 300 and transition chambers 400. Through air nozzles 350 are connected to the airbag inflation / deflation device 500 and air nozzles 360 respectively to inflate and deflate the independent airbag compartments 300 and transition chambers 400. The through air nozzles 350 and air nozzles 360 are connected by a connecting pipe 370 to inflate and deflate the independent airbag compartments 300 and transition chambers 400.

[0058] Please see Figure 1 , Figure 4 and Figure 5 As shown, in one embodiment of the present invention, to meet the requirements of airbag inflation and deformation and changes in tracheal length, the connecting pipe 370 is, for example, a spiral telescopic tracheal tube. The independent airbag chambers 300 and the transition chamber 400 are arranged in an unequal-spaced three-chamber layout, with the independent airbag chambers 300 at both ends being large chambers and the transition chamber 400 being small chambers. The multi-chamber airbag 3400, through its unequal-spaced three-chamber design, solves the safety sealing problem while reducing the airbag length, facilitating its transport in and out of the wellbore. In this embodiment, the length of the multi-chamber airbag 3400 is less than 2 meters. Furthermore, while ensuring that no wrinkles appear on the tube wall, the outer diameter of the cylinder 310 of the multi-chamber airbag 3400 is slightly larger than the inner diameter of the pipe to improve the airbag's explosion and puncture resistance.

[0059] Please see Figure 1 , Figure 4 and Figure 5 As shown, in one embodiment of the present invention, the sealing plate 340 includes an inner plate 341 and an outer plate 342. The inner plate 341 and the outer plate 342 are detachably connected and clamped together with the front seal 320. The clamping surfaces of the inner plate 341 and the outer plate 342 are provided with matching circumferential grooves 3412. The straight air nozzle 350 is fixedly connected to the inner plate 341.

[0060] Please see Figure 1 , Figures 4 to 7As shown, in one embodiment of the present invention, an axial intermediate crease 311, a radial crease 312, and an axial outer edge crease 313 are provided on the multi-chamber airbag 3400. The axial intermediate crease 311 is located between the central axis of the multi-chamber airbag 3400 and its outer edge. The axial outer edge crease 313 is located at the outer edge of the multi-chamber airbag 3400. The radial crease 312 is located on the independent airbag compartment 300 at the tail, that is, on the independent airbag compartment 300 indirectly connected to the airbag inflation / deflation device 500. The creases of the axial intermediate crease 311 and the axial outer edge crease 313 are folded towards the central axis of the multi-chamber airbag 3400.

[0061] Please see Figure 1 , Figures 4 to 7 As shown, in one embodiment of the present invention, sealing radial creases 3230 are provided on both the front seal 320 and the rear seal 330. The sealing radial creases 3230 are located at the middle positions of the front seal 320 and the rear seal 330, respectively, and the length of the sealing radial creases 3230 is less than the diameter of the cylinder 310. The folding direction of the sealing radial creases 3230 is inwardly concave towards the cylinder 310 from the front seal 320 and the rear seal 330 of each independent airbag compartment 300.

[0062] Please see Figure 1 , Figures 4 to 10 As shown, in one embodiment of the present invention, before the robot is lowered into the well, the multi-chamber airbag 3400 is folded. First, the multi-chamber airbag 3400 is laid flat, then folded in half along the axial center crease 311 on both sides, and then folded in half again along the radial crease 312, and then bound with plastic wrapping tape 302. The bound multi-chamber airbag 3400 is fixed to the walking device 100 by the hanging ring 301, and the multi-chamber airbag 3400 is pulled in and out of the inspection well by the front hanging strap 303 on the multi-chamber airbag 3400 and fixed at the wellhead to prevent the multi-chamber airbag 3400 from being washed away by water. When the multi-chamber airbag 3400 detaches from the walking device 100, the airbag inflation / deflation device 500 simultaneously inflates the multi-chamber airbag 3400. To ensure that the rear folded part does not press against the tube wall and prevent it from unfolding when inflating in the folded state, and to prevent the air tube of the transition chamber 400 from being unable to extend, thus affecting inflation, the inflation sequence is that the independent airbag chambers 300 and the transition chamber 400 are connected sequentially. The multi-chamber airbag 3400 inflates and expands through the airbag inflation / deflation device 500, breaking through the plastic wrapping tape 302 and tightening onto the tube wall to complete the seal.

