An intelligent plugging device, a plugging device and a plugging method

Abstract

The application provides a kind of intelligent leaking stoppage device, leaking stoppage equipment and leaking stoppage method, intelligent leaking stoppage device includes the leaking stoppage support for being connected with equipment execution end self-disengaging, and the leaking stoppage claw subassembly of being set in pairs, two leaking stoppage claw subassembly symmetrically set in the both sides of leaking stoppage support;Leaking stoppage claw subassembly includes driver and the claw of being hinged with driver telescopic end, the side of driver away from telescopic end is hinged with leaking stoppage support;Claw includes claw body and the half tubular leaking stoppage body of being arranged in the inner wall of claw body, and the two half tubular leaking stoppage bodies of being set in opposite directions are used for clamping hold leaking pipeline;It further includes obturator, obturator is set between two leaking stoppage claw subassembly, it includes the hydraulic accumulator of being arranged in the side of leaking stoppage support, the obturator cavity bag connected with hydraulic accumulator, and the stop plate of being set on the obturator cavity bag towards the center surface of clamping, for inlaying touch pressure to obturator;The application does not need to peel off pipeline anticorrosive layer, and can effectively leaking stoppage to leaking pipeline.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline plugging, in particular to an intelligent plugging device, a plugging equipment and a plugging method. BACKGROUND

[0002] Pipeline transportation is one of the main modes of oil and gas transportation. With the continuous expansion of the scale of national oil and gas pipeline construction and the extension of the operation time, the problems of oil and gas pipeline leakage caused by pipeline aging, corrosion, third-party damage and the like are increasingly prominent, and the requirements for the rapid plugging technology for realizing the resumption of production and non-stop production of oil and gas pipelines are also increasingly high.

[0003] At present, the traditional oil and gas pipeline leakage point repair mode has the following difficulties:

[0004] 1. The traditional plugging equipment needs personnel to operate on site close to the hazard source, and it is required to vent natural gas or release pressure of oil products for the accident pipeline section, which objectively restricts the repair production time;

[0005] 2. The traditional plugging equipment needs to pre-strip the pipeline anticorrosion layer, which needs manual operation and also needs to vent natural gas or release pressure of oil products, and cannot be directly plugged, which increases the repair preparation time;

[0006] 3. The existing plugging fixture has certain condition restrictions, and the typical welded fixture must strip the anticorrosion layer and release pressure of the pipeline; the bolt connection fixture has insufficient pressure bearing grade and can only be used as a temporary plugging and does not have the condition of rapid resumption of production;

[0007] 4. Personnel need to operate close to the leakage source, which has a high safety risk.

[0008] Therefore, an intelligent plugging device, plugging equipment and plugging method are needed, which can plugging the leakage pipeline without stripping the pipeline anticorrosion layer and quickly and effectively. SUMMARY

[0009] The present application aims to provide an intelligent plugging device, plugging equipment and plugging method, which aims to solve the technical problems of traditional plugging methods, such as complicated operation, low efficiency and safety risk to operators.

[0010] To achieve the above-mentioned purpose, in a first aspect, the present application provides an intelligent plugging device, comprising:

[0011] a plugging support for self-disengaging connection with the equipment execution end;

[0012] The pair of leak stopper claw assemblies are symmetrically arranged on both sides of the leak stopper support; each of the leak stopper claw assemblies comprises a driver and a claw hinged to the telescopic end of the driver, and the end of the driver away from the telescopic end is hinged to one side of the leak stopper support; the claw comprises a claw body and a semi-tubular leak stopper arranged on the inner wall of the claw body, and the two semi-tubular leak stoppers are oppositely arranged to clamp and hold the leaking pipeline.

[0013] The occluder is arranged between the two leak stopper claw assemblies, and comprises a hydraulic accumulator arranged on the side of the leak stopper support, an occlusion cavity bag connected to the hydraulic accumulator, and a stop plate arranged on the occlusion cavity bag towards the clamping center surface for abutting and pressing to occlude the leakage point.

[0014] As a further improvement of the above scheme, the semi-tubular leak stopper has a hollow inner cavity, and the hydraulic accumulator is further connected to the hollow inner cavity for filling hydraulic oil into the hollow inner cavity to improve the pipeline clamping adaptability.

[0015] As a further improvement of the above scheme, the intelligent leak stopper further comprises a control valve connected to the driver for controlling the driver to maintain the clamping force.

