A new type of plugging and flow guiding robot applied to pipeline non-stop maintenance and repair operation

Abstract

The application discloses a novel plugging and flow guiding robot applied to pipeline emergency repair operation, relates to the technical field of oil and gas pipeline emergency repair, and comprises a sealing flow guiding device capable of guiding and dredging the medium conveyed in a pipeline, and two traction support units symmetrically arranged on the two sides of the sealing flow guiding device. Each traction support unit comprises a robot power device and a support part. Universal couplings for realizing bend self-adaption are arranged between the robot power devices and the support parts on the same side and between the support parts and the corresponding sides of the sealing flow guiding device. The main function of the device is to implement dynamic plugging at the pipeline rupture position. After a rupture crack is found, the robot travels to the position, the air bag of the plugging system is inflated through an inflation pump, the sealing air bag is inflated to tightly contact the pipeline, a sealing area is formed at the rupture position, and the liquid in the pipeline flows away through the small bypass flow guiding pipe.

Description

Technical Field

[0001] This invention relates to the field of emergency maintenance technology for oil and gas pipelines, and more specifically to the field of novel plugging and diversion robots applied to emergency maintenance operations that do not interrupt pipeline flow. Background Technology

[0002] With the rapid development of the national economy and the improvement of industrialization, my country's demand for fossil energy such as oil and natural gas is increasing rapidly. Pipeline transportation, as the fastest, most economical, and reliable mode of transporting oil and natural gas, is known as the lifeline of oil and gas fields. Its stable, efficient, and safe transportation is a necessary guarantee for the smooth operation of the national economy and is a strategic project. my country ranks among the world's leaders in the construction scale and intensity of its oil and gas pipeline network. However, the increase in pipeline length and service life has also generated a great deal of maintenance and emergency repair work. Furthermore, most oil and gas pipelines are located in the field and in areas that are difficult to monitor frequently. Rapid repair and timely replacement of pipelines cannot yet be adequately met on a large scale, especially in field conditions where timely replacement becomes even more difficult. Pipeline robots can perform sealing operations inside pipelines, improving the efficiency and safety of pipeline maintenance and emergency repair.

[0003] Research on pipeline plugging robots began earlier abroad, and relatively mature products already exist. While some research has been conducted in China, the level of product quality still needs further improvement. Furthermore, current pipeline robot plugging operations require the cessation of transportation, impacting pipeline transport and resulting in corresponding economic losses. Therefore, the development of rapid plugging and diversion devices that can quickly resolve pipeline leaks while ensuring the continued transport of oil and gas is essential.

[0004] Although researchers both domestically and internationally have conducted extensive research on pipeline robots, there is still relatively little research on the development of pipeline robots that ensure uninterrupted pipeline operation and on the mechanisms of flow field analysis. Solving these technical problems has become a focus of effort for those in the field. Summary of the Invention

[0005] The purpose of this invention is to address the technical problem of rapid handling of leaks during buried pipeline operations and to minimize the impact of pipeline damage and cracks on engineering transportation. This invention provides a novel sealing and diversion robot for pipeline maintenance operations that do not require interrupting traffic. The main function of this device is to dynamically seal the pipeline rupture. Upon detecting a rupture, the robot moves to the location, and the sealing system's airbags are inflated by an air pump. The inflated airbags make tight contact with the pipeline, forming a sealed area at the rupture. The liquid in the pipeline then flows away through a small bypass diversion pipe in the middle. This allows for pipeline repair with minimal impact on engineering transportation operations.

[0006] To achieve the above objectives, the present invention specifically adopts the following technical solution:

[0007] A novel sealing and diversion robot for emergency maintenance of pipelines without interrupting traffic includes a sealing and diversion device capable of diverting and clearing the medium transported in the pipeline, and two traction support units symmetrically arranged on both sides of the sealing and diversion device. Each traction support unit includes a robot power unit and a support part. Universal couplings for curve self-adaptation are provided between the robot power unit and the support part on the same side, and between the support part and the corresponding side of the sealing and diversion device.