[0063] Please see Figure 1 , Figures 4 to 10 As shown, in one embodiment of the present invention, when the multi-chamber airbag 3400 needs to be deflated, in order to ensure that the airbag can be flattened during deflation and deflation, the order of deflation is as follows: first deflate the independent airbag chamber 300, and then deflate the transition chamber 400.

[0064] Please see Figure 1 , Figures 4 to 12 As shown, in one embodiment of the present invention, to prevent the airbag from irregularly piling up and forming bulges during airbag inhalation and deflation, which would affect airbag folding, the axial middle crease 311, the axial outer edge crease 313, and the sealing radial crease 3230 act as guides. During air inhalation and deflating, the sealing radial crease 3230 deforms according to the crease's set direction. The creases can be achieved through external cold pressing or high-temperature pressure to induce permanent plastic deformation.

[0065] When the multi-chamber airbag 3400 deflates, it deforms in the direction set by the creases, including: the individual airbag chambers 300 are sucked down and folded towards the central axis of the multi-chamber airbag 3400 along the axial middle crease 311; at the same time, the front seal 320 and rear seal 330 of each individual airbag chamber 300 are concave inward into the cylinder 310 according to the folding direction of the sealing radial crease 3230; the connecting pipe 370 located in the transition chamber 400 is stretched; and the connecting pipe 370 located in the individual airbag chambers 300 directly connected to the airbag inflation device 500 is contracted and deformed.

[0066] Please see Figure 4 , Figures 13 to 19 As shown, in one embodiment of the present invention, the airbag inflation / deflation device 500 is located above the well and includes an inflation / deflation device 510, a monitoring device 520, and a multi-core air tube assembly 530. Depending on the working state of the multi-chamber airbag 3400, the inflation / deflation device 510 is connected to the multi-chamber airbag 3400 through the multi-core air tube assembly 530, or the monitoring device 520 is connected to the multi-chamber airbag 3400 through the multi-core air tube assembly 530.

[0067] Please see Figure 4 , Figures 13 to 19As shown, in one embodiment of the present invention, the charging and discharging device 510 includes a gas source device 511, a gas storage tank 512, a pressure gauge 513, a vacuum generator 514, a switch valve body 515, and a multi-pipe gas distribution device 516. The gas storage tank 512 is connected to both the gas source device 511 and the vacuum generator 514. The vacuum generator 514 is connected to the inlet of the multi-pipe gas distribution device 516, and the multi-core gas pipe assembly 530 is connected to the outlet of the multi-pipe gas distribution device 516. The pressure gauge 513 is connected to the gas storage tank 512. The gas source device 511 compresses air (positive pressure), and the gas storage tank 512 stores the compressed air. The pressure gauge 513 is used to display the pressure of the compressed air in real time. The switch valve body 515 is connected to the vacuum generator 514. When high-pressure air flows, the vacuum generator 514 generates a vacuum suction force (negative pressure). The switch valve body 515 is used to open or close the exhaust port of the vacuum generator 514. The multi-channel air distribution device 516 is used to open or close the air passage between the multi-chamber airbag 3400 and the multi-channel airbag. A first pin-type straight-through connector 5120 is provided at the outlet of the multi-channel air distribution device 516. The multi-channel air distribution device 516 is a combined two-position two-way solenoid valve or a multi-channel air distribution manifold, and the multi-channel air distribution manifold is straight-through, dividing one channel into multiple channels. Specifically, the number of channels in the multi-channel air distribution device 516 depends on the number of independent airbag chambers 300 or the number of independent airbag chambers 300 and transition chambers 400. The air source device 511 is, for example, an air compressor.

[0068] Please see Figure 4 , Figures 13 to 19 As shown, in one embodiment of the present invention, the monitoring device 520 includes a pressure display component 521, a pressure measuring component 522, a siren 523, a warning light 524, and a second pin connector 5121. The siren 523 and the warning light 524 are both connected to the pressure display component 521, and the pressure measuring component 522 is connected to both the pressure display component 521 and the second pin connector 5121. The pressure display component 521 monitors the pressure holding status of the multi-chamber airbag 3400 through the second pin connector 5121, whereby each chamber is tested by its corresponding pressure measuring component 522, and the pressure value of each chamber is displayed on the pressure display component 521. When the pressure is lower than a set safety value, the siren 523 and the warning light 524 simultaneously activate to issue an audible and visual alarm. Specifically, the pressure measuring component 522 is a pressure sensor.

