An in-line occlusion anchoring and sealing device

Abstract

The application belongs to the technical field of pipeline maintenance internal sealing, and particularly relates to a pipeline internal sealing anchoring and sealing device. The pipeline internal sealing anchoring and sealing device comprises a supporting sleeve, a driving hydraulic cylinder fixed in the supporting sleeve, sliding plates slidingly arranged on the supporting sleeve at both sides of the driving hydraulic cylinder, anchoring mechanisms fixedly connected at both ends of the supporting sleeve, respectively; the two sliding plates are fixedly connected on corresponding guide rods of the driving hydraulic cylinder, baffles are arranged on the supporting sleeve at both sides of the sliding plates, a sealing rubber cylinder and a speed regulating rubber cylinder are sleeved on the supporting sleeve between the baffle and the sliding plate; the anchoring mechanism comprises anchoring sleeves fixedly connected at both ends of the supporting sleeve, a conical frustum sleeved on the anchoring sleeve, an anchoring block, a connecting rod and a fixed plate; a communication module and a control module are arranged on the supporting sleeve; the application integrates speed regulation, braking, anchoring and sealing, and can realize anchoring and sealing at both ends to improve the anchoring and sealing effect.

Description

Technical Field

[0001] This invention belongs to the field of pipeline maintenance internal sealing technology, and particularly relates to a pipeline internal sealing and anchoring device. Background Technology

[0002] With socio-economic development, pipelines transporting energy resources such as oil and natural gas may develop cracks or leaks during long-term service due to external factors or internal corrosion, leading to energy leaks. Currently, most domestic plugging devices are external plugging devices, relying on a mechanical pipe-holding mechanism to fix the plugging unit outside the leak point for sealing. This plugging method is unsuitable for certain special environments or even buried pipelines where excavation is not feasible. Currently, in pipeline repair and maintenance operations after plugging, a pipeline repair and plugging robot first enters the pipeline from a launching device, moves inside the pipeline to the target location requiring plugging, and then performs the plugging operation. After plugging is completed, pipeline repair is carried out, thereby reducing the loss of oil and gas resources due to pipeline leaks and ensuring the normal transportation of oil and gas.

[0003] In the prior art, Chinese invention patent application number 201910171019.5 discloses a brake-type intelligent pipe plugging robot, including a speed-regulating plugging unit and a brake anchoring unit coaxially arranged along the axis of the pipe to be plugged. The speed-regulating plugging unit includes at least a flow-regulating structure for speed adjustment and an elastic deformable body for plugging. The speed is adjusted by adjusting the size of the flow outlet of the flow-regulating structure. Multiple elastic deformable bodies arranged side by side are coaxially arranged with the pipe to be plugged, and the elastic deformable bodies deform radially. The brake anchoring unit enables the robot to brake and lock against the inner wall of the pipe to be plugged. This invention requires two sets to work together during operation, respectively positioned and locked at both ends of the pipe to be maintained, providing a closed and isolated space. This invention uses mechanical drive, solving the problems of complex pipelines, high cost, high technical requirements, and high precision requirements.

[0004] However, the existing technology still has the following shortcomings: Since the speed regulation sealing unit and the brake anchoring unit are connected by a universal connector and set up front and back, the anchoring structure between the brake anchoring unit and the inner wall of the pipe is not strong when the pipe is sealed and anchored. Especially when the pipe is cut or repaired, the brake anchoring unit will generate a certain torque during vibration, which will lead to anchoring failure. In addition, the existing technology designs the speed regulation, braking, anchoring and sealing as a separate structure, which is relatively complex. In particular, the speed regulation sealing unit and the brake anchoring unit need to use corresponding drive mechanisms such as drive motors.

[0005] Therefore, there is an urgent need to design an anchoring and sealing device for pipe plugging that integrates speed regulation, braking, anchoring and sealing to reduce structural complexity and improve the anchoring and sealing effect by achieving anchoring and sealing at both ends. Summary of the Invention