[0008] Furthermore, the sealing and guiding device includes a bypass guide pipe that can guide and unclog the medium transported in the pipeline, two sealing support frames set on the bypass guide pipe, and two inflatable sealing components set on the two sealing support frames that can seal and fit with the inner wall of the pipeline. The two inflatable sealing components seal and form a sealing zone at the pipeline rupture point. Universal coupling connectors are provided at both ends of the bypass guide pipe.

[0009] Furthermore, the inflatable sealing assembly includes an airbag assembly sleeved outside the sealing support frame and an air pump assembly disposed inside the sealing support frame for inflating the airbag assembly. The sealing support frame is provided with an airbag fixing device that causes the airbag assembly to expand radially when inflated.

[0010] Furthermore, the support portion includes a connecting rod and universal couplings at both ends of the connecting rod. One end of the connecting rod is connected to the robot traction device through a universal coupling, and the other end is connected to the sealing and guiding device through another universal coupling.

[0011] Furthermore, a mounting base is sleeved in the middle of the connecting rod, and multiple support wheel assemblies are evenly distributed around the circumference of the mounting base, which fit against the inner wall of the pipe during operation. Each support wheel assembly includes a sleeve fixed radially on the mounting base, a spring fixedly installed in the sleeve, and a support wheel connected to the free end of the spring extending out of the sleeve.

[0012] Furthermore, the robot power unit includes a hydraulic cylinder, a piston rod disposed within the hydraulic cylinder, a universal coupling connector disposed on the top of the piston rod, three adjustable drive support frames evenly distributed circumferentially on the cylinder, drive wheel assemblies mounted on each drive support frame and fitting against the inner wall of the pipe, a power assembly mounted on each drive support frame to drive the corresponding drive wheel assembly to rotate, a push rod rocker mechanism for adjusting the angle of the drive support frame, and an adaptive spring. One end of the push rod rocker mechanism is connected to the universal coupling connector, and the other end is connected to the drive support frame. The adaptive spring is sleeved on the piston rod below the universal coupling connector, with one end fixedly connected to the lower part of the universal coupling connector and the other end fixedly connected to the hydraulic cylinder.

[0013] Furthermore, the hydraulic cylinder body is provided with a positioning mounting seat for mounting the drive support frame, and a mounting stud is provided in the positioning mounting seat. Each drive support frame includes a directional frame body, a threaded hole one located at one end of the directional frame body along the length direction and cooperating with the mounting stud in the positioning mounting seat, and a threaded mounting hole two located at the other end of the directional frame body along the length direction for mounting the drive wheel assembly.

[0014] Furthermore, the push rod and rocker mechanism includes a push rod mechanism and a rocker mechanism that are hinged to each other. The free end of the push rod mechanism is threadedly connected to the bottom of the universal coupling connector, and the free end of the rocker mechanism is threadedly connected to the mounting stud in the corresponding positioning mounting seat.

[0015] In the design of the push rod rocker mechanism, one end (upper end) of the push rod mechanism is designed as a T-shaped, two-layer boss structure. The upper part of the boss structure is threaded, and during assembly, it connects to the threaded hole at the top of the hydraulic cylinder piston rod and is tightened. The other end (lower end) of the push rod mechanism is designed as a T-shaped boss that is the mirror image of the upper end.

[0016] The other end of the rocker mechanism is shaped like a rod-end bearing, but the rod end is threadedly connected to the screw. The screw is also threadedly connected to the threaded hole on the drive wheel support frame. The drive wheel support frame swings around the screw within a certain angle range, enabling the robot to adapt to multiple diameters in pipeline transportation engineering. Except for the connecting parts, all parts of the push-rod rocker mechanism designed in this device are designed as cylindrical rods to reduce the resistance to media transportation in engineering pipelines. This minimizes the impact of the robot on the original media transportation within the pipe.

[0017] Furthermore, the drive wheel assembly includes a combined mounting bracket, one end of which is provided with a stud assembly A passing through a second threaded mounting hole, and the other end of which is provided with a drive wheel via a stud assembly B. The stud assembly A and stud assembly B extend out of the combined mounting bracket and are respectively fitted with mutually meshing cylindrical gears A and B. The power assembly drives the stud assembly A to rotate.

[0018] Furthermore, the power component is installed inside the steering frame body. The power component is a drive motor, and a drive bevel gear is sleeved on the output shaft of the corresponding drive motor. A driven bevel gear that meshes with the drive bevel gear is provided on the stud assembly A.