[0069] Please see Figure 4 , Figures 13 to 19As shown, in one embodiment of the present invention, the multi-core air tube assembly 530 includes a multi-core one-way connector 531, a multi-core air tube 532, and a third multi-core straight connector 533. Both ends of the multi-core air tube 532 are connected to the multi-core one-way connector 531 and the third multi-core straight connector 533, respectively. The other end of the multi-core one-way connector 531 is connected to either the first pin straight connector 5120 or the second pin straight connector 5121. The other end of the third multi-core straight connector 533 is connected to the straight nozzle 350. The multi-core one-way connector 531 is a one-way valve assembly and is in a closed state when not connected to other components.

[0070] Please see Figure 4 , Figures 13 to 19 As shown, in one embodiment of the present invention, when the multi-chamber airbag 3400 needs to be in a pipe-blocking state, the robot enters the drain pipe, and the multi-chamber airbag 3400 separates from the walking device 100. Simultaneously, the air source device 511 is activated, the switch valve 515 is closed, and the multi-pipe air distribution device 516 is activated. The air source device 511 inflates the multi-chamber airbag 3400 through the vacuum generator 514, the multi-pipe air distribution device 516, and the multi-core air tube assembly 530, causing the multi-chamber airbag 3400 to expand to a set pressure to block the pipe.

[0071] Please see Figure 4 , Figures 13 to 19 As shown, in one embodiment of the present invention, when the multi-chamber airbag 3400 is in a pressure-holding and sealing state, after the multi-chamber airbag 3400 inflates to the sealing state, the quick-connect connector between the inflation / deflation device 510 and the multi-core air tube assembly 530 is disconnected, and the inflation / deflation device 510 is removed, leaving the multi-chamber airbag 3400 in a pressure-holding and sealing state. The monitoring device 520 is connected to the multi-core air tube assembly 530, allowing independent display of the air pressure in each chamber, with an audible and visual alarm triggered when the pressure falls below a set safety value. The inflation / deflation device 510 can also be wirelessly connected to a mobile terminal for remote monitoring.

[0072] Please see Figure 4 , Figures 13 to 19 As shown, in one embodiment of the present invention, when the multi-chamber airbag 3400 needs to be deflated and removed, the monitoring device 520 is removed and the inflation / deflation device 510 is reconnected. The switch valve body 515 is opened, the multi-pipe gas distribution device 516 is activated, and the gas source device 511 draws air from the multi-chamber airbag 3400 through the vacuum generator 514 and the multi-pipe gas distribution device 516 and discharges it through the vacuum generator 514. The multi-chamber airbag 3400 deflates and its volume decreases, allowing it to be removed from the sealed pipe.

[0073] Example 2

[0074] In complex drainage pipe environments, the presence of large amounts of silt, domestic waste, and construction debris, coupled with factors such as material composition, processing, and external forces, can easily cause airbag leakage or even rupture, leading to sealing failure. While multi-compartment airbag structures can improve the reliability of multi-airbag sealing, further improvements in reliability would be achieved by first cleaning the pipes, removing sharp objects and masonry residue before airbag sealing. Currently, pipe cleaning and airbag sealing are handled by two separate devices. During operation, the cleaning device must first complete the cleaning work and then be withdrawn from the well before the airbag sealer is lowered in for sealing, resulting in low efficiency.

[0075] Please see Figures 1 to 27 In this embodiment, in conjunction with Embodiment 1, a downhole airbag plugging robot capable of dredging is provided, including a dredging device 200 located at the front end of a walking device 100. The walking device 100 carries the dredging device 200 and a multi-chamber airbag 3400 into the drain pipe. The dredging device 200 cleans out the plugging area inside the drain pipe. After cleaning, the multi-chamber airbag 3400 detaches from the walking device 100, and the walking device 100 carries the dredging device 200 out of the drain pipe. At the same time, the multi-chamber airbag 3400 is inflated, causing it to tighten inside the drain pipe wall to plug the pipe.

[0076] Please see Figure 3 As shown, in one embodiment of the present invention, a receiving space is provided at the bottom of the walking torso 110, and the mud pump 240 of the dredging device 200 is located in the receiving space and fixedly connected to the walking torso 110.