[0016] As a further improvement of the above scheme, the driver is a hydraulic oil cylinder, and the rod cavity end of the hydraulic oil cylinder is hinged to one end of the claw, and the rodless cavity end is hinged to the leak stopper support.

[0017] Correspondingly, the control valve is a balance valve.

[0018] As a further improvement of the above scheme, the intelligent leak stopper further comprises a self-detaching quick-change communicator in operable communication with the power source of the driver.

[0019] As a further improvement of the above scheme, the semi-tubular leak stopper is arranged on the claw body by bonding, and the semi-tubular leak stopper extends outward from both sides of the claw body by a predetermined length.

[0020] As a further improvement of the above scheme, the inner wall of the semi-tubular leak stopper is further provided with a sealing rubber ring,

[0021] The inner walls of the extension sections on both sides of the semi-tubular leak stopper are respectively provided with the sealing rubber rings.

[0022] As a further improvement of the above scheme, the leak stopper support comprises a connecting plate and a support plate vertically connected to both sides of the connecting plate with a spacing;

[0023] The end of the driver away from the telescopic end is arranged in the spacing by a first pin shaft.

[0024] The support plate further comprises a hinge hole at the center end of the clamping center, which is used for being hinged with the jaw body through a second pin shaft.

[0025] As a further improvement of the above-mentioned solution, the sealing cavity bag is suspended in the middle of the leaking stopper support, and the two sides thereof are respectively operable to touch the upper end of the corresponding half tubular leaking stopper.

[0026] As a further improvement of the above-mentioned solution, the intelligent leaking stopper device further comprises an elastic member arranged between the two jaws, which is used for improving the sealing performance under the clamping pressure of the jaws; preferably, the elastic member is a spring.

[0027] In a second aspect, the present application further provides a leaking stoppage device, which comprises:

[0028] A mobile platform;

[0029] A mechanical arm arranged on the mobile platform;

[0030] A hydraulic wrist arranged at the execution end of the mechanical arm;

[0031] A hydraulic quick-change device arranged at the execution end of the hydraulic wrist;

[0032] The intelligent leaking stopper device provided in the first aspect is self-detachable from the hydraulic quick-change device.

[0033] As a further improvement of the above-mentioned solution, the mobile platform is a self-driven mobile trolley or a remotely controllable mobile engineering equipment.

[0034] In a third aspect, the present application further provides a leaking stoppage method of the leaking stoppage device provided in the second aspect, which comprises the following steps:

[0035] S1: The mobile platform sends the intelligent leaking stopper device to the pipeline leakage position through the mechanical arm;

[0036] S2: Based on the pipeline leakage point, the hydraulic wrist is controlled to rotate, so that the sealing device of the intelligent leaking stopper device is opposite to the pipeline leakage point;

[0037] S3: Then, the sealing device is controlled to approach the pipeline leakage point until it is attached to the pipeline leakage point, the hydraulic quick-change device is controlled to be detached from the intelligent leaking stopper device, the leaking stoppage jaw assembly is closed to hold and clamp the pipeline, the hydraulic oil in the sealing cavity bag flows to the hydraulic accumulator under the pressure of the jaw, the sealing bag is adapted to the arc surface at the leakage point and maintains a certain pressure, the jaw extrudes the sealing cavity bag to press the pipeline leakage point, and the sealing of the pipeline leakage is completed.

[0038] The carrying mobile platform carries a mechanical arm, a hydraulic wrist and a hydraulic quick-change device.

[0039] As a further improvement of the above scheme, in step S3, after the intelligent plugging device is separated, the hydraulic accumulator also charges hydraulic oil into the two half tubular plugging bodies respectively.

[0040] Due to the above technical scheme, the present application has the following beneficial effects:

[0041] 1. The intelligent plugging device comprises a plugging support for self-detaching connection with a device execution end, and a pair of plugging claw assemblies symmetrically arranged on both sides of the plugging support; the plugging claw assembly comprises a driver and a claw hingedly connected to the telescopic end of the driver, and the end away from the telescopic end of the driver is hingedly connected to one side of the plugging support; the claw comprises a claw body and a half tubular plugging body arranged on the inner wall of the claw body, and the two half tubular plugging bodies arranged oppositely are used for clamping and holding a leaking pipeline; the device further comprises a plugging device arranged between the two plugging claw assemblies, which comprises a hydraulic accumulator arranged on the side edge of the plugging support, a plugging cavity capsule connected to the hydraulic accumulator, and a plugging plate arranged on the plugging cavity capsule facing the clamping center surface, which is used for abutting and pressing to plug a leakage point; in this way, when the plugging device abuts to the pipeline leakage point, the hydraulic oil in the plugging cavity capsule of the plugging device flows to the hydraulic accumulator under the pressure of the claw, so that the plugging capsule adapts to the arc surface at the leakage point and maintains a certain pressure to plug the leakage point for the first time; at the same time, the driver of the plugging claw assembly drives the claw to close, and the two half tubular plugging bodies arranged oppositely are used for clamping and holding the leaking pipeline to realize secondary plugging of the leaking oil and gas pipeline; in the process of closing the claw, the upper end of the half tubular plugging body continuously extrudes the plugging cavity capsule to further press the pipeline leakage point, thereby realizing safe and reliable plugging of the leaking oil and gas pipeline; in some preferred embodiments, the plugging plate is a flexible steel plate, the plugging device is made of a composite plugging material of a flexible plugging cavity capsule and an external flexible steel plate, and under the double action force of the claw and the hydraulic accumulator, rapid plugging of the leakage point without peeling off the protective layer is realized.

[0042] 2、The application also provides a plugging device, comprising a mobile platform, a mechanical arm arranged on the mobile platform, a hydraulic wrist arranged at the execution end of the mechanical arm, and a hydraulic quick-change device arranged at the far execution end of the hydraulic wrist; and the above-mentioned intelligent plugging device is connected with the hydraulic quick-change device and can be self-disengaged; the intelligent plugging device is sent to the pipeline leakage point by the mobile platform, and in some preferred embodiments, the mobile platform can be a self-driven mobile trolley or a remotely controllable mobile engineering equipment, so that the operator only needs to remotely control, without close proximity, thereby ensuring the safety of the operator and improving the operation precision; the mechanical arm arranged on the mobile platform can improve the operation range of the device and has stronger adaptability, and an image acquisition device can be arranged on the mechanical arm to visualize the operation process and improve the intelligence of the device; the execution end of the mechanical arm is provided with a hydraulic wrist to improve the operation flexibility of the device, so that the obturator on the intelligent plugging device can be accurately rotated to face the leakage point, and precise plugging is realized; the hydraulic quick-change device is arranged at the far execution end of the hydraulic wrist, and the arrangement of the hydraulic quick-change device can realize the quick disengagement of the intelligent plugging device; in the plugging process, the intelligent plugging device only needs to be left at the pipeline leakage point, and after the current leakage point is plugged, the mobile device can be moved to the next leakage point to install the corresponding specification intelligent plugging device for plugging operation; the detachable intelligent plugging device can be equipped with intelligent plugging devices of different specifications according to the diameters of the pipelines, so that the quick plugging of the pipeline leakage site can be realized.

[0043] 3、The application also provides a plugging method of the plugging device, which comprises the following steps: based on the pipeline leakage point, the hydraulic wrist is controlled to rotate, so that the obturator of the intelligent plugging device faces the pipeline leakage point; the obturator is controlled to approach the pipeline leakage point until it is attached to the pipeline leakage point, the hydraulic quick-change device is controlled to disengage from the intelligent plugging device, the plugging claw assembly is closed to clamp the leakage pipeline, the hydraulic accumulator keeps the hydraulic oil pressure in the obturator stable, the difference in the thickness of the anticorrosive layer on the pipeline surface is compensated, the obturator is pressed by the claw to press the pipeline leakage point, and the plugging of the pipeline leakage is completed; the whole plugging process is quick and convenient, only the appropriate specification intelligent plugging device needs to be installed on the hydraulic quick-change device in advance, the obturator is attached to the leakage point, the claw is closed to clamp the leakage pipeline in the self-disengagement process, the uniform pre-tightening force is formed at the leakage point and in the circumferential direction, and the double plugging of the leakage point is realized; and the self-disengagement arrangement overturns the traditional plugging mode and effectively solves the plugging problems of not approaching, not stripping and not replacing in the plugging process. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the description of the embodiments or the prior art. Obviously, the drawings described below only show some of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from the structures shown in the drawings without creative labor.