[0006] To address the technical problems existing in the prior art, this application provides a pipe internal sealing and anchoring device that integrates speed regulation, braking, anchoring and sealing, and can achieve anchoring and sealing at both ends to improve the anchoring and sealing effect.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] An internal sealing and anchoring device for pipelines includes a support sleeve, a driving hydraulic cylinder fixedly connected along its length inside the support sleeve, sliding plates slidably disposed on the support sleeves on both sides of the driving hydraulic cylinder along the length of the support sleeve, and an anchoring mechanism fixedly connected to both ends of the support sleeve; the two sliding plates are respectively fixedly connected to the guide rods corresponding to the driving hydraulic cylinder, baffles are fixedly connected to the support sleeves on both sides of the sliding plates, and a sealing rubber sleeve and a speed regulating rubber sleeve are sleeved on the support sleeve between the baffles and the sliding plates; the anchoring mechanism includes an anchoring sleeve fixedly connected to both ends of the support sleeve, a truncated cone sleeved on the anchoring sleeve, and a sealing mechanism sleeved on the support sleeve. The anchoring sleeve includes an anchoring block that moves relative to the truncated cone, a connecting rod hinged to the side of the anchoring block facing away from the truncated cone, and a fixing plate hinged to the connecting rod. A communication module and a control module are provided on the support sleeve. In the speed-adjusting state, the guide rod of the driving hydraulic cylinder drives the sliding plate to move, thereby squeezing the corresponding speed-adjusting rubber cylinder. At this time, the sealing rubber cylinder is not squeezed and the anchoring block is not in contact with the inner wall of the pipe. In the anchoring and sealing state, the guide rod of the driving hydraulic cylinder drives the sliding plate to move, thereby squeezing the corresponding sealing rubber cylinder so that the sealing rubber cylinder abuts against the inner wall of the pipe and causes the truncated cone and the anchoring block to move relative to each other, thus anchoring the anchoring block to the inner wall of the pipe. At this time, the sealing rubber cylinder is not squeezed.

[0009] Preferably, the driving hydraulic cylinder includes a cylinder body, a piston slidably disposed within the cylinder body, and a left guide rod and a right guide rod extending outside the cylinder body and fixedly connected to both ends of the piston. The two sliding plates are respectively fixedly connected to the corresponding left and right guide rods. Sealing rubber cylinders and speed-regulating rubber cylinders are respectively provided on the left and right sides of the sliding plates on the left and right guide rods. The anchoring mechanism includes a left anchoring mechanism and a right anchoring mechanism. In the anchoring and sealing state, the right guide rod drives the anchoring block of the right anchoring mechanism to move toward the truncated cone so that the anchoring block is anchored to the inner wall of the pipe. The left guide rod drives the truncated cone of the left anchoring mechanism to move toward the anchoring block so that the anchoring block is anchored to the inner wall of the pipe.

[0010] Preferably, two stops are fixedly sleeved on both the left and right guide rods, and the sliding plate includes a left sliding plate and a right sliding plate. The left sliding plate is sleeved between the two stops on the left guide rod, and the right sliding plate is sleeved between the two stops on the right guide rod.

[0011] Preferably, multiple sleeve grooves are respectively formed on the circumference of both ends of the support sleeve along its length direction. The sliding plate includes an outer ring plate with an annular structure, an inner plate coaxially arranged inside the outer ring plate, and a slider that matches the sleeve groove and is fixedly connected to the inner wall of the outer ring plate and the outer circumference of the inner plate respectively. The inner plate is sleeved on the corresponding left guide rod and right guide rod, and the slider slides through the sleeve groove.

[0012] Preferably, a plurality of anchoring grooves are formed on the circumference of the anchoring sleeve of the left anchoring mechanism along its length direction. The cone of the left anchoring mechanism includes a cone ring with an inclined surface on its outer circumference, an anchoring plate coaxially arranged on the inner side of the cone ring, and a connecting block that matches the anchoring groove and is fixedly connected to the inner wall of the cone ring and the outer circumference of the anchoring plate respectively. The anchoring plate is sleeved on the left guide rod, and the connecting block slides through the anchoring groove.

[0013] Preferably, a mounting plate is fixedly connected to the inner circumference of the anchoring sleeve of the left anchoring mechanism on the side away from the driving hydraulic cylinder, and the fixing plate of the left anchoring mechanism is fixedly connected to the mounting plate.