[0019] The beneficial effects of this invention are as follows:

[0020] 1. In this invention, the traction support unit is set up in two sets connected in series, providing sufficient power to the entire mechanism and enabling rapid forward and backward movement. The robot power unit, sealing and guiding device, and support part are connected by universal couplings, which can achieve curve self-adaptation and flexibly work in various pipeline conditions with different curvatures. In response to the special working conditions and usage requirements, this patent proposes a wheeled robot design that can quickly seal and guide the flow, which can effectively handle the leakage of buried pipelines and ensure the continuous operation of pipelines, filling the gap in pipeline robot development and research.

[0021] 2. The device can successfully reach the location of the pipeline rupture and perform dynamic sealing. After the rupture is detected, the robot moves to the location, and the airbag of the sealing system is inflated by the air pump. The sealing airbag bulges and makes close contact with the pipeline, forming a sealing zone at the rupture. At this time, the liquid in the pipeline will flow away through the small bypass guide pipe in the middle, so as to complete the emergency repair of the pipeline without interrupting the pipeline's operation.

[0022] 3. The main function of the sealing and diversion device is to dynamically seal the ruptured part of the pipeline. After the rupture is detected, the robot moves to the location. Because the airbag assembly of the sealing and diversion device is fitted onto the support frame, and the expansion direction of the airbag during inflation is restricted by the airbag fixing device, the sealing device can only expand radially to achieve a seal. The sealing and diversion device has two inflatable sealing assemblies at both ends, and each inflatable sealing assembly has two chambers and two inflation pumps. Therefore, the sealing and diversion device has a total of four sealing airbags. The four sealing airbags are inflated by four inflation pumps. To reduce the working resistance of the transport medium during operation, the four inflation pumps are placed inside the support frame of the sealing and diversion device. When the sealing and diversion device starts working, it is inflated by the inflation pumps. The sealing airbags inflate and come into close contact with the pipeline, forming a sealing zone at the rupture. At this time, the liquid in the pipeline will flow away through the intermediate bypass diversion pipe. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 yes Figure 1 Work situation simulation diagram;

[0025] Figure 3 This is a structural diagram of the hydraulic cylinder body and piston rod;

[0026] Figure 4 yes Figure 3 A schematic diagram of the structure with the adaptive spring assembled;

[0027] Figure 5 It is the specific structure of the push rod rocker mechanism;

[0028] Figure 6 This is a schematic diagram of the drive support frame;

[0029] Figure 7 yes Figure 4 Assembly Figure 5 and Figure 6 A schematic diagram of the structure afterward;

[0030] Figure 8 yes Figure 7 A schematic diagram of the push rod / rocker mechanism and the drive support frame array;

[0031] Figure 9 This is a structural diagram of the drive wheel assembly and the power assembly;

[0032] Figure 10 This is a complete installation diagram of the robot's power unit;

[0033] Figure 11 This is a structural diagram of the supporting part;

[0034] Figure 12 This is a schematic diagram of the structure after the robot's power unit and support components are connected.

[0035] Figure 13 This is a cross-sectional view of the sealing and guiding device;

[0036] Figure 14 This is a schematic diagram of the robot's power unit, support device, and sealing and guiding device according to their installation structure.

[0037] Reference numerals in the attached drawings: 1-Sealing and guiding device, 1-1-Bypass guiding pipe, 1-2-Sealing support frame, 1-3-Inflatable sealing assembly, 1-3.1-Airbag assembly, 1-3.2-Inflatable pump assembly, 1-4-Airbag fixing device, 2-Support component, 2-1-Connecting rod, 2-2-Mounting base, 2-3-Support wheel assembly, 2-3.1-Sleeve, 2-3.2-Spring, 2-3.3-Support wheel, 3-Robot power unit, 3-1-Hydraulic cylinder body, 3-2-Piston rod, 3-3-Drive support frame, 3-4-Drive wheel assembly, 3-4.1-Combined mounting frame, 3-4.2-Staller assembly A, 3-4.3-Staller assembly B, 3-4.4-Drive wheel, 3-4.5-Spiral gear A, 3-4.6-Spiral gear B, 3-4.7-Driven bevel gear, 3-4.8-Driven bevel gear, 3-5-Power assembly, 3-6-Push rod rocker mechanism, 3-6.1-Push rod mechanism, 3-6.2-Rocker mechanism, 3-7-Adaptive spring. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0040] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0041] In the description of the embodiments of the present invention, it should be noted that the terms "inner", "outer", "upper", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0042] Example 1