[0045] Figure 1 Figure 1 is a front view of the opening state of the intelligent plugging device installed at the execution end of the equipment according to the present application;

[0046] Figure 2 Figure 2 is a perspective view of the intelligent plugging device (closed state) according to the present application;

[0047] Figure 3 Figure 3 is a front view of the closed state of the intelligent plugging device installed at the execution end of the equipment according to the present application;

[0048] Figure 4 Figure 4 is an A-A sectional view of the intelligent plugging device according to the present application; Figure 3

[0049] Figure 5 Figure 5 is a front view of the plugging equipment according to the present application.

[0050] Reference signs:

[0051] 01, intelligent plugging device; 1, plugging support; 11, connecting plate; 12, support plate; 13, hinge hole;

[0052] 2, plugging claw assembly; 21, driver; 22, claw; 221, claw body; 222, semi-tubular plugging body; 223, sealing rubber ring; 3, sealer; 31, hydraulic accumulator; 33, plugging plate; 4, self-detaching quick-change communicator; 5, elastic member;

[0053] 02, mobile platform; 03, mechanical arm; 04, hydraulic wrist; 05, hydraulic quick-change device.

[0054] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, and not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.​

[0056] It should be noted that all directional indications, such as up, down, etc., in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications will also change accordingly.

[0057] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features.

[0058] In addition, the technical solutions of various embodiments of the present application can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, also not within the protection scope required by the present application.

[0059] Example 1

[0060] Referring to Figures 1-4 The present application provides a kind of intelligent leaking stoppage device, comprising:

[0061] Leaking support 1 is used to be disconnected with equipment execution end self;

[0062] Paired leaking stopper jaw 22 component 2, two described leaking stopper jaw 22 component 2 symmetrically set in the both sides of leaking support 1;The leaking stopper jaw 22 component 2 includes driver 21 and the jaw 22 articulated with the telescopic end of the driver 21, the side of the driver 21 away from telescopic end is articulated with the leaking support 1;The jaw 22 includes jaw body 221 and the half tubular leaking body 222 of setting in the inner wall of the jaw body 221, two described half tubular leaking bodies 222 are used to clamp and hold leakage pipeline and are oppositely arranged;

[0063] Plugging device 3 is arranged between two described leaking stopper jaw 22 component 2, and it includes hydraulic accumulator 31 arranged in the side of leaking support 1, plugging cavity bag connected with the hydraulic accumulator 31, and plugging plate 33 arranged on the center face of the plugging cavity bag towards clamping, for adhering to press and plugging leakage point;

[0064] The arrangement is such that when the plugging device 3 is attached to the leakage point of the pipeline, the hydraulic oil in the plugging cavity capsule of the plugging device 3 flows to the hydraulic accumulator 31 under the pressure of the claw 22, so that the plugging capsule adapts to the curved surface at the leakage point and maintains a certain pressure for the first plugging and pressure reduction; at the same time, the driver 21 of the plugging claw 22 assembly 2 drives the claw 22 to close, and the two half-pipe-shaped plugging bodies 222 arranged in an open manner are used to clamp and hold the leaking pipeline to achieve secondary plugging of the leaking oil and gas pipeline; in the process of closing the claw 22, the upper end of the half-pipe-shaped plugging body 222 continuously extrudes the plugging cavity capsule to further press the leakage point of the pipeline, thereby achieving safe and reliable plugging of the leaking oil and gas pipeline; in some preferred embodiments, the plugging plate 33 is a flexible steel plate, the plugging device 3 is made of a composite plugging material of a flexible plugging cavity capsule and an external flexible steel plate, and under the double action force of the claw 22 and the hydraulic accumulator 31, rapid plugging is achieved at the leakage point without peeling off the protective layer.

[0065] It should be noted that the hydraulic accumulator is an energy storage device mainly used in hydraulic pneumatic systems, which can convert the energy in the system into compressed energy or potential energy at the appropriate time and release the energy when the system needs it. When the system pressure increases instantaneously, the hydraulic accumulator can absorb this part of the energy, thereby ensuring the normal pressure of the entire system. As a preferred embodiment, see Figure 4 The half-pipe-shaped plugging body 222 has a hollow inner cavity, and the hydraulic accumulator 31 is also connected to the hollow inner cavity for filling hydraulic oil into the hollow inner cavity to improve the pipeline clamping adaptability of the half-pipe-shaped plugging body 222; the arrangement of the hollow inner cavity makes the half-pipe-shaped plugging body 222 flexible and able to well fit the uneven pipeline under the action of the hydraulic oil, thereby achieving good plugging effect without peeling off the pipeline corrosion-resistant layer;

[0066] It should be noted that the vent valve interface is reserved on the hollow inner cavity and the plugging cavity capsule, respectively, which can realize the pressure relief function of the cavity during the window period repair.