[0014] Preferably, a left locking block is fixedly connected to the left guide rod on both sides of the anchoring plate. When the driving hydraulic cylinder is not activated, the left locking block on the right side of the anchoring plate abuts against the anchoring plate, and the left locking block on the left side of the anchoring plate leaves a gap with the anchoring plate. A right locking block is fixedly connected to the right guide rod on both sides of the fixing plate of the right anchoring mechanism. When the driving hydraulic cylinder is not activated, the right locking block on the right side of the fixing plate of the right anchoring mechanism abuts against it, and the right locking block on the left side of the fixing plate of the right anchoring mechanism leaves a gap with it.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] This invention features two anchoring mechanisms at both ends of the support sleeve. When anchored to the inner wall of the pipe, the force is evenly distributed and the anchoring effect is better, making it less prone to anchoring failure due to vibration during pipe maintenance. The sliding plate is driven by the guide rod of the driving hydraulic cylinder, thereby achieving speed regulation when the piston moves to one side and braking and sealing when it moves to the other side. This invention uses a driving hydraulic cylinder with a double guide rod structure, which is simple in structure and only requires one hydraulic cylinder to realize the functions of speed regulation, braking, sealing and anchoring. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the half-section structure of the present invention.

[0019] Figure 3This is a schematic diagram of the support sleeve of the present invention.

[0020] Figure 4 This is a schematic diagram of the structure of the sliding plate of the present invention.

[0021] Figure 5 This is a schematic diagram of the right anchoring mechanism of the present invention.

[0022] Figure 6 This is a half-section three-dimensional structural diagram of the right anchoring mechanism of the present invention.

[0023] Figure 7 This is a half-section three-dimensional structural diagram of the left anchoring mechanism of the present invention.

[0024] Figure 8 This is a schematic diagram of the cone-shaped structure of the left anchoring mechanism of the present invention.

[0025] Figure 9 This is a schematic diagram of the anchoring sleeve of the left anchoring mechanism of the present invention.

[0026] In the diagram: 1. Support sleeve; 11. Inner baffle; 12. Outer baffle; 13. Communication module; 14. Control module; 15. Sleeve groove; 16. Speed ​​regulating rubber cylinder; 17. Sealing rubber cylinder.

[0027] 2. Drive hydraulic cylinder; 21. Cylinder body; 22. Piston; 23. Left guide rod; 24. Right guide rod; 25. Stop block.

[0028] 3. Sliding plate; 31. Outer ring plate; 32. Inner plate; 33. Slider; 34. Left sliding plate; 35. Right sliding plate.

[0029] 4. Left anchoring mechanism; 41. Anchoring sleeve; 411. Anchoring groove; 412. Mounting plate; 42. Conical frustum; 421. Conical ring; 422. Guide block; 423. Anchoring plate; 424. Connecting block; 43. Anchoring block; 44. Connecting rod; 45. Fixing plate; 46. Left locking block.

[0030] 5. Right anchoring mechanism; 51. Right locking block. Detailed Implementation

[0031] 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 a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0032] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this 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 limitations on this invention.

[0033] Example

[0034] See Figure 1 , 2 As shown, a pipe sealing and anchoring device includes a support sleeve 1, a driving hydraulic cylinder 2 fixedly connected in the support sleeve 1 along its length, a sliding plate 3 slidably disposed on the support sleeve 1 on both sides of the driving hydraulic cylinder 2 along the length of the support sleeve 1, and an anchoring mechanism fixedly connected to both ends of the support sleeve 1.

[0035] The driving hydraulic cylinder 2 includes a cylinder body 21, a piston 22 slidably disposed within the cylinder body 21, and a left guide rod 23 and a right guide rod 24 extending outside the cylinder body 21 and fixedly connected to both ends of the piston 22. Two sliding plates 3 are respectively fixedly connected to the corresponding left guide rod 23 and right guide rod 24. The cylinder body 21 is welded to the inner wall of the support sleeve 1 or can be fixed inside the support sleeve 1 by other fixing mechanisms.

[0036] See Figure 3 As shown, a baffle is fixedly connected to the outer circumference of the support sleeve 1. The baffle includes two inner baffles 11 welded to the outer circumference of the middle part of the support sleeve 1 and outer baffles 12 welded to the outer circumference of both ends of the support sleeve 1. Both the inner baffles 11 and the outer baffles 12 are annular structures. A communication module 13 and a control module 14 are fixedly installed on the two inner baffles 11. The communication module 13 is used to communicate with existing positioning and detection equipment outside the pipeline, and the control module 14 is used to control the movement of the guide rod of the hydraulic cylinder 2. Of course, the communication module 13 and the control module 14 are powered by corresponding power modules. The communication module 13 and the control module 14 are prior art and will not be described in detail here. A baffle connection through hole can be provided on the outer baffle 12 to facilitate fixed connection with the anchoring mechanism. Multiple sleeve grooves 15 are respectively opened along the length direction on the circumference of both ends of the support sleeve 1. In this embodiment, four sleeve grooves 15 are evenly distributed.