[0077] Please see Figure 2 , Figure 3 and Figure 20 As shown, in one embodiment of the present invention, the front housing 124 is provided with a sludge inlet 1241, and the rear housing 125 is provided with a sludge outlet 1251. The sludge inlet 1241 communicates with the interior of the protrusion 123 and the sludge outlet 1251 to form a sludge discharge channel. The sludge outlet 241 of the mud pump 240 is connected to the sewage pipe 242, which passes through the sludge discharge channel to discharge the sludge into the drain pipe. The sludge outlet 1251 is located on the rear housing 125 and is connected to the sludge outlet 241. When the mud pump 240 is working, it generates a large reaction force during the discharge of sludge, which is converted into a forward driving force for the robot, reducing the power of the robot's drive motor. The robot enters the drain pipe and starts the sludge removal device 200 to clear the blocked area.

[0078] Please see Figure 2 , Figure 3 , Figures 20 to 24As shown, in one embodiment of the present invention, the dredging device 200 includes a suction hopper 210 and a spiral roller 220. The suction hopper 210 is flexibly connected to the connecting housing 121 and hinged to the walking body 110, and the spiral roller 220 is eccentrically assembled with the suction hopper 210.

[0079] Please see Figure 2 , Figure 3 , Figures 20 to 24 As shown, in one embodiment of the present invention, the suction hopper 210 includes a top plate 211, a bottom plate 212, side plates 213, a front baffle 214, a rear baffle 215, and support wheels 216. The two ends of a pair of side plates 213 are respectively connected to the top plate 211 and the bottom plate 212. The front baffle 214 is connected to the top plate 211 and the pair of side plates 213, and is on the same side as the spiral roller 220. One end of each of the multiple rear baffles 215 is connected to the top plate 211, the bottom plate 212, and the side plates 213, and the other end converges towards the traveling device 100 to form a suction port 230, which is connected to the mud pump 240 via a pipe. A pair of support wheels 216 are respectively connected to a pair of side plates 213, supporting the suction hopper 210 as it moves within the pipe along with the traveling device 100. The top plate 211 is equipped with a hopper connector 2111, which is flexibly connected to the connecting housing 121. The side plate 213 has lugs 2131, which are connected to the walking frame 110 via a sludge-clearing connecting plate 260. Specifically, the sludge-clearing connecting plate 260 is detachably connected to the walking frame 110 and hinged to the lugs 2131. Support wheels 216 position the sludge-clearing device 200 relative to the bottom of the pipe, preventing the spiral blades 222 from scraping against the pipe bottom.

[0080] Please see Figure 2 , Figure 3 , Figures 20 to 24 As shown, in one embodiment of the present invention, the angle A between the connecting edge of the side plate 213 and the top plate 211 and the connecting edge of the side plate 213 and the front baffle 214 is an obtuse angle, so that the front baffle 214 has a certain slope. The bottom plate 212 is perpendicularly connected to the side plate 213, so that the suction hopper 210 is set in an "eccentric funnel shape", and the sides of the front baffle 214 and the bottom plate 212 near the spiral roller 220 are both set in an arc.

[0081] Please see Figure 2 , Figure 3 , Figures 20 to 24As shown, in one embodiment of the present invention, the spiral roller 220 is detachably connected to the suction hopper 210 via a roller mounting plate 250. Multiple sets of adjustment holes 251 are provided on the roller mounting plate 250 to adjust the gap between the spiral roller 220 and the pipe wall. The spiral roller 220 includes a roller 221 and a pair of spiral blades 222 wound and fixed on the roller 221. The pair of spiral blades 222 are conically wound on the roller 221, and their spiral directions are opposite, so that the diameter of the spiral roller 220 is largest at the middle position in the longitudinal direction, and the point of maximum diameter of the spiral roller 220 is directly opposite the suction port 230. During the rotation of the spiral blades 222, the hard silt at the bottom of the drainage pipe 600 is chopped up and stirred with water into a paste-like slurry. Through the rotation of the spiral blades 222 with different spiral directions, the slurry is gathered from both sides towards the middle position directly opposite the suction port 230, and then sucked in and discharged by the slurry pump 240. Figure 25 As shown.

[0082] Please see Figure 2 , Figure 3 , Figures 20 to 24 As shown, in one embodiment of the present invention, a drum motor 2211 and a conductive slip ring 2212 are provided inside the drum 221, and the two sides of the drum 221 are sealed with rotary oil seals and end cap O-rings, resulting in a compact structure and reliable sealing. The power cable 2213 is connected to the conductive slip ring 2212 to transmit signals and power to the drum motor 2211, and the rotation of the drum motor 2211 drives the spiral roller 220 to rotate.