[0067] As a preferred embodiment, the intelligent plugging device 01 further comprises a control valve connected to the driver 21 for controlling the driver 21 to maintain the clamping force;

[0068] Specifically, the driver 21 can be a hydraulic oil cylinder or a gas cylinder or an electric cylinder. In this embodiment, the driver 21 is a hydraulic oil cylinder, and the rod cavity end of the hydraulic oil cylinder is hinged to one end of the claw 22, and the rodless cavity end is hinged to the plugging support 1. Correspondingly, the control valve is a balance valve.

[0069] The balance valve is arranged, when the intelligent plugging device 01 is separated from the equipment execution end, the hydraulic cylinder can still maintain the clamping force under the self-locking action of the balance valve, so that the semi-tubular plugging body 222 and the plugging cavity bag can continuously plug the leakage point;

[0070] In some embodiments, referring to Figure 1 , the intelligent plugging device 01 further comprises an elastic member 5 arranged between the two clamping jaws 22 for improving the sealing performance under the clamping force of the clamping jaw; preferably, the elastic member 5 is a spring; the arrangement of the spring can provide clamping force to replace the hydraulic cylinder, thereby ensuring the safety and reliability of the intelligent plugging device 01; in this embodiment, the hydraulic cylinder and the elastic member 5 need to have a pressure of not less than 12 MPa.

[0071] As a preferred embodiment, in order to realize the self-separation of the intelligent plugging device 01, the intelligent plugging device 01 further comprises a self-separation quick-change communication device 4 in operable communication with the power source of the driver 21; before the intelligent plugging device 01 is separated, the hydraulic system on the equipment provides pressure oil for the driver 21 to drive the clamping jaw 22 to be in an open state; when the intelligent plugging device 01 is separated, the hydraulic oil is cut off through the self-separation quick-change communication device 4, and at the same time the control valve is started to control the clamping jaw 22 to be closed for clamping.

[0072] As a preferred embodiment, the semi-tubular plugging body 222 is arranged on the clamping jaw body 221 by bonding, and the semi-tubular plugging body 222 extends outward from both sides of the clamping jaw body 221 by a predetermined length; the inner wall of the semi-tubular plugging body 222 is further provided with a plugging rubber ring 223, and the inner walls of the extension sections on both sides of the semi-tubular plugging body 222 are respectively provided with the plugging rubber ring 223.

[0073] The arrangement of the plugging rubber ring 223 can further improve the plugging effect.

[0074] As a preferred embodiment, the plugging support 1 comprises a connecting plate 11 and a support plate 12 vertically connected on both sides of the connecting plate 11 with a spacing;

[0075] The distal end of the driver 21 is arranged in the spacing through a first pin shaft;

[0076] The support plate 12 further comprises a hinge hole 13 at the clamping center end for being hingedly connected with the clamping jaw body 221 through a second pin shaft; in this embodiment, the hydraulic accumulator 31 is arranged on the outer surface of the support plate 12 through a bracket, and the hydraulic accumulator 31 is connected with the plugging cavity bag and / or the semi-tubular plugging body 222 through a hose.

[0077] The support member is arranged in the middle of the interval space of the support 1, and is used to support the installation of the sealing cavity bag, so that the sealing cavity bag is suspended in the middle of the support 1; and the upper end of the semi-tubular support body 222 is provided with a touch pressure step, which extrudes the sealing cavity bag when the clamping jaw 22 is closed, so that the sealing cavity bag is better adhered and pressed at the leakage point, thereby achieving good sealing effect.

[0078] As a preferred embodiment, the intelligent plugging device 01 is further provided with an oil and gas leakage detection sensor, which is used to display whether there is leakage during sealing.