[0037] See Figure 4As shown, the sliding plate 3 includes a left sliding plate 34 and a right sliding plate 35, both of which have the same structure. Each includes an outer ring plate 31 with an annular structure, an inner plate 32 coaxially disposed inside the outer ring plate 31, and a slider 33 that matches the sleeve groove 15 and is fixedly connected to the inner wall of the outer ring plate 31 and the outer circumference of the inner plate 32, respectively. An inner plate through hole 321 is provided on the inner plate 32, through which the inner plate 32 is respectively sleeved on the corresponding left guide rod 23 and right guide rod 24. (See also...) Figure 2 As shown, to fix the relative position of the inner plate 32 on the left guide rod 23 and the right guide rod 24, the inner plate 32 can be welded to the left guide rod 23 and the right guide rod 24 respectively. However, to facilitate fixing the inner plate 32, in this embodiment, two stops 25 are fixedly sleeved on both the left guide rod 23 and the right guide rod 24. A left sliding plate 34 is sleeved between the two stops 24 on the left guide rod 23, and a right sliding plate 35 is sleeved between the two stops 25 on the right guide rod 24. The stops 24 can be pre-welded to the left guide rod 23 and the right guide rod 24, or a detachable snap-fit ​​structure can be adopted.

[0038] Thus, the inner plate 32 can slide through the support sleeve 1, the slider 33 slides through the sleeve groove 15, and the outer ring plate 31 slides around the outer circumference of the support sleeve 1. When the control module 14 controls the left guide rod 23 and the right guide rod 24 of the drive hydraulic cylinder 2 to move, it can drive the left sliding plate 34 and the right sliding plate 35 to move.

[0039] In this embodiment, in order to facilitate the sliding of the slider 33 into the sleeve groove 15, the opening of the sleeve groove 15 abuts against the outer baffle 12. The slider 3 can be slid into the sleeve groove 15 from the front opening and then the outer baffle 12 can be welded to both ends of the support sleeve 1.

[0040] In this embodiment, to achieve the speed regulation function, i.e., by adjusting the gap between the sealing and anchoring device in the pipeline and the inner wall of the pipeline, speed regulating rubber cylinders 16 are respectively fitted on the outer circumference of the support sleeve 1 between the left sliding plate 34 and the opposite inner baffle 11, and between the right side of the right sliding plate 35 and the opposite outer baffle 12. By squeezing the speed regulating rubber cylinder 16 by the sliding plate 3, the distance between the outer circumference of the speed regulating rubber cylinder 16 and the inner wall of the pipeline is adjusted, thereby adjusting the moving speed of the sealing and anchoring device in the pipeline. The specific moving principle is achieved by the pressure difference formed by the transmission medium in the front and back directions of the sealing and anchoring device in the pipeline, which is the prior art and will not be described in detail here.

[0041] In this embodiment, in order to achieve the sealing function, sealing rubber cylinders 17 are respectively fitted on the outer circumference of the support sleeve 1 between the left sliding plate 34 and the opposite outer baffle 12, and between the right sliding plate 35 and the opposite inner baffle 11. The outer circumference of the sealing rubber cylinder 17 is pressed by the sliding plate 3 to make the sealing rubber cylinder 17 abut against the inner wall of the pipe and seal the internal cavity of the pipe.

[0042] See Figure 2 , 5 As shown in Figure 6, the anchoring mechanism includes a left anchoring mechanism 4 and a right anchoring mechanism 5. Both of them include an anchoring sleeve 41 fixedly connected to both ends of the support sleeve 1, a cone 42 sleeved on the anchoring sleeve 41, an anchoring block 43 sleeved on the anchoring sleeve 41 and moving relative to the cone 42, a connecting rod 44 hinged to the side of the anchoring block 43 away from the cone 42, and a fixing plate 45 hinged to the connecting rod 44.