[0043] like Figures 1 to 14 As shown, this embodiment provides a novel sealing and diversion robot for emergency maintenance of pipelines without interrupting traffic. It includes a sealing and diversion device 1 capable of diverting and clearing the medium transported in the pipeline, and two traction support units symmetrically arranged on both sides of the sealing and diversion device. Each traction support unit includes a robot power unit 3 and a support part 2. Universal couplings for adaptive curvature are provided between the robot power unit 3 and the support part 2 on the same side, and between the support part 2 and the corresponding side of the sealing and diversion device 1. The traction support units are configured in two sets connected in series, providing sufficient power to the entire mechanism and enabling rapid forward and backward movement. The robot power unit, the sealing and diversion device, and the support part are connected by universal couplings, enabling adaptive curvature and flexible operation in various pipeline conditions with different curvatures.

[0044] The sealing and guiding device 1 includes a bypass guide pipe 1-1 that can guide and unclog the medium transported in the pipeline, two sealing support frames 1-2 set on the bypass guide pipe 1-1, and two inflatable sealing components 1-3 set on the two sealing support frames 1-2 that can seal and fit with the inner wall of the pipeline. The two inflatable sealing components 1-3 form a sealing zone at the pipeline rupture point. Both ends of the bypass guide pipe 1-1 are provided with universal coupling connectors.

[0045] The inflatable sealing assembly 1-3 includes an airbag assembly 1-3.1 sleeved outside the sealing support frame 1-2 and an air pump assembly 1-3.2 disposed inside the sealing support frame 1-2 to inflate the airbag assembly 1-3.1. The sealing support frame 1-2 is equipped with an airbag fixing device 1-4 that causes the airbag assembly 1-3.1 to expand radially during inflation. The main function of the sealing and diversion device is to dynamically seal the ruptured part of the pipeline. After a rupture is detected, the robot moves to the location. Because the airbag assembly of the sealing and diversion device is sleeved on the support frame, and the expansion direction of the airbag during inflation is restricted by the airbag fixing device, the sealing device can only expand radially, achieving a seal. The sealing and diversion device has two inflatable sealing assemblies at both ends, one above the other. Each inflatable sealing assembly has two chambers and two air pumps, resulting in a total of four sealing airbags. These four airbags are inflated by four air pumps. To reduce the working resistance of the transport medium during operation, the four air pumps are placed inside the support frame of the sealing and diversion device. When the sealing and diversion device starts working, it is inflated by an air pump. The sealing airbag inflates and comes into close contact with the pipeline, sealing the rupture point to form a sealed area. At this time, the liquid in the pipeline will flow away through the intermediate bypass diversion pipe.

[0046] The support part 2 includes a connecting rod 2-1 and universal couplings at both ends of the connecting rod 2-1. One end of the connecting rod 2-1 is connected to the robot traction device 3 through a universal coupling, and the other end is connected to the sealing and guiding device 1 through another universal coupling.

[0047] A mounting base 2-2 is fitted onto the middle of the connecting rod 2-1. Multiple support wheel assemblies 2-3 are evenly distributed circumferentially on the mounting base 2-2, which fit against the inner wall of the pipe during operation. Each support wheel assembly 2-3 includes a sleeve 2-3.1 radially fixed to the mounting base 2-2, a spring 2-3.2 fixedly installed inside the sleeve 2-3.1, and a support wheel 2-3.3 connected to the free end of the spring 2-3.2 extending out of the sleeve 2-3.1. During operation, the support wheel fits against the inner wall of the pipe. The support wheel assembly is installed by first radially fixing the sleeve to the mounting base, then fixing the spring inside the sleeve. The other end of the spring extends out of the sleeve and is welded to the support wheel to form a single unit. Through the combined action of the spring and the sleeve, the support wheel can only move axially along the sleeve, achieving passive diameter adjustment.