[0079] Embodiment 2

[0080] Referring to Figure 5 , the application further provides a plugging equipment, comprising:

[0081] The mobile platform 02 is loaded;

[0082] The mechanical arm 03 is arranged on the mobile platform 02;

[0083] The hydraulic wrist 04 is arranged at the execution end of the mechanical arm 03;

[0084] The hydraulic quick-change device 05 is arranged away from the execution end of the hydraulic wrist 04;

[0085] The intelligent plugging device 01 provided in the embodiment 1, the intelligent plugging device 01 and the hydraulic quick-change device 05 are self-detachable;

[0086] The setting is used for sending the intelligent plugging device 01 to the pipeline leakage point by the mobile platform 02, and in some preferred embodiments, the mobile platform 02 can adopt a self-driven mobile trolley or a remote-controlled mobile engineering equipment, so that the operator only needs to remotely control, without close proximity, thereby ensuring the safety of the operator, and the operation precision is high; meanwhile, the mechanical arm 03 arranged on the mobile platform 02 can improve the operation range of the equipment and has higher adaptability, and the image acquisition device can be arranged on the mechanical arm 03, so that the operation process can be visualized while being remotely controlled, and the intelligence of the equipment is improved; and the hydraulic wrist 04 arranged at the execution end of the mechanical arm 03 can improve the operation flexibility of the equipment, and the horizontal and inclined positions of the semi-pipe-shaped plugging body 222 can be flexibly adjusted by the hydraulic wrist 04, so that the semi-pipe-shaped plugging body 222 is clamped at the leakage position of the oil and gas pipeline in different directions at a more suitable angle, thereby the sealer 3 on the intelligent plugging device 01 can be accurately rotated to the leakage point, and precise plugging is realized; in addition, the hydraulic quick-change device 05 is arranged at the execution end of the hydraulic wrist 04, and the arrangement of the hydraulic quick-change device 05 can realize quick separation of the intelligent plugging device 01, so that the intelligent plugging device 01 only needs to be left at the pipeline leakage point during the plugging process, and after the current leakage point is plugged, the mobile equipment can be moved to the next leakage point, and the corresponding specification intelligent plugging device 01 is installed again for plugging operation; meanwhile, the detachable intelligent plugging device 01 can be equipped with intelligent plugging devices 01 of different specifications according to different pipeline diameters, so that the pipeline leakage site can be quickly plugged.

[0087] In the embodiment, the mobile platform 02 adopts a remotely controlled excavator as the mobile platform 02, and only needs to replace the bucket with the intelligent plugging device 01, so that remote control operation can be realized, one machine can realize multiple functions, and the requirements of remote safe operation and intelligent plugging without shutdown are met.

[0088] As a preferred embodiment, the mechanical arm 03 is further provided with a camera, which can acquire image information of the leakage pipeline and operation image information in the plugging process, so that the intelligence of the plugging equipment is improved.

[0089] Embodiment 3

[0090] The application also provides a plugging method of the plugging device.

[0091] S1: The mobile platform 02 sends the intelligent plugging device 01 to the pipeline leakage position by the mechanical arm 03;

[0092] S2: based on the pipeline leakage point, the hydraulic wrist 04 is controlled to rotate, and the sealing device 3 of the intelligent plugging device 01 is first made to face the pipeline leakage point;

[0093] S3: the sealing device 3 is controlled to be close to the pipeline leakage point again until the pipeline leakage point is attached, the hydraulic quick-change device 05 is controlled to be separated from the intelligent plugging device 01, the plugging claw 22 assembly 2 is closed to hold and clamp the leakage pipeline, the hydraulic oil in the sealing cavity capsule flows to the hydraulic accumulator 31 under the pressure of the plugging claw 22, the hydraulic accumulator 31 keeps the hydraulic oil pressure in the sealing cavity capsule stable, realizes compensation of the different thicknesses of the anticorrosive layers on the pipeline surfaces, the hydraulic accumulator 31 also charges hydraulic oil into two half-pipe-shaped plugging bodies 222 respectively, the plugging claw 22 extrudes the sealing cavity capsule to press the pipeline leakage point, and the two half-pipe-shaped plugging bodies 222 arranged in a split manner hold and clamp the leakage pipeline, and the plugging of the pipeline leakage is completed;

[0094] The mobile platform 02 carries the mechanical arm 03, the hydraulic wrist 04 and the hydraulic quick-change device 05 away;

[0095] The plugging method provided by the application is quick and convenient, only needs to install the intelligent plugging device 01 of a suitable specification on the hydraulic quick-change device 05 in advance, finds the leakage point, and realizes double plugging of the leakage point after the sealing device 3 is attached to the leakage point, the plugging claw 22 is closed to hold and clamp the leakage pipeline in the self-separation process, uniform pre-tightening force is formed around the leakage point, and the self-separation setting overturns the traditional plugging mode and effectively solves the plugging problems of not approaching, not stripping and not replacing in the plugging process.