[0043] Specifically, a flange 411 is fixedly connected to one end of the anchoring sleeve 41 to facilitate the fixed installation of the anchoring sleeve 41 on the outer baffle 12. The truncated cone 42 includes a conical ring 421 with an inclined surface on its outer circumference. Multiple guide blocks 422 are welded to the inclined surface of the conical ring 421. The inner side of the anchoring block 43, which is opposite to the inclined surface of the conical ring 421, has an inclined surface that matches the inclined surface of the conical ring 421. A guide groove matching the guide block 422 is also provided on the anchoring block 43. The guide block 422 can slide through the guide groove. The anchoring block 43 is a split structure, composed of multiple parts. A connecting rod 44 is hinged to the side of the anchoring block 43 facing away from the guide block 422. Thus, through the relative movement of the cone 42 and the anchoring block 43, the anchoring block 43 moves away from the anchoring sleeve 41, thereby causing the outer circumference of the anchoring block 43 to abut and press against the inner wall of the pipe, thereby realizing the anchoring of the sealing device in the pipe.

[0044] For details, see Figure 2 As shown, the right anchoring mechanism 5 is fixedly installed at the right end of the support sleeve 1, and the right guide rod 24 is slidably inserted into the fixing plate 45 of the right anchoring mechanism 5. Right locking blocks 51 are fixedly connected to the right guide rods 24 on both sides of the fixing plate 45 of the right anchoring mechanism 5. When the driving hydraulic cylinder 2 is not activated, the right locking block 51 on the right side of the fixing plate 45 of the right anchoring mechanism 5 abuts against it, while the right locking block 51 on the left side of the fixing plate 45 of the right anchoring mechanism 5 has a gap with it. By setting this gap, in the speed-adjusting state, i.e., when the speed-adjusting rubber cylinder 16 is compressed, the right guide rod 24 drives the right locking block 51 on the left side of the fixing plate 45 of the right anchoring mechanism 5 to move the gap distance before abutting against the fixing plate 45, thereby causing the anchoring block 43 to move away from the cone 42, thus preventing the anchoring block 43 from moving excessively away from the cone 42.

[0045] See Figure 7 ,8 As shown in Figure 9, since the left guide rod 23 and the right guide rod 24 move in the same direction, the structure of the left anchoring mechanism 4 differs from that of the right anchoring mechanism 5 in that: multiple anchoring grooves 411 are provided along the length of the circumference of the anchoring sleeve 41 of the left anchoring mechanism 4. The cone 42 of the left anchoring mechanism 4 includes a cone ring 421 with an inclined surface on its outer circumference, an anchoring plate 423 coaxially arranged inside the cone ring 421, and a connecting block 424 that matches the anchoring grooves 411 and is fixedly connected to the inner wall of the cone ring 421 and the outer circumference of the anchoring plate 423 respectively. In order to fix the left anchoring mechanism 4 to the left end of the support sleeve 1, a mounting plate 412 is fixedly connected to the inner circumference of the anchoring sleeve 41 of the left anchoring mechanism 4 on the side away from the driving hydraulic cylinder 2. The fixing plate 45 of the left anchoring mechanism 4 is fixedly connected to the mounting plate 412 by bolts.

[0046] Left locking blocks 46 are fixedly connected to the left guide rods 23 on both sides of the anchor plate 423. The left guide rods 23 can slide through the fixed plate 45 of the left anchoring mechanism 4. When the driving hydraulic cylinder 2 is not activated, the left locking block 46 on the right side of the anchor plate 423 abuts against the anchor plate 423, and a gap is left between the left locking block 46 on the left side of the anchor plate 423 and the anchor plate 423. By setting the gap, in the speed adjustment state, that is, when the speed adjustment rubber cylinder 16 is squeezed, the left guide rod 23 drives the left locking block 46 on the left side of the anchor plate 423 to move the gap distance before abutting against the anchor plate 423, and then drives the cone 42 away from the anchor block 43, thereby preventing the cone 42 from moving too far away from the anchor block 43. It should be noted that the left locking block 46 and the right locking block 51 can be fixedly locked on the left guide rod 23 and the right guide rod 24, respectively.