[0048] The robot power unit 3 includes a hydraulic cylinder body 3-1, a piston rod 3-2 disposed within the hydraulic cylinder body, a universal coupling connector at the top of the piston rod, three adjustable drive support frames 3-3 evenly distributed around the cylinder body, drive wheel assemblies 3-4 mounted on each drive support frame 3-3 and fitted against the inner wall of the pipe, a power assembly 3-5 mounted on each drive support frame 3-3 to drive the corresponding drive wheel assembly 3-4 to rotate, a push rod rocker mechanism 3-6 for adjusting the angle of the drive support frame 3-3, and an adaptive spring 3-7. One end of the push rod rocker mechanism 3-6 is connected to the universal coupling connector, and the other end is connected to the drive support frame 3-3. The adaptive spring 3-7 is sleeved on the piston rod 3-2 below the universal coupling connector, with one end fixedly connected to the lower part of the universal coupling connector and the other end fixedly connected to the hydraulic cylinder body 3-1.

[0049] Since the robot needs to operate in a liquid environment, a design that is both sealed and simple and reliable is required. The robot's power unit can achieve the retraction of the working diameter of the drive wheel using a telescopic hydraulic cylinder and an adaptive spring. When the hydraulic cylinder and the telescopic spring act, the spring deforms due to tension and compression, and the spring provides a reverse pulling force to the push rod rocker mechanism, making the drive wheel fit tightly against the inner wall of the pipe, increasing available friction, and ensuring that the device can move smoothly forward in the pipe during operation. Based on the above device function, the device can adapt to the needs of different pipe diameters during operation.

[0050] During operation, the mechanism consisting of the adaptive spring and piston rod automatically extends and retracts according to the working diameter of the drive wheel. The piston rod, universal joint base, push rod mechanism, and rocker arm structure form a crank-rocker mechanism that allows rotation within a certain range. The drive wheel support frame and rocker arm are connected by a screw to achieve motion locking. Therefore, when the rocker arm moves, it will cause the drive wheel support frame to swing within a certain angle. At the same time, the drive wheel support frame and drive wheel are locked in motion by the screw connection. Based on the motion transmission, the mechanism consisting of the adaptive spring device and the telescopic rod automatically adjusts the diameter of the drive wheel support frame according to the pipeline changes, thereby achieving the purpose of comprehensive diameter adjustment of the drive wheel and drive wheel support frame. This enables the drive wheel to automatically adapt to multi-diameter pipelines in engineering transportation pipelines.

[0051] The hydraulic cylinder body 3-1 is provided with a positioning mounting seat for mounting the drive support frame 3-3. The positioning mounting seat is provided with a mounting stud. Each drive support frame 3-3 includes a directional frame body 3-3.1, a threaded hole 3-3.2 located at one end of the directional frame body 3-3.1 along the length direction and cooperating with the mounting stud in the positioning mounting seat, and a threaded mounting hole 3-3.3 located at the other end of the directional frame body 3-3.1 along the length direction for mounting the drive wheel assembly 3-4.

[0052] The push rod and rocker mechanism 3-6 includes a push rod mechanism 3-6.1 and a rocker mechanism 3-6.2 that are hinged to each other. The free end of the push rod mechanism 3-6.1 is threaded to the bottom of the universal coupling connector, and the free end of the rocker mechanism 3-6.2 is threaded to the mounting stud in the corresponding positioning mounting seat.

[0053] In the design of the push rod rocker mechanism, one end of the push rod mechanism is designed as a T-shaped, two-layer boss structure. The upper part of the boss structure is threaded, and during assembly, it connects to the threaded hole at the top of the hydraulic cylinder piston rod and is tightened. The lower end of the other end of the push rod mechanism is designed as a T-shaped boss that is the mirror image of the upper end.

[0054] The other end of the rocker mechanism is shaped like a rod-end bearing, but the rod end is threadedly connected to the screw. The screw is also threadedly connected to the threaded hole on the drive wheel support frame. The drive wheel support frame swings around the screw within a certain angle range, enabling the robot to adapt to multiple diameters in pipeline transportation engineering. Except for the connecting parts, all parts of the push-rod rocker mechanism designed in this device are designed as cylindrical rods to reduce the resistance to media transportation in engineering pipelines. This minimizes the impact of the robot on the original media transportation within the pipe.