[0083] Please see Figure 2 , Figure 3 , Figures 20 to 24 As shown, in one embodiment of the present invention, the maximum radius of the spiral roller 220 is smaller than the radius of the drainage pipe, and the support wheel 216 supports the sludge removal device 200, so that the spiral roller 220 and the pipe wall of the drainage pipe maintain a certain gap B, avoiding the spiral roller 220 from rubbing against the pipe wall during rotation. The difference R between the upper radius formed by the height of a pair of spiral blades 222 and the arc side of the front baffle 214 is greater than the difference R between the height of a pair of spiral blades 222 and the arc side of the bottom plate 212 (not shown in the figure). The suction hopper 210 is set in an "eccentric funnel shape". The radius difference formed by the spiral roller 220 and the front baffle 214 and the bottom plate 212 is larger at the top and smaller at the bottom, which is suitable for loose feeding and damping discharge, achieving the characteristics of large upper feeding space and small lower discharge space, reducing ineffective sludge removal and improving sludge removal efficiency. In addition, the suction port 230 is a constricted opening that is larger at the front and smaller at the back, which generates a certain guiding and squeezing force on the sludge.

[0084] Please see Figure 2 , Figure 3 , Figures 20 to 24As shown, in one embodiment of the present invention, the pitch D and upper radius difference R of each spiral blade 222 are set according to the solid particle throughput capacity of the mud pump 240. The upper radius difference R is designed to be smaller than the solid particle throughput capacity of the mud pump 240, thus blocking larger solid particles. When larger solid particles are stuck between the spiral blade 223 and the suction hopper 210, they are extruded by the reverse rotation of the spiral roller 220.

[0085] Please see Figure 2 , Figure 3 , Figures 20 to 27 As shown, in one embodiment of the present invention, when the rotation direction of the spiral roller 220 is opposite to the rotation direction of the traveling wheel 130 of the traveling device 100, larger solid particles can be lifted, tumbled, and pushed upwards during the dredging process, such as... Figure 26 As shown. To prevent the rotating mechanism from crawling over solid debris and being unable to move, it must overcome obstacles. The spiral roller 220 and the traveling wheel 130 rotate in the same direction; at this time, there is no sludge removal action, as shown in Figure 27. In this embodiment, the maximum solid particle throughput capacity of the mud pump 240 is 20mm, therefore the pitch D of the spiral blade 222 and the difference in upper radius R are less than 20mm. This ensures that mud and solid particles smaller than 20mm can be sucked away and discharged by the mud pump 240, while also blocking and pushing away larger solid particles.

[0086] Please see Figures 1 to 27 As shown, in one embodiment of the present invention, when the multi-chamber airbag 3400 needs to be in a pipe-blocking state, the robot enters the drain pipe, and after the sludge removal device 200 clears the blocked area, the multi-chamber airbag 3400 separates from the walking device 100. At the same time, the power source device 511 is activated, the switch valve body 515 is closed, the multi-pipe gas distribution device 516 is activated, and the gas source device 511 inflates the multi-chamber airbag 3400 through the vacuum generator 514, the multi-pipe gas distribution device 516, and the multi-core air tube assembly 530. The multi-chamber airbag 3400 expands to the set pressure to block the pipe.

[0087] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0088] The above embodiments are merely examples of implementation methods of the invention. The scope of protection of the present invention is not limited to the above embodiments. For those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. A downhole airbag plugging robot, characterized in that, include: Walking device (100); a multi-chamber airbag (3400) located on the back of the walking device (100) and a sludge removal device (200) located at the front of the walking device (100); the walking device (100) carries the multi-chamber airbag (3400) and the sludge removal device (200) into the drain pipe; The walking device (100) includes a walking torso (110) and an airbag connecting device (120) located on the walking torso (110). The airbag connecting device (120) includes a connecting housing (121) and a release pin assembly (126). Recesses (122) are provided on both sides of the middle part of the connecting housing (121), forming a protrusion (123) between the two recesses (122). A front housing (124) and a rear housing (125) are connected to the protrusion (123). Multiple release pin assemblies (126) are located in the two recesses (122), and telescopic rods (1261) are provided on the opposite ends of the front housing (124) and the rear housing (125). The airbag connecting device (120) also includes a roller assembly (127) located between the disengagement assembly (126) and the protrusion (123). When the multi-chamber airbag (3400) is disengaged from the walking device (100), the roller assembly (127) and the multi-chamber airbag (3400) roll against each other. Before the pipeline sealing operation, the hanging ring (301) on the multi-chamber airbag (3400) is put on the telescopic rod (1261); during the pipeline sealing operation, the multi-chamber airbag (3400) is detached from the walking device (100); The bottom of the walking body (110) is provided with a receiving space, and the mud pump (240) of the dredging device (200) is located in the receiving space and fixedly connected to the walking body (110); the front shell (124) is provided with a sewage inlet (1241) and the rear shell (125) is provided with a sewage outlet (1251). The sewage inlet (1241) is connected to the interior of the protrusion (123) and the sewage outlet (1251) to form a sludge discharge channel; the sludge discharge port (241) of the mud pump (240) is connected to the sewage pipe (242), and the sewage pipe (242) passes through the sludge discharge channel to discharge the sludge into the drainage pipe.