[0047] The working process of this invention embodiment is as follows:

[0048] 1. During normal operation, two identical sealing and anchoring devices for this pipeline, equipped with a control module 14 and a communication module 13, enter the oil and gas pipeline sequentially via a launching device. The communication module 13 enables rapid and stable transmission of signals inside and outside the pipeline, while the control module 14 controls the braking, anchoring, and sealing actions of this invention. Figure 2 As shown, this is the initial state when the driving hydraulic cylinder 2 of the present invention is not activated;

[0049] 2. In the speed regulation state, i.e., when the present invention is conveying within the oil and gas pipeline, the control module 14 controls the piston 22 of the drive hydraulic cylinder 2 to move as follows: Figure 2The movement to the right side of the device causes the left guide rod 23 and the right guide rod 24 to move synchronously to the right. At this time, the left guide rod 23 drives the left sliding plate 34 to move to the right and the right guide rod 24 drives the right sliding plate 35 to move to the right, thereby squeezing the speed-regulating rubber cylinder 16 and causing the outer circumference of the speed-regulating rubber cylinder 16 to bulge, thereby reducing the distance between its outer circumference and the inner wall of the oil and gas pipeline. Under the action of the pressure drop at its front and rear ends, the device accelerates along the pipeline toward the target position that needs to be sealed, and the movement speed of the device is adjusted by adjusting the distance between the outer circumference of the speed-regulating rubber cylinder 16 and the inner wall of the oil and gas pipeline. During this process, the left anchoring mechanism 4, the right anchoring mechanism 5 and the sealing rubber cylinder 17 can be in the initial state, at which time the sealing rubber cylinder 17 is not squeezed and the anchoring block 43 is not in contact with the inner wall of the pipeline.

[0050] 3. When the present invention reaches the sealing position and needs to reach the anchoring state, the control module 14 controls the piston 22 of the driving hydraulic cylinder 2 to gradually return to the initial position, thereby reducing the driving force on the present invention. Then, the piston 22 continues to move to the left and drives the left guide rod 23 and the right guide rod 24 to move to the left simultaneously. At this time, the left guide rod 23 drives the left sliding plate 34 to move to the left and the right guide rod 24 drives the right sliding plate 35 to move to the left, thereby squeezing the sealing rubber cylinder 17, causing the outer circumference of the sealing rubber cylinder 17 to bulge and abut against the inner wall of the pipe, thereby reducing the movement speed of the present invention until braking is completed. During this process, the right guide rod 24 drives the fixing plate 45 of the right anchoring mechanism 5 to move to the left, thereby driving the anchoring block 43 of the left anchoring mechanism 5 to move to the left, and gradually abuts and clamps under the action of the cone 42. On the inner wall of the pipe, the left guide rod 23 drives the anchoring plate 423 and cone ring 421 of the left anchoring mechanism 4 to move to the left, and under the action of the corresponding anchoring block 43, the anchoring block 43 gradually abuts and clamps against the inner wall of the pipe; during the process of the anchoring block 43 of the left anchoring mechanism 4 and the right anchoring mechanism 5 anchoring to the inner wall of the pipe, the sealing rubber cylinder 17 is continuously compressed, thereby sealing its outer circumference with the inner wall of the pipe; since the left anchoring mechanism 4 and the right anchoring mechanism 5 in this invention are distributed at the left and right ends of this invention, when this invention is anchored, both sides can be anchored at the same time, thereby improving the uniformity of force and anchoring ability of this invention in the anchoring state, and avoiding anchoring failure due to vibration caused by maintenance or cutting of the pipe; in addition, the sealing rubber cylinder 17 in this invention can realize deceleration, braking and sealing functions;

[0051] 4. When the pipeline maintenance work is completed, the control module 14 controls the piston 22 of the hydraulic cylinder 2 to return to the initial position, and the left anchoring mechanism 4, the right anchoring mechanism 5 and the sealing rubber cylinder 17 also return to the initial state; then the above speed adjustment state can be repeated to transmit the present invention to the ball receiving device to complete the recycling operation.