[0096] The above is only the preferred embodiment of the application, and does not limit the patent range of the application, and any equivalent structural transformation made according to the application concept, the contents of the specification and the drawings, or direct / indirect application in other related technical fields is included in the patent protection range of the application.

Claims

1. An intelligent leak-sealing device, characterized in that, include: Leak-stopping support, used to automatically disconnect from the device's actuator; A pair of leak-stopping claw assemblies are arranged symmetrically on both sides of the leak-stopping support; each leak-stopping claw assembly includes a driver and a claw hinged to the telescopic end of the driver, the telescopic end of the driver being hinged to one side of the leak-stopping support; each claw includes a claw body and a semi-tubular leak-stopping body disposed on the inner wall of the claw body, the two semi-tubular leak-stopping bodies being arranged in opposite directions for clamping and holding the leaking pipe; A plugging device is disposed between the two plugging claw assemblies. It includes a hydraulic accumulator disposed on the side of the plugging support, a plugging chamber connected to the hydraulic accumulator, and a plugging plate disposed on the plugging chamber facing the clamping center surface for fitting and pressing to plug the leak point. The semi-tubular plug has a hollow inner cavity, and the hydraulic accumulator is also connected to the hollow inner cavity for filling the hollow inner cavity with hydraulic oil.

2. The intelligent leak-sealing device according to claim 1, characterized in that, The intelligent leak-sealing device also includes a control valve, which is connected to the actuator and is used to control the actuator to maintain the clamping force.

3. The intelligent leak-sealing device according to claim 1 or 2, characterized in that, The semi-tubular plug is attached to the claw body by bonding, and the semi-tubular plug extends outward from both sides of the claw body by a predetermined length.

4. The intelligent leak-sealing device according to claim 3, characterized in that, The inner wall of the semi-tubular plug is also provided with a sealing rubber ring. The sealing rubber rings are respectively provided on the inner walls of the extension sections on both sides of the semi-tubular plug.

5. A smart leak-sealing device according to claim 1 or 2, characterized in that, The leak-sealing support includes a connecting plate and a support plate that is vertically connected to both sides of the connecting plate at intervals. The remote telescopic end of the driver is positioned within the interval via a first pin; The support plate is also provided with a hinge hole at the end facing the clamping center, for hinge connection with the claw body via a second pin.

6. A smart leak-sealing device according to claim 1 or 2, characterized in that, The sealing cavity is suspended in the middle of the plugging support, and its two sides can be operated to contact the upper end of the corresponding semi-tubular plugging body.

7. The intelligent leak-sealing device according to claim 1 or 2, characterized in that, The intelligent leak-sealing device also includes an elastic element, which is disposed between the two jaws to improve the sealing performance under the clamping force of the jaws.

8. A leak-sealing device, characterized in that, include: Equipped with a mobile platform; A robotic arm is mounted on the mobile platform. A hydraulic wrist is mounted at the actuator end of the robotic arm; A hydraulic quick-change device is located at the end of the hydraulic wrist furthest from the actuator. An intelligent leak-sealing device as described in any one of claims 1-7, wherein the intelligent leak-sealing device and the hydraulic quick-change device can be automatically disconnected.

9. A method for sealing a leak-sealing device as described in claim 8, characterized in that, The steps include: S1: Equipped with a mobile platform, this intelligent leak-sealing device is delivered to the location of the pipeline leak via a robotic arm; S2: Based on the pipeline leak point, control the hydraulic wrist to rotate, first making the plug of the intelligent leak sealing device face the pipeline leak point; S3: Then control the plugging device to approach the pipeline leak point until it fits the pipeline leak point. Control the hydraulic quick-change device to disengage from the intelligent leak-sealing device. At the same time, the leak-sealing claw assembly closes and clamps the leaking pipeline. The hydraulic oil in the sealing chamber flows to the hydraulic accumulator under the pressure of the claw, so that the sealing capsule adapts to the arc surface at the leak point and maintains a certain pressure. The claw squeezes the sealing chamber to press the pipeline leak point, thus completing the sealing of the pipeline leak. The mobile platform carrying the robotic arm, hydraulic wrist, and hydraulic quick-change device departs.

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