[0055] The design at one end allows the piston rod and adaptive spring to drive the push rod mechanism in a combination of oscillation and linear motion within a certain range when the working diameter of the drive wheel changes. A threaded connection is made with the threaded hole on the bulb-shaped connecting plate at the upper end of the rocker mechanism to achieve motion locking, thereby limiting and controlling the movement distance and arc angle of the rocker arm.

[0056] The drive wheel assembly 3-4 includes a combined mounting bracket 3-4.1. One end of the combined mounting bracket 3-4.1 is provided with a stud assembly A3-4.2 passing through a threaded mounting hole 3-3.3. The other end of the combined mounting bracket 3-4.1 is provided with a drive wheel 3-4.4 via a stud assembly B3-4.3. The stud assemblies A3-4.2 and B3-4.3 extend out of the combined mounting bracket 3-4.1 and are respectively fitted with meshing cylindrical gears A3-4.5 and B3-4.6. The power assembly 3-5 drives the stud assembly A3-4.2 to rotate.

[0057] The power assembly 3-5 is installed inside the steering frame body 3-3.1. The power assembly 3-5 is a drive motor. The output shaft of the corresponding drive motor is fitted with a drive bevel gear 3-4.8. The stud assembly A3-4.2 is provided with a driven bevel gear 3-4.7 that meshes with the drive bevel gear 3-4.8.

[0058] Due to the complex working environment of pipelines, it is necessary to simplify the mechanism as much as possible to increase the stability of the structure during operation. Therefore, the drive motor is installed inside the drive wheel support frame to reduce the impact of fluid scouring on the reliability of the mechanism during use.

[0059] The movement of the three drive wheels is driven by three identical drive motors. When the drive motors output different power, the travel speed of each drive wheel is inconsistent, which can realize differential steering. This provides intelligent and adjustable steering function when the device encounters curves with different curvatures during operation. To simplify the mechanism, the drive motors are placed in the drive wheel frame. Therefore, a combination structure of bevel gears and ordinary cylindrical gears is designed to realize steering and motion transmission. The driven bevel gear cooperates with the driving bevel gear on the output shaft of the drive motor. The drive motor drives the driven bevel gear to rotate. The driven bevel gear is mounted on stud assembly A. After the bevel gears mesh, the motion can be steered. Cylindrical gear A is set on stud assembly A. By utilizing the meshing of cylindrical gear A and cylindrical gear B, the motion is transmitted to the drive wheels to realize the movement of the drive wheels.

Claims

1. A novel plugging and diversion robot for emergency maintenance of pipelines without interrupting traffic, characterized in that, It includes a sealing flow guiding device (1) that can guide and dredge the medium transported in the pipeline, and two traction support units symmetrically arranged on both sides of the sealing flow guiding device. Each traction support unit includes a robot power unit (3) and a support part (2). Universal couplings that enable curve self-adaptation are provided between the robot power unit (3) and the support part (2) on the same side, and between the support part (2) and the corresponding side of the sealing flow guiding device (1). The robot power unit (3) includes a hydraulic cylinder body (3-1), a piston rod (3-2) disposed in the hydraulic cylinder body, a universal coupling connector on the top of the piston rod, three adjustable drive support frames (3-3) evenly distributed around the cylinder body, drive wheel assemblies (3-4) mounted on each drive support frame (3-3) and fitted against the inner wall of the pipe, a power assembly (3-5) mounted on each drive support frame (3-3) to drive the corresponding drive wheel assembly (3-4) to rotate, a push rod rocker mechanism (3-6) for adjusting the angle of the drive support frame (3-3), and an adaptive spring (3-7). One end of the push rod rocker mechanism (3-6) is connected to the universal coupling connector, and the other end is connected to the drive support frame (3-3). The adaptive spring (3-7) is sleeved on the piston rod (3-2) below the universal coupling connector, with one end fixedly connected to the bottom of the universal coupling connector and the other end fixedly connected to the hydraulic cylinder body (3-1). The hydraulic cylinder body (3-1) is provided with a positioning mounting seat for installing the drive support frame (3-3). The positioning mounting seat is provided with a mounting stud. The drive support frame (3-3) includes a directional frame body (3-3.1), a threaded hole (3-3.2) located at one end of the directional frame body (3-3.1) along the length direction and cooperating with the mounting stud in the positioning mounting seat, and a threaded mounting hole (3-3.3) located at the other end of the directional frame body (3-3.1) along the length direction for installing the drive wheel assembly (3-4). The push rod and rocker mechanism (3-6) includes a push rod mechanism (3-6.1) and a rocker mechanism (3-6.2) that are hinged to each other. The free end of the push rod mechanism (3-6.1) is threaded to the bottom of the universal coupling connector, and the free end of the rocker mechanism (3-6.2) is threaded to the mounting stud in the corresponding positioning mounting seat.