[0052] In this embodiment, the control module 15, communication module 13, and drive hydraulic cylinder 2 can all be selected from existing technologies, and their connection methods and working principles are also existing technologies, which will not be described in detail here. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A pipe internal sealing and anchoring device, characterized in that: It includes a support sleeve, a driving hydraulic cylinder fixedly connected inside the support sleeve along its length, sliding plates slidably disposed on the support sleeves on both sides of the driving hydraulic cylinder along the length of the support sleeve, and anchoring mechanisms fixedly connected to both ends of the support sleeve. The two sliding plates are respectively fixedly connected to the guide rods corresponding to the driving hydraulic cylinders. Baffles are fixedly connected to the support sleeves on both sides of the sliding plates. A sealing rubber sleeve and a speed regulating rubber sleeve are sleeved on the support sleeve between the baffles and the sliding plates. The anchoring mechanism includes an anchoring sleeve fixedly connected to both ends of the support sleeve, a cone sleeved on the anchoring sleeve, an anchoring block sleeved on the anchoring sleeve and moving relative to the cone, a connecting rod hinged to the side of the anchoring block away from the cone, and a fixing plate hinged to the connecting rod. A communication module and a control module are provided on the support sleeve; In the speed regulation state, the guide rod of the driving hydraulic cylinder drives the sliding plate to move, thereby squeezing the corresponding speed regulation rubber cylinder. At this time, the sealing rubber cylinder is not squeezed and the anchor block does not abut against the inner wall of the pipe. In the anchored sealing state, the guide rod of the driving hydraulic cylinder drives the sliding plate to move, thereby squeezing the corresponding sealing rubber cylinder so that the sealing rubber cylinder abuts against the inner wall of the pipe and causes the cone and the anchoring block to move relative to each other, thereby anchoring the anchoring block to the inner wall of the pipe. At this time, the sealing rubber cylinder is not squeezed. The driving hydraulic cylinder includes a cylinder body, a piston slidably disposed within the cylinder body, and a left guide rod and a right guide rod extending outside the cylinder body and fixedly connected to both ends of the piston. Two sliding plates are respectively fixedly connected to the corresponding left and right guide rods. Sealing rubber cylinders and speed-regulating rubber cylinders are respectively disposed on the left and right sides of the sliding plates on the left and right guide rods. The anchoring mechanism includes a left anchoring mechanism and a right anchoring mechanism. In the anchoring and sealing state, the right guide rod drives the anchoring block of the right anchoring mechanism to move towards the truncated cone to anchor the anchoring block to the inner wall of the pipe. The left guide rod drives the truncated cone of the left anchoring mechanism to move towards the anchoring block to anchor the anchoring block to the inner wall of the pipe. Multiple anchoring grooves are provided along the length of the anchoring sleeve on the circumference of the left anchoring mechanism. The cone of the left anchoring mechanism includes a cone ring with an inclined surface on its outer circumference, an anchoring plate coaxially arranged on the inner side of the cone ring, and a connecting block that matches the anchoring groove and is fixedly connected to the inner wall of the cone ring and the outer circumference of the anchoring plate respectively. The anchoring plate is sleeved on the left guide rod, and the connecting block slides through the anchoring groove. Left locking blocks are fixedly connected to the left guide rods on both sides of the anchoring plate. When the driving hydraulic cylinder is not activated, the left locking block on the right side of the anchoring plate abuts against the anchoring plate, and the left locking block on the left side of the anchoring plate leaves a gap with the anchoring plate. Right locking blocks are fixedly connected to the right guide rods on both sides of the fixing plate of the right anchoring mechanism. When the driving hydraulic cylinder is not activated, the right locking block on the right side of the fixing plate of the right anchoring mechanism abuts against it, and the right locking block on the left side of the fixing plate of the right anchoring mechanism leaves a gap with it.

2. The pipe internal sealing and anchoring device according to claim 1, characterized in that: Two blocks are fixedly fitted on both the left and right guide rods. The sliding plate includes a left sliding plate and a right sliding plate. The left sliding plate is fitted between the two blocks on the left guide rod, and the right sliding plate is fitted between the two blocks on the right guide rod.

3. The pipe internal sealing and anchoring device according to claim 2, characterized in that: Multiple sleeve grooves are respectively formed on the circumference of both ends of the support sleeve along its length direction. The sliding plate includes an outer ring plate with an annular structure, an inner plate coaxially arranged inside the outer ring plate, and a slider that matches the sleeve groove and is fixedly connected to the inner wall of the outer ring plate and the outer circumference of the inner plate respectively. The inner plate is sleeved on the corresponding left guide rod and right guide rod, and the slider slides through the sleeve groove.

4. The pipe internal sealing and anchoring device according to claim 1, characterized in that: An installation plate is fixedly connected to the inner circumference of the anchoring sleeve of the left anchoring mechanism on the side away from the driving hydraulic cylinder, and the fixing plate of the left anchoring mechanism is fixedly connected to the installation plate.

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