2. The downhole airbag plugging robot according to claim 1, characterized in that, The multi-chamber airbag (3400) includes two sequentially connected independent airbag chambers (300), with a transition chamber (400) between the two independent airbag chambers (300); each independent airbag chamber (300) includes a cylinder (310), a front seal (320), and a rear seal (330), the front seal (320) and the rear seal (330) being connected to both ends of the cylinder (310), respectively; the multi-chamber airbag (3400) also includes a sealing The sealing plate (340) and the air nozzle (360) are detachably connected to the front plug (320), and the sealing plate (340) is provided with a straight air nozzle (350). The straight air nozzle (350) and the air nozzle (360) are connected by a connecting pipe (370). The independent airbag chamber (300) and the transition chamber (400) are connected to the airbag inflation device (500) through the straight air nozzle (350) and the air nozzle (360).

3. The downhole airbag plugging robot according to claim 2, characterized in that, The sealing plate (340) includes an inner plate (341) and an outer plate (342); the inner plate (341) and the outer plate (342) are detachably connected and clamped together with the front seal (320), and the clamping surfaces of the inner plate (341) and the outer plate (342) are provided with matching circumferential grooves (3412); the straight air nozzle (350) is fixedly connected to the inner plate (341).

4. The downhole airbag plugging robot according to claim 3, characterized in that, An axial intermediate crease (311), a radial crease (312), and an axial outer edge crease (313) are provided on the multi-chamber airbag (3400); wherein, the axial intermediate crease (311) is located between the central axis of the multi-chamber airbag (3400) and the outer edge of the multi-chamber airbag (3400); the axial outer edge crease (313) is located at the outer edge of the multi-chamber airbag (3400); the radial crease (312) is located on the independent airbag compartment (300) at the tail; and the multi-chamber airbag (3400) is folded towards the central axis of the multi-chamber airbag (3400) according to the crease direction of the axial intermediate crease (311) and the axial outer edge crease (313).

5. The downhole airbag plugging robot according to claim 4, characterized in that, Both the front seal (320) and the rear seal (330) are provided with sealing radial creases (3230). The sealing radial creases (3230) are located at the middle position of the front seal (320) and the rear seal (330), respectively, and the length of the sealing radial creases (3230) is less than the diameter of the cylinder (310). The folding direction of the sealing radial creases (3230) is the inward concave direction of the front seal (320) and the rear seal (330) of each independent airbag compartment (300) towards the cylinder (310).

6. The downhole airbag plugging robot according to claim 5, characterized in that, When the multi-chamber airbag (3400) deflates, it deforms in the direction set by the crease, including: the independent airbag chambers (300) are sucked down and folded towards the central axis of the multi-chamber airbag (3400) along the axial middle crease (311); at the same time, the front seal (320) and rear seal (330) of each independent airbag chamber (300) are recessed into the cylinder (310) in the folding direction of the sealing radial crease (3230); the connecting pipe (370) located in the transition chamber (400) is stretched; and the connecting pipe (370) located in the independent airbag chamber (300) directly connected to the airbag inflation device (500) is contracted and deformed.

7. The downhole airbag plugging robot according to claim 6, characterized in that, The independent airbag compartment (300) and the transition compartment (400) are arranged in an unequal three-compartment layout, with the independent airbag compartment (300) at both ends being the large compartment and the transition compartment (400) being the small compartment.

8. The downhole airbag plugging robot according to claim 7, characterized in that, The multi-chamber airbag (3400) is inflated in the following order: the independent airbag chambers (300) and the transition chamber (400) are connected in sequence.

9. The downhole airbag plugging robot according to claim 8, characterized in that, The order of deflation of the multi-chamber airbag (3400) is as follows: first deflate the independent airbag compartment (300), then deflate the transition compartment (400).

Images