2. The novel plugging and diversion robot for pipeline maintenance operations without interrupting traffic, as described in claim 1, is characterized in that... The sealing and guiding device (1) includes a bypass guide pipe (1-1) that can guide and dredge the medium transported in the pipeline, two sealing support frames (1-2) set on the bypass guide pipe (1-1), and two inflatable sealing components (1-3) set on the two sealing support frames (1-2) that can seal and fit with the inner wall of the pipeline. The two inflatable sealing components (1-3) form a sealing zone at the pipeline rupture point. Universal coupling connectors are provided at both ends of the bypass guide pipe (1-1).

3. A novel blocking and diversion robot for pipeline maintenance operations without interrupting traffic, as described in claim 2, is characterized in that... The inflatable sealing assembly (1-3) includes an airbag assembly (1-3.1) sleeved outside the sealing support frame (1-2) and an air pump assembly (1-3.2) disposed inside the sealing support frame (1-2) to inflate the airbag assembly (1-3.1). The sealing support frame (1-2) is provided with an airbag fixing device (1-4) that causes the airbag assembly (1-3.1) to expand radially when inflated.

4. A novel blocking and diversion robot for pipeline maintenance operations without interrupting traffic, as described in claim 1, is characterized in that... The support part (2) includes a connecting rod (2-1) and universal couplings at both ends of the connecting rod (2-1). One end of the connecting rod (2-1) is connected to the robot power unit (3) through a universal coupling, and the other end is connected to the sealing and guiding device (1) through another universal coupling.

5. A novel blocking and diversion robot for pipeline maintenance operations without interrupting traffic, as described in claim 4, is characterized in that... The connecting rod (2-1) is fitted with a mounting base (2-2) in the middle. The mounting base (2-2) has a plurality of support wheel assemblies (2-3) evenly distributed around its circumference, which fit against the inner wall of the pipe during operation. Each support wheel assembly (2-3) includes a sleeve (2-3.1) fixed radially on the mounting base (2-2), a spring (2-3.2) fixedly installed in the sleeve (2-3.1), and a support wheel (2-3.3) connected to the free end of the spring (2-3.2) extending out of the sleeve (2-3.1).

6. A novel blocking and diversion robot for pipeline maintenance operations without interrupting traffic, as described in claim 1, is characterized in that... The drive wheel assembly (3-4) includes a combined mounting bracket (3-4.1). One end of the combined mounting bracket (3-4.1) is provided with a threaded mounting hole two (3-3.3) and a stud assembly A (3-4.2) passing through the threaded mounting hole two (3-3.3). The other end of the combined mounting bracket (3-4.1) is provided with a drive wheel (3-4.4) through a stud assembly B (3-4.3). The stud assembly A (3-4.2) and the stud assembly B (3-4.3) extend out of the combined mounting bracket (3-4.1) and are respectively fitted with mutually meshing cylindrical gears A (3-4.5) and B (3-4.6). The power assembly (3-5) drives the stud assembly A (3-4.2) to rotate.

7. A novel blocking and diversion robot for pipeline maintenance operations without interrupting traffic, as described in claim 6, is characterized in that... The power assembly (3-5) is installed inside the direction frame body (3-3.1). The power assembly (3-5) is a drive motor. The output shaft of the corresponding drive motor is fitted with a drive bevel gear (3-4.8). The stud assembly A (3-4.2) is provided with a driven bevel gear (3-4.7) that meshes with the drive bevel gear (3-4.8